Intelligent manipulation technique for multi-branch robotic systems

New analytical development in kinematics planning is reported. The INtelligent KInematics Planner (INKIP) consists of the kinematics spline theory and the adaptive logic annealing process. Also, a novel framework of robot learning mechanism is introduced. The FUzzy LOgic Self Organized Neural Networks (FULOSONN) integrates fuzzy logic in commands, control, searching, and reasoning, the embedded expert system for nominal robotics knowledge implementation, and the self organized neural networks for the dynamic knowledge evolutionary process. Progress on the mechanical construction of SRA Advanced Robotic System (SRAARS) and the real time robot vision system is also reported. A decision was made to incorporate the Local Area Network (LAN) technology in the overall communication system

A cost-effective intelligent robotic system with dual-arm dexterous coordination and real-time vision

Dexterous coordination of manipulators based on the use of redundant degrees of freedom, multiple sensors, and built-in robot intelligence represents a critical breakthrough in development of advanced manufacturing technology. A cost-effective approach for achieving this new generation of robotics has been made possible by the unprecedented growth of the latest microcomputer and network systems. The resulting flexible automation offers the opportunity to improve the product quality, increase the reliability of the manufacturing process, and augment the production procedures for optimizing the utilization of the robotic system. Moreover, the Advanced Robotic System (ARS) is modular in design and can be upgraded by closely following technological advancements as they occur in various fields. This approach to manufacturing automation enhances the financial justification and ensures the long-term profitability and most efficient implementation of robotic technology. The new system also addresses a broad spectrum of manufacturing demand and has the potential to address both complex jobs as well as highly labor-intensive tasks. The ARS prototype employs the decomposed optimization technique in spatial planning. This technique is implemented to the framework of the sensor-actuator network to establish the general-purpose geometric reasoning system. The development computer system is a multiple microcomputer network system, which provides the architecture for executing the modular network computing algorithms. The knowledge-based approach used in both the robot vision subsystem and the manipulation control subsystems results in the real-time image processing vision-based capability. The vision-based task environment analysis capability and the responsive motion capability are under the command of the local intelligence centers. An array of ultrasonic, proximity, and optoelectronic sensors is used for path planning. The ARS currently has 18 degrees of freedom made up by two articulated arms, one movable robot head, and two charged coupled device (CCD) cameras for producing the stereoscopic views, and articulated cylindrical-type lower body, and an optional mobile base. A functional prototype is demonstrated

A Lattice Boltzmann method for simulations of liquid-vapor thermal flows

We present a novel lattice Boltzmann method that has a capability of simulating thermodynamic multiphase flows. This approach is fully thermodynamically consistent at the macroscopic level. Using this new method, a liquid-vapor boiling process, including liquid-vapor formation and coalescence together with a full coupling of temperature, is simulated for the first time.Comment: one gzipped tar file, 19 pages, 4 figure

Rank Reduction for the Local Consistency Problem

We address the problem of how simple a solution can be for a given quantum local consistency instance. More specifically, we investigate how small the rank of the global density operator can be if the local constraints are known to be compatible. We prove that any compatible local density operators can be satisfied by a low rank global density operator. Then we study both fermionic and bosonic versions of the N-representability problem as applications. After applying the channel-state duality, we prove that any compatible local channels can be obtained through a global quantum channel with small Kraus rank.Comment: 6 pages, 0 figures. To appear in J.Math.Phy

Lattice Boltzmann Simulation of Non-Ideal Fluids

A lattice Boltzmann scheme able to model the hydrodynamics of phase separation and two-phase flow is described. Thermodynamic consistency is ensured by introducing a non-ideal pressure tensor directly into the collision operator. We also show how an external chemical potential can be used to supplement standard boundary conditions in order to investigate the effect of wetting on phase separation and fluid flow in confined geometries. The approach has the additional advantage of reducing many of the unphysical discretisation problems common to previous lattice Boltzmann methods.Comment: 11 pages, revtex, 4 Postscript figures, uuencode

Quantum Holonomy in Three-dimensional General Covariant Field Theory and Link Invariant

We consider quantum holonomy of some three-dimensional general covariant non-Abelian field theory in Landau gauge and confirm a previous result partially proven. We show that quantum holonomy retains metric independence after explicit gauge fixing and hence possesses the topological property of a link invariant. We examine the generalized quantum holonomy defined on a multi-component link and discuss its relation to a polynomial for the link.Comment: RevTex, 12 pages. The metric independence of path integral measure is justified and the case of multi-component link is discussed in detail. To be published in Physical Review

Hydrodynamic Spinodal Decomposition: Growth Kinetics and Scaling Functions

We examine the effects of hydrodynamics on the late stage kinetics in spinodal decomposition. From computer simulations of a lattice Boltzmann scheme we observe, for critical quenches, that single phase domains grow asymptotically like $t^{\alpha}$, with $\alpha \approx .66$ in two dimensions and $\alpha \approx 1.0$ in three dimensions, both in excellent agreement with theoretical predictions.Comment: 12 pages, latex, Physical Review B Rapid Communication (in press

The Electromagnetic Counterpart of the Binary Neutron Star Merger LIGO/VIRGO GW170817. V. Rising X-ray Emission from an Off-Axis Jet

We report the discovery of rising X-ray emission from the binary neutron star (BNS) merger event GW170817. This is the first detection of X-ray emission from a gravitational-wave source. Observations acquired with the Chandra X-ray Observatory (CXO) at t~2.3 days post merger reveal no significant emission, with L_x<=3.2x10^38 erg/s (isotropic-equivalent). Continued monitoring revealed the presence of an X-ray source that brightened with time, reaching L_x\sim 9x10^39 erg/s at ~15.1 days post merger. We interpret these findings in the context of isotropic and collimated relativistic outflows (both on- and off-axis). We find that the broad-band X-ray to radio observations are consistent with emission from a relativistic jet with kinetic energy E_k~10^49-10^50 erg, viewed off-axis with theta_obs~ 20-40 deg. Our models favor a circumbinary density n~ 0.0001-0.01 cm-3, depending on the value of the microphysical parameter epsilon_B=10^{-4}-10^{-2}. A central-engine origin of the X-ray emission is unlikely. Future X-ray observations at $t\gtrsim 100$ days, when the target will be observable again with the CXO, will provide additional constraints to solve the model degeneracies and test our predictions. Our inferences on theta_obs are testable with gravitational wave information on GW170817 from Advanced LIGO/Virgo on the binary inclination.Comment: 7 Pages, 4 Figures, ApJL, In Press. Keywords: GW170817, LV

The Electromagnetic Counterpart of the Binary Neutron Star Merger LIGO/VIRGO GW170817. VI. Radio Constraints on a Relativistic Jet and Predictions for Late-Time Emission from the Kilonova Ejecta

We present Very Large Array (VLA) and Atacama Large Millimeter/sub-millimeter Array ALMA radio observations of GW\,170817, the first Laser Interferometer Gravitational-wave Observatory (LIGO)/Virgo gravitational wave (GW) event from a binary neutron star merger and the first GW event with an electromagnetic (EM) counterpart. Our data include the first observations following the discovery of the optical transient at both the centimeter ($13.7$ hours post merger) and millimeter ($2.41$ days post merger) bands. We detect faint emission at 6 GHz at 19.47 and 39.23 days after the merger, but not in an earlier observation at 2.46 d. We do not detect cm/mm emission at the position of the optical counterpart at frequencies of 10-97.5 GHz at times ranging from 0.6 to 30 days post merger, ruling out an on-axis short gamma-ray burst (SGRB) for energies $\gtrsim 10^{48}$ erg. For fiducial SGRB parameters, our limits require an observer viewer angle of $\gtrsim 20^{\circ}$. The radio and X-ray data can be jointly explained as the afterglow emission from an SGRB with a jet energy of $\sim 10^{49}-10^{50}$ erg that exploded in a uniform density environment with $n\sim 10^{-4}-10^{-2}$ cm$^{-3}$, viewed at an angle of $\sim 20^{\circ}-40^{\circ}$ from the jet axis. Using the results of our light curve and spectral modeling, in conjunction with the inference of the circumbinary density, we predict the emergence of late-time radio emission from the deceleration of the kilonova (KN) ejecta on a timescale of $\sim 5-10$ years that will remain detectable for decades with next-generation radio facilities, making GW\,170817 a compelling target for long-term radio monitoring.Comment: 8 pages, 4 figures, 1 table. ApJL, in press. Keywords: GW170817, LV

The Electromagnetic Counterpart of the Binary Neutron Star Merger LIGO/VIRGO GW170817. VII. Properties of the Host Galaxy and Constraints on the Merger Timescale

We present the properties of NGC 4993, the host galaxy of GW170817, the first gravitational wave (GW) event from the merger of a binary neutron star (BNS) system and the first with an electromagnetic (EM) counterpart. We use both archival photometry and new optical/near-IR imaging and spectroscopy, together with stellar population synthesis models to infer the global properties of the host galaxy. We infer a star formation history peaked at $\gtrsim 10$ Gyr ago, with subsequent exponential decline leading to a low current star formation rate of 0.01 M$_{\odot}$ yr$^{-1}$, which we convert into a binary merger timescale probability distribution. We find a median merger timescale of $11.2^{+0.7}_{-1.4}$ Gyr, with a 90% confidence range of $6.8-13.6$ Gyr. This in turn indicates an initial binary separation of $\approx 4.5$ R$_{\odot}$, comparable to the inferred values for Galactic BNS systems. We also use new and archival $Hubble$ $Space$ $Telescope$ images to measure a projected offset of the optical counterpart of $2.1$ kpc (0.64$r_{e}$) from the center of NGC 4993 and to place a limit of $M_{r} \gtrsim -7.2$ mag on any pre-existing emission, which rules out the brighter half of the globular cluster luminosity function. Finally, the age and offset of the system indicates it experienced a modest natal kick with an upper limit of $\sim 200$ km s$^{-1}$. Future GW$-$EM observations of BNS mergers will enable measurement of their population delay time distribution, which will directly inform their viability as the dominant source of $r$-process enrichment in the Universe.Comment: 9 Pages, 3 Figures, 2 Tables, ApJL, In Press. Keywords: GW170817, LV