56,474 research outputs found
Collision-free trajectory planning algorthm for manipulators
Collision-free trajectory planning for robotic manipulators is investigated. The task of the manipulator is to move its end-effector from one point to another point in an environment with polyhedral obstacles. An on-line algorithm is developed based on finding the required joint angles of the manipulator, according to goals with different priorities. The highest priority is to avoid collisions, the second priority is to plan the shortest path for the end effector, and the lowest priority is to minimize the joint velocity for smooth motion. The pseudo-inverse of the Jacobian matrix is applied for inverse kinematics. When a possible collision is detected, a constrained inverse kinematic problem is solved such that the collision is avoided. This algorithm can also be applied to a time-variant environment
Effect of distribution of stickers along backbone on temperature-dependent structural properties in associative polymer solutions
Effect of distribution of stickers along the backbone on structural
properties in associating polymer solutions is studied using self-consistent
field lattice model. Only two inhomogeneous morphologies, i.e.,
microfluctuation homogenous (MFH) and micelle morphologies, are observed. If
the system is cooled, the solvent content within the aggregates decreases. When
the spacing of stickers along the backbone is increased the
temperature-dependent range of aggregation in MFH morphology and half-width of
specific heat peak for homogenous solutions-MFH transition increase, and the
symmetry of the peak decreases. However, with increasing spacing of stickers,
the above three corresponding quantities related to micelles behave
differently. It is demonstrated that the broad nature of the observed
transitions can be ascribed to the structural changes which accompany the
replacement of solvents in aggregates by polymer, which is consistent with the
experimental conclusion. It is found that different effect of spacing of
stickers on the two transitions can be interpreted in terms of intrachain and
interchain associations.Comment: 10 pages, 4 figures. arXiv admin note: text overlap with
arXiv:1202.459
Generating EPR beams in a cavity optomechanical system
We propose a scheme to produce continuous variable entanglement between
phase-quadrature amplitudes of two light modes in an optomechanical system. For
proper driving power and detuning, the entanglement is insensitive with bath
temperature and of mechanical oscillator. Under realistic experimental
conditions, we find that the entanglement could be very large even at room
temperature.Comment: 4.1 pages, 4 figures, comments are welcome; to appear in PRA,
published version with corrections of typo
A note on modular forms and generalized anomaly cancellation formulas
By studying modular invariance properties of some characteristic forms, we
prove some new anomaly cancellation formulas which generalize the Han-Zhang and
Han-Liu-Zhang anomaly cancellation formula
Thermal and non-thermal emission in the Cygnus X region
Radio continuum observations detect non-thermal synchrotron and thermal
bremsstrahlung radiation. Separation of the two different emission components
is crucial to study the properties of diffuse interstellar medium. The Cygnus X
region is one of the most complex areas in the radio sky which contains a
number of massive stars and HII regions on the diffuse thermal and non-thermal
background. More supernova remnants are expected to be discovered. We aim to
develop a method which can properly separate the non-thermal and thermal radio
continuum emission and apply it to the Cygnus X region. The result can be used
to study the properties of different emission components and search for new
supernova remnants in the complex. Multi-frequency radio continuum data from
large-scale surveys are used to develop a new component separation method.
Spectral analysis is done pixel by pixel for the non-thermal synchrotron
emission with a realistic spectral index distribution and a fixed spectral
index of beta = -2.1 for the thermal bremsstrahlung emission. With the new
method, we separate the non-thermal and thermal components of the Cygnus X
region at an angular resolution of 9.5arcmin. The thermal emission component is
found to comprise 75% of the total continuum emission at 6cm. Thermal diffuse
emission, rather than the discrete HII regions, is found to be the major
contributor to the entire thermal budget. A smooth non-thermal emission
background of 100 mK Tb is found. We successfully make the large-extent known
supernova remnants and the HII regions embedded in the complex standing out,
but no new large SNRs brighter than Sigma_1GHz = 3.7 x 10^-21 W m^-2 Hz^-1
sr^-1 are found.Comment: 9 pages, 5 figures, accepted by A&A. The quality of the figures is
reduced due to file size limit of the websit
The Sender-Excited Secret Key Agreement Model: Capacity, Reliability and Secrecy Exponents
We consider the secret key generation problem when sources are randomly
excited by the sender and there is a noiseless public discussion channel. Our
setting is thus similar to recent works on channels with action-dependent
states where the channel state may be influenced by some of the parties
involved. We derive single-letter expressions for the secret key capacity
through a type of source emulation analysis. We also derive lower bounds on the
achievable reliability and secrecy exponents, i.e., the exponential rates of
decay of the probability of decoding error and of the information leakage.
These exponents allow us to determine a set of strongly-achievable secret key
rates. For degraded eavesdroppers the maximum strongly-achievable rate equals
the secret key capacity; our exponents can also be specialized to previously
known results.
In deriving our strong achievability results we introduce a coding scheme
that combines wiretap coding (to excite the channel) and key extraction (to
distill keys from residual randomness). The secret key capacity is naturally
seen to be a combination of both source- and channel-type randomness. Through
examples we illustrate a fundamental interplay between the portion of the
secret key rate due to each type of randomness. We also illustrate inherent
tradeoffs between the achievable reliability and secrecy exponents. Our new
scheme also naturally accommodates rate limits on the public discussion. We
show that under rate constraints we are able to achieve larger rates than those
that can be attained through a pure source emulation strategy.Comment: 18 pages, 8 figures; Submitted to the IEEE Transactions on
Information Theory; Revised in Oct 201
Colloidal Electrostatic Interactions Near a Conducting Surface
Charge-stabilized colloidal spheres dispersed in deionized water are supposed
to repel each other. Instead, artifact-corrected video microscopy measurements
reveal an anomalous long-ranged like-charge attraction in the interparticle
pair potential when the spheres are confined to a layer by even a single
charged glass surface. These attractions can be masked by electrostatic
repulsions at low ionic strengths. Coating the bounding surfaces with a
conducting gold layer suppresses the attraction. These observations suggest a
possible mechanism for confinement-induced attractions.Comment: 4 pages, 2 figure
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