Coulomb Distortion Effects for (e,e'p) Reactions at High Electron Energy

We report a significant improvement of an approximate method of including electron Coulomb distortion in electron induced reactions at momentum transfers greater than the inverse of the size of the target nucleus. In particular, we have found a new parametrization for the elastic electron scattering phase shifts that works well at all electron energies greater than 300 $MeV$. As an illustration, we apply the improved approximation to the $(e,e'p)$ reaction from medium and heavy nuclei. We use a relativistic ``single particle'' model for $(e,e'p)$ as as applied to $^{208}Pb(e,e'p)$ and to recently measured data at CEBAF on $^{16}O(e,e'p)$ to investigate Coulomb distortion effects while examining the physics of the reaction.Comment: 14 pages, 3 figures, PRC submitte

Stimulus Pulse-Based Distributed Control for the Locomotion of a UBot Modular Robot

A distributed control algorithm based on a stimulus pulse signal is proposed in this paper for the locomotion of a Modular Self-reconfigurable Robot (MSRR). This approach can adapt effectively to the dynamic changes in the MSRR's topological configuration: the functional role of the configuration can be recognized through local topology detection, dynamic ID address allocation and local topology matching, such that the features of the entire configuration can be identified and thereby the corresponding stimulus signals can be chosen to control the whole system for coordinated locomotion. This approach has advantages over centralized control in terms of flexibility and robustness, and communication efficiency is not limited by the module number, which can realize coordinated locomotion control conveniently (especially for configurations made up of massive modules and characterized by a chain style or a quadruped style)

A Synthetic Algorithm for Tracking a Moving Object in a Multiple-Dynamic Obstacles Environment Based on Kinematically Planar Redundant Manipulators

This paper presents a synthetic algorithm for tracking a moving object in a multiple-dynamic obstacles environment based on kinematically planar manipulators. By observing the motions of the object and obstacles, Spline filter associated with polynomial fitting is utilized to predict their moving paths for a period of time in the future. Several feasible paths for the manipulator in Cartesian space can be planned according to the predicted moving paths and the defined feasibility criterion. The shortest one among these feasible paths is selected as the optimized path. Then the real-time path along the optimized path is planned for the manipulator to track the moving object in real-time. To improve the convergence rate of tracking, a virtual controller based on PD controller is designed to adaptively adjust the real-time path. In the process of tracking, the null space of inverse kinematic and the local rotation coordinate method (LRCM) are utilized for the arms and the end-effector to avoid obstacles, respectively. Finally, the moving object in a multiple-dynamic obstacles environment is thus tracked via real-time updating the joint angles of manipulator according to the iterative method. Simulation results show that the proposed algorithm is feasible to track a moving object in a multiple-dynamic obstacles environment

Meson and Isobar Degrees of Freedom in A(e⃗,e′p⃗\vec{e},e'\vec{p}) reactions at 0.2≤Q2≤0.8(GeV/c)20.2 \leq Q^2 \leq 0.8 (GeV/c)^2

The effect of meson and isobar degrees of freedom in A($\vec{e},e'\vec{p}$) and A(e,e'n) is studied for four-momentum transfers Q^2 in the range between 0.2 and 0.8 (GeV/c)^2. The calculations are performed in a non-relativistic framework with explicit (N,\Delta,\pi) degrees-of-freedom. For the whole range of momentum transfers under investigation the relative effect of the meson-exchange and isobar degrees of freedom is significant. At low missing momenta and quasi-elastic conditions, a tendency to reduce the (e,e'p) and (e,e'n) differential cross sections is noticed. The greatest sensitivity is found in the interference structure functions $W_{LT}$ and $W_{TT}$. The recoil polarization observables, on the other hand, are moderately affected by the meson-exchange and $\Delta$-isobar currents.Comment: 16 pages (Revtex) + 18 figures (eps file

Stimulus Pulse-Based Distributed Control for the Locomotion of a UBot Modular Robot

A distributed control algorithm based on a stimulus pulse signal is proposed in this paper for the locomotion of a Modular Self-reconfigurable Robot (MSRR). This approach can adapt effectively to the dynamic changes in the MSRR's topological configuration: the functional role of the configuration can be recognized through local topology detection, dynamic ID address allocation and local topology matching, such that the features of the entire configuration can be identified and thereby the corresponding stimulus signals can be chosen to control the whole system for coordinated locomotion. This approach has advantages over centralized control in terms of flexibility and robustness, and communication efficiency is not limited by the module number, which can realize coordinated locomotion control conveniently (especially for configurations made up of massive modules and characterized by a chain style or a quadruped style)