based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. in this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. the state space representatio...

This paper suggests a numerical model of the Gleissberg cycle based on a spherical shell dynamo. The formulation of the problem includes a description both of the rotation law and of the hydromagnetic dynamo. The suggested model allows the Gleissberg cycle to be interpreted as resulting from the magnetic feedback on the angular momentum fluxes which maintain the rotation law in the shell. The p...

A theoretically exact computational boundary is introduced, that is based on modal residual potentials for the spherical geometry. The boundary produces a set of first-order, uncoupled ordinary differential equations for nodal boundary responses, and a set of uncoupled time-stepping equations for modal boundary responses. The two sets are coupled through nodal-modal transformation based on the ...

It is shown that lattice codes can achieve capacity on the additive white Gaussian noise channel. More precisely, for any rate R less than capacity and > 0, there exists a lattice code with rate no less than R and average error probability upper-bounded by : These lattice codes include all points of the (translated) lattice within the spherical bounding region (not just the ones inside a thin s...

We present the design of a spherical imaging system with the following properties: (i) A 4π field of view that enables it to “see” in all directions; (ii) a single center of projection to avoid parallax within the field of view; and (iii) a uniform spatial and angular resolution in order to achieve a uniform sampling of the field of view. Our design consists of a spherical (ball) lens encased w...

Most of biological cells have microvilli on their surfaces, which significantly influence their dielectric properties. The complex permittivity of a cubical system containing a spherical cell model with cylindrical projections was calculated over a frequency range of 10 kHz to 100 MHz using three-dimensional finite-element method. The spectra of the complex permittivity consisted of lowand high...