Optimal control design for robust fuzzy friction compensation in a robot joint

This paper presents a methodology for the compensation of nonlinear friction in a robot joint structure based on a fuzzy local modeling technique. To enhance the tracking performance of the robot joint, a dynamic model is derived from the local physical properties of friction. The model is the basis of a precompensator taking into account the dynamics of the overall corrected system by means of a minor loop. The proposed structure does not claim to faithfully reproduce complex phenomena driven by friction. However, the linearity of the local models simplifies the design and implementation of the observer, and its estimation capabilities are improved by the nonlinear integral gain. The controller can then be robustly synthesized using linear matrix inequalities to cancel the effects of inexact friction compensation. Experimental tests conducted on a robot joint with a high level of friction demonstrate the effectiveness of the proposed fuzzy observer-based control strategy for tracking system trajectories when operating in zero-velocity regions and during motion reversals

D-brane Categories for Orientifolds -- The Landau-Ginzburg Case

We construct and classify categories of D-branes in orientifolds based on Landau-Ginzburg models and their orbifolds. Consistency of the worldsheet parity action on the matrix factorizations plays the key role. This provides all the requisite data for an orientifold construction after embedding in string theory. One of our main results is a computation of topological field theory correlators on unoriented worldsheets, generalizing the formulas of Vafa and Kapustin-Li for oriented worldsheets, as well as the extension of these results to orbifolds. We also find a doubling of Knoerrer periodicity in the orientifold context.Comment: 45 pages, 6 figure

First observation of two hyperfine transitions in antiprotonic He-3

We report on the first experimental results for microwave spectroscopy of the hyperfine structure of antiprotonic He-3. Due to the helium nuclear spin, antiprotonic He-3 has a more complex hyperfine structure than antiprotonic He-4 which has already been studied before. Thus a comparison between theoretical calculations and the experimental results will provide a more stringent test of the three-body quantum electrodynamics (QED) theory. Two out of four super-super-hyperfine (SSHF) transition lines of the (n,L)=(36,34) state were observed. The measured frequencies of the individual transitions are 11.12559(14) GHz and 11.15839(18) GHz, less than 1 MHz higher than the current theoretical values, but still within their estimated errors. Although the experimental uncertainty for the difference of these frequencies is still very large as compared to that of theory, its measured value agrees with theoretical calculations. This difference is crucial to be determined because it is proportional to the magnetic moment of the antiproton.Comment: 8 pages, 6 figures, just published (online so far) in Physics Letters

Orientifolds of Gepner Models

We systematically construct and study Type II Orientifolds based on Gepner models which have N=1 supersymmetry in 3+1 dimensions. We classify the parity symmetries and construct the crosscap states. We write down the conditions that a configuration of rational branes must satisfy for consistency (tadpole cancellation and rank constraints) and spacetime supersymmetry. For certain cases, including Type IIB orientifolds of the quintic and a two parameter model, one can find all solutions in this class. Depending on the parity, the number of vacua can be large, of the order of 10^{10}-10^{13}. For other models, it is hard to find all solutions but special solutions can be found -- some of them are chiral. We also make comparison with the large volume regime and obtain a perfect match. Through this study, we find a number of new features of Type II orientifolds, including the structure of moduli space and the change in the type of O-planes under navigation through non-geometric phases.Comment: 142 page

Mirror Symmetry and a G2G_2 Flop

By applying mirror symmetry to D-branes in a Calabi-Yau geometry we shed light on a $G_2$ flop in M-theory relevant for large $N$ dualities in ${\cal N}=1$ supersymmetric gauge theories. Furthermore, we derive superpotential for M-theory on corresponding $G_2$ manifolds for all A-D-E cases. This provides an effective method for geometric engineering of ${\cal N}=1$ gauge theories for which mirror symmetry gives exact information about vacuum geometry. We also find a number of interesting dual descriptions.Comment: Identification of parameters as well as the computation of the superpotential is extended to all A-D-E cases. Additional references are also include

Stability of Landau-Ginzburg branes

We evaluate the ideas of Pi-stability at the Landau-Ginzburg point in moduli space of compact Calabi-Yau manifolds, using matrix factorizations to B-model the topological D-brane category. The standard requirement of unitarity at the IR fixed point is argued to lead to a notion of "R-stability" for matrix factorizations of quasi-homogeneous LG potentials. The D0-brane on the quintic at the Landau-Ginzburg point is not obviously unstable. Aiming to relate R-stability to a moduli space problem, we then study the action of the gauge group of similarity transformations on matrix factorizations. We define a naive moment map-like flow on the gauge orbits and use it to study boundary flows in several examples. Gauge transformations of non-zero degree play an interesting role for brane-antibrane annihilation. We also give a careful exposition of the grading of the Landau-Ginzburg category of B-branes, and prove an index theorem for matrix factorizations.Comment: 46 pages, LaTeX, summary adde

A quantum McKay correspondence for fractional 2p-branes on LG orbifolds

We study fractional 2p-branes and their intersection numbers in non-compact orbifolds as well the continuation of these objects in Kahler moduli space to coherent sheaves in the corresponding smooth non-compact Calabi-Yau manifolds. We show that the restriction of these objects to compact Calabi-Yau hypersurfaces gives the new fractional branes in LG orbifolds constructed by Ashok et. al. in hep-th/0401135. We thus demonstrate the equivalence of the B-type branes corresponding to linear boundary conditions in LG orbifolds, originally constructed in hep-th/9907131, to a subset of those constructed in LG orbifolds using boundary fermions and matrix factorization of the world-sheet superpotential. The relationship between the coherent sheaves corresponding to the fractional two-branes leads to a generalization of the McKay correspondence that we call the quantum McKay correspondence due to a close parallel with the construction of branes on non-supersymmetric orbifolds. We also provide evidence that the boundary states associated to these branes in a conformal field theory description corresponds to a sub-class of the boundary states associated to the permutation branes in the Gepner model associated with the LG orbifold.Comment: LaTeX2e, 1+39 pages, 3 figures (v2) refs added, typos and report no. correcte

On the Orbit Structure of the Logarithmic Potential

We investigate the dynamics in the logarithmic galactic potential with an analytical approach. The phase-space structure of the real system is approximated with resonant detuned normal forms constructed with the method based on the Lie transform. Attention is focused on the properties of the axial periodic orbits and of low order `boxlets' that play an important role in galactic models. Using energy and ellipticity as parameters, we find analytical expressions of several useful indicators, such as stability-instability thresholds, bifurcations and phase-space fractions of some orbit families and compare them with numerical results available in the literature.Comment: To appear on the Astrophysical Journa

Elasticity of semiflexible polymers in two dimensions

We study theoretically the entropic elasticity of a semi-flexible polymer, such as DNA, confined to two dimensions. Using the worm-like-chain model we obtain an exact analytical expression for the partition function of the polymer pulled at one end with a constant force. The force-extension relation for the polymer is computed in the long chain limit in terms of Mathieu characteristic functions. We also present applications to the interaction between a semi-flexible polymer and a nematic field, and derive the nematic order parameter and average extension of the polymer in a strong field.Comment: 16 pages, 3 figure