Magneto-inductive skin sensor for robot collision avoidance: A new development

Safety is a primary concern for robots operating in space. The tri-mode sensor addresses that concern by employing a collision avoidance/management skin around the robot arms. This rf-based skin sensor is at present a dual mode (proximity and tactile). The third mode, pyroelectric, will complement the other two. The proximity mode permits the robot to sense an intruding object, to range the object, and to detect the edges of the object. The tactile mode permits the robot to sense when it has contacted an object, where on the arm it has made contact, and provides a three-dimensional image of the shape of the contact impression. The pyroelectric mode will be added to permit the robot arm to detect the proximity of a hot object and to add sensing redundancy to the two other modes. The rf-modes of the sensing skin are presented. These modes employ a highly efficient magnetic material (amorphous metal) in a sensing technique. This results in a flexible sensor array which uses a primarily inductive configuration to permit both capacitive and magnetoinductive sensing of object; thus optimizing performance in both proximity and tactile modes with the same sensing skin. The fundamental operating principles, design particulars, and theoretical models are provided to aid in the description and understanding of this sensor. Test results are also given

A magneto-sensitive skin for robots in space

The development of a robot arm proximity sensing skin that can sense intruding objects is described. The purpose of the sensor would be to prevent the robot from colliding with objects in space including human beings. Eventually a tri-mode system in envisioned including proximity, tactile, and thermal. To date the primary emphasis was on the proximity sensor which evolved from one based on magneto-inductive principles to the current design which is based on a capacitive-reflector system. The capacitive sensing element, backed by a reflector driven at the same voltage and in phase with the sensor, is used to reflect field lines away from the grounded robot toward the intruding object. This results in an increased sensing range of up to 12 in. with the reflector on compared with only 1 in. with it off. It is believed that this design advances the state-of-the-art in capacitive sensor performance

Geometric Network Creation Games

Network Creation Games are a well-known approach for explaining and analyzing the structure, quality and dynamics of real-world networks like the Internet and other infrastructure networks which evolved via the interaction of selfish agents without a central authority. In these games selfish agents which correspond to nodes in a network strategically buy incident edges to improve their centrality. However, past research on these games has only considered the creation of networks with unit-weight edges. In practice, e.g. when constructing a fiber-optic network, the choice of which nodes to connect and also the induced price for a link crucially depends on the distance between the involved nodes and such settings can be modeled via edge-weighted graphs. We incorporate arbitrary edge weights by generalizing the well-known model by Fabrikant et al.[PODC'03] to edge-weighted host graphs and focus on the geometric setting where the weights are induced by the distances in some metric space. In stark contrast to the state-of-the-art for the unit-weight version, where the Price of Anarchy is conjectured to be constant and where resolving this is a major open problem, we prove a tight non-constant bound on the Price of Anarchy for the metric version and a slightly weaker upper bound for the non-metric case. Moreover, we analyze the existence of equilibria, the computational hardness and the game dynamics for several natural metrics. The model we propose can be seen as the game-theoretic analogue of a variant of the classical Network Design Problem. Thus, low-cost equilibria of our game correspond to decentralized and stable approximations of the optimum network design.Comment: Accepted at 31st ACM Symposium on Parallelism in Algorithms and Architectures (SPAA '19). 33 pages, 11 figure

Single grain (LRE)-Ba-Cu-O superconductors fabricated by top seeded melt growth in air

We have recently reported a practical processing method for the fabrication in air of large, single grain (LRE)-Ba-Cu-O [where LRE Nd, Sm, Eu and Gd] bulk superconductors that exhibit high Tc and high Jc. The process is based initially on the development of a new type of generic seed crystal that can promote effectively the epitaxial nucleation of any (RE)-Ba-Cu-O system and, secondly, by suppressing the formation of (LRE)/Ba solid solution in a controlled manner within large LRE-Ba-Cu-O grains processed in air. In this paper we investigate the degree of homogeneity of large grain Sm-Ba-Cu-O superconductors fabricated by this novel process. The technique offers a significant degree of freedom in terms of processing parameters and reproducibility in the growth of oriented single grains in air and yields bulk samples with significantly improved superconducting and field-trapping properties compared to those processed by conventional top seeded melt growth (TSMG)

Multiwavelength Study of NGC 281 Region

We present a multiwavelength study of the NGC 281 complex which contains the young cluster IC 1590 at the center, using deep wide-field optical UBVI_c photometry, slitless spectroscopy along with archival data sets in the near-infrared (NIR) and X-ray. The extent of IC 1590 is estimated to be ~6.5 pc. The cluster region shows a relatively small amount of differential reddening. The majority of the identified young stellar objects (YSOs) are low mass PMS stars having age <1-2 Myr and mass 0.5-3.5 M_\odot. The slope (\Gamma) of the mass function for IC 1590, in the mass range 2 < M/M_\odot \le 54, is found to be -1.11+-0.15. The slope of the K-band luminosity function (0.37+-0.07) is similar to the average value (~0.4) reported for young clusters. The distribution of gas and dust obtained from the IRAS, CO and radio maps indicates clumpy structures around the central cluster. The radial distribution of the young stellar objects, their ages, \Delta(H-K) NIR-excess, and the fraction of classical T Tauri stars suggest triggered star formation at the periphery of the cluster region. However, deeper optical, NIR and MIR observations are needed to have a conclusive view of star formation scenario in the region. The properties of the Class 0/I and Class II sources detected by using the Spitzer mid-infrared observations indicate that a majority of the Class II sources are X-ray emitting stars, whereas X-ray emission is absent from the Class 0/I sources. The spatial distribution of Class 0/I and Class II sources reveals the presence of three sub-clusters in the NGC 281 West region.Comment: 29 pages, 21 figures and 11 tables, Accepted for the publication in PAS

Young stellar population and ongoing star formation in the HII complex Sh2-252

In this paper an extensive survey of the star forming complex Sh2-252 has been undertaken with an aim to explore its hidden young stellar population as well as to understand the structure and star formation history. This complex is composed of five embedded clusters associated with the sub-regions A, C, E, NGC 2175s and Teu 136. Using 2MASS-NIR and Spitzer-IRAC, MIPS photometry we identified 577 young stellar objects (YSOs), of which, 163 are Class I, 400 are Class II and 14 are transition disk YSOs. Spatial distribution of the candidate YSOs shows that they are mostly clustered around the sub-regions in the western half of the complex, suggesting enhanced star formation activity towards its west. Using the spectral energy distribution and optical colour-magnitude diagram based age analyses, we derived probable evolutionary status of the sub-regions of Sh2-252. Our analysis shows that the region A is the youngest (~ 0.5 Myr), the regions B, C and E are of similar evolutionary stage (~ 1-2 Myr) and the clusters NGC 2175s and Teu 136 are slightly evolved (~ 2-3 Myr). Morphology of the region in the 1.1 mm map shows a semi-circular shaped molecular shell composed of several clumps and YSOs bordering the western ionization front of Sh2-252. Our analyses suggest that next generation star formation is currently under way along this border and that possibly fragmentation of the matter collected during the expansion of the HII region as one of the major processes responsible for such stars. We observed the densest concentration of YSOs (mostly Class I, ~ 0.5 Myr) at the western outskirts of the complex, within a molecular clump associated with water and methanol masers and we suggest that it is indeed a site of cluster formation at a very early evolutionary stage, sandwiched between the two relatively evolved CHII regions A and B.Comment: 19 pages, 13 figures, Accepted for publication in MNRA