7,377 research outputs found
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 (Lu1âxCax)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 0.1â€xâ€0.6, whereas electron doping into the antiferromagnetic x=1.0 phase, CaMnO3, induces a large magnetoresistance effect for 0.8â€xâ€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
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