Exploration of Finite 2D Square Grid by a Metamorphic Robotic System

We consider exploration of finite 2D square grid by a metamorphic robotic system consisting of anonymous oblivious modules. The number of possible shapes of a metamorphic robotic system grows as the number of modules increases. The shape of the system serves as its memory and shows its functionality. We consider the effect of global compass on the minimum number of modules necessary to explore a finite 2D square grid. We show that if the modules agree on the directions (north, south, east, and west), three modules are necessary and sufficient for exploration from an arbitrary initial configuration, otherwise five modules are necessary and sufficient for restricted initial configurations

Passivity-Based Control of Human-Robotic Networks with Inter-Robot Communication Delays and Experimental Verification

In this paper, we present experimental studies on a cooperative control system for human-robotic networks with inter-robot communication delays. We first design a cooperative controller to be implemented on each robot so that their motion are synchronized to a reference motion desired by a human operator, and then point out that each robot motion ensures passivity. Inter-robot communication channels are then designed via so-called scattering transformation which is a technique to passify the delayed channel. The resulting robotic network is then connected with human operator based on passivity theory. In order to demonstrate the present control architecture, we build an experimental testbed consisting of multiple robots and a tablet. In particular, we analyze the effects of the communication delays on the human operator's behavior

Differential Emission Measure Determination of Collisionally Ionized Plasma: II. Application to Hot Stars

In a previous paper we have described a technique to derive constraints on the differential emission measure (DEM) distribution, a measure of the temperature distribution, of collisionally ionized hot plasmas from their X-ray emission line spectra. We apply this technique to the Chandra/HETG spectra of all of the nine hot stars available to us at the time this project was initiated. We find that DEM distributions of six of the seven O stars in our sample are very similar but that theta Ori has an X-ray spectrum characterized by higher temperatures. The DEM distributions of both of B stars in our sample have lower magnitudes than those of the O stars and one, tau Sco, is characterized by higher temperatures than the other, beta Cru. These results confirm previous work in which high temperatures have been found for theta Ori and tau Sco and taken as evidence for channeling of the wind in magnetic fields, the existence of which are related to the stars' youth. Our results demonstrate the utility of our method for deriving temperature information for large samples of X-ray emission line spectra.Comment: The contents of this paper were formerly part of astro-ph/0403603 which was split into two paper

Magnetic and magnetotransport properties of the orthorhombic perovskites (Lu, Ca)MnO3

Here we extend the research of the (R,Ca)MnO3 perovskites to the smallest-R end member (Lu,Ca)MnO3. Magnetic and magnetotransport properties of the (Lu1−xCax)MnO3 system are systematically investigated in regard to carrier doping. It is found that hole doping into the antiferromagnetic x=0.0 phase, LuMnO3, causes a spin-glass-like magnetic competition in the wide doping range of 0.1≤x≤0.6, whereas electron doping into the antiferromagnetic x=1.0 phase, CaMnO3, induces a large magnetoresistance effect for 0.8≤x≤0.95.Peer reviewe

Real Space Imaging of Spin Polarons in Zn Doped SrCu2(BO3)2

We report on the real space profile of spin polarons in the quasi two-dimensional frustrated dimer spin system SrCu2(BO3)2 doped with 0.16% of Zn. The 11B nuclear magnetic resonance spectrum exhibits 15 additional boron sites near non-magnetic Zn impurities. With the help of exact diagonalizations of finite clusters, we have deduced from the boron spectrum the distribution of local magnetizations at the Cu sites with fine spatial resolution, providing direct evidence for an extended spin polaron. The results are confronted with those of other experiments performed on doped and undoped samples of SrCu2(BO3)2.Comment: 9 pages, 11 figures, including supplemental materials. accepted for publication in PR