Dynamic simulation of task constrained of a rigid-flexible manipulator

A rigid-flexible manipulator may be assigned tasks in a moving environment where the winds or vibrations affect the position and/or orientation of surface of operation. Consequently, losses of the contact and perhaps degradation of the performance may occur as references are changed. When the environment is moving, knowledge of the angle α between the contact surface and the horizontal is required at every instant. In this paper, different profiles for the time varying angle α are proposed to investigate the effect of this change into the contact force and the joint torques of a rigid-flexible manipulator. The coefficients of the equation of the proposed rotating surface are changing with time to determine the new X and Y coordinates of the moving surface as the surface rotates

Thin-shell wormholes from the regular Hayward black hole

We revisit the regular black hole found by Hayward in $4-$dimensional static, spherically symmetric spacetime. To find a possible source for such a spacetime we resort to the non-linear electrodynamics in general relativity. It is found that a magnetic field within this context gives rise to the regular Hayward black hole. By employing such a regular black hole we construct a thin-shell wormhole for the case of various equations of state on the shell. We abbreviate a general equation of state by $p=\psi \left( \sigma \right)$ where $p$ is the surface pressure which is the function of the mass density ($\sigma$). In particular, a linear, logarithmic, Chaplygin, etc. forms of equations of state are considered. In each case we study the stability of the thin-shell against linear perturbations. We plot the stability regions by tuning the parameters of the theory. It is observed that the role of the Hayward parameter is to make the TSW more stable. Perturbations of the throat with small velocity condition is also studied. The matter of our TSWs, however, remains to be exotic.Comment: 7 pages 5 figures, extended versio

Evolution of galaxy groups in the Illustris simulation

We present the first study of evolution of galaxy groups in the Illustris simulation. We focus on dynamically relaxed and unrelaxed galaxy groups representing dynamically evolved and evolving galaxy systems, respectively. The evolutionary state of a group is probed from its luminosity gap and separation between the brightest group galaxy and the center of mass of the group members. We find that the Illustris simulation, over-produces large luminosity gap galaxy systems, known as fossil systems, in comparison to observations and the probed semi-analytical predictions. However, this simulation is equally successful in recovering the correlation between luminosity gap and luminosity centroid offset, in comparison to the probed semi-analytic model. We find evolutionary tracks based on luminosity gap which indicate that a large luminosity gap group is rooted in a small luminosity gap group, regardless of the position of the brightest group galaxy within the halo. This simulation helps, for the first time, to explore the black hole mass and its accretion rate in galaxy groups. For a given stellar mass of the brightest group galaxies, the black hole mass is larger in dynamically relaxed groups with a lower rate of mass accretion. We find this consistent with the latest observational studies of the radio activities in the brightest group galaxies in fossil groups. We also find that the IGM in dynamically evolved groups is hotter for a given halo mass than that in evolving groups, again consistent with earlier observational studies.Comment: 10 pages, 10 figures. Accepted for publication in Ap

Self-Optimizing Mechanisms for EMF Reduction in Heterogeneous Networks

This paper focuses on the exposure to Radio Frequency (RF) Electromagnetic Fields (EMF) and on optimization methods to reduce it. Within the FP7 LEXNET project, an Exposure Index (EI) has been defined that aggregates the essential components that impact exposure to EMF. The EI includes, among other, downlink (DL) exposure induced by the base stations (BSs) and access points, the uplink (UL) exposure induced by the devices in communication, and the corresponding exposure time. Motivated by the EI definition, this paper develops stochastic approximation based self-optimizing algorithm that dynamically adapts the network to reduce the EI in a heterogeneous network with macro- and small cells. It is argued that the increase of the small cells' coverage can, to a certain extent, reduce the EI, but above a certain limit, will deteriorate DL QoS. A load balancing algorithm is formulated that adapts the small cell' coverage based on UL loads and a DL QoS indicator. The proof of convergence of the algorithm is provided and its performance in terms of EI reduction is illustrated through extensive numerical simulations

Quasi-dynamic Load and Battery Sizing and Scheduling for Stand-Alone Solar System Using Mixed-integer Linear Programming

Considering the intermittency of renewable energy systems, a sizing and scheduling model is proposed for a finite number of static electric loads. The model objective is to maximize solar energy utilization with and without storage. For the application of optimal load size selection, the energy production of a solar photovoltaic is assumed to be consumed by a finite number of discrete loads in an off-grid system using mixed-integer linear programming. Additional constraints are battery charge and discharge limitations and minimum uptime and downtime for each unit. For a certain solar power profile the model outputs optimal unit size as well as the optimal scheduling for both units and battery charge and discharge (if applicable). The impact of different solar power profiles and minimum up and down time constraints on the optimal unit and battery sizes are studied. The battery size required to achieve full solar energy utilization decreases with the number of units and with increased flexibility of the units (shorter on and off-time). A novel formulation is introduced to model quasi-dynamic units that gradually start and stop and the quasi-dynamic units increase solar energy utilization. The model can also be applied to search for the optimal number of units for a given cost function.Comment: 6 pages, 3 figures, accepted at The IEEE Conference on Control Applications (CCA

Colourings of cubic graphs inducing isomorphic monochromatic subgraphs

A $k$-bisection of a bridgeless cubic graph $G$ is a $2$-colouring of its vertex set such that the colour classes have the same cardinality and all connected components in the two subgraphs induced by the colour classes (monochromatic components in what follows) have order at most $k$. Ban and Linial conjectured that every bridgeless cubic graph admits a $2$-bisection except for the Petersen graph. A similar problem for the edge set of cubic graphs has been studied: Wormald conjectured that every cubic graph $G$ with $|E(G)| \equiv 0 \pmod 2$ has a $2$-edge colouring such that the two monochromatic subgraphs are isomorphic linear forests (i.e. a forest whose components are paths). Finally, Ando conjectured that every cubic graph admits a bisection such that the two induced monochromatic subgraphs are isomorphic. In this paper, we give a detailed insight into the conjectures of Ban-Linial and Wormald and provide evidence of a strong relation of both of them with Ando's conjecture. Furthermore, we also give computational and theoretical evidence in their support. As a result, we pose some open problems stronger than the above mentioned conjectures. Moreover, we prove Ban-Linial's conjecture for cubic cycle permutation graphs. As a by-product of studying $2$-edge colourings of cubic graphs having linear forests as monochromatic components, we also give a negative answer to a problem posed by Jackson and Wormald about certain decompositions of cubic graphs into linear forests.Comment: 33 pages; submitted for publicatio

Why Government Bonds Are Sold by Auction and Corporate Bonds by Posted-Price Selling

When information is costly, a seller may wish to prevent prospective buyers from acquiring information, for the cost of information acquisition is ultimately borne by the seller. A seller can achieve the desired prevention of information acquisition through posted-price selling, by offering prospective buyers a discount that is such as to deter them from gathering information. No such prevention is possible in the case of an auction. Clearly, a discount is costly to the seller. We establish the result that the seller prefers posted-price selling when the cost of information acquisition is high, and auctions when it is low. We view corporate bonds as an instance of the former case, and government bonds as an instance of the latter.Government Bonds; Corporate Bonds; Auctions; Posted-Price Selling; Costly Information

Non-audit service fees and financial reporting quality: a meta-analysis

Auditing as a corporate governance mechanism has attracted considerable research attention. Because of the information asymmetry between corporate managers and outside shareholders, auditors are hired to provide independent assurance that financial statements are prepared following generally accepted accounting principles. The credibility of such assurance depends on the independence, both in fact and in appearance, of the auditor. Over the years, however, the independence of auditors has come under increased scrutiny because of their joint provision of both audit and non-audit services. A sizable literature on the impact of non-audit fees on financial reporting quality has developed. The evidence from this literature, however, remains inconclusive. This paper provides a meta-analysis of the available literature by assessing (a) the net effect of non-audit fees on financial reporting quality, and (b) whether there is homogeneity in the financial reporting quality proxies used in the extant literature. Findings suggest that the level of client-specific non-audit fees is associated with reduced financial reporting quality. However, the underlying studies used to conduct this meta-analysis are not homogenous