Collision-free inverse kinematics of the redundant seven-link manipulator used in a cucumber picking robot

The paper presents results of research on an inverse kinematics algorithm that has been used in a functional model of a cucumber-harvesting robot consisting of a redundant P6R manipulator. Within a first generic approach, the inverse kinematics problem was reformulated as a non-linear programming problem and solved with a Genetic Algorithm (GA). Although solutions were easily obtained, the considerable calculation time needed to solve the problem prevented on-line implementation. To circumvent this problem, a second, less generic, approach was developed which consisted of a mixed numerical-analytic solution of the inverse kinematics problem exploiting the particular structure of the P6R manipulator. Using the latter approach, calculation time was considerably reduced. During the early stages of the cucumber-harvesting project, this inverse kinematics algorithm was used off-line to evaluate the ability of the robot to harvest cucumbers using 3D-information obtained from a cucumber crop in a real greenhouse. Thereafter, the algorithm was employed successfully in a functional model of the cucumber harvester to determine if cucumbers were hanging within the reachable workspace of the robot and to determine a collision-free harvest posture to be used for motion control of the manipulator during harvesting. The inverse kinematics algorithm is presented and demonstrated with some illustrative examples of cucumber harvesting, both off-line during the design phase as well as on-line during a field test

Collision-free inverse kinematics of a 7 link cucumber picking robot

The paper presents results of research on inverse kinematics algorithms to be used in a functional model of a cucumber harvesting robot consisting of a redundant manipulator with one prismatic and six rotational joints (P6R). Within a first generic approach, the inverse kinematics problem was reformulated as a non-linear programming problem and solved with a generic algorithm. Solutions were easily obtained, but the considerable calculation time needed to solve the problem prevented on line implementation. To circumvent this problem, a second, less generic approach was developed consisting of a mixed numerical-analytic solution of the inverse kinematics problem exploiting the particular structure of the P6R manipulator. This approach facilitated rapid and robust calculation of the inverse kinematics of the cucumber harvester. During the early stages of the cucumber harvesting project, this inverse kinematics algorithm was used to off-line evaluate the ability of the robot to harvest cucumbers using 3D-information of a cucumber crop obtained in a real greenhouse. Thereafter, the algorithm was employed successfully in a functional model of the cucumber harvester to determine if cucumbers were hanging within the reachable workspace of the robot and to determine a collision-free harvest posture to be used for motion control of the manipulator during harvesting

Renormalization Group Approach to Generalized Cosmological models

We revisit here the problem of generalized cosmology using renormalization group approach. A complete analysis of these cosmologies, where specific models appear as asymptotic fixed-points, is given here along with their linearized stability analysis.Comment: 10 pages, to appear in the International Journal of Theoretical Physic

Generalized Assisted Inflation

We obtain a new class of exact cosmological solutions for multi-scalar fields with exponential potentials. We generalize the assisted inflation solutions previously obtained, and demonstrate how they are modified when there exist cross-couplings between the fields, such as occur in supergravity inspired cosmological models.Comment: 5 page

Applications of scalar attractor solutions to Cosmology

We develop a framework to study the phase space of a system consisting of a scalar field rolling down an arbitrary potential with varying slope and a background fluid, in a cosmological setting. We give analytical approximate solutions of the field evolution and discuss applications of its features to the issues of quintessence, moduli stabilisation and quintessential inflation.Comment: 9 pages, 7 figures. Accepted for publication in PR

Quintessence arising from exponential potentials

We demonstrate how exponential potentials that could arise in the early Universe as a result of Kaluza-Klein type compactifications of string theory, can lead to cosmological solutions which correspond to the currently observed accelerating Universe. The idea is simple, relying solely on the known scaling properties associated with exponential potentials. In particular we show that the existence of stable attractor solutions implies that the results hold for a wide range of coupling constants and initial conditions.Comment: 4 pages, 3 figures, published versio

A new view of k-essence

K-essence models, relying on scalar fields with non-canonical kinetic terms, have been proposed as an alternative to quintessence in explaining the observed acceleration of the Universe. We consider the use of field redefinitions to cast k-essence in a more familiar form. While k-essence models cannot in general be rewritten in the form of quintessence models, we show that in certain dynamical regimes an equivalence can be made, which in particular can shed light on the tracking behaviour of k-essence. In several cases, k-essence cannot be observationally distinguished from quintessence using the homogeneous evolution, though there may be small effects on the perturbation spectrum. We make a detailed analysis of two k-essence models from the literature and comment on the nature of the fine tuning arising in the models.Comment: 7 pages RevTeX4 file with four figures incorporate

Cosmological Evolution of Brane World Moduli

We study cosmological consequences of non-constant brane world moduli in five dimensional brane world models with bulk scalars and two boundary branes. We focus on the case where the brane tension is an exponential function of the bulk scalar field, $U_b \propto \exp{(\alpha \phi)}$. In the limit $\alpha \to 0$, the model reduces to the two-brane model of Randall-Sundrum, whereas larger values of $\alpha$ allow for a less warped bulk geometry. Using the moduli space approximation, we derive the four-dimensional low-energy effective action from a supergravity-inspired five-dimensional theory. For arbitrary values of $\alpha$, the resulting theory has the form of a bi-scalar-tensor theory. We show that, in order to be consistent with local gravitational observations, $\alpha$ has to be small (less than $10^{-2}$) and the separation of the branes must be large. We study the cosmological evolution of the interbrane distance and the bulk scalar field for different matter contents on each branes. Our findings indicate that attractor solutions exist which drive the moduli fields towards values consistent with observations. The efficiency of the attractor mechanism crucially depends on the matter content on each branes. In the five-dimensional description, the attractors correspond to the motion of the negative tension brane towards a bulk singularity, which signals the eventual breakdown of the four-dimensional description and the necessity of a better understanding of the bulk singularity.Comment: 18 pages, 10 figures, typos and factor of 2 corrected, version to appear in Physical Review

Cosmology from Moduli Dynamics

We investigate moduli field dynamics in supergravity/M-theory like set ups where we turn on fluxes along some or all of the extra dimensions. As has been argued in the context of string theory, we observe that the fluxes tend to stabilize the squashing (or shape) modes. Generically we find that at late times the shape is frozen while the radion evolves as a quintessence field. At earlier times we have a phase of radiation domination where both the volume and the shape moduli are slowly evolving. However, depending on the initial conditions and the parameters of the theory, like the value of the fluxes, curvature of the internal manifold and so on, the dynamics of the internal manifold can be richer with interesting cosmological consequences, including inflation.Comment: 38 pages, 6 figures; references adde

Cosmological Tracking Solutions

A substantial fraction of the energy density of the universe may consist of quintessence in the form of a slowly-rolling scalar field. Since the energy density of the scalar field generally decreases more slowly than the matter energy density, it appears that the ratio of the two densities must be set to a special, infinitesimal value in the early universe in order to have the two densities nearly coincide today. Recently, we introduced the notion of tracker fields to avoid this initial conditions problem. In the paper, we address the following questions: What is the general condition to have tracker fields? What is the relation between the matter energy density and the equation-of-state of the universe imposed by tracker solutions? And, can tracker solutions explain why quintessence is becoming important today rather than during the early universe