Lensing clusters of galaxies in the SDSS-III

We identify new strong lensing clusters of galaxies from the Sloan Digital Sky Survey III (SDSS DR8) by visually inspecting color images of a large sample of clusters of galaxies. We find 68 new clusters showing giant arcs in addition to 30 known lensing systems. Among 68 cases, 13 clusters are "almost certain" lensing systems with tangential giant arcs, 22 clusters are "probable" and 31 clusters are "possible" lensing systems. We also find two exotic systems with blue rings. The giant arcs have angular separations of 2.0"-25.7" from the bright central galaxies. We note that the rich clusters are more likely to be lensing systems, and the separations between arcs and the central galaxies increase with cluster richness.Comment: 13 pages, 6 figures, 1 table; accepted for publication in RAA, corrected typo

Automatic collision avoidance of ships

One of the key elements in automatic simulation of ship manoeuvring in confined waterways is route finding and collision avoidance. This paper presents a new practical method of automatic trajectory planning and collision avoidance based on an artificial potential field and speed vector. Collision prevention regulations and international navigational rules have been incorporated into the algorithm. The algorithm is fairly straightforward and simple to implement, but has been shown to be effective in finding safe paths for all ships concerned in complex situations. The method has been applied to some typical test cases and the results are very encouraging

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

Symmetries of coupled harmonic oscillators

It is shown that the system of two coupled harmonic oscillators possesses many interesting symmetries. It is noted that the symmetry of a single oscillator is that of the three-parameter group Sp(2). Thus two uncoupled oscillator exhibits a direct product of two Sp(2) groups, with six parameters. The coupling can be achieved through a rotation in the two-dimensional space of two oscillator coordinates. The closure of the commutation relations for the generators leads to the ten-parameter group Sp(4) which is locally isomorphic to the deSitter group O(3,2)

Boundary conditions in the Dirac approach to graphene devices

We study a family of local boundary conditions for the Dirac problem corresponding to the continuum limit of graphene, both for nanoribbons and nanodots. We show that, among the members of such family, MIT bag boundary conditions are the ones which are in closest agreement with available experiments. For nanotubes of arbitrary chirality satisfying these last boundary conditions, we evaluate the Casimir energy via zeta function regularization, in such a way that the limit of nanoribbons is clearly determined.Comment: 10 pages, no figure. Section on Casimir energy adde