Concept development of a tendon arm manipulator and anthropomorphic robotic hand

AMETEK/ORED inhouse research and development efforts leading toward a next-generation robotic manipulator arm and end-effector technology is summarized. Manipulator arm development has been directed toward a multiple-degree-of-freedom, flexible, tendon-driven concept referred to here as a Tendon Arm Manipulator (TAM). End-effector development has been directed toward a three-fingered, dextrous, tendon-driven, anthropomorphic configuration which is referred to as an Anthropomorphic Robotic Hand (ARH). Key technology issues are identified for both concepts

Gravitational Radiation from a Naked Singularity -- Odd-Parity Perturbation --

It has been suggested that a naked singularity may be a good candidate for a strong gravitational wave burster. The naked singularity occurs in the generic collapse of an inhomogeneous dust ball. We study odd-parity mode of gravitational waves from a naked singularity of the Lema\^{\i}tre-Tolman-Bondi space-time. The wave equation for gravitational waves are solved by numerical integration using the single null coordinate. The result is that the naked singularity is not a strong source of the odd-parity gravitational radiation although the metric perturbation grows in the central region. Therefore, the Cauchy horizon in this space-time would be marginally stable against odd-parity perturbations.Comment: 14 pages, 7 figures, to be published in Prog. Theor. Phys. Final version, with minor changes. Reference 13 adde

Gravitational Radiation from a Naked Singularity. II - Even-Parity Perturbation -

A naked singularity occurs in the generic collapse of an inhomogeneous dust ball. We study the even-parity mode of gravitational waves from a naked singularity of the Lema\^{\i}tre-Tolman-Bondi spacetime. The wave equations for gravitational waves are solved by numerical integration using the single null coordinate. The result implies that the metric perturbation grows when it approaches the Cauchy horizon and diverges there, although the naked singularity is not a strong source of even-parity gravitational radiation. Therefore, the Cauchy horizon in this spacetime should be unstable with respect to linear even-parity perturbations.Comment: 16 pages, 5 figures, errors and typos corrected, final versio

Physical Processes in Naked Singularity Formation

Gravitational collapse is one of the most fruitful subjects in gravitational physics. It is well known that singularity formation is inevitable in complete gravitational collapse. It was conjectured that such a singularity should be hidden by horizons if it is formed from generic initial data with physically reasonable matter fields. Many possible counterexamples to this conjecture have been proposed over the past three decades, although none of them has proved to be sufficiently generic. In these examples, there appears a singularity that is not hidden by horizons. This singularity is called a `naked singularity.' The appearance of a naked singularity represents the formation of an observable high-curvature, strong-gravity region. In this paper we review examples of naked singularity formation and recent progress in research of observable physical processes - gravitational radiation and quantum particle creation - from a forming naked singularity.Comment: 76 pages, 25 figure file

Relativistic gyratons in asymptotically AdS spacetime

We study the gravitational field of a spinning radiation beam-pulse (a gyraton) in a D-dimensional asymptotically AdS spacetime. It is shown that the Einstein equations for such a system reduce to a set of two linear equations in a (D-2)-dimensional space. By solving these equations we obtain a metric which is an exact solution of gravitational equations with the (negative) cosmological constant. The explicit metrics for 4D and 5D gyratons in asymptotically AdS spacetime are given and their properties are discussed.Comment: 10 page

The spherical symmetry Black hole collapse in expanding universe

The spherical symmetry Black holes are considered in expanding background. The singularity line and the marginally trapped tube surface behavior are discussed. In particular, we address the conditions whether dynamical horizon forms for these cosmological black holes. We also discuss about the cosmological constant effect on these black hole and the redshift of the light which comes from the marginally trapped tube surface.Comment: 7 pages, 3 figures. Accepted for publication in International Journal of Modern Physics D (IJMPD). arXiv admin note: text overlap with arXiv:gr-qc/0308033 and arXiv:gr-qc/030611