Implementing Model-Based Variable-Structure Controllers For Robot Manipulators With Actuator Modelling

A model-based control scheme for robot manipulators employing a variable structure control law has previously been found to perform well parameters are carefully chosen model of this original scheme which the actuator dynamics is taken into consider The practical experiments are carried out on a commerci revolute-joint robot manipulator

Spontaneous Coherence and Collective Modes in Double-Layer Quantum Dot Systems

We study the ground state and the collective excitations of parabolically-confined double-layer quantum dot systems in a strong magnetic field. We identify parameter regimes where electrons form maximum density droplet states, quantum-dot analogs of the incompressible states of the bulk integer quantum Hall effect. In these regimes the Hartree-Fock approximation and the time-dependent Hartree-Fock approximations can be used to describe the ground state and collective excitations respectively. We comment on the relationship between edge excitations of dots and edge magneto-plasmon excitations of bulk double-layer systems.Comment: 20 pages (figures included) and also available at http://fangio.magnet.fsu.edu/~jhu/Paper/qdot_cond.ps, replaced to fix figure

Search for intermediate mass black hole binaries in the first observing run of Advanced LIGO

International audienceDuring their first observational run, the two Advanced LIGO detectors attained an unprecedented sensitivity, resulting in the first direct detections of gravitational-wave signals produced by stellar-mass binary black hole systems. This paper reports on an all-sky search for gravitational waves (GWs) from merging intermediate mass black hole binaries (IMBHBs). The combined results from two independent search techniques were used in this study: the first employs a matched-filter algorithm that uses a bank of filters covering the GW signal parameter space, while the second is a generic search for GW transients (bursts). No GWs from IMBHBs were detected; therefore, we constrain the rate of several classes of IMBHB mergers. The most stringent limit is obtained for black holes of individual mass 100  M⊙, with spins aligned with the binary orbital angular momentum. For such systems, the merger rate is constrained to be less than 0.93  Gpc−3 yr−1 in comoving units at the 90% confidence level, an improvement of nearly 2 orders of magnitude over previous upper limits