Point trajectory planning of flexible redundant robot manipulators using genetic algorithms

The paper focuses on the problem of point-to-point trajectory planning for flexible redundant robot manipulators (FRM) in joint space. Compared with irredundant flexible manipulators, a FRM possesses additional possibilities during point-to-point trajectory planning due to its kinematics redundancy. A trajectory planning method to minimize vibration and/or executing time of a point-to-point motion is presented for FRMs based on Genetic Algorithms (GAs). Kinematics redundancy is integrated into the presented method as planning variables. Quadrinomial and quintic polynomial are used to describe the segments that connect the initial, intermediate, and final points in joint space. The trajectory planning of FRM is formulated as a problem of optimization with constraints. A planar FRM with three flexible links is used in simulation. Case studies show that the method is applicable

Searching for Dark Matter Signals in the Left-Right Symmetric Gauge Model with CP Symmetry

We investigate singlet scalar dark matter (DM) candidate in a left-right symmetric gauge model with two Higgs bidoublets (2HBDM) in which the stabilization of the DM particle is induced by the discrete symmetries P and CP. According to the observed DM abundance, we predict the DM direct and indirect detection cross sections for the DM mass range from 10 GeV to 500 GeV. We show that the DM indirect detection cross section is not sensitive to the light Higgs mixing and Yukawa couplings except the resonance regions. The predicted spin-independent DM-nucleon elastic scattering cross section is found to be significantly dependent on the above two factors. Our results show that the future DM direct search experiments can cover the most parts of the allowed parameter space. The PAMELA antiproton data can only exclude two very narrow regions in the 2HBDM. It is very difficult to detect the DM direct or indirect signals in the resonance regions due to the Breit-Wigner resonance effect.Comment: 24 pages, 8 figures. minor changes and a reference added, published in Phys. Rev.

Slave particle approach to the finite temperature properties of ultracold Bose gases in optical lattices

By using slave particle (slave boson and slave fermion) technique on the Bose-Hubbard model, we study the finite temperature properties of ultracold Bose gases in optical lattices. The phase diagrams at finite temperature are depicted by including different types of slave particles and the effect of the finite types of slave particles is estimated. The superfluid density is evaluated using the Landau second order phase transition theory. The atom density, excitation spectrum and dispersion curve are also computed at various temperatures, and how the Mott-insulator evolves as the temperature increases is demonstrated. For most quantities to be calculated, we find that there are no qualitatively differences in using the slave boson or the slave fermion approaches. However, when studying the stability of the mean field state, we find that in contrast to the slave fermion approach, the slave boson mean field state is not stable. Although the slave boson mean field theory gives a qualitatively correct phase boundary, it corresponds to a local maximum of Landau free energy and can not describe the second order phase transition because the coefficient $a_4$ of the fourth order term is always negative in the free energy expansion.Comment: 27 pages, 8 figures, final version for publicatio

Symmetry-preserving Loop Regularization and Renormalization of QFTs

A new symmetry-preserving loop regularization method proposed in \cite{ylw} is further investigated. It is found that its prescription can be understood by introducing a regulating distribution function to the proper-time formalism of irreducible loop integrals. The method simulates in many interesting features to the momentum cutoff, Pauli-Villars and dimensional regularization. The loop regularization method is also simple and general for the practical calculations to higher loop graphs and can be applied to both underlying and effective quantum field theories including gauge, chiral, supersymmetric and gravitational ones as the new method does not modify either the lagrangian formalism or the space-time dimension of original theory. The appearance of characteristic energy scale $M_c$ and sliding energy scale $\mu_s$ offers a systematic way for studying the renormalization-group evolution of gauge theories in the spirit of Wilson-Kadanoff and for exploring important effects of higher dimensional interaction terms in the infrared regime.Comment: 13 pages, Revtex, extended modified version, more references adde

Research on human placenta-derived mesenchymal stem cells transfected with pIRES2-EGFP-VEGF165 using liposome

The experiment adopting reverse transcription polymerase chain reaction (RT-PCR) technology, amplified hVEGF165 gene fragments from human leukemia cells HL-60. hVEGF165 gene was reconstructed in pIRES2-EGFP and transferred into the human placenta-derived mesenchymal stem cells (HPMSCs) by liposome-mediated method successfully. The mRNA and protein of hVEGF165 in the transferred cells was detected by RT-PCR and Western blot, and the results showed that hVEGF165mRNA and the protein expressed by HPMSCs transfected with pIRES2-EGFP-hVEGF165 was significantly more than HPMSCs transfected with pIRES2-EGFP. EGFP expression was observed under fluorescence microscope, which proved that the report gene was successfully transferred to the target cells. hVEGF biology activity and cell proliferation activity of HPMSCS transfected with pIRES2-EGFPhVEGF165 was detected by MTT array, which showed that hVEGF165 can promote the proliferation of HPMSCS; however, hVEGF165 biology activity of HPMSCS transfected with pIRES2-EGFP-hVEGF165 was significantly more than HPMSCs transfected with pIRES2-EGFP.  Identification of multipotentiality showed that HPMSCS transfected with pIRES2-EGFP-VEGF165 still maintained multipotentiality.Key words: Transfect, human placenta-derived mesenchymal stem cells, hVEGF165

Statistical analysis on spatial correlation of ionospheric day-to-day variability by using GPS and Incoherent Scatter Radar observations

In this paper, the spatial correlations of ionospheric day-to-day variability are investigated by statistical analysis on GPS and Incoherent Scatter Radar observations. The meridional correlations show significant (>0.8) correlations in the latitudinal blocks of about 6 degrees size on average. Relative larger correlations of TEC's day-to-day variabilities can be found between magnetic conjugate points, which may be due to the geomagnetic conjugacy of several factors for the ionospheric day-to-day variability. The correlation coefficients between geomagnetic conjugate points have an obvious decrease around the sunrise and sunset time at the upper latitude (60°) and their values are bigger between the winter and summer hemisphere than between the spring and autumn hemisphere. The time delay of sunrise (sunset) between magnetic conjugate points with a high dip latitude is a probable reason. Obvious latitude and local time variations of meridional correlation distance, latitude variations of zonal correlation distance, and altitude and local time variations of vertical correlation distance are detected. Furthermore, there are evident seasonal variations of meridional correlation distance at higher latitudes in the Northern Hemisphere and local time variations of zonal correlation distance at higher latitudes in the Southern Hemisphere. These variations can generally be interpreted by the variations of controlling factors, which may have different spatial scales. The influences of the occurrence of ionospheric storms could not be ignored. Further modeling and data analysis are needed to address this problem. We suggest that our results are useful in the specific modeling/forecasting of ionospheric variability and the constructing of a background covariance matrix in ionospheric data assimilation

Spin Polarisability of the Nucleon in the Heavy Baryon Effective Field Theory

We have constructed a heavy baryon effective field theory with photon as an external field in accordance with the symmetry requirements similar to the heavy quark effective field theory. By treating the heavy baryon and anti-baryon equally on the same footing in the effective field theory, we have calculated the spin polarisabilities $\gamma_i, i=1...4$ of the nucleon at third order and at fourth-order of the spin-dependent Compton scattering. At leading order (LO), our results agree with the corresponding results of the heavy baryon chiral perturbation theory, at the next-to-leading order(NLO) the results show a large correction to the ones in the heavy baryon chiral perturbation theory due to baryon-antibaryon coupling terms. The low energy theorem is satisfied both at LO and at NLO. The contributions arising from the heavy baryon-antibaryon vertex were found to be significant and the results of the polarisabilities obtained from our theory is much closer to the experimental data.Comment: 21pages, title changed, minimal correction