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 root-mean-square pressure fluctuations model for internal flow applications

A transport equation for the root-mean-square pressure fluctuations of turbulent flow is derived from the time-dependent momentum equation for incompressible flow. Approximate modeling of this transport equation is included to relate terms with higher order correlations to the mean quantities of turbulent flow. Three empirical constants are introduced in the model. Two of the empirical constants are estimated from homogeneous turbulence data and wall pressure fluctuations measurements. The third constant is determined by comparing the results of large eddy simulations for a plane channel flow and an annulus flow

Pair Correlation Function of Wilson Loops

We give a path integral prescription for the pair correlation function of Wilson loops lying in the worldvolume of Dbranes in the bosonic open and closed string theory. The results can be applied both in ordinary flat spacetime in the critical dimension d or in the presence of a generic background for the Liouville field. We compute the potential between heavy nonrelativistic sources in an abelian gauge theory in relative collinear motion with velocity v = tanh(u), probing length scales down to r_min^2 = 2 \pi \alpha' u. We predict a universal -(d-2)/r static interaction at short distances. We show that the velocity dependent corrections to the short distance potential in the bosonic string take the form of an infinite power series in the dimensionless variables z = r_min^2/r^2, uz/\pi, and u^2.Comment: 16 pages, 1 figure, Revtex. Corrected factor of two in potential. Some changes in discussio

Estimation of gravitational acceleration with quantum optical interferometers

The precise estimation of the gravitational acceleration is important for various disciplines. We consider making such an estimation using quantum optics. A Mach-Zehnder interferometer in an "optical fountain" type arrangement is considered and used to define a standard quantum limit for estimating the gravitational acceleration. We use an approach based on quantum field theory on a curved, Schwarzschild metric background to calculate the coupling between the gravitational field and the optical signal. The analysis is extended to include the injection of a squeezed vacuum to the Mach-Zehnder arrangement and also to consider an active, two-mode SU(1,1) interferometer in a similar arrangement. When detection loss is larger than $8\%$, the SU(1,1) interferometer shows an advantage over the MZ interferometer with single-mode squeezing input. The proposed system is based on current technology and could be used to examine the intersection of quantum theory and general relativity as well as for possible applications.Comment: 9 pages, 5 figure

Decay rate of a Wannier exciton in low dimensional systems

The superradiant decay rate of Wannier exciton in one dimensional system is studied. The crossover behavior from 1D chain to 2D film is also examined. It is found that the decay rate shows oscillatory dependence on channel width L. When the quasi 1-D channel is embeded with planar microcavities, it is shown that the dark mode exciton can be examined experimentally.Comment: 12 pages, 1 figur

Computation of turbulent flows using an extended k-epsilon turbulence closure model

An extended kappa-epsilon turbulence model is proposed and tested with successful results. An improved transport equation for the rate of dissipation of the turbulent kinetic energy, epsilon, is proposed. The proposed model gives more effective response to the energy production rate than does the standard kappa-epsilon turbulence model. An extra time scale of the production range is included in the dissipation rate equation. This enables the present model to perform equally well for several turbulent flows with different characteristics, e.g., plane and axisymmetric jets, turbulent boundary layer flow, turbulent flow over a backward-facing step, and a confined turbulent swirling flow. A second-order accurate finite difference boundary layer code and a nearly second-order accurate finite difference elliptic flow solver are used for the present numerical computations