This paper gives an overview on our framework for efficient collision detection in robotic applications. It unifies different data structures and algorithms that are optimized for Graphics Processing Unit (GPU) architectures. A speed-up in various planning scenarios is achieved by utilizing storage structures that meet specific demands of typical use-cases like mobile platform planning or full body planning. The system is also able to monitor the execution of motion trajectories for intruding dynamic obstacles and triggers a replanning or stops the execution. The presented collision detection is deployed in local dynamic planning with live pointcloud data as well as in global a-priori planning. Three different mobile manipulation scenarios are used to evaluate the performance of our approach.
We report on absolute ab-plane reflectivity measurements of the single-layer high-T, superconductor T12BazCu06+& in both the normal and superconducting states. The reflectivity has been measured from 40 to 40000 crn and the optical conductivity has been calculated from Kramers-Kronig analysis. The unusual form of the low-frequency reflectivity leads to an intense low-frequency feature in the optical conductivity. In the superconducting state, the spectral weight is strongly suppressed at frequencies below -800 cm ' due to the formation of a superfluid fraction. The value of the London penetration depth has been estimated to be 2400 0 200 A, larger than that from muon-spin-resonance (pSR) experiments.
The synthesis and transport properties of the salts (TTF) (iodine)x have been investigated. These salts are quasi-one-dimensional compounds containing cation radicals only, in contrast to the cation radical–anion radical systems such as (TTF)(TCNQ). The phase diagram of (TTF)(I)x is discussed, and found to consist of two conducting, stoichiometric phases, x=2.0 and 3.0, and two nonconducting, nonstoichiometric phases, x=0.71 and 2.3. The transport properties of (TTF)(I)0.71 are discussed in detail. This phase is highly conducting, σRT∼350 Ω−1⋅cm−1, undergoes a sharp transition to a less conducting state at ∼210 °K, and exhibits an unusual hysteresis in some of the transport properties upon thermal cycling. The nature of the high temperature ground state is examined.
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