This paper deals with the simulation of oo-road robots while taking into account the mechanical behavior of the locomotion system and its interaction with its environment. This interaction is studied and discussed for diierent behaviors of wheel-soil contact. The analysis considers phenomena of slips, of soil shear deformations, of soil compaction and wheel elastic deformation. Wheel-soil conta...

Fermat and Mersenne N T T s are relatively easy to implement, but unsuitable for many DSP applications, due to small block length over wordlength. This paper presents VLSI design techniques appropriate for a wider range of N T T s , including maximum-length N T T s , and presents a systolic architecture exploiting blocklength factorisation to decompose the architecture into sub-modules, themsel...

Using an artificial H I Lyα spectrum we simulate the corresponding He II forest with fixed values of η and a Doppler parameter consisting of a thermal and a turbulent part. In addition metal lines with line strengths and line density as expected in the case of HS 1700+6416 are superimposed. FUSE-like noise is added. The analysis of the simulated spectra in terms of Doppler profiles recovers the...

With the increasing in uence of the resistive e ects of interconnects on the performance of VLSI systems, a greater stress is being laid on careful interconnect design. One prominent technique is the approach of sizing wires for long interconnects to achieve the desired speed and power characteristics [1{4]. It has also been suggested that one may appropriately insert repeaters [5] for signi ca...

1 At local spatial scales, species richness tends to fall as productivity rises. Most explanations have focused on increased extinction, but, instead, we test experimentally whether increased soil fertility reduces recruitment. Specifically, we test whether variation in recruitment is due to source limitation, germination limitation or establishment limitation, and how litter accumulation and s...

This paper offers an informal theory of fractal poverty traps that lead to chronic poverty at multiple scales of socio-spatial aggregation. Poverty traps result from nonlinear processes at individual, household, community, national and international scales that cause the coexistence of high and low equilibrium levels of productivity and income and high and low rates of economic growth. Multiple...

Extreme storms and storm surges may induce major changes along sandy barrier coastlines, potentially causing substantial environmental and economic damage.We show that themost destructive storm (the 1634 AD storm) documented for the northern Wadden Sea within the last thousand years both caused permanent barrier breaching and initiated accumulation of up to several metres of marine sand. An agg...

As semiconductor technology enters the deep submicron em, reliability has become a major challenge in the design and manufacturing of next generation VLSI circuits. .ln this paper we focus on one reliability issue the antenna effect in the context of s-layer channel routing. We first present an antenna effect model in Z-layer channel routing and, based on this, an antenna effect cost function i...

The deposition of energy into the solar wind beyond 1 AU is thought to result from the dissipation of low frequency magnetohydrodynamic (MHD) turbulence via kinetic processes at spatial scales comparable to the ion gyroradius. Beyond 1 AU, solar wind turbulence is comprised of both a decaying component generated in the corona and turbulence generated dynamically in situ by processes such as str...

BACKGROUND Changes of health and quality-of-life in chronic conditions are mostly small and require specific and sensitive instruments. The aim of this study was to determine and compare responsiveness, i.e. the sensitivity to change of five outcome instruments for effect measurement in chronic pain. METHODS In a prospective cohort study, 273 chronic pain patients were assessed on the Numeric...