Algorithms of motion planning for a six-legged walking machine

This paper investigates algorithms of motion planning for a six-legged walking machine over complex terrain. Application of the Rodrigues-Hamilton parameters for describing the orientation of the body enables one to develop algorithms of motion planning for the body and legs in an absolute coordinate frame with automatic adaptation to the surface. Experiments with a laboratory scale walking machine have demonstrated the efficiency of proposed algorithms. __________ Translated from Fundamentalnaya i Prikladnaya Matematika, Vol. 11, No. 7, pp. 197–206, 2005.     

Variation of the temperature factor of models on a ballistic range

A technique for variation of the temperature factor of free-flight models by varying their initial temperature is described. An experiment on a ballistic range is carried out with a free-flying supersonic blunt cone with a half-angle of 15° at a Mach number of 2.3. The flow at the cone base is studied in the transition range (from the laminar to turbulent flow) of Reynolds numbers. The base flow pattern is determined from the shadowgraphs of the flow about the models. The drag coefficient of the blunt cone at a zero angle of attack is found by processing trajectory data. It is found that the near wake geometries and the drag coefficients of the models tested at the laboratory temperature and a temperature of 120 K differ. Explanations of this effect are given.     

Differentiation of species of the Baccharis genus by HPLC and chemometric methods.

Phytochemical investigation of the aerial parts of three Baccharis species (Asteraceae family) was performed using HPLC and chemometric methods, with the objective of distinguishing between three morphologically very similar species: Baccharis genistelloides Persoon var. trimera (Less.) DC, B. milleflora (Less.) DC and B. articulata (Lam.) Persoon. With the help of Principal Component Analysis (PCA) and variance weights, it was possible to characterize the chromatographic profiles of the alcoholic extracts of the three species. Application of Soft Independent Modeling of Class Analogy (SIMCA) and K-Nearest Neighbor (KNN) methods on a training set of 74 extracts resulted in models that correctly classified all eight samples in an independent test set.     

Diffuse x-ray scattering study of the formation of microdefects in heat-treated dislocation-free large-diameter silicon wafers

Diffuse x-ray scattering (DXS) is used to study the formation of microdefects (MDs) in heat-treated dislocation-free large-diameter silicon wafers with vacancies. The DXS method is shown to be efficient for investigating MDs in silicon single crystals. Specific defects, such as impurity clouds, are found to form in the silicon wafers during low-temperature annealing at 450°C. These defects are oxygen-rich regions in the solid solution with diffuse coherent interfaces. In the following stages of decomposition of the supersaturated solid solution, oxide precipitates form inside these regions and the impurity clouds disappear. As a result of the decomposition of the supersaturated solid solution of oxygen, interstitial MDs form in the silicon wafers during multistep heat treatment. These MDs lie in the {110} planes and have nonspherical displacement fields. The volume density and size of MDs forming in the silicon wafers at various stages of the decomposition are determined.     

A numerical study of time-dependent schr?dinger equation for multiphoton vibrational interaction of NO molecule, modelled as Morse oscillator, with intense far-infrared femtosecond lasers

For the NO molecule, modelled as a Morse oscillator, time-dependent (TD) nuclear Schr?dinger equation has been numerically solved for the multiphoton vibrational dynamics of the molecule under a far-infrared laser of wavelength 10503 nm, and four different intensities,I = 1 × 10⁸, 1 × 10¹³, 5 × 10¹⁶, and 5 × 10¹⁸ W cm⁻² respectively. Starting from the vibrational ground state at zero time, various TD quantities such as the norm, dissociation probability, potential energy curve and dipole moment are examined. Rich high-harmonics generation (HHG) spectra and above-threshold dissociation (ATD) spectra, due to the multiphoton interaction of vibrational motions with the laser field, and consequent elevation to the vibrational continuum, have been obtained and analysed. Dedicated to Professor C N R Rao on his 70th birthday An erratum to this article is available at .     

Two observations about free graded hopf algebras

This paper records two results about graded Hopf algebras that do not appear to be stated explicitly in the literature. Let B be a graded set, graded by the positive integers. Let V be the graded vector space with basis B over a field K of characteristic zero and V^'=K⊕V, where K is in grading zero. Let L ne the free graded Lie algebra on B over K and let T be the free graded tensor algebra on B. The first result is the "graded Witt formula" giving the dimension of the subspace of L in each grading. The second result is the observation that any graded coassociative, co-commutative comultiplication Δ:V^'→V^'⊗V^', with co-unit the projection V¹→K. extends to a graded Hopf algebra structure on T that is in fact isomorphic to the natural graded Hopf algebra structure on T. In the ungraded case the statement analogous to the second result is false.