The Microscopic Origin of the Macroscopic Dielectric Permittivity of Crystals: A Mathematical Viewpoint

The purpose of this paper is to provide a mathematical analysis of the Adler-Wiser formula relating the macroscopic relative permittivity tensor to the microscopic structure of the crystal at the atomic level. The technical level of the presentation is kept at its minimum to emphasize the mathematical structure of the results. We also briefly review some models describing the electronic structure of finite systems, focusing on density operator based formulations, as well as the Hartree model for perfect crystals or crystals with a defect.Comment: Proceedings of the Workshop "Numerical Analysis of Multiscale Computations" at Banff International Research Station, December 200

Quasi Optimal Gait of a Biped Robot with a Rolling Knee Kinematic

In this paper, we address the problem of optimization of trajectories for a new class of biped robot. The knees of this biped are similar as the anthropomorphic one and have a rolling contact between the femur and the tibia. The robot has seven mechanical links and six actuators. The walking gait considered is a succession of single support phase (SSP) and impact of the mobile foot with the ground. Cubic uniform spline functions defined on a time interval express the gait for one step. An energy consumption function and a torques quadratic function are used to compare the new robot with anthropomorphic knees to a conventional robot with revolute joint knees. The minimization of the criteria is made with simplex algorithm. The physical constraints concerning the ZMP and the mobile foot behavior are respectively checked to make a step. Simulation results show that the energy consumption of the new biped with rolling knee contact is less than that of the robot with revolute joint knees.ANR R2A

Influence of frictions on gait optimization of a biped robot with an anthropomorphic knee

This paper presents the energy consumption of a biped robot with a new modelled structure of knees which is called rolling knee (RK). The dynamic model, the actuators and the friction coefficients of the gear box are known. The optimal energy consumption can also be calculated. The first part of the paper is to validate the new kinematic knee on a biped robot by comparing the energy consumption during a walking step of the identical biped but with revolute joint knees. The cyclic gait is given by a succession of Single Support Phase (SSP) followed by an impact. The gait trajectories are parameterized by cubic spline functions. The energetic criterion is minimized through optimization while using the simplex algorithm and Lagrange penalty functions to meet the constraints of stability and deflection of the mobile foot. An analysis of the friction coefficients is done by simulation to compare the human characteristics to the robot with RK. The simulation results show an energy consumption reduction through the biped with rolling knee configuration. The influence of friction coefficients shows the energy consumption of biped robot is close to that of the human.ANR-09-SEGI-011-R2A2; French National Research Agenc

Quasi optimal sagittal gait of a biped robot with a new structure of knee joint

The design of humanoid robots has been a tricky challenge for several years. Due to the kinematic complexity of human joints, their movements are notoriously difficult to be reproduced by a mechanism. The human knees allow movements including rolling and sliding, and therefore the design of new bioinspired knees is of utmost importance for the reproduction of anthropomorphic walking in the sagittal plane. In this article, the kinematic characteristics of knees were analyzed and a mechanical solution for reproducing them is proposed. The geometrical, kinematic and dynamic models are built together with an impact model for a biped robot with the new knee kinematic. The walking gait is studied as a problem of parametric optimization under constraints. The trajectories of walking are approximated by mathematical functions for a gait composed of single support phases with impacts. Energy criteria allow comparing the robot provided with the new rolling knee mechanism and a robot equipped with revolute knee joints. The results of the optimizations show that the rolling knee brings a decrease of the sthenic criterion. The comparisons of torques are also observed to show the difference of energy distribution between the actuators. For the same actuator selection, these results prove that the robot with rolling knees can walk longer than the robot with revolute joint knees.ANR R2A

The Electronic Ground State Energy Problem: a New Reduced Density Matrix Approach

We present here a formulation of the electronic ground-state energy in terms of the second order reduced density matrix, using a duality argument. It is shown that the computation of the ground-state energy reduces to the search of the projection of some two-electron reduced Hamiltonian on the dual cone of $N$-representability conditions. Some numerical results validate the approach, both for equilibrium geometries and for the dissociation curve of N$_2$

Dual and anti-dual modes in dielectric spheres

We present how the angular momentum of light can play an important role to induce a dual or anti-dual behaviour on a dielectric particle. Although the material the particle is made of is not dual, i.e. a dielectric does not interact with an electrical field in the same way as it does with a magnetic one, a spherical particle can behave as a dual system when the correct excitation beam is chosen. We study the conditions under which this induced dual or anti-dual behaviour can be induced.Comment: 13 pages, 5 figure

Enabling JXTA for High Performance Grid Computing

Grid computing has recently emerged as a response to the growing demand for resources (processing power, storage, etc.) exhibited by scientific applications. However, as grid sizes increase, the need for self-organization and dynamic reconfigurations is becoming more and more important. Since such properties are exhibited by P2P systems, the convergence of grid computing and P2P computing seems natural. However, using P2P systems (usually running on the Internet) on a grid infrastructure (generally available as a federation of SAN-based clusters interconnected by high-bandwidth WANs) may raise the issue of the adequacy of the P2P communication mechanisms. This paper evaluates the communication performance of the JXTA P2P library over SANs and WANs, for both J2SE and C bindings. We analyze these results and we evaluate solutions able to improve the performance of JXTA on such grid infrastructures