Pose consensus based on dual quaternion algebra with application to decentralized formation control of mobile manipulators

This paper presents a solution based on dual quaternion algebra to the general problem of pose (i.e., position and orientation) consensus for systems composed of multiple rigid-bodies. The dual quaternion algebra is used to model the agents' poses and also in the distributed control laws, making the proposed technique easily applicable to time-varying formation control of general robotic systems. The proposed pose consensus protocol has guaranteed convergence when the interaction among the agents is represented by directed graphs with directed spanning trees, which is a more general result when compared to the literature on formation control. In order to illustrate the proposed pose consensus protocol and its extension to the problem of formation control, we present a numerical simulation with a large number of free-flying agents and also an application of cooperative manipulation by using real mobile manipulators

Phonon Linewidths and Electron Phonon Coupling in Nanotubes

We prove that Electron-phonon coupling (EPC) is the major source of broadening for the Raman G and G- peaks in graphite and metallic nanotubes. This allows us to directly measure the optical-phonon EPCs from the G and G- linewidths. The experimental EPCs compare extremely well with those from density functional theory. We show that the EPC explains the difference in the Raman spectra of metallic and semiconducting nanotubes and their dependence on tube diameter. We dismiss the common assignment of the G- peak in metallic nanotubes to a Fano resonance between phonons and plasmons. We assign the G+ and G- peaks to TO (tangential) and LO (axial) modes.Comment: 5 pages, 4 figures (correction in label of fig 3

Evolution of Drug Resistance: Insight on TEM β-Lactamases Structure and Activity and β-Lactam Antibiotics

Since the discovery of the first penicillin bacterial resistance to β-lactam antibiotics has spread and evolved promoting new resistances to pathogens. The most common mechanism of resistance is the production of β-lactamases that have spread thorough nature and evolve to complex phenotypes like CMT type enzymes. New antibiotics have been introduced in clinical practice, and therefore it becomes necessary a concise summary about their molecular targets, specific use and other properties. β-lactamases are still a major medical concern and they have been extensively studied and described in the scientific literature. Several authors agree that Glu166 should be the general base and Ser70 should perform the nucleophilic attack to the carbon of the carbonyl group of the β-lactam ring. Nevertheless there still is controversy on their catalytic mechanism. TEMs evolve at incredible pace presenting more complex phenotypes due to their tolerance to mutations. These mutations lead to an increasing need of novel, stronger and more specific and stable antibiotics. The present review summarizes key structural, molecular and functional aspects of ESBL, IRT and CMT TEM β-lactamases properties and up to date diagrams of the TEM variants with defined phenotype. The activity and structural characteristics of several available TEMs in the NCBI-PDB are presented, as well as the relation of the various mutated residues and their specific properties and some previously proposed catalytic mechanisms

Ising analogues of quantum spin chains with multispin interactions

A new family of free fermionic quantum spin chains with multispin interactions was recently introduced. Here we show that it is possible to build standard quantum Ising chains -- but with inhomogeneous couplings -- which have the same spectra as the novel spin chains with multispin interactions. The Ising models are obtained by associating an antisymmetric tridiagonal matrix to the polynomials that characterize the quasienergies of the system via a modified Euclidean algorithm. For the simplest non-trivial case, corresponding to the Fendley model, the phase diagram of the inhomogeneous Ising model is investigated numerically. It is characterized by gapped phases separated by critical lines with order-disorder transitions depending on the parity of the total number of energy density operators in the Hamiltonian.Comment: 16 pages, 17 figure

Percolation Effects in Very High Energy Cosmic Rays

Most QCD models of high energy collisions predict that the inelasticity $K$ is an increasing function of the energy. We argue that, due to percolation of strings, this behaviour will change and, at $\sqrt{s} \simeq 10^4$ GeV, the inelasticity will start to decrease with the energy. This has straightforward consequences in high energy cosmic ray physics: 1) the relative depth of the shower maximum $\bar{X}$ grows faster with energy above the knee; 2) the energy measurements of ground array experiments at GZK energies could be overestimated.Comment: Correction of equation (19) and figures 3 and 4. 4 pages, 4 figure