Emergence of Bulk CsCl Structure in (CsCl)nCs+ Cluster Ions

The emergence of CsCl bulk structure in (CsCl)nCs+ cluster ions is investigated using a mixed quantum-mechanical/semiempirical theoretical approach. We find that rhombic dodecahedral fragments (with bulk CsCl symmetry) are more stable than rock-salt fragments after the completion of the fifth rhombic dodecahedral atomic shell. From this size (n=184) on, a new set of magic numbers should appear in the experimental mass spectra. We also propose another experimental test for this transition, which explicitely involves the electronic structure of the cluster. Finally, we perform more detailed calculations in the size range n=31--33, where recent experimental investigations have found indications of the presence of rhombic dodecahedral (CsCl)32Cs+ isomers in the cluster beams.Comment: LaTeX file. 6 pages and 4 pictures. Accepted for publication in Phys. Rev.

Application of plastic-damage multidirectional fixed smeared crack model in analysis of RC structures

This paper describes a plasticity-damage multidirectional fixed smeared cracking (PDSC) model to simulate the failure process of concrete and reinforced concrete (RC) structures subjected to different loading paths. The model proposes a unified approach combining a multidirectional fixed smeared crack model to simulate the crack initiation and propagation with a plastic-damage model to account for the inelastic compressive behaviour of concrete between cracks. The smeared crack model considers the possibility of forming several cracks in the same integration point during the cracking process. The plasticity part accounts for the development of irreversible strains and volumetric strain in compression, whereas the strain softening and stiffness degradation of the material under compression are controlled by an isotropic strain base damage model. The theoretical aspects about coupling the fracture, plasticity, and damage components of the model, as well as the model appraisal at both material and structural levels, have been detailed in a former publication. This study briefly summarizes the model formulations, and is mainly dedicated to further explore the potentialities of the proposed constitutive model for the analysis of concrete and RC structures. The model is employed to simulate experimental tests that are governed by nonlinear phenomenon due to simultaneous occurrence of cracking and inelastic deformation in compression. The numerical simulations have predicted with good accuracy the load carrying capacity, ductility, crack pattern, plastic (compressive) zone, and failure modes of all types of structures analysed. The influence of the model parameters that simulate the nonlinear behaviour of concrete under tension and compression is analysed through a parametric study.Portuguese Foundation for Science and Technology in the scope of the SlabSys-HFRC research project, with reference PTDC/ECM/120394/201

Toward a task space framework for gesture commanded telemanipulation

This paper introduces a new framework for task space telemanipulation. The TASK space grasping and MANipulation (TaskMan) concept utilizes a library of tasks based on gesture commands, which replaces the conventional mapping required between the human hand and the end effector. Task communication between the human machine interface (HMI) and the robot end effector requires two symbiotic but nonidentical state machines on the master and slave side. The task states on two sides are synchronized via a single channel communication, as opposed to multi-channel joint space or Cartesian mapped information. HAND gesture command for grasping and MANipulation (HandyMan) HMI command algorithm is proposed for the recognition of hand gestures, which incorporates a library of intuitive task gestures to be used by the teleoperator wearing a CyberGlove. The task gestures are used to drive the states of the TaskMan state machines. With the proposed concepts, this work has realized teleoperated grasp and manipulation with a 15-DoF robot hand in task space. Full 6-DoF of object manipulation was achieved with different grasp combinations, and demonstrated higher repeatability, success rate and easier operation compared to conventional joint space teleoperation methods