The complexity of oblivious plans for orienting and distinguishing polygonal parts

In the problem ofparts feeding we are given a class of feasible operations for reorienting a part, and we are asked to find a fixed sequence of these operations which is guaranteed to bring the part into a known goal orientation from any possible initial orientation. Goldberg addressed this problem in [2], and showed that, for planar polygonal parts, there is always a sequence of simple operations which can be performed by a simple parallel-jaw gripper, which is guaranteed to orient the part (up to symmetry) without the use of any sensor information; he also conjectured thatO(n) steps are sufficient.In this paper we prove Goldberg's conjecture by explicitly constructing plans of at most2n – 1 steps for orienting polygonal parts in this model. We also give a lower bound on the number of steps required for such plans to show that this upper bound is tight.Finally, we extend these results to the problem ofdistinguishing among a finite set of parts using minimal sensing. Specifically, we assume that we are given a set of known polygonal parts, and a parallel-jaw gripper able to sense the distance between its jaws upon closure. We construct a simple oblivious plan of linear complexity which, when presented with a polygonal part, determines the index of this part.This research was supported in part by the NSF under Grant CCR-9207422, and by a Zumberge Fellowship. A preliminary version of this paper appeared in theProceedings of the Fourth Canadian Conference on Computational Geometry [1].     

Effect of gold doping on the superconducting critical temperature and transition width in single-crystal YBa2Cu3Oδ (YBCO)

Single-crystal YBa₂Cu₃O_?δ (YBCO) has been made with some of the copper atoms in the copper-oxygen chains replaced by gold. The samples were made by a flux method. The gold concentration was determined by EDX (energy-dispersive X-ray spectroscopy) as a function of the nominal (i.e., flux) composition. Up to about 4.8% of all the copper atoms can be replaced by gold. The effect of the gold doping on the superconducting transition temperature (T _c ) and the transition width (ΔT _c ) were determined.     

Clinical applications of fundus reflection densitometry

Fundus reflection densitometry or retinal densitometry is a non-invasive technique to examine the visual photopigment kinetics in living eyes. The technique is based on the comparison of the reflected light from the fundus in a fully light adapted eye (when all visual photopigment has been bleached) with the reflected light following complete dark adaptation (when the retina contains its maximum amount of visual photopigment). The technique provides a measure of the density of visual photopigment, its time constant of regeneration, its distribution and spectral characteristics if measured at a series of wavelengths. Fundus reflection densitometry in the human eye was introduced 40 years ago. Presently, it is the only available technique from which direct and objective insight can be obtained into visual photopigment. This knowledge is particularly relevant in eyes where abnormalities of photoreceptor function are suspected. This paper summarizes the current knowledge of fundus reflection densitometry in the diseased and in the aging human retina, gathered over the last 30 years. Considerable improvements of the instrument for clinical purposes have been obtained, and are also discussed.     

Miniaturised two-stage balanced Ku-band CPW MMIC amplifier using impedance transforming couplers

A two-stage balanced Ku-band coplanar waveguide amplifier design is presented which has been miniaturised by using impedance transforming couplers which considerably reduce the required matching networks to the MESFETs. The amplifier, measuring only 2*1.7 mm/sup 2/, exhibits a gain of 13.7 dB with less than +or-0.2 dB of ripple over the range 14-16 GHz.<>     

Impedance, attenuation and power-handling characteristics of doubleL-septa waveguides

Rectangular waveguides with two L-shaped septa attached to the broad walls in antipodal configuration have been shown theoretically by the authors (see ibid. vol.40, no.4, p.777-781, 1992) to be an improved variant of the double T-septa guide having larger cut-off wavelength and broader bandwidth of the dominant TE mode. Numerical data on the attenuation, impedance, and power handling capability of this new type of broadband guide are presented as additional design information     

A methodology for assessing gamebird use of short rotation coppice

Gamebirds provide a considerable incentive to plant and manage new woodlands. The supplementary income thus generated can improve their overall value. Other studies suggest that Short Rotation Coppice (SRC) crops may provide an attractive habitat for some gamebird species and could increase the value of the crop. To investigate this, the use by pheasants and partridge of different types of SRC at one site was assessed.

A method using sand quadrats to record gamebird footprints and hence relative use was developed. Pheasant footprints were recorded more frequently in the quadrats alongside the willow coppice, whereas partridge footprints occurred more frequently alongside the poplar coppice. Footprint analysis offers a reliable method of investigating how gamebirds use different types of SRC within small areas. The results are considered in terms of the placement of short rotation coppice plantations in the landscape to improve their ecological design.     

Surface modification and functionalization of electroactive polymer films via grafting of polyelectrolyte,polyampholyte and polymeric acids

Films of electroactive polymers, such as polyaniline (PAN) in its emeraldine base form, and poly(3-alkylthiophene), poly(3-hexylthiophene) (P6TH), poly(3-octylthiophene) (P8TH), and poly(3-dodecylthiophene) (P12TH) can be readily functionalized via thermal or near ultraviolet-light-induced surface graft copolymerization with monomers of polyelectrolyte, polyampholyte and polymeric acids. The monomers used in the present work include dimethyl sulphate quaternized dimethylamino-ethylmethacrylate (DMAEM·C₂H₆SO₄), 3-dimethyl(methacryloyloxyethyl)ammonium propane sulphonate (DMAPS), acrylic acid (AAc) and a sodium salt of styrene sulphonic acid (NaSS). The surface structures and compositions of the electroactive polymer films after functionalization via graft copolymerization were characterized by angle-resolved X-ray photoelectron spectroscopy. Graft copolymerization of poly(3-alkylthiophene) films, but not PAN films, with the hydrophilic monomers readily results in a stratified surface microstructure arising from the migration of the hydrophilic graft chains beneath a thin surface layer which is much richer in the substrate chains. On the other hand, graft copolymerization of PAN films with AAc and NaSS readily gives rise to a self-protonated (and thus conductive) surface structure.     

Full scale thermal testing of latent heat storage in wallboard

Full scale thermal storage tests were conducted in a room lined with PCM wallboard having latent heat storage capacity. The results were compared with those obtained from tests conducted in a similar room lined with ordinary wallboard. The research showed that PCM wallboard can function efficiently as a thermal storage medium which can be applied to peak load shifting, improved use of waste and solar heat as well as more efficient operation of heating and cooling equipment.     

Impact of microstructure on stability of permanent magnet biasedmagnetoresistive heads

This work pertains to output voltage stability of soft adjacent layer biased magnetoresistive heads with abutted permanent magnetic films for domain stabilization. A micromagnetic model has been developed to study the effect of the permanent magnet film microstructure and the micromagnetic properties of the abutted junction interface on head stability. The impact on head stability is analyzed with respect to interfacial ferromagnetic coupling across the junction interface and intergranular exchange coupling in the permanent magnet films among other film properties