In this paper, we propose a reactive algorithm for a dual arm aerial robot during its navigation phase. This algorithm takes into account not only the aerial platform dynamics but also the constraints imposed by the dual-arm manipulator. The UAV is fully and continuously controlled using velocity commands but the arms are only allowed to move between a set of predefined configurations. The arms...

In 2018, a test run with muons in the North Area at CERN was performed, running parasitically downstream of COMPASS spectrometer. The aim to investigate elastic interactions on atomic electrons, an experimental configuration similar one proposed by project MUonE, which plans perform very precise measurement differential cross-section interactions. taking data 190 GeV pion beam, stopped tungsten...

We consider the cosmological constraints on the holographic dark energy model by using the data set available from the type Ia supernovae (SNIa), CMB and BAO observations. The constrained parameters are critical to determine the quintessence or quintom character the model. The SNIa and joint SNIa+CMB+BAO analysis give the best-fit results for β with priors on Ωm0 and ω0. Using montecarlo we obt...

Given a set of nodes, where each pair of nodes is connected by several paths and each path shows a stochastic travel cost with unknown distribution, the multipath Traveling Salesman Problem (TSP) with stochastic travel costs aims at finding an expected minimum Hamiltonian tour connecting all nodes. Under a mild assumption on the unknown probability distribution a deterministic approximation of ...

In this paper we report on the first two years of running the CERN testbed site for the EU DataGRID project. The site consists of about 120 dual-processor PCs distributed over several testbeds used for different purposes: software development, system integration, and application tests. Activities at the site included test productions of MonteCarlo data for LHC experiments, tutorials and demonst...

Complexation of a polyelectrolyte with an oppositely charged spherical macroion is studied for both salt free and salty solutions. When a polyelectrolyte winds around the macroion, its turns repel each other and form an almost equidistant solenoid. It is shown that this repulsive correlations of turns lead to the charge inversion: more polyelectrolyte winds around the macroion than it is necess...

From the study of the multiple muon events in deep underground detectors, it is possible to extract information about the spectrum and composition of the primary cosmic rays. In this work the number of TeV muons produced by a primary cosmic ray of a given energy and zenith angle is computed using analytic and montecarlo methods, for a family of simplified models as description of the properties...

The global illumination or transport problems can also be considered as a sequence of integrals, while its MonteCarlo solutions as different sampling techniques. Multiple importance sampling takes advantage of different sampling strategies and combines the results obtained with them. In this paper we propose the combination of very different global illumination algorithms in a way that their st...