An Algorithm for Computing Four-Ramond Vertices at Arbitrary Level

We perform the sewing of two (dual) Ramond reggeon vertices and derive an algorithm by means of which the so obtained four-Ramond reggeon vertex may be explicitly computed at arbitrary oscillator (mass) level. A closed form of the four-vertex is then deduced on the basis of a comparison to all terms obtained by sewing that contain only level zero and one oscillators. Results are presented for both complex fermions and for the previously studied case of real fermions.Comment: 31 pages, Latex, Goteborg ITP 92-5

The Twisted String Vertex Algorithm Applied to the Z2Z_2-Twisted Scalar String Four Vertex

Recently an algorithm was found by means of which one can calculate terms at arbitrary oscillator level in the four-Ramond vertex obtained by sewing. Here we show that this algorithm is applicable also to the case of ${\bf Z}_2$-twisted scalars and derive the full propagator for scalars on the Riemann sphere with two branch cuts. The relation to similar results previously derived in the literature by other means is discussed briefly.Comment: 18 pages (LaTeX), G\"oteborg ITP 94-

Connected component identification and cluster update on GPU

Cluster identification tasks occur in a multitude of contexts in physics and engineering such as, for instance, cluster algorithms for simulating spin models, percolation simulations, segmentation problems in image processing, or network analysis. While it has been shown that graphics processing units (GPUs) can result in speedups of two to three orders of magnitude as compared to serial codes on CPUs for the case of local and thus naturally parallelized problems such as single-spin flip update simulations of spin models, the situation is considerably more complicated for the non-local problem of cluster or connected component identification. I discuss the suitability of different approaches of parallelization of cluster labeling and cluster update algorithms for calculations on GPU and compare to the performance of serial implementations.Comment: 15 pages, 14 figures, one table, submitted to PR

A Multi-Robot Cooperation Framework for Sewing Personalized Stent Grafts

This paper presents a multi-robot system for manufacturing personalized medical stent grafts. The proposed system adopts a modular design, which includes: a (personalized) mandrel module, a bimanual sewing module, and a vision module. The mandrel module incorporates the personalized geometry of patients, while the bimanual sewing module adopts a learning-by-demonstration approach to transfer human hand-sewing skills to the robots. The human demonstrations were firstly observed by the vision module and then encoded using a statistical model to generate the reference motion trajectories. During autonomous robot sewing, the vision module plays the role of coordinating multi-robot collaboration. Experiment results show that the robots can adapt to generalized stent designs. The proposed system can also be used for other manipulation tasks, especially for flexible production of customized products and where bimanual or multi-robot cooperation is required.Comment: 10 pages, 12 figures, accepted by IEEE Transactions on Industrial Informatics, Key words: modularity, medical device customization, multi-robot system, robot learning, visual servoing, robot sewin

A Multi-Robot Cooperation Framework for Sewing Personalized Stent Grafts

This paper presents a multi-robot system for manufacturing personalized medical stent grafts. The proposed system adopts a modular design, which includes: a (personalized) mandrel module, a bimanual sewing module, and a vision module. The mandrel module incorporates the personalized geometry of patients, while the bimanual sewing module adopts a learning-by-demonstration approach to transfer human hand-sewing skills to the robots. The human demonstrations were firstly observed by the vision module and then encoded using a statistical model to generate the reference motion trajectories. During autonomous robot sewing, the vision module plays the role of coordinating multi-robot collaboration. Experiment results show that the robots can adapt to generalized stent designs. The proposed system can also be used for other manipulation tasks, especially for flexible production of customized products and where bimanual or multi-robot cooperation is required.Comment: 10 pages, 12 figures, accepted by IEEE Transactions on Industrial Informatics, Key words: modularity, medical device customization, multi-robot system, robot learning, visual servoing, robot sewin

Simplicial Nonlinear Principal Component Analysis

We present a new manifold learning algorithm that takes a set of data points lying on or near a lower dimensional manifold as input, possibly with noise, and outputs a simplicial complex that fits the data and the manifold. We have implemented the algorithm in the case where the input data can be triangulated. We provide triangulations of data sets that fall on the surface of a torus, sphere, swiss roll, and creased sheet embedded in a fifty dimensional space. We also discuss the theoretical justification of our algorithm.Comment: 21 pages, 6 figure

Fuzzy logic based control strategies for an electromagnetic actuated sewing machine presser foot

Comunicação apresentada na International Conference on Industrial Technology, Hammamet, Tunisia, 8 - 10 Dezembro 2004.Industrial sewing machines have been significantly improved in recent years and especially electronic sewing control is now being introduced. This study concerns the development of a controller for an electromagnetically actuated presser foot. The controller is responsible for controlling the vertical movement of the presser foot. This is an important point since the presser foot tends to bounce at high sewing speeds, resulting in irregular seams. In this study a fuzzy logic controller was used. The reference displacement value is set up by an adaptive method in order to respect changes on the number of plies. The tested fuzzy logic controller allows a better performance of the control especially in relation with different fabrics. During this study another control strategy was considered. This control strategy combines a PI-algorithm with a fuzzy logic controller. Yet, the controller restricts the use of new fabrics, which have not been defined in advance. This aspect will be a major point in the future development in order to recognize the fabrics during sewing and to adapt the controller adequately.(undefined