The Impact of Sensing Range on Spatial-Temporal Opportunity

In this paper, we study the impact of secondary user (SU) sensing range on spectrum access opportunity in cognitive radio networks. We first derive a closed-form ex- pression of spectrum access opportunity by taking into ac- count the random variations in number, locations and trans- mitted powers of primary users (PUs). Then, we show how SU sensing range affects spectrum access opportunity, and the tradeoff between SU sensing range and spectrum ac- cess opportunity is formulated as an optimization problem to maximize spectrum access opportunity. Furthermore, we prove that there exists an optimal SU sensing range which yields the maximum spectrum access opportunity, and nu- merical results validate our theoretical analysis

Counting Humps in Motzkin paths

In this paper we study the number of humps (peaks) in Dyck, Motzkin and Schr\"{o}der paths. Recently A. Regev noticed that the number of peaks in all Dyck paths of order $n$ is one half of the number of super Dyck paths of order $n$. He also computed the number of humps in Motzkin paths and found a similar relation, and asked for bijective proofs. We give a bijection and prove these results. Using this bijection we also give a new proof that the number of Dyck paths of order $n$ with $k$ peaks is the Narayana number. By double counting super Schr\"{o}der paths, we also get an identity involving products of binomial coefficients.Comment: 8 pages, 2 Figure

Nonlinear feedback control of multiple robot arms

Multiple coordinated robot arms are modeled by considering the arms: (1) as closed kinematic chains, and (2) as a force constrained mechanical system working on the same object simultaneously. In both formulations a new dynamic control method is discussed. It is based on a feedback linearization and simultaneous output decoupling technique. Applying a nonlinear feedback and a nonlinear coordinate transformation, the complicated model of the multiple robot arms in either formulation is converted into a linear and output decoupled system. The linear system control theory and optimal control theory are used to design robust controllers in the task space. The first formulation has the advantage of automatically handling the coordination and load distribution among the robot arms. In the second formulation, by choosing a general output equation, researchers can superimpose the position and velocity error feedback with the force-torque error feedback in the task space simultaneously

B→KB\to K Transition Form Factor with Tensor Current within the kTk_T Factorization Approach

In the paper, we apply the $k_T$ factorization approach to deal with the $B\to K$ transition form factor with tensor current in the large recoil regions. Main uncertainties for the estimation are discussed and we obtain $F_T^{B\to K}(0)=0.25\pm0.01\pm0.02$, where the first error is caused by the uncertainties from the pionic wave functions and the second is from that of the B-meson wave functions. This result is consistent with the light-cone sum rule results obtained in the literature.Comment: 8 pages, 4 figures, references adde