Mobile robots with reconfigurable chassis are able to traverse unstructured outdoor environments boulders or rubble, and overcome challenging structures in urban environments, like stairs steps. Autonomously traversing rough terrain such obstacles while ensuring the safety of robot is a task mobile robotics. In this paper we introduce two-phase motion planning algorithm for actively tracked robots. We first use completeness graph search on regular grid quickly find an initial path low...

We present quantum Monte Carlo (QMC) simulations for a single hole in $t\ensuremath{-}J$ model from $J=0.4t$ to $J=4t$ on square lattices with up $24\ifmmode\times\else\texttimes\fi{}24$ sites. The lower edge of the spectrum is directly extracted imaginary time Green's function. In agreement earlier calculations, we find flat bands around $(0,\ifmmode\pm\else\textpm\fi{}\ensuremath{\pi}),$ $(\ifmmode\pm\else\textpm\fi{}\ensuremath{\pi},0)$ and minimum dispersion at...

Mathematical models of degradation-relaxation kinetics are considered for jammed thick-film systems composed screen-printed spinel Cu0.1Ni0.1Co1.6Mn1.2O4 and conductive Ag or Ag-Pd alloys. Structurally intrinsic nanoinhomogeneous ceramics due to diffusing agents embedded in a phase environment shown define governing thermally induced degradation under 170 °C obeying an obvious non-exponential behavior negative relative resistance drift. The characteristic stretched-to-compressed exponential...

Temperature sensitive thick films based on spinel-type semiconducting ceramics of different chemical composition Cu 0.1 Ni Co 1.6 Mn 1.2 O 4 (with p + -types electrical conductivity), 0.8 0.2 1.9 p-types conductivity) and their multilayer -p structures were fabricated studied.These thick-film elements possess good electrophysical characteristics before after long-term ageing test at 170 • C. It is shown that degradation processes connected with diffusion metallic Ag into film grain...

Temperature sensitive thick films based on spinel-type NiMn2O4-CuMn2O4-MnCo2O4 manganites with p- and p+-types of electrical conductivity their multilayer p+-p structures were studied. These thick-film elements possess good electrophysical characteristics before after long-term ageing test at 170 °C. It is shown that degradation processes connected diffusion metallic Ag into film grain boundaries occur in one-layer p-and p+-conductive films. Some part the high stability, relative drift being...

Integrated temperature-humidity-sensitive thick-film structures based on spinel-type semiconducting ceramics of different chemical compositions and magnesium aluminate were prepared studied. It is shown that temperature-sensitive possess good electrophysical characteristics in the region from 298 to 358 K. The change electrical resistance integrated 1 order, but these elements are stable time can be successfully used for sensor applications.

ABSTRACT An experimental arrangement was constructed which is based on the open-loop femurtibia control system of two stick insect species (Carausius morosus and Cuniculina impigra). It could be artificially closed in following way: position tibia measured by an optical device this value used to drive a penmotor moved receptor apodeme femoral chordotonal organ same way as intact animals. This allows direct comparison behaviour closed-loop well introducing additional delay. The Carausius has...

Due to the advancements of robotic systems, they are able be employed in more unstructured outdoor environments. In such environments robot–terrain interaction becomes a highly non-linear function. Several methods were proposed estimate interaction: machine learning methods, iterative geometric quasi-static and fully dynamic physics simulations. However, best our knowledge there has been no systematic evaluation comparing those methods. this paper, we present newly developed contact point...

In disaster scenarios, mobile robots can be employed in hazardous environments where it is too dangerous for human rescuers. Robotic systems assist rescue personnel as they used to explore those inaccessible areas and assess the situation. Tracked platforms with actuators have been proven well suited such deployments because are agile enough overcome quite challenging terrain. A very demanding task operators navigation of robotic system complex environments. Hence, an important capability...

We consider a driven quantum particle in the strong friction regime described by Smoluchowski equation. derive Crooks and Jarzynski type relations for reduced system properly generalizing entropy production to take into account non-Gibbsian character of equilibrium distribution. In case nonequilibrium steady state, we obtain version Hatano-Sasa relation. further propose an experiment with Josephson junctions that would allow investigate fluctuations overdamped systems.

Path integral Monte Carlo simulations have been performed for U(1) lattice gauge theory in 2+1 dimensions on anisotropic lattices. We extract the static quark potential, string tension and low-lying ``glueball'' spectrum. The Euclidean mass gap decrease exponentially at weak coupling excellent agreement with predictions of Polyakov G\"opfert Mack, but their magnitudes are five times bigger than predicted. Extrapolations made to extreme or Hamiltonian limit, comparisons previous estimates...

Looking at the mobility of robots and their chassis most are limited to fairly flat environments. In urban environments common structures such as steps or stairs pose invincible obstacles for systems. When it comes unstructured outdoor a vast variety is imaginable which not traversable by robots, instance boulders, debris, rocks trunks fallen chopped trees. However, there mobile with adjustable providing higher degree enabling them overcome obstacles. This paper presents first results on our...

The dynamics of a single hole in the $t\ensuremath{-}J$ model on two- (2LL) and three- (3LL) leg ladders is studied using recently developed quantum Monte Carlo algorithm. For 2LL it shown that addition to most pronounced features spectral function, well described by limit strong coupling along rungs, clear shadow band appears antibonding channel. Moreover, both bonding its have finite quasiparticle (QP) weight thermodynamic limit. rungs 3LL, low-energy spectrum antisymmetric channel similar...

Two different ways of preparing the oxide barrier in tunneling junctions on Ta and Nb yield conductance-voltage characteristics. While a ’’dirty’’ preparation method with atmospheric air as an oxidation medium leads to strongly polarity-dependent but temperature-independent characteristics, we find rather symmetric voltage-dependent temperature-dependent (hence ’’low-quality’’) characteristics when is performed pure oxygen dc plasma discharge. High or low quality former latter case,...