Large deflection dynamics and control for planar continuum robots

This paper focuses on a class of robot manipulators termed "continuum" robots - robots that exhibit behavior similar to tentacles, trunks, and snakes. In previous work, we studied details of the mechanical design, kinematics, path-planning and small-deflection dynamics for continuum robots such as the Clemson "tentacle manipulator". In this paper, we discuss the dynamics of a planar continuum backbone section, incorporating a large-deflection dynamic model. Based on these dynamics, we formulate a vibration-damping setpoint controller, and include experimental results to illustrate the efficacy of the proposed controller.     

A comparison of CCS tandem overload controls

In this paper we analyse issues associated with overloads in tandem switching systems in Common Channel Signalling (CCS) networks. In particular, we examine the need for, and effectiveness of, Automatic Congestion Control (ACC), a CCS mechanism which allows a congested switching system to inform adjacent CCS nodes of its level of overload, and subsequently controls the rate at which traffic is sent to the congested node. We demonstrate the critical need for end-offices and tandem switching systems to implement some form of ACC if network performance is to be maintained during congestion, especially in tandem exchanges. In addition, we find that the presently defined ACC should be expanded to allow more levels of congestion to be reported to adjacent nodes, so that a more effective, finer grained control is produced.     

GaN and AlGaN high-voltage rectifiers grown by metal-organic chemical-vapor deposition

In this paper, we report the study of the electrical characteristics of GaN and AlGaN vertical p-i-n junctions and Schottky rectifiers grown on both sapphire and SiC substrates by metal-organic chemical-vapor deposition. For GaN p-i-n rectifiers grown on SiC with a relatively thin “i” region of 2 μm, a breakdown voltage over 400 V, and forward voltage as low as 4.5 V at 100 A/cm² are exhibited for a 60-μm-diameter device. A GaN Schottky diode with a 2-μm-thick undoped layer exhibits a blocking voltage in excess of ∼230 V at a reverse-leakage current density below 1 mA/cm², and a forward-voltage drop of 3.5 V at a current density of 100 A/cm². It has been found that with the same device structure and process approach, the leakage current of a device grown on a SiC substrate is much lower than a device grown on a sapphire substrate. The use of Mg ion implantation for p-guard rings as planar-edge terminations in mesageometry GaN Schottky rectifiers has also been studied.     

Diffeomorphism finiteness for manifolds with ricci curvature andL n/2-norm of curvature bounded

Partially supported by NSF Grants.     

Stability of a Model of Relativistic Quantum Electrodynamics

The relativistic “no pair” model of quantum electrodynamics uses the Dirac operator, D(A) for the electron dynamics together with the usual self-energy of the quantized ultraviolet cutoff electromagnetic field A– in the Coulomb gauge. There are no positrons because the electron wave functions are constrained to lie in the positive spectral subspace of some Dirac operator, D, but the model is defined for any number, N, of electrons, and hence describes a true many-body system. In addition to the electrons there are a number, K, of fixed nuclei with charges ≤Z. If the fields are not quantized but are classical, it was shown earlier that such a model is always unstable (the ground state energy E=−∞) if one uses the customary D(0) to define the electron space, but is stable (E > − const.(N+K)) if one uses D(A) itself (provided the fine structure constant α and Z are not too large). This result is extended to quantized fields here, and stability is proved for α= 1/137 and Z≤ 42. This formulation of QED is somewhat unusual because it means that the electron Hilbert space is inextricably linked to the photon Fock space. But such a linkage appears to better describe the real world of photons and electrons. Received: 8 September 2001 / Accepted: 18 March 2002     

The universality of equivariant complex bordism

We show that if A is an abelian compact Lie group, all A-equivariant complex vector bundles are orientable over a complex orientable equivariant cohomology theory. In the process, we calculate the complex orientable homology and cohomology of all complex Grassmannians. Received: 14 February 2000; in final form: 4 August 2000 / Published online: 19 October 2001