Computational structures for robotic computations

The computational problem of inverse kinematics and inverse dynamics of robot manipulators by taking advantage of parallelism and pipelining architectures is discussed. For the computation of inverse kinematic position solution, a maximum pipelined CORDIC architecture has been designed based on a functional decomposition of the closed-form joint equations. For the inverse dynamics computation, an efficient p-fold parallel algorithm to overcome the recurrence problem of the Newton-Euler equations of motion to achieve the time lower bound of O(log sub 2 n) has also been developed

Damping of antiferromagnetic spin waves by valence fluctuations in the double layer perovskite YBaFe2O5

Inelastic neutron scattering experiments show that spin dynamics in the charge ordered insulating ground state of the double-layer perovskite YBaFe2O5 is well described in terms of eg superexchange interactions. Above the Verwey transition at TV = 308 K, t2g double exchange-type conduction within antiferromagnetic FeO2--BaO--FeO2 double layers proceeds by an electron hopping process that requires a spin flip of the five-fold coordinated Fe ions, costing an energy 5S^2 of approximately 0.1 eV. The hopping process disrupts near-neighbor spin correlations, leading to massive damping of zone-boundary spin waves.Comment: RevTeX, 4 pages, 4 figures, submitted to Phys. Rev. Let

Natural TeV-Scale Left-Right Seesaw for Neutrinos and Experimental Tests

We present a TeV-scale left-right ultraviolet completion of type-I seesaw for neutrino masses based on the $SU(2)_L\times SU(2)_R\times U(1)_{B-L}$ gauge group without parity, which leads to "large" light-heavy neutrino mixing while keeping the neutrino masses small in a natural manner guaranteed by discrete symmetries. We point out specific observable implications of this class of models if the $SU(2)_R$-breaking scale is of order 5 TeV, in searches for lepton flavor violating processes such as $\mu\to e\gamma$, $\mu\to 3 e$ and $\mu-e$ conversion in nuclei, and lepton number violating processes such as neutrinoless double beta decay as well as at the LHC. In particular, if the upper limit on BR$(\mu\to e\gamma)$ improves by one order of magnitude, a large range of the parameters of the model would be ruled out.Comment: 34 pages, 8 figures, 10 tables; some comments and references added; version accepted for publication in Phys. Rev.

Structure of the Partition Function and Transfer Matrices for the Potts Model in a Magnetic Field on Lattice Strips

We determine the general structure of the partition function of the $q$-state Potts model in an external magnetic field, $Z(G,q,v,w)$ for arbitrary $q$, temperature variable $v$, and magnetic field variable $w$, on cyclic, M\"obius, and free strip graphs $G$ of the square (sq), triangular (tri), and honeycomb (hc) lattices with width $L_y$ and arbitrarily great length $L_x$. For the cyclic case we prove that the partition function has the form $Z(\Lambda,L_y \times L_x,q,v,w)=\sum_{d=0}^{L_y} \tilde c^{(d)} Tr[(T_{Z,\Lambda,L_y,d})^m]$, where $\Lambda$ denotes the lattice type, $\tilde c^{(d)}$ are specified polynomials of degree $d$ in $q$, $T_{Z,\Lambda,L_y,d}$ is the corresponding transfer matrix, and $m=L_x$ ($L_x/2$) for $\Lambda=sq, tri (hc)$, respectively. An analogous formula is given for M\"obius strips, while only $T_{Z,\Lambda,L_y,d=0}$ appears for free strips. We exhibit a method for calculating $T_{Z,\Lambda,L_y,d}$ for arbitrary $L_y$ and give illustrative examples. Explicit results for arbitrary $L_y$ are presented for $T_{Z,\Lambda,L_y,d}$ with $d=L_y$ and $d=L_y-1$. We find very simple formulas for the determinant $det(T_{Z,\Lambda,L_y,d})$. We also give results for self-dual cyclic strips of the square lattice.Comment: Reference added to a relevant paper by F. Y. W

On numerical integration and computer implementation of viscoplastic models

Due to the stringent design requirement for aerospace or nuclear structural components, considerable research interests have been generated on the development of constitutive models for representing the inelastic behavior of metals at elevated temperatures. In particular, a class of unified theories (or viscoplastic constitutive models) have been proposed to simulate material responses such as cyclic plasticity, rate sensitivity, creep deformations, strain hardening or softening, etc. This approach differs from the conventional creep and plasticity theory in that both the creep and plastic deformations are treated as unified time-dependent quantities. Although most of viscoplastic models give better material behavior representation, the associated constitutive differential equations have stiff regimes which present numerical difficulties in time-dependent analysis. In this connection, appropriate solution algorithm must be developed for viscoplastic analysis via finite element method

The Neutron Electric Dipole Moment and CP-violating Couplings in the Supersymmetric Standard Model without R-parity

We analyze the neutron electric dipole moment (EDM) in the Minimal Supersymmetric Model with explicit R-parity violating terms. The leading contribution to the EDM occurs at the 2-loop level and is dominated by the chromoelectric dipole moments of quarks, assuming there is no tree-level mixings between sleptons and Higgs bosons or between leptons and gauginos. Based on the experimental constraint on the neutron EDM, we set limits on the imaginary parts of complex couplings ${\lambda'}_{ijk}$ and ${\lambda}_{ijk}$ due to the virtual b-loop or tau-loop.Comment: final manuscript to appear in Phys. Rev. D, 15 pages, latex, 4 figures include

Partition Function Zeros of a Restricted Potts Model on Lattice Strips and Effects of Boundary Conditions

We calculate the partition function $Z(G,Q,v)$ of the $Q$-state Potts model exactly for strips of the square and triangular lattices of various widths $L_y$ and arbitrarily great lengths $L_x$, with a variety of boundary conditions, and with $Q$ and $v$ restricted to satisfy conditions corresponding to the ferromagnetic phase transition on the associated two-dimensional lattices. From these calculations, in the limit $L_x \to \infty$, we determine the continuous accumulation loci ${\cal B}$ of the partition function zeros in the $v$ and $Q$ planes. Strips of the honeycomb lattice are also considered. We discuss some general features of these loci.Comment: 12 pages, 12 figure