Manipulability in trajectory tracking for constrained redundant manipulators via sequential quadratic programming

Trajectory tracking methods for constrained redundant manipulators are presented in this thesis, where the end-effector of a redundant serial manipulator has to track a desired trajectory while some points on its kinematic chain satisfy one or more constraints. In addition, two manipulability indexes are taken into account in order to optimize the trajectory. The first index is defined in terms of the geometric Jacobian of the manipulator in the constrained configuration. The second index is based on the constrained Jacobian, which maps velocities from joint space to task space, taking into account the holonomic constraints. Three methods for solving the trajectory tracking problem are discussed. The first two, kinematic control (KC) and quadratic programming (QP), are widely discussed in literature. The third, sequential quadratic programming (SQP), is a new approach, unlike KC or QP, has as advantages (despite some shortcomings) not explicitly depend on pseudoinverse Jacobian, derivative from the desired trajectory and linearization of indexes or constraints. A discussion of these three methods is presented in terms of tracking error, constraint violation, singularity distance, among others through experiments performed on a Baxter collaborative robot.Métodos de rastreamento de trajetória para manipuladores redundantes restritos são apresentados nesta tese, onde o efetuador de um manipulador serial redundante tem que rastrear uma trajetória desejada enquanto alguns pontos em sua cadeia cinemática satisfazem uma ou mais restrições. Além disso, dois índices de manipulabilidade são levados em consideração a fim de otimizar a trajetória para evitar singularidades. O primeiro índice é definido em função do jacobiano geométrico do manipulador na configuração restrita. O segundo índice é baseado no Jacobiano restrito, o qual mapeia velocidades no espaço das juntas para a espaço da tarefa, levando em conta as restrições holonômicas. Três métodos para resolver o problema de rastreamento de trajetória são discutidos. Os dois primeiros, controle cinemático e programação quadrática (QP), são amplamente discutidos na literatura. O terceiro, programação quadrática sequencial (SQP), é uma nova abordagem, diferentemente do controle cinemático ou QP, tem como vantagens (apesar de algumas deficiências) não depender explicitamente da pseudo-inversa de jacobianos, derivadas da trajetória desejada e linearização de índices ou restrições. Uma discussão desses três métodos é apresentada em termos de erro de rastreamento, violação da restrição, distância de singularidades, entre outros através de experimentos realizados em um robô colaborativo Baxter

Sound synchronization of bubble trains in a viscous fluid : Experiment and modeling

Acknowledgements: We thank the São Paulo State Agency FAPESP and the Federal Brazilian Agency CNPq for the financial support. M.S.B. acknowledges EPSRC Grant No. EP/IO32606/1.Peer reviewedPublisher PD

Probing the infrared quark mass from highly excited baryons

We argue that three-quark excited states naturally group into quartets, split into two parity doublets, and that the mass splittings between these parity partners decrease higher up in the baryon spectrum. This decreasing mass difference can be used to probe the running quark mass in the mid-infrared power-law regime. A measurement of masses of high-partial wave Delta* resonances should be sufficient to unambiguously establish the approximate degeneracy. We test this concept with the first computation of excited high-j baryon masses in a chirally invariant quark model.Comment: 4 pages, 4 figures. submitted to Phys Rev Letter

Using highly excited baryons to catch the quark mass

Chiral symmetry in QCD can be simultaneously in Wigner and Goldstone modes, depending on the part of the spectrum examined. The transition regime between both, exploiting for example the onset of parity doubling in the high baryon spectrum, can be used to probe the running quark mass in the mid-IR power-law regime. In passing we also argue that three-quark states naturally group into same-flavor quartets, split into two parity doublets, all splittings decreasing high in the spectrum. We propose that a measurement of masses of high-partial wave Delta* resonances should be sufficient to unambiguously establish the approximate degeneracy and see the quark mass running. We test these concepts with the first computation of the spectrum of high-J excited baryons in a chiral-invariant quark model.Comment: 6 pages, 9 figures, To appear in the proceedings of the 19th International IUPAP Conference on Few-Body Problems in Physics; added acknowledgment, hyphenized author nam

Mapping chiral symmetry breaking in the excited baryon spectrum

We study the conjectured "Insensitivity to Chiral Symmetry Breaking" in the highly excited light baryon spectrum. While the experimental spectrum is being measured at JLab and CBELSA/TAPS, this insensitivity remains to be computed theoretically in detail. As the only existing option to have both confinement, highly excited states and chiral symmetry, we adopt the truncated Coulomb gauge formulation of QCD, considering a linearly confining Coulomb term. Adopting a systematic and numerically intensive variational treatment up to 12 harmonic oscillator shells we are able to access several angular and radial excitations. We compute both the excited spectra of $I=1/2$ and $I=3/2$ baryons, up to large spin $J=13/2$, and study in detail the proposed chiral multiplets. While the static-light and light-light spectra clearly show chiral symmetry restoration high in the spectrum, the realization of chiral symmetry is more complicated in the baryon spectrum than earlier expected.Comment: 22 pages, 16 figures, submitted to Phys. Rev.

Excited baryons as experimental probes of the quark mass

We observe that excited hadrons provide an opportunity to probe from experiment the power-law running of the quark mass in the mid infrared, while the condition m(k)<k remains valid. A relatively clean analysis is possible for the maximum spin excitations of the Delta baryons, analogous to the yrast states in nuclei. Such states are accessible at current experimental facilities such as ELSA and Jlab.Comment: 6 pages, 2 figures, proceedings of ExcitedQCD, Zakopane, Poland

Time evolution of the behaviour of Brazilian legislative Representatives using a complex network approach

The follow up of Representative behavior after elections is imperative for a democratic Representative system, at the very least to punish betrayal with no re-election. Our goal was to show how to follow Representatives' and how to show behavior in real situations and observe trends in political crises including the onset of game changing political instabilities. We used correlation and correlation distance matrices of Brazilian Representative votes during four presidential terms. Re-ordering these matrices with Minimal Spanning Trees displays the dynamical formation of clusters for the sixteen year period, which includes one Presidential impeachment. The reordered matrices, colored by correlation strength and by the parties clearly show the origin of observed clusters and their evolution over time. When large clusters provide government support cluster breaks, political instability arises, which could lead to an impeachment, a trend we observed three years before the Brazilian President was impeached. We believe this method could be applied to foresee other political storms.Comment: 11 pages, 4 Figure

On the distribution of an effective channel estimator for multi-cell massive MIMO

Accurate channel estimation is of utmost importance for massive MIMO systems to provide significant improvements in spectral and energy efficiency. In this work, we present a study on the distribution of a simple but yet effective and practical channel estimator for multi-cell massive MIMO systems suffering from pilot-contamination. The proposed channel estimator performs well under moderate to aggressive pilot contamination scenarios without previous knowledge of the inter-cell large-scale channel coefficients and noise power, asymptotically approximating the performance of the linear MMSE estimator as the number of antennas increases. We prove that the distribution of the proposed channel estimator can be accurately approximated by the circularly-symmetric complex normal distribution, when the number of antennas, M, deployed at the base station is greater than 10

An Efficient FPGA-Based Frequency Shifter for LTE/LTE-A Systems

The Physical Random Access Channel plays an important role in LTE and LTE-A systems. Through this channel, the user equipment aligns its uplink transmissions to the eNodeB’s uplink and gains access to the network. One of the initial operations executed by the receiver at eNodeB side is the translation of the channel’s signal back to base-band. This operation is a necessary step for preamble detection and can be executed through a time-domain frequency-shift operation. Therefore, in this paper, we present the hardware architecture and design details of an optimised and configurable FPGA-based time-domain frequency shifter. The proposed architecture is based on a customised Numerically Controlled Oscillator that is employed for creating complex exponential samples using only plain logical resources. The main advantage of the proposed architecture is that it completely removes the necessity of saving in memory a huge number of long complex exponentials by making use of a Look-Up Table and exploiting the quarter-wave symmetry of the basis waveform. The results demonstrate that the proposed architecture provides high Spurious Free Dynamic Range signals employing only a minimal number of FPGA resources. Additionally, the proposed architecture presents spur-suppression ranging from 62.13 to 153.58 dB without employing any correction