Force-directed control with a strong hydraulic manipulator

Thesis (M.Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1999.Includes bibliographical references (leaves 68-73).by Peter Carl Lefren Jaffe.M.Eng

Space-charge mechanism of aging in ferroelectrics: an exactly solvable two-dimensional model

A mechanism of point defect migration triggered by local depolarization fields is shown to explain some still inexplicable features of aging in acceptor doped ferroelectrics. A drift-diffusion model of the coupled charged defect transport and electrostatic field relaxation within a two-dimensional domain configuration is treated numerically and analytically. Numerical results are given for the emerging internal bias field of about 1 kV/mm which levels off at dopant concentrations well below 1 mol%; the fact, long ago known experimentally but still not explained. For higher defect concentrations a closed solution of the model equations in the drift approximation as well as an explicit formula for the internal bias field is derived revealing the plausible time, temperature and concentration dependencies of aging. The results are compared to those due to the mechanism of orientational reordering of defect dipoles.Comment: 8 pages, 4 figures. accepted to Physical Review

Some New Results on the H Dibaryon in the Quark Cluster Model

The H dibaryon channel, (I=0,J=0,S=-2), is revisited in the non-relativistic quark cluster model (NRQCM) using a basis extended beyond the usual set of baryon cluster pairs to include an explicit spatially symmetric 6q state, analogous in structure to the MIT bag model H. We find that the binding predicted using the two-baryon basis alone is significantly deepened by the addition of the additional 6q configuration. The NRQCM thus appears, contrary to earlier findings, to be incompatible with the experimental information available for this channel.Comment: 11 pages, REVTE

Phenomenology of the Pentaquark Antidecuplet

We consider the mass splittings and strong decays of members of the lowest-lying pentaquark multiplet, which we take to be a parity-odd antidecuplet. We derive useful decompositions of the quark model wave functions that allow for easy computation of color-flavor-spin matrix elements. We compute mass splittings within the antidecuplet including spin-color and spin-isospin interactions between constituents and point out the importance of hidden strangeness in rendering the nucleon-like states heavier than the S=1 state. Using recent experimental data on a possible S=1 pentaquark state, we make decay predictions for other members of the antidecuplet.Comment: 12 pages LaTeX, 1 eps figur

The Demography of Massive Dark Objects in Galaxy Centres

We construct dynamical models for a sample of 36 nearby galaxies with Hubble Space Telescope photometry and ground-based kinematics. The models assume that each galaxy is axisymmetric, with a two-integral distribution function, arbitrary inclination angle, a position-independent stellar mass-to-light ratio Upsilon, and a central massive dark object (MDO) of arbitrary mass M_bh. They provide acceptable fits to 32 of the galaxies for some value of M_bh and Upsilon; the four galaxies that cannot be fit have kinematically decoupled cores. The mass-to-light ratios inferred for the 32 well-fit galaxies are consistent with the fundamental plane correlation Upsilon \propto L^0.2, where L is galaxy luminosity. In all but six galaxies the models require at the 95% confidence level an MDO of mass M_bh ~ 0.006 M_bulge = 0.006 Upsilon L. Five of the six galaxies consistent with M_bh=0 are also consistent with this correlation. The other (NGC 7332) has a much stronger upper limit on M_bh. We consider various parameterizations for the probability distribution describing the correlation of the masses of these MDOs with other galaxy properties. One of the best models can be summarized thus: a fraction f ~0.97 of galaxies have MDOs, whose masses are well described by a Gaussian distribution in log (M_bh/M_bulge) of mean -2.27 and width ~0.07.Comment: 28 pages including 13 figures and 4 tables. Submitted to A

A Raman Study of Morphotropic Phase Boundary in PbZr1-xTixO3 at low temperatures

Raman spectra of PbZr1-xTixO3 ceramics with titanium concentration varying between 0.40 and 0.60 were measured at 7 K. By observing the concentration-frequency dependence of vibrational modes, we identified the boundaries among rhombohedral, monoclinic, and tetragonal ferroelectric phases. The analysis of the spectra was made in the view of theory group analysis making possible the assignment of some modes for the monoclinic phase.Comment: 5 pages, 4 figure

Lead-free piezoceramics - Where to move on?

Lead-free piezoceramics aiming at replacing the market-dominant lead-based ones have been extensively searched for more than a decade worldwide. Some noteworthy outcomes such as the advent of commercial products for certain applications have been reported, but the goal, i.e., the invention of a lead-free piezocermic, the performance of which is equivalent or even superior to that of PZT-based piezoceramics, does not seem to be fulfilled yet. Nevertheless, the academic effort already seems to be culminated, waiting for a guideline to a future research direction. We believe that a driving force for a restoration of this research field needs to be found elsewhere, for example, intimate collaborations with related industries. For this to be effectively realized, it would be helpful for academic side to understand the interests and demands of the industry side as well as to provide the industry with new scientific insights that would eventually lead to new applications. Therefore, this review covers some of the issues that are to be studied further and deeper, so-to-speak, lessons from the history of piezoceramics, and some technical issues that could be useful in better understanding the industry demands. As well, the efforts made in the industry side will be briefly introduced for the academic people to catch up with the recent trends and to be guided for setting up their future research direction effectively.ope

Safety and Short-Term Toxicity of a Novel Cationic Lipid Formulation for Human Gene Therapy

Overview summary Although several viral vectors have been widely applied to the treatment of human disease, the development of nonviral vectors is still in their infancy. In this report, a novel cationic lipid, DMRIE/DOPE, has been incorporated into the DNA–liposome formulation that improves transfection efficiencies and allows up to 1,000-fold higher concentrations of DNA to be administered in vivo. In this paper, the safety and toxicity of this formulation is described in two species, mice and pigs, suggesting that it may prove useful for human gene therapy.Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/63224/1/hum.1993.4.6-781.pd