Control of Cooperating Mobile Manipulators

We describe a framework and control algorithms for coordinating multiple mobile robots with manipulators focusing on tasks that require grasping, manipulation and transporting large and possibly flexible objects without special purpose fixtures. Because each robot has an independent controller and is autonomous, the coordination and synergy are realized through sensing and communication. The robots can cooperatively transport objects and march in a tightly controlled formation, while also having the capability to navigate autonomously. We describe the key aspects of the overall hierarchy and the basic algorithms, with specific applications to our experimental testbed consisting of three robots. We describe results from many experiments that demonstrate the ability of the system to carry flexible boards and large boxes as well as the system’s robustness to alignment and odometry errors

Design and Control of a Compliant Parallel Manipulator

We describe a novel design for a compliant arm that can be mounted on a mobile robot. Because the arm is compliant, a mobile robot can manipulate or interact with objects that are not precisely positioned in the environment. The main features of the arm are the in-parallel architecture and a novel control scheme that allows us to easily control the Cartesian stiffness or impedance in the plane. Springs are added in series to the limbs of the parallel manipulator. We analyze one limb and the manipulator to determine its performance when either controlling the force applied to an object or controlling its stiffness. Further, we present experimental results that show the performance of the compliant arm

Important Considerations in Force Control With Applications to Multi-Arm Manipulation

This paper addresses force control in overconstrained dynamic systems with special emphasis on robot control and multiarm coordination. Previous approaches to force control are studied and many of these are shown to be unsuitable for dynamic force control. Practical and theoretical considerations for designing force control algorithms are discussed. Experimental and simulation results that validate the theoretical findings are presented for a single-degree-of-freedom pneumatic force controller. Finally the theoretical development of a two-arm manipulation system with an extended statespace formulation and a computer simulation of the system are presented to illustrate the application of the basic ideas to a more complicated system

Implications of non-feasible transformations among icosahedral hh orbitals

The symmetric group $S_6$ that permutes the six five-fold axes of an icosahedron is introduced to go beyond the simple rotations that constitute the icosahedral group $I$. Owing to the correspondence $h\leftrightarrow d$, the calculation of the Coulomb energies for the icosahedral configurations $h^N$ based on the sequence $O(5) \supset S_6 \supset S_5 \supset I$ can be brought to bear on Racah's classic theory for the atomic d shell based on $SO(5) \supset SO_L(3) \supset I$. Among the elements of $S_6$ is the kaleidoscope operator ${\cal K}$ that rotates the weight space of SO(5) by $\pi/2$. Its use explains some puzzling degeneracies in d^3 involving the spectroscopic terms ^2P, ^2F, ^2G and ^2H.Comment: Tentatively scheduled to appear in Physical Preview Letters Apr 5, 99. Revtex, 1 ps figur

Validating Ionospheric Models Against Technologically Relevant Metrics

New, open access tools have been developed to validate ionospheric models in terms of technologically relevant metrics. These are ionospheric errors on GPS 3D position, HF ham radio communications, and peak F-region density. To demonstrate these tools, we have used output from Sami is Another Model of the Ionosphere (SAMI3) driven by high-latitude electric potentials derived from Active Magnetosphere and Planetary Electrodynamics Response Experiment, covering the first available month of operation using Iridium-NEXT data (March 2019). Output of this model is now available for visualization and download via https://sami3.jhuapl.edu. The GPS test indicates SAMI3 reduces ionospheric errors on 3D position solutions from 1.9 m with no model to 1.6 m on average (maximum error: 14.2 m without correction, 13.9 m with correction). SAMI3 predicts 55.5% of reported amateur radio links between 2–30 MHz and 500–2,000 km. Autoscaled and then machine learning “cleaned” Digisonde NmF2 data indicate a 1.0 × 1011 el. m3 median positive bias in SAMI3 (equivalent to a 27% overestimation). The positive NmF2 bias is largest during the daytime, which may explain the relatively good performance in predicting HF links then. The underlying data sources and software used here are publicly available, so that interested groups may apply these tests to other models and time intervals.</p

Light pseudoscalar decay constants, quark masses, and low energy constants from three-flavor lattice QCD

As part of our program of lattice simulations of three flavor QCD with improved staggered quarks, we have calculated pseudoscalar meson masses and decay constants for a range of valence quark masses and sea quark masses on lattices with lattice spacings of about 0.125 fm and 0.09 fm. We fit the lattice data to forms computed with staggered chiral perturbation theory. Our results provide a sensitive test of the lattice simulations, and especially of the chiral behavior, including the effects of chiral logarithms. We find: f_\pi=129.5(0.9)(3.5)MeV, f_K=156.6(1.0)(3.6)MeV, and f_K/f_\pi=1.210(4)(13), where the errors are statistical and systematic. Following a recent paper by Marciano, our value of f_K/f_\pi implies |V_{us}|=0.2219(26). Further, we obtain m_u/m_d= 0.43(0)(1)(8), where the errors are from statistics, simulation systematics, and electromagnetic effects, respectively. The data can also be used to determine several of the constants of the low energy effective Lagrangian: in particular we find 2L_8-L_5=-0.2(1)(2) 10^{-3} at chiral scale m_\eta. This provides an alternative (though not independent) way of estimating m_u; 2L_8-L_5 is far outside the range that would allow m_u=0. Results for m_s^\msbar, \hat m^\msbar, and m_s/\hat m can be obtained from the same lattice data and chiral fits, and have been presented previously in joint work with the HPQCD and UKQCD collaborations. Using the perturbative mass renormalization reported in that work, we obtain m_u^\msbar=1.7(0)(1)(2)(2)MeV and m_d^\msbar=3.9(0)(1)(4)(2)MeV at scale 2 GeV, with errors from statistics, simulation, perturbation theory, and electromagnetic effects, respectively.Comment: 86 pages, 22 figures. v3: Remarks about m_u=0 and the strong CP problem modified; reference added. Figs 5--8 modified for clarity. Version to be published in Phys. Rev. D. v2: Expanded discussion of finite volume effects, normalization in Table I fixed, typos and minor errors correcte

Large-scale Breit-Pauli R-matrix calculations for transition probabilities of Fe V

Ab initio theoretical calculations are reported for the electric (E1) dipole allowed and intercombination fine structure transitions in Fe V using the Breit-Pauli R-matrix (BPRM) method. We obtain 3865 bound fine structure levels of Fe V and $1.46 x 10^6$ oscillator strengths, Einstein A-coefficients and line strengths. In addition to the relativistic effects, the intermediate coupling calculations include extensive electron correlation effects that represent the complex configuration interaction (CI). Fe V bound levels are obtained with angular and spin symmetries $SL\pi$ and $J\pi$ of the (e + Fe VI) system such that $2S+1$ = 5,3,1, $L \leq$ 10, $J \leq 8$. The bound levels are obtained as solutions of the Breit-Pauli (e + ion) Hamiltonian for each $J\pi$, and are designated according to the `collision' channel quantum numbers. A major task has been the identification of these large number of bound fine structure levels in terms of standard spectroscopic designations. A new scheme, based on the analysis of quantum defects and channel wavefunctions, has been developed. The identification scheme aims particularly to determine the completeness of the results in terms of all possible bound levels for applications to analysis of experimental measurements and plasma modeling. An uncertainty of 10-20% for most transitions is estimated.Comment: 31 pages, 1 figure, Physica Scripta (in press

First determination of the strange and light quark masses from full lattice QCD

We compute the strange quark mass $m_s$ and the average of the $u$ and $d$ quark masses $\hat m$ using full lattice QCD with three dynamical quarks combined with experimental values for the pion and kaon masses. The simulations have degenerate $u$ and $d$ quarks with masses $m_u=m_d\equiv \hat m$ as low as $m_s/8$, and two different values of the lattice spacing. The bare lattice quark masses obtained are converted to the \msbar scheme using perturbation theory at $O(alpha_s)$. Our results are: m_s^\msbar(2 GeV) = 76(0)(3)(7)(0) MeV, \hat m^\msbar(2 GeV) = 2.8(0)(1)(3)(0) MeV and $m_s/\hat m$ = 27.4(1)(4)(0)(1), where the errors are from statistics, simulation, perturbation theory, and electromagnetic effects, respectively.Comment: 5 pages, revtex, 2 figures. v2: New ms/hat(m) discussion and reference, v3: slight change in discussion of referenc

Improved Laboratory Transition Probabilities for Neutral Chromium and Re-determination of the Chromium Abundance for the Sun and Three Stars

Branching fraction measurements from Fourier transform spectra in conjunction with published radiative lifetimes are used to determine transition probabilities for 263 lines of neutral chromium. These laboratory values are employed to derive a new photospheric abundance for the Sun: log $\epsilon$(Cr I)$_{\odot}$ = 5.64$\pm$0.01 ($\sigma = 0.07$). These Cr I solar abundances do not exhibit any trends with line strength nor with excitation energy and there were no obvious indications of departures from LTE. In addition, oscillator strengths for singly-ionized chromium recently reported by the FERRUM Project are used to determine: log $\epsilon$(Cr II)$_{\odot}$ = 5.77$\pm$0.03 ($\sigma = 0.13$). Transition probability data are also applied to the spectra of three stars: HD 75732 (metal-rich dwarf), HD 140283 (metal-poor subgiant), and CS 22892-052 (metal-poor giant). In all of the selected stars, Cr I is found to be underabundant with respect to Cr II. The possible causes for this abundance discrepancy and apparent ionization imbalance are discussed.Comment: 44 pages, 6 figure

Lattice results for the decay constant of heavy-light vector mesons

We compute the leptonic decay constants of heavy-light vector mesons in the quenched approximation. The reliability of lattice computations for heavy quarks is checked by comparing the ratio of vector to pseudoscalar decay constant with the prediction of Heavy Quark Effective Theory in the limit of infinitely heavy quark mass. Good agreement is found. We then calculate the decay constant ratio for B mesons: $f_{B^*}/f_B= 1.01(0.01)(^{+0.04}_{-0.01})$. We also quote quenched $f_{B^*}=177(6)(17)$ MeV.Comment: 11 pages, 3 postscript figs., revtex; two references adde