A distributed control for a grasping function of a hyperredundant arm

The paper focuses on the control problem of a tentacle robot that performs the coil function of grasping. First, the dynamic model of a hyperredundant arm with continuum elements produced by flexible composite materials in conjunction with active-controllable electro-rheological fluids is analyzed. Secondly, both problems, i.e. the position control and the force control are approached. The difficulties determined by the complexity of the non-linear integraldifferential equations are avoided by using a basic energy relationship of this system. Energy-based control laws are introduced for the position control problem. A force control method is proposed, namely the DSMC method in which the evolution of the system on the switching line by the ER fluid viscosity is controlled. Numerical simulations are also presente

Stability control of a hyperredundant arm for a grasping operation

In this paper a problem of a class of hyperredundant arms with continuum elements that perform the grasping function by coiling is discussed. This function is often met in the animal world as in the case of elephant trunk or octopus tentacle. First, the dynamic model in 3D-space is developed. The equations that describe the motion of the arm that carries a load by coiling are inferred. The stability of the motion is discussed. Numerical simulations of the motion towards an imposed target are presente

Spectral properties of the largest asteroids associated with Taurid Complex

We obtained spectra of six of the largest asteroids (2201, 4183, 4486, 5143, 6063, and 269690) associated with Taurid complex. The observations were made with the IRTF telescope equipped with the spectro-imager SpeX. Their taxonomic classification is made using Bus-DeMeo taxonomy. The asteroid spectra are compared with the meteorite spectra from the Relab database. Mineralogical models were applied to determine their surface composition. All the spectral analysis is made in the context of the already published physical data. Five of the objects studied in this paper present spectral characteristics similar to the S taxonomic complex. The spectra of ordinary chondrites (spanning H, L, and LL subtypes) are the best matches for these asteroid spectra. {\bf The asteroid} (269690) 1996 RG3 presents a flat featureless spectrum which could be associated to a primitive C-type object. The increased reflectance above 2.1 microns constrains its geometrical albedo to a value around 0.03. While there is an important dynamical grouping among the Taurid Complex asteroids, the spectral data of the largest objects do not support a common cometary origin. Furthermore, there are significant variations between the spectra acquired until now.Comment: Accepted for publication in A&

Recovery of entanglement lost in entanglement manipulation

When an entangled state is transformed into another one with probability one by local operations and classical communication, the quantity of entanglement decreases. This letter shows that entanglement lost in the manipulation can be partially recovered by an auxiliary entangled pair. As an application, a maximally entangled pair can be obtained from two partially entangled pairs with probability one. Finally, this recovery scheme reveals a fundamental property of entanglement relevant to the existence of incomparable states.Comment: 4 pages, 2 figures, REVTeX; minor correction

Near-infrared colors of minor planets recovered from VISTA - VHS survey (MOVIS)

The Sloan Digital Sky Survey (SDSS) and Wide-field Infrared Survey Explorer (WISE) provide information about the surface composition of about 100,000 minor planets. The resulting visible colors and albedos enabled us to group them in several major classes, which are a simplified view of the diversity shown by the few existing spectra. We performed a serendipitous search in VISTA-VHS observations using a pipeline developed to retrieve and process the data that corresponds to solar system objects (SSo). The colors and the magnitudes of the minor planets observed by the VISTA survey are compiled into three catalogs that are available online: the detections catalog (MOVIS-D), the magnitudes catalog (MOVIS-M), and the colors catalog (MOVIS-C). They were built using the third data release of the survey (VISTA VHS-DR3). A total of 39,947 objects were detected, including 52 NEAs, 325 Mars Crossers, 515 Hungaria asteroids, 38,428 main-belt asteroids, 146 Cybele asteroids, 147 Hilda asteroids, 270 Trojans, 13 comets, 12 Kuiper Belt objects and Neptune with its four satellites. The colors found for asteroids with known spectral properties reveal well-defined patterns corresponding to different mineralogies. The distributions of MOVIS-C data in color-color plots shows clusters identified with different taxonomic types. All the diagrams that use (Y-J) color separate the spectral classes more effectively than the (J-H) and (H-Ks) plots used until now: even for large color errors (<0.1), the plots (Y-J) vs (Y-Ks) and (Y-J) vs (J-Ks) provide the separation between S-complex and C-complex. The end members A, D, R, and V-types occupy well-defined regions.Comment: 19 pages, 16 figure

Weak Equivalence Principle Test on a Sounding Rocket

SR-POEM, our principle of equivalence measurement on a sounding rocket, will compare the free fall rate of two substances yielding an uncertainty of E-16 in the estimate of \eta. During the past two years, the design concept has matured and we have been working on the required technology, including a laser gauge that is self aligning and able to reach 0.1 pm per root hertz for periods up to 40 s. We describe the status and plans for this project.Comment: Presented at the Fifth Meeting on CPT and Lorentz Symmetry, Bloomington, Indiana, June 28-July 2, 201

Exactly Solvable Model of Monomer-Monomer Reactions on a Two-Dimensional Random Catalytic Substrate

We present an \textit{exactly solvable} model of a monomer-monomer $A + B \to \emptyset$ reaction on a 2D inhomogeneous, catalytic substrate and study the equilibrium properties of the two-species adsorbate. The substrate contains randomly placed catalytic bonds of mean density $q$ which connect neighboring adsorption sites. The interacting $A$ and $B$ (monomer) species undergo continuous exchanges with corresponding adjacent gaseous reservoirs. A reaction $A + B \to \emptyset$ takes place instantaneously if $A$ and $B$ particles occupy adsorption sites connected by a catalytic bond. We find that for the case of \textit{annealed} disorder in the placement of the catalytic bonds the reaction model under study can be mapped onto the general spin $S = 1$ (GS1) model. Here we concentrate on a particular case in which the model reduces to an exactly solvable Blume-Emery-Griffiths (BEG) model (T. Horiguchi, Phys. Lett. A {\bf 113}, 425 (1986); F.Y. Wu, Phys. Lett. A, {\bf 116}, 245 (1986)) and derive an exact expression for the disorder-averaged equilibrium pressure of the two-species adsorbate. We show that at equal partial vapor pressures of the $A$ and $B$ species this system exhibits a second-order phase transition which reflects a spontaneous symmetry breaking with large fluctuations and progressive coverage of the entire substrate by either one of the species.Comment: 4 pages, 2 figures, submitted to Phys. Rev. Let

Fast light, slow light, and phase singularities: a connection to generalized weak values

We demonstrate that Aharonov-Albert-Vaidman (AAV) weak values have a direct relationship with the response function of a system, and have a much wider range of applicability in both the classical and quantum domains than previously thought. Using this idea, we have built an optical system, based on a birefringent photonic crystal, with an infinite number of weak values. In this system, the propagation speed of a polarized light pulse displays both superluminal and slow light behavior with a sharp transition between the two regimes. We show that this system's response possesses two-dimensional, vortex-antivortex phase singularities. Important consequences for optical signal processing are discussed.Comment: 9 pages, 4 figures, accepted in Physical Review Letters (2003

Sufficient conditions for three-particle entanglement and their tests in recent experiments

We point out a loophole problem in some recent experimental claims to produce three-particle entanglement. The problem consists in the question whether mixtures of two-particle entangled states might suffice to explain the experimental data. In an attempt to close this loophole, we review two sufficient conditions that distinguish between N-particle states in which all N particles are entangled to each other and states in which only M particles are entangled (with M<N). It is shown that three recent experiments to obtain three-particle entangled states (Bouwmeester et al., Pan et al., and Rauschenbeutel et al.) do not meet these conditions. We conclude that the question whether these experiments provide confirmation of three-particle entanglement remains unresolved. We also propose modifications of the experiments that would make such confirmation feasible.Comment: 16 page

New HErschel Multi-wavelength Extragalactic Survey of Edge-on Spirals (NHEMESES)

Edge-on spiral galaxies offer a unique perspective on the vertical structure of spiral disks, both stars and the iconic dark dustlanes. The thickness of these dustlanes can now be resolved for the first time with Herschel in far-infrared and sub-mm emission. We present NHEMESES, an ongoing project that targets 12 edge-on spiral galaxies with the PACS and SPIRE instruments on Herschel. These vertically resolved observations of edge-on spirals will impact on several current topics. First and foremost, these Herschel observations will settle whether or not there is a phase change in the vertical structure of the ISM with disk mass. Previously, a dramatic change in dustlane morphology was observed as in massive disks the dust collapses into a thin lane. If this is the case, the vertical balance between turbulence and gravity dictates the ISM structure and consequently star-formation and related phenomena (spiral arms, bars etc.). We specifically target lower mass nearby edge-ons to complement existing Herschel observations of high-mass edge-on spirals (the HEROES project). Secondly, the combined data-set, together with existing Spitzer observations, will drive a new generation of spiral disk Spectral Energy Distribution models. These model how dust reprocesses starlight to thermal emission but the dust geometry remains the critical unknown. And thirdly, the observations will provide an accurate and unbiased census of the cold dusty structures occasionally seen extending out of the plane of the disk, when backlit by the stellar disk. To illustrate the NHEMESES project, we present early results on NGC 4244 and NGC 891, two well studies examples of a low and high-mass edge-on spiral.Comment: 3 pages, 4 figures, to appear in the proceedings of IAU 284, "The Spectral Energy Distribution of Galaxies", (SED2011), 5-9 September 2011, Preston, UK, editors, R.J. Tuffs & C.C.Popescu (v2 updated metadata