A robust optimization hybrid algorithm for solving the direct kinematics of the general Gough-Stewart platform

El problema de cinemática directa para los robots paralelos se puede enunciar como sigue: dado un conjunto de valores de las variables articulares, se deben encontrar los valores correspondientes en las variables cartesianas, es decir, la posición y orientación del órgano terminal. En muchas ocasiones, el problema de cinemática directa requiere la resolución de un sistema de ecuaciones no-lineales. Los métodos más eficientes para resolver problemas de este tipo suponen convexidad de una función de costo cuyo mínimo es la solución del sistema. La capacidad de tales métodos de optimización para encontrar una solución adecuada depende fuertemente del punto inicial. Un problema bien conocido es la selección de tal punto inicial, el cual requiere información a priori sobre una vecindad convexa donde se encuentra la solución. Este artículo propone un método eficiente para seleccionar y generar el punto inicial basado en aprendizaje probabilístico. El método evita eficientemente los mínimos locales, sin necesidad de intervención humana o información a priori, lo cual lo hace más robusto si se compara con el método Dogleg u otro método de minimización local basado en gradiente. Con el propósito de mostrar el desempeño del método híbrido, se presentan experimentos y su discusión correspondiente. La propuesta se puede extender a otras estructuras con cadenas cinemáticas cerradas, o a la solución en general de sistemas de ecuaciones no-lineales, y por supuesto, para problemas de optimización no-lineales.The direct kinematics problem for parallel robots can be stated as follows: given values of the joint variables, the corresponding Cartesian variable values, the pose of the end-effector, must be found. Most of the times the direct kinematics problem involves the solution of a system of non-linear equations. The most efficient methods to solve such kind of equations assume convexity in a cost function which minimum is the solution of the non-linear system. In consequence, the capacity of such methods depends on the knowledge about an starting point which neighboring region is convex, hence the method can find the global minimum. This article propose a method based on probabilistic learning about an adequate starting point for the Dogleg method which assumes local convexity of the function. The proposed method efficiently avoids the local minima, without need of human intervention or apriori knowledge, thus it shows a more robust performance than the simple Dogleg method or other gradient based methods. To demonstrate the performance of the proposed hybrid method, numerical experiments and the respective discussion are presented. The proposal can be extended to other structures of closed-kinematics chains, to the general solution of systems of non-linear equations, and to the minimization of non-linear functions.Peer Reviewe

Linfadenectomía inguinal robot asistida (LIRA) para cáncer de pene

ResumenIntroducciónEl carcinoma de células escamosas es una entidad que ocupa el 2-5% de los tumores urogenitales, siendo por tanto poco frecuente, sin embargo en instituciones como la nuestra y por un alto volumen de pacientes y centro de referencia, se logra tener entre 5-7 casos por año. Dentro del tratamiento de estas lesiones se encuentra la linfadenectomía inguinal, la cual en la actualidad es realizada con mayor frecuencia con mínima invasión. Presentamos el caso de un paciente con carcinoma epidermoide de pene al que se le realizó linfadenectomía inguinal superficial y profunda con cirugía robot asistida.ObjetivoDescribir la técnica quirúrgica para linfadenectomía inguinal robot asistida en cáncer de pene.Presentación del casoHombre de 73 años con padecimiento con un año y 6 meses de evolución con aumento de volumen a nivel del glande; previa toma de biopsia se le realizó penectomía radical con uretrostomía perineal con resultado histopatológico de carcinoma epidermoide bien diferenciado verrucoso que infiltra el cuerpo esponjoso y la uretra (T3, N0, M0, G1); se realizó linfadenectomía inguinal robot asistida a las 4 semanas.ConclusionesLa linfadenectomía inguinal robot asistida es una técnica factible en centros en los que se cuente con dicha tecnología, logrando disminuir la morbilidad, el sangrado y la estancia hospitalaria, sin embargo tiene como desventaja el costo del procedimiento.AbstractIntroductionSquamous cell carcinoma is a rare tumor, making up from 2 to 5% of the urogenital tumors. However, because our hospital is a referral center that manages large numbers of patients, approximately 5-7 cases are seen per year. Inguinal lymph node dissection is one of the treatments for these lesions and is being performed more frequently as a minimally invasive procedure.ObjectiveOur aim was to describe the surgical technique for robotic-assisted inguinal lymphadenectomy in cancer of the penis. We present herein the case of a 73-year-old man with symptom progression of one year and 6 months and increased volume at the level of the glans penis. A biopsy was taken, after which he underwent radical penectomy with perineal urethrostomy. The histopathologic study reported well differentiated verrucous squamous cell carcinoma that invaded the corpus spongiosum and the urethra (T3N0M0G1). Four weeks later he underwent robotic-assisted inguinal lymphadenectomy of the superficial and deep lymph nodes.ConclusionsRobotic-assisted inguinal lymphadenectomy, aside from its high cost, is a feasible technique when carried out in specialized centers that reduces morbidity, blood loss, and hospital stay

Search for Higgs bosons decaying to tautau pairs in ppbar collisions at sqrt(s) = 1.96 TeV

We present a search for the production of neutral Higgs bosons decaying into tautau pairs in ppbar collisions at a center-of-mass energy of 1.96 TeV. The data, corresponding to an integrated luminosity of 5.4 fb-1, were collected by the D0 experiment at the Fermilab Tevatron Collider. We set upper limits at the 95% C.L. on the product of production cross section and branching ratio for a scalar resonance decaying into tautau pairs, and we then interpret these limits as limits on the production of Higgs bosons in the minimal supersymmetric standard model (MSSM) and as constraints in the MSSM parameter space.Comment: 7 pages, 5 figures, submitted to PL

Measurement of the photon+b+b-jet production differential cross section in ppˉp\bar{p} collisions at \sqrt{s}=1.96~\TeV

We present measurements of the differential cross section dsigma/dpT_gamma for the inclusive production of a photon in association with a b-quark jet for photons with rapidities |y_gamma|< 1.0 and 30<pT_gamma <300 GeV, as well as for photons with 1.5<|y_gamma|< 2.5 and 30< pT_gamma <200 GeV, where pT_gamma is the photon transverse momentum. The b-quark jets are required to have pT>15 GeV and rapidity |y_jet| < 1.5. The results are based on data corresponding to an integrated luminosity of 8.7 fb^-1, recorded with the D0 detector at the Fermilab Tevatron $p\bar{p}$ Collider at sqrt(s)=1.96 TeV. The measured cross sections are compared with next-to-leading order perturbative QCD calculations using different sets of parton distribution functions as well as to predictions based on the kT-factorization QCD approach, and those from the Sherpa and Pythia Monte Carlo event generators.Comment: 10 pages, 9 figures, submitted to Phys. Lett.

Limits on anomalous trilinear gauge boson couplings from WW, WZ and Wgamma production in pp-bar collisions at sqrt{s}=1.96 TeV

We present final searches of the anomalous gammaWW and ZWW trilinear gauge boson couplings from WW and WZ production using lepton plus dijet final states and a combination with results from Wgamma, WW, and WZ production with leptonic final states. The analyzed data correspond to up to 8.6/fb of integrated luminosity collected by the D0 detector in pp-bar collisions at sqrt{s}=1.96 TeV. We set the most stringent limits at a hadron collider to date assuming two different relations between the anomalous coupling parameters Delta\kappa_\gamma, lambda, and Delta g_1^Z for a cutoff energy scale Lambda=2 TeV. The combined 68% C.L. limits are -0.057<Delta\kappa_\gamma<0.154, -0.015<lambda<0.028, and -0.008<Delta g_1^Z<0.054 for the LEP parameterization, and -0.007<Delta\kappa<0.081 and -0.017<lambda<0.028 for the equal couplings parameterization. We also present the most stringent limits of the W boson magnetic dipole and electric quadrupole moments.Comment: 10 pages, 5 figures, submitted to PL

Measurement of three-jet differential cross sections d sigma-3jet / d M-3jet in p anti-p collisions at sqrt(s)=1.96 TeV

We present the first measurement of the inclusive three-jet differential cross section as a function of the invariant mass of the three jets with the largest transverse momenta in an event in p anti-p collisions at sqrt(s) = 1.96 TeV. The measurement is made in different rapidity regions and for different jet transverse momentum requirements and is based on a data set corresponding to an integrated luminosity of 0.7 fb^{-1} collected with the D0 detector at the Fermilab Tevatron Collider. The results are used to test the three-jet matrix elements in perturbative QCD calculations at next-to-leading order in the strong coupling constant. The data allow discrimination between parametrizations of the parton distribution functions of the proton.Comment: 10 pages, 4 figures, 2 tables, submitted to Phys. Lett. B, corrected chi2 values for NNPD

Search for pair production of the scalar top quark in muon+tau final states

We present a search for the pair production of scalar top quarks ($\tilde{t}_{1}$), the lightest supersymmetric partners of the top quarks, in $p\bar{p}$ collisions at a center-of-mass energy of 1.96 TeV, using data corresponding to an integrated luminosity of {7.3 $fb^{-1}$} collected with the \dzero experiment at the Fermilab Tevatron Collider. Each scalar top quark is assumed to decay into a $b$ quark, a charged lepton, and a scalar neutrino ($\tilde{\nu}$). We investigate final states arising from $\tilde{t}_{1} \bar{\tilde{t}_{1}} \rightarrow b\bar{b}\mu\tau \tilde{\nu} \tilde{\nu}$ and $\tilde{t}_{1} \bar{\tilde{t}_{1}} \rightarrow b\bar{b}\tau\tau \tilde{\nu} \tilde{\nu}$. With no significant excess of events observed above the background expected from the standard model, we set exclusion limits on this production process in the ($m_{\tilde{t}_{1}}$,$m_{\tilde{\nu}}$) plane.Comment: Submitted to Phys. Lett.

Measurements of inclusive W+jets production rates as a function of jet transverse momentum in ppbar collisions at sqrt{s}=1.96 TeV

This Letter describes measurements of inclusive W (--> e nu) + n jet cross sections (n = 1-4), presented as total inclusive cross sections and differentially in the nth jet transverse momentum. The measurements are made using data corresponding to an integrated luminosity of 4.2 fb-1 collected by the D0 detector at the Fermilab Tevatron Collider, and achieve considerably smaller uncertainties on W +jets production cross sections than previous measurements. The measurements are compared to next-to-leading order perturbative QCD (pQCD) calculations in the n =1-3 jet multiplicity bins and to leading order pQCD calculations in the 4-jet bin. The measurements are generally in agreement with pQCD predictions, although certain regions of phase space are identified where the calculations could be improved

Measurement of spin correlation in ttbar production using dilepton final states

We measure the correlation between the spin of the top quark and the spin of the anti-top quark in (ttbar -> W+ W- b bbar -> l+ nu b l- nubar bbar) final states produced in ppbar collisions at a center of mass energy sqrt(s)=1.96 TeV, where l is an electron or muon. The data correspond to an integrated luminosity of 5.4 fb-1 and were collected with the D0 detector at the Fermilab Tevatron collider. The correlation is extracted from the angles of the two leptons in the t and tbar rest frames, yielding a correlation strength C= 0.10^{+0.45}_{-0.45}, in agreement with the NLO QCD prediction within two standard deviations, but also in agreement with the no correlation hypothesis.Comment: 10 pages, 3 figures, submitted to PL

Measurement of the ttbar production cross section using dilepton events in ppbar collisions

We present a measurement of the ttbar production cross section sigma(ttbar) in ppbar collisions at sqrt{s} = 1.96 TeV using 5.4 fb-1 of integrated luminosity collected with the D0 detector. We consider final states with at least two jets and two leptons (ee, emu, mumu), and events with one jet for the the emu final state as well. The measured cross section is sigma(ttbar)= 7.36 +0.90-0.79 (stat + syst) pb. This result combined with the cross section measurement in the lepton + jets final state yields sigma(ttbar)=7.56 +0.63-0.56 (stat + syst) pb, which agrees with the standard model expectation. The relative precision of 8% of this measurement is comparable to the latest theoretical calculations.Comment: 9 pages, published in Phys. Lett.