Unitarity constraints on chiral perturbative amplitudes

Low lying scalar resonances emerge as a necessary part to adjust chiral perturbation theory to experimental data once unitarity constraint is taken into consideration. I review recent progress made in this direction in a model independent approach. Also I briefly review studies on the odd physical properties of these low lying scalar resonances, including in the $\gamma\gamma\to\pi^+\pi^-, \pi^0\pi^0$ processes.Comment: Talk given at: International Workshop on Effective Field Theories: from the pion to the upsilon, February 2-6 2009, Valencia, Spai

Scalar resonance at 750 GeV as composite of heavy vector-like fermions

We study a model of scalars which includes both the SM Higgs and a scalar singlet as composites of heavy vector-like fermions. The vector-like fermions are bounded by the super-strong four-fermion interactions. The scalar singlet decays to SM vector bosons through loop of heavy vector-like fermions. We show that the surprisingly large production cross section of di-photon events at 750 GeV resonance and the odd decay properties can all be explained. This model serves as a good model for both SM Higgs and a scalar resonance at 750 GeV.Comment: 12 pages, no figure, references updated, version for publicatio

Studies on X(4260) and X(4660) particles

Studies on the X(4260) and X(4660) resonant states in an effective lagrangian approach are reviewed. Using a Breit--Wigner propagator to describe their propagation, we find that the X(4260) has a sizable coupling to the $\omega\chi_{c0}$ channel, while other couplings are found to be negligible. Besides, it couples much stronger to $\sigma$ than to $f_0(980)$: $|g_{X\Psi \sigma}^2/g^2_{X\Psi f_0(980)}|\sim O(10) \ .$ As an approximate result for X(4660), we obtain that the ratio of $\frac{Br(X\rightarrow\Lambda_c^+\Lambda_c^-)}{Br(X\rightarrow\Psi(2s)\pi^+\pi^-)}\simeq 20$. Finally, taking X(3872) as an example, we also point out a possible way to extend the previous method to a more general one in the effective lagrangian approach.Comment: Talk given by H. Q. Zheng at "Xth Quark Confinement and the Hadron Spectrum", October 8-12, 2012, TUM Campus Garching, Munich, Germany. 6 pages, 3 figures, 3 table

New Insights on Low Energy πN\pi N Scattering Amplitudes

The $S$- and $P$- wave phase shifts of low-energy pion-nucleon scatterings are analysed using Peking University representation, in which they are decomposed into various terms contributing either from poles or branch cuts. We estimate the left-hand cut contributions with the help of tree-level perturbative amplitudes derived in relativistic baryon chiral perturbation theory up to $\mathcal{O}(p^2)$. It is found that in $S_{11}$ and $P_{11}$ channels, contributions from known resonances and cuts are far from enough to saturate experimental phase shift data -- strongly indicating contributions from low lying poles undiscovered before, and we fully explore possible physics behind. On the other side, no serious disagreements are observed in the other channels.Comment: slightly chnaged version, a few more figures added. Physical conclusions unchange

Positivity constraints on the low-energy constants of the chiral pion-nucleon Lagrangian

Positivity constraints on the pion-nucleon scattering amplitude are derived in this article with the help of general S-matrix arguments, such as analyticity, crossing symmetry and unitarity, in the upper part of Mandelstam triangle, R. Scanning inside the region R, the most stringent bounds on the chiral low energy constants of the pion-nucleon Lagrangian are determined. When just considering the central values of the fit results from covariant baryon chiral perturbation theory using extended-on-mass-shell scheme, it is found that these bounds are well respected numerically both at O(p^3) and O(p^4) level. Nevertheless, when taking the errors into account, only the O(p^4) bounds are obeyed in the full error interval, while the bounds on O(p^3) fits are slightly violated. If one disregards loop contributions, the bounds always fail in certain regions of R. Thus, at a given chiral order these terms are not numerically negligible and one needs to consider all possible contributions, i.e., both tree-level and loop diagrams. We have provided the constraints for special points in R where the bounds are nearly optimal in terms of just a few chiral couplings, which can be easily implemented and employed to constrain future analyses. Some issues about calculations with an explicit Delta(1232) resonance are also discussed.Comment: 15 pages, 13 eps figures, 2 table

Transporting Robotic Swarms via Mean-Field Feedback Control

With the rapid development of AI and robotics, transporting a large swarm of networked robots has foreseeable applications in the near future. Existing research in swarm robotics has mainly followed a bottom-up philosophy with predefined local coordination and control rules. However, it is arduous to verify the global requirements and analyze their performance. This motivates us to pursue a top-down approach, and develop a provable control strategy for deploying a robotic swarm to achieve a desired global configuration. Specifically, we use mean-field partial differential equations (PDEs) to model the swarm and control its mean-field density (i.e., probability density) over a bounded spatial domain using mean-field feedback. The presented control law uses density estimates as feedback signals and generates corresponding velocity fields that, by acting locally on individual robots, guide their global distribution to a target profile. The design of the velocity field is therefore centralized, but the implementation of the controller can be fully distributed -- individual robots sense the velocity field and derive their own velocity control signals accordingly. The key contribution lies in applying the concept of input-to-state stability (ISS) to show that the perturbed closed-loop system (a nonlinear and time-varying PDE) is locally ISS with respect to density estimation errors. The effectiveness of the proposed control laws is verified using agent-based simulations

Full State Estimation of Continuum Robots From Tip Velocities: A Cosserat-Theoretic Boundary Observer

State estimation of robotic systems is essential to implementing feedback controllers which usually provide better robustness to modeling uncertainties than open-loop controllers. However, state estimation of soft robots is very challenging because soft robots have theoretically infinite degrees of freedom while existing sensors only provide a limited number of discrete measurements. In this paper, we design an observer for soft continuum robotic arms based on the well-known Cosserat rod theory which models continuum robotic arms by nonlinear partial differential equations (PDEs). The observer is able to estimate all the continuum (infinite-dimensional) robot states (poses, strains, and velocities) by only sensing the tip velocity of the continuum robot (and hence it is called a ``boundary'' observer). More importantly, the estimation error dynamics is formally proven to be locally input-to-state stable. The key idea is to inject sequential tip velocity measurements into the observer in a way that dissipates the energy of the estimation errors through the boundary. Furthermore, this boundary observer can be implemented by simply changing a boundary condition in any numerical solvers of Cosserat rod models. Extensive numerical studies are included and suggest that the domain of attraction is large and the observer is robust to uncertainties of tip velocity measurements and model parameters