34,555 research outputs found
Cooperative Adaptive Control for Cloud-Based Robotics
This paper studies collaboration through the cloud in the context of
cooperative adaptive control for robot manipulators. We first consider the case
of multiple robots manipulating a common object through synchronous centralized
update laws to identify unknown inertial parameters. Through this development,
we introduce a notion of Collective Sufficient Richness, wherein parameter
convergence can be enabled through teamwork in the group. The introduction of
this property and the analysis of stable adaptive controllers that benefit from
it constitute the main new contributions of this work. Building on this
original example, we then consider decentralized update laws, time-varying
network topologies, and the influence of communication delays on this process.
Perhaps surprisingly, these nonidealized networked conditions inherit the same
benefits of convergence being determined through collective effects for the
group. Simple simulations of a planar manipulator identifying an unknown load
are provided to illustrate the central idea and benefits of Collective
Sufficient Richness.Comment: ICRA 201
Deflation for semismooth equations
Variational inequalities can in general support distinct solutions. In this
paper we study an algorithm for computing distinct solutions of a variational
inequality, without varying the initial guess supplied to the solver. The
central idea is the combination of a semismooth Newton method with a deflation
operator that eliminates known solutions from consideration. Given one root of
a semismooth residual, deflation constructs a new problem for which a
semismooth Newton method will not converge to the known root, even from the
same initial guess. This enables the discovery of other roots. We prove the
effectiveness of the deflation technique under the same assumptions that
guarantee locally superlinear convergence of a semismooth Newton method. We
demonstrate its utility on various finite- and infinite-dimensional examples
drawn from constrained optimization, game theory, economics and solid
mechanics.Comment: 24 pages, 3 figure
Kinetics of the photosubstitution of cis-bis(benzonitrile)dichloroplatinum(II) in chloroform
Under 254 nm irradiation cis-[Pt(C6H5CN)2Cl2] is converted to H2PtCl6. Absorption of light by both the metal complex and the solvent contribute to the first step of this process, suggested to form HPt(C6H5CN) Cl3. A linear dependence of the reaction rate on light intensity appears to rule out chlorination by trichloromethyl radicals. However, at higher light intensities a higher order dependence on intensity develops, and under 313 nm irradiation is dominant, and a reaction between trichloromethyl radical and the excited state complex is proposed to account for this
[N]pT ensemble and finite-size scaling study of the GEM-4 critical isostructural transition
First-order transitions of system where both lattice site occupancy and
lattice spacing fluctuate, such as cluster crystals, cannot be efficiently
studied by traditional simulation methods. These methods necessarily fix one of
these two degrees of freedom, but this difficulty is surmounted by the
generalized [N]pT ensemble [J. Chem. Phys. 136, 214106 (2012)]. Here it is
shown that histogram reweighting and the [N]pT ensemble can be used to study an
isostructural transition between cluster crystals of different occupancy in the
generalized exponential model of index 4 (GEM-4). Extending this scheme to
finite-size scaling studies also allows to accurately determine the critical
point parameters and to verify that it belongs to the Ising universality class.Comment: 5 pages, 4 figure
The black hole in the throat - thermodynamics of strongly coupled cascading gauge theories
We numerically construct black hole solutions corresponding to the
deconfined, chirally symmetric phase of strongly coupled cascading gauge
theories at various temperatures. We compute the free energy as a function of
the temperature, and we show that it becomes positive below some critical
temperature, indicating the possibility of a first order phase transition at
which the theory deconfines and restores the chiral symmetry.Comment: 45 pages, 13 figures, latex. v2: typo fixe
Ceramic composition at Chalcolithic Shiqmim, northern Negev desert, Israel: investigating technology and provenance using thin section petrography, instrumental geochemistry and calcareous nannofossils
Technological innovations in ceramic production and other crafts are hallmarks of the Chalcolithic period (4500–3600 BCE) in the southern Levant, but details of manufacturing traditions have not been fully investigated using the range of analytical methods currently available. This paper presents results of a compositional study of 51 sherds of ceramic churns and other pottery types from the Chalcolithic site of Shiqmim in the northern Negev desert. By applying complementary thin section petrography, instrumental geochemistry and calcareous nannofossil analyses, connections between the raw materials, clay paste recipes and vessel forms of the selected ceramic samples are explored and documented. The study indicates that steps in ceramic manufacturing can be related to both technological choices and local geology. Detailed reporting of the resulting data facilitates future comparative ceramic compositional research that is needed as a basis for testable regional syntheses and to better resolve networks of trade/exchange and social group movement
Do the Poor Pay More for Healthy Food? An Empirical Economic Analysis
Food Consumption/Nutrition/Food Safety,
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