We have presented a novel approach to parallel motion planning for robot manipulators in 3D workspaces. The approach is based on arandomized parallel search algorithm and focuses on solving the path planning problem for industrial robot arms working in a reasonably cluttered workspace. The path planning system works in the discretized con guration space, which needs not to be represented explicitly. The parallel search is conducted by a number of rule-based sequential search processes, which work to find a path connecting the initial con guration to the goal via a number of randomly generated subgoal con gurations. Since the planning performs only on-line collision tests with proper proximity information without using pre-computed information, the approach is suitable for planning problems with multirobot or dynamic environments. The implementation has been carried outontheparallel virtual machine (PVM) of a cluster of SUN4 workstations and SGI machines. The experimental results have shown that the approach works well for a 6-dof robot arm in a reasonably cluttered environment, and that parallel computation increases the e ciency of motion planning signi cantly.
The paper studies the effect of a weak periodic driving on metastable Wannier-Stark states. The decay rate of the ground Wannier-Stark states as a continuous function of the driving frequency is calculated numerically. The theoretical results are compared with experimental data of Wilkinson et at. [Phys.Rev.Lett.76, 4512 (1996)] obtained for cold sodium atoms in an accelerated optical lattice.
The statistics of the resonance widths and the behavior of the survival probability is studied in a particular model of quantum chaotic scattering (a particle in a periodic potential subject to static and time-periodic forces) introduced earlier in Ref. [5,6]. The coarse-grained distribution of the resonance widths is shown to be in good agreement with the prediction of Random Matrix Theory (RMT). The behavior of the survival probability shows, however, some deviation from RMT.
We study the transitions between the ground and excited Wannier states induced by a weak ac field. Because the upper Wannier states are several order of magnitude less stable than the ground states, these transitions decrease the global stability of the system characterized by the rate of probability leakage or decay rate. Using nonhermitian resonant perturbation theory we obtain an analytical expression for this induced decay rate. The analytical results are compared with exact numerical calculations of the system decay rate.
The quasienergy spectrum of a Bloch electron affected by dc-ac fields is known to have a fractal structure as function of the so-called electric matching ratio, which is the ratio of the ac field frequency and the Bloch frequency. This paper studies a manifestation of the fractal nature of the spectrum in the system "atom in a standing laser wave", which is a quantum optical realization of a Bloch electron. It is shown that for an appropriate choice of the system parameters the atomic survival probability (a quantity measured in laboratory experiments) also develops a fractal structure as a function of the electric matching ratio. Numerical simulations under classically chaotic scattering conditions show good agreement with theoretical predictions based on random matrix theory.
Ein Teilaspekt der formalen Logik besteht in der Untersuchung wie die logischen Konsequenzen (insbesondere die Tautologien) einer vorgegebenen Formelmenge unter Verwendung gewisser Reglements schrittweise hergeleitet werden können. Hierbei ist die Logik bestimmt durch eine konsequente Trennung von Syntax und Semantik. Diese Abhandlung stellt exemplarisch das Tableau-Kalkül und das Kalkül des natürlichen Schließens vor.
Several activities around the world aim at integrating object-oriented data models with relational ones in order to improve database management systems. As a first result of these activities, object-relational database management systems (ORDBMS) are already commercially available and, simultaneously, are subject to several research projects. This (position) paper reports on our activities in exploiting object-relational database technology for establishing repository manager functionality supporting software engineering (SE) processes. We argue that some of the key features of ORDBMS can directly be exploited to fulfill many of the needs of SE processes. Thus, ORDBMS, as we think, are much better suited to support SE applications than any others. Nevertheless, additional functionality, e. g., providing adequate version management, is required in order to gain a completely satisfying SE repository. In order to remain flexible, we have developed a generative approach for providing this additional functionality. It remains to be seen whether this approach, in turn, can effectively exploit ORDBMS features. This paper, therefore, wants to show that ORDBMS can substantially contribute to both establishing and running SE repositories.
Static and dynamic properties of patterned magnetic permalloy films are investigated. In square lattices of circular shaped permalloy dots an anisotropic coupling mechanism has been found, which is identified as being due to intrinsically unsaturated parts of the dots caused by spatial variations of demagnetizing field. In arrays of magnetic wires a quantization of the surface spin wave mode in several dispersionless modes is observed and quantitatively described. For large wavevectors the frequency separation between the modes becomes smaller and the frequencies converge to the dispersion of the dipole-exchange surface mode of a continuous film.