Modeling the power consumption of a Wifibot and studying the role of communication cost in operation time

Mobile robots are becoming part of our every day living at home, work or entertainment. Due to their limited power capabilities, the development of new energy consumption models can lead to energy conservation and energy efficient designs. In this paper, we carry out a number of experiments and we focus on the motors power consumption of a specific robot called Wifibot. Based on the experimentation results, we build models for different speed and acceleration levels. We compare the motors power consumption to other robot running modes. We, also, create a simple robot network scenario and we investigate whether forwarding data through a closer node could lead to longer operation times. We assess the effect energy capacity, traveling distance and data rate on the operation time

Routage multi-flots économe en énergie dans les réseaux de capteurs et actionneurs

International audienceL'introduction d'actionneurs capables de se déplacer sur ordre dans les réseaux de capteurs a permis l'émergence d'un nouveau genre de protocoles de routage. Ceux-ci tirent parti de cette nouvelle possibilité de relocaliser les éléments du réseau pour adapter dynamiquement sa topologie au trafic. Ils vont ainsi faire se déplacer physiquement les nœuds au fur et à mesure du routage afin d'optimiser le coût des transmissions radio. Toutefois, dans les réseaux de capteurs, il y a souvent plusieurs nœuds géographiquement proches pour reporter un même événement à la station de base. Les messages routés empruntent alors différents chemins qui sont physiquement proches, et certains nœuds appartiennent à plusieurs d'entre eux. Ces derniers vont alors sans cesse devoir se relocaliser sur les différents chemins et donc mourir prématurément. En réponse à ce problème, nous proposons PAMAL, le premier protocole de routage qui optimise la topologie réseau et sait tirer avantage des intersections des chemins de routage de manière complètement locale. PAMAL va ainsi provoquer la fusion des chemins de routage qui se croisent, et ce de plus en plus près des sources au cours et du temps. Les résultats de simulations montrent que ce comportement associé à un mécanisme d'agrégation permet d'améliorer la durée de vie du réseau de 37 %

On the eigenvalue spacing distribution for a point scatterer on the flat torus

We study the level spacing distribution for the spectrum of a point scatterer on a flat torus. In the 2-dimensional case, we show that in the weak coupling regime the eigenvalue spacing distribution coincides with that of the spectrum of the Laplacian (ignoring multiplicties), by showing that the perturbed eigenvalues generically clump with the unperturbed ones on the scale of the mean level spacing. We also study the three dimensional case, where the situation is very different.Comment: 25 page

Level spacing distribution of pseudointegrable billiard

In this paper, we examine the level spacing distribution $P(S)$ of the rectangular billiard with a single point-like scatterer, which is known as pseudointegrable. It is shown that the observed $P(S)$ is a new type, which is quite different from the previous conclusion. Even in the strong coupling limit, the Poisson-like behavior rather than Wigner-like is seen for $S>1$, although the level repulsion still remains in the small $S$ region. The difference from the previous works is analyzed in detail.Comment: 11 pages, REVTeX file, 3 PostScript Figure

Point perturbations of circle billiards

The spectral statistics of the circular billiard with a point-scatterer is investigated. In the semiclassical limit, the spectrum is demonstrated to be composed of two uncorrelated level sequences. The first corresponds to states for which the scatterer is located in the classically forbidden region and its energy levels are not affected by the scatterer in the semiclassical limit while the second sequence contains the levels which are affected by the point-scatterer. The nearest neighbor spacing distribution which results from the superposition of these sequences is calculated analytically within some approximation and good agreement with the distribution that was computed numerically is found.Comment: 9 pages, 2 figure

Surface patterning of carbon nanotubes can enhance their penetration through a phospholipid bilayer

Nanotube patterning may occur naturally upon the spontaneous self-assembly of biomolecules onto the surface of single-walled carbon nanotubes (SWNTs). It results in periodically alternating bands of surface properties, ranging from relatively hydrophilic to hydrophobic, along the axis of the nanotube. Single Chain Mean Field (SCMF) theory has been used to estimate the free energy of systems in which a surface patterned nanotube penetrates a phospholipid bilayer. In contrast to un-patterned nanotubes with uniform surface properties, certain patterned nanotubes have been identified that display a relatively low and approximately constant system free energy (10 kT) as the nanotube traverses through the bilayer. These observations support the hypothesis that the spontaneous self-assembly of bio-molecules on the surface of SWNTs may facilitate nanotube transduction through cell membranes.Comment: Published in ACS Nano http://pubs.acs.org/doi/abs/10.1021/nn102763

Scale Anomaly and Quantum Chaos in the Billiards with Pointlike Scatterers

We argue that the random-matrix like energy spectra found in pseudointegrable billiards with pointlike scatterers are related to the quantum violation of scale invariance of classical analogue system. It is shown that the behavior of the running coupling constant explains the key characteristics of the level statistics of pseudointegrable billiards.Comment: 10 pages, RevTex file, uuencode

Electronic Devices Based on Purified Carbon Nanotubes Grown By High Pressure Decomposition of Carbon Monoxide

The excellent properties of transistors, wires, and sensors made from single-walled carbon nanotubes (SWNTs) make them promising candidates for use in advanced nanoelectronic systems. Gas-phase growth procedures such as the high pressure decomposition of carbon monoxide (HiPCO) method yield large quantities of small diameter semiconducting SWNTs, which are ideal for use in nanoelectronic circuits. As-grown HiPCO material, however, commonly contains a large fraction of carbonaceous impurities that degrade properties of SWNT devices. Here we demonstrate a purification, deposition, and fabrication process that yields devices consisting of metallic and semiconducting nanotubes with electronic characteristics vastly superior to those of circuits made from raw HiPCO. Source-drain current measurements on the circuits as a function of temperature and backgate voltage are used to quantify the energy gap of semiconducting nanotubes in a field effect transistor geometry. This work demonstrates significant progress towards the goal of producing complex integrated circuits from bulk-grown SWNT material.Comment: 6 pages, 4 figures, to appear in Nature Material

Green functions for generalized point interactions in 1D: A scattering approach

Recently, general point interactions in one dimension has been used to model a large number of different phenomena in quantum mechanics. Such potentials, however, requires some sort of regularization to lead to meaningful results. The usual ways to do so rely on technicalities which may hide important physical aspects of the problem. In this work we present a new method to calculate the exact Green functions for general point interactions in 1D. Our approach differs from previous ones because it is based only on physical quantities, namely, the scattering coefficients, $R$ and $T$, to construct $G$. Renormalization or particular mathematical prescriptions are not invoked. The simple formulation of the method makes it easy to extend to more general contexts, such as for lattices of $N$ general point interactions; on a line; on a half-line; under periodic boundary conditions; and confined in a box.Comment: Revtex, 9 pages, 3 EPS figures. To be published in PR