Collision-free trajectory planning algorthm for manipulators

Collision-free trajectory planning for robotic manipulators is investigated. The task of the manipulator is to move its end-effector from one point to another point in an environment with polyhedral obstacles. An on-line algorithm is developed based on finding the required joint angles of the manipulator, according to goals with different priorities. The highest priority is to avoid collisions, the second priority is to plan the shortest path for the end effector, and the lowest priority is to minimize the joint velocity for smooth motion. The pseudo-inverse of the Jacobian matrix is applied for inverse kinematics. When a possible collision is detected, a constrained inverse kinematic problem is solved such that the collision is avoided. This algorithm can also be applied to a time-variant environment

Effect of distribution of stickers along backbone on temperature-dependent structural properties in associative polymer solutions

Effect of distribution of stickers along the backbone on structural properties in associating polymer solutions is studied using self-consistent field lattice model. Only two inhomogeneous morphologies, i.e., microfluctuation homogenous (MFH) and micelle morphologies, are observed. If the system is cooled, the solvent content within the aggregates decreases. When the spacing of stickers along the backbone is increased the temperature-dependent range of aggregation in MFH morphology and half-width of specific heat peak for homogenous solutions-MFH transition increase, and the symmetry of the peak decreases. However, with increasing spacing of stickers, the above three corresponding quantities related to micelles behave differently. It is demonstrated that the broad nature of the observed transitions can be ascribed to the structural changes which accompany the replacement of solvents in aggregates by polymer, which is consistent with the experimental conclusion. It is found that different effect of spacing of stickers on the two transitions can be interpreted in terms of intrachain and interchain associations.Comment: 10 pages, 4 figures. arXiv admin note: text overlap with arXiv:1202.459

A note on modular forms and generalized anomaly cancellation formulas

By studying modular invariance properties of some characteristic forms, we prove some new anomaly cancellation formulas which generalize the Han-Zhang and Han-Liu-Zhang anomaly cancellation formula

Generating EPR beams in a cavity optomechanical system

We propose a scheme to produce continuous variable entanglement between phase-quadrature amplitudes of two light modes in an optomechanical system. For proper driving power and detuning, the entanglement is insensitive with bath temperature and $Q$ of mechanical oscillator. Under realistic experimental conditions, we find that the entanglement could be very large even at room temperature.Comment: 4.1 pages, 4 figures, comments are welcome; to appear in PRA, published version with corrections of typo

Thermal and non-thermal emission in the Cygnus X region

Radio continuum observations detect non-thermal synchrotron and thermal bremsstrahlung radiation. Separation of the two different emission components is crucial to study the properties of diffuse interstellar medium. The Cygnus X region is one of the most complex areas in the radio sky which contains a number of massive stars and HII regions on the diffuse thermal and non-thermal background. More supernova remnants are expected to be discovered. We aim to develop a method which can properly separate the non-thermal and thermal radio continuum emission and apply it to the Cygnus X region. The result can be used to study the properties of different emission components and search for new supernova remnants in the complex. Multi-frequency radio continuum data from large-scale surveys are used to develop a new component separation method. Spectral analysis is done pixel by pixel for the non-thermal synchrotron emission with a realistic spectral index distribution and a fixed spectral index of beta = -2.1 for the thermal bremsstrahlung emission. With the new method, we separate the non-thermal and thermal components of the Cygnus X region at an angular resolution of 9.5arcmin. The thermal emission component is found to comprise 75% of the total continuum emission at 6cm. Thermal diffuse emission, rather than the discrete HII regions, is found to be the major contributor to the entire thermal budget. A smooth non-thermal emission background of 100 mK Tb is found. We successfully make the large-extent known supernova remnants and the HII regions embedded in the complex standing out, but no new large SNRs brighter than Sigma_1GHz = 3.7 x 10^-21 W m^-2 Hz^-1 sr^-1 are found.Comment: 9 pages, 5 figures, accepted by A&A. The quality of the figures is reduced due to file size limit of the websit

The Sender-Excited Secret Key Agreement Model: Capacity, Reliability and Secrecy Exponents

We consider the secret key generation problem when sources are randomly excited by the sender and there is a noiseless public discussion channel. Our setting is thus similar to recent works on channels with action-dependent states where the channel state may be influenced by some of the parties involved. We derive single-letter expressions for the secret key capacity through a type of source emulation analysis. We also derive lower bounds on the achievable reliability and secrecy exponents, i.e., the exponential rates of decay of the probability of decoding error and of the information leakage. These exponents allow us to determine a set of strongly-achievable secret key rates. For degraded eavesdroppers the maximum strongly-achievable rate equals the secret key capacity; our exponents can also be specialized to previously known results. In deriving our strong achievability results we introduce a coding scheme that combines wiretap coding (to excite the channel) and key extraction (to distill keys from residual randomness). The secret key capacity is naturally seen to be a combination of both source- and channel-type randomness. Through examples we illustrate a fundamental interplay between the portion of the secret key rate due to each type of randomness. We also illustrate inherent tradeoffs between the achievable reliability and secrecy exponents. Our new scheme also naturally accommodates rate limits on the public discussion. We show that under rate constraints we are able to achieve larger rates than those that can be attained through a pure source emulation strategy.Comment: 18 pages, 8 figures; Submitted to the IEEE Transactions on Information Theory; Revised in Oct 201

Colloidal Electrostatic Interactions Near a Conducting Surface

Charge-stabilized colloidal spheres dispersed in deionized water are supposed to repel each other. Instead, artifact-corrected video microscopy measurements reveal an anomalous long-ranged like-charge attraction in the interparticle pair potential when the spheres are confined to a layer by even a single charged glass surface. These attractions can be masked by electrostatic repulsions at low ionic strengths. Coating the bounding surfaces with a conducting gold layer suppresses the attraction. These observations suggest a possible mechanism for confinement-induced attractions.Comment: 4 pages, 2 figure