Optimizing low-order controllers for haptic systems under delayed feedback

Cataloged from PDF version of article.In this paper, a PD controller design for haptic systems under delayed feedback is considered. More precisely, a complete stability analysis of a haptic system where local dynamics are described by some second-order mechanical dynamics is presented. Next, using two optimization techniques (H∞ and stability, margin optimization) an optimal choice for the controller gains is proposed. The derived results are tested on a three degree-of-freedom real-time experimental platform to illustrate the theoretical results. © 2013 Elsevier Ltd

Duality Invariant M-theory: Gauged supergravities and Scherk-Schwarz reductions

We consider the reduction of the duality invariant approach to M-theory by a U-duality group valued Scherk-Schwarz twist. The result is to produce potentials for gauged supergravities that are normally associated with non-geometric compactifications. The local symmetry reduces to gauge transformations with the gaugings exactly matching those of the embedding tensor approach to gauged supergravity. Importantly, this approach now includes a nontrivial dependence of the fields on the extra coordinates of the extended space.Comment: 22 pages Latex; v2: typos corrected and references adde

Low-order controller design for haptic systems under delayed feedback

In this paper, we consider PD controller design for haptic systems under delayed feedback. More precisely, we present a complete stability analysis of a haptic system where local dynamics are described by some second-order mechanical dynamics. Next, using two optimization techniques (H ∞ and stability margin optimization) we propose an optimal choice for the controller gains. The derived results are tested on a three degree of freedom real-time experimental platform to illustrate the theoretical results. © 2012 IFAC

Massive Type II in Double Field Theory

We provide an extension of the recently constructed double field theory formulation of the low-energy limits of type II strings, in which the RR fields can depend simultaneously on the 10-dimensional space-time coordinates and linearly on the dual winding coordinates. For the special case that only the RR one-form of type IIA carries such a dependence, we obtain the massive deformation of type IIA supergravity due to Romans. For T-dual configurations we obtain a `massive' but non-covariant formulation of type IIB, in which the 10-dimensional diffeomorphism symmetry is deformed by the mass parameter.Comment: 21 page

Ramond-Ramond Cohomology and O(D,D) T-duality

In the name of supersymmetric double field theory, superstring effective actions can be reformulated into simple forms. They feature a pair of vielbeins corresponding to the same spacetime metric, and hence enjoy double local Lorentz symmetries. In a manifestly covariant manner --with regard to O(D,D) T-duality, diffeomorphism, B-field gauge symmetry and the pair of local Lorentz symmetries-- we incorporate R-R potentials into double field theory. We take them as a single object which is in a bi-fundamental spinorial representation of the double Lorentz groups. We identify cohomological structure relevant to the field strength. A priori, the R-R sector as well as all the fermions are O(D,D) singlet. Yet, gauge fixing the two vielbeins equal to each other modifies the O(D,D) transformation rule to call for a compensating local Lorentz rotation, such that the R-R potential may turn into an O(D,D) spinor and T-duality can flip the chirality exchanging type IIA and IIB supergravities.Comment: 1+37 pages, no figure; Structure reorganized, References added, To appear in JHEP. cf. Gong Show of Strings 2012 (http://wwwth.mpp.mpg.de/members/strings/strings2012/strings_files/program/Talks/Thursday/Gongshow/Lee.pdf

New families of interpolating type IIB backgrounds

We construct new families of interpolating two-parameter solutions of type IIB supergravity. These correspond to D3-D5 systems on non-compact six-dimensional manifolds which are T^2 fibrations over Eguchi-Hanson and multi-center Taub-NUT spaces, respectively. One end of the interpolation corresponds to a solution with only D5 branes and vanishing NS three-form flux. A topology changing transition occurs at the other end, where the internal space becomes a direct product of the four-dimensional surface and the two-torus and the complexified NS-RR three-form flux becomes imaginary self-dual. Depending on the choice of the connections on the torus fibre, the interpolating family has either N=2 or N=1 supersymmetry. In the N=2 case it can be shown that the solutions are regular.Comment: 20 page

Gauged Double Field Theory

We find necessary and sufficient conditions for gauge invariance of the action of Double Field Theory (DFT) as well as closure of the algebra of gauge symmetries. The so-called weak and strong constraints are sufficient to satisfy them, but not necessary. We then analyze compactifications of DFT on twisted double tori satisfying the consistency conditions. The effective theory is a Gauged DFT where the gaugings come from the duality twists. The action, bracket, global symmetries, gauge symmetries and their closure are computed by twisting their analogs in the higher dimensional DFT. The non-Abelian heterotic string and lower dimensional gauged supergravities are particular examples of Gauged DFT.Comment: Minor changes, references adde

On the Riemann Tensor in Double Field Theory

Double field theory provides T-duality covariant generalized tensors that are natural extensions of the scalar and Ricci curvatures of Riemannian geometry. We search for a similar extension of the Riemann curvature tensor by developing a geometry based on the generalized metric and the dilaton. We find a duality covariant Riemann tensor whose contractions give the Ricci and scalar curvatures, but that is not fully determined in terms of the physical fields. This suggests that \alpha' corrections to the effective action require \alpha' corrections to T-duality transformations and/or generalized diffeomorphisms. Further evidence to this effect is found by an additional computation that shows that there is no T-duality invariant four-derivative object built from the generalized metric and the dilaton that reduces to the square of the Riemann tensor.Comment: 36 pages, v2: minor changes, ref. added, v3: appendix on frame formalism added, version to appear in JHE

Large Gauge Transformations in Double Field Theory

Finite gauge transformations in double field theory can be defined by the exponential of generalized Lie derivatives. We interpret these transformations as `generalized coordinate transformations' in the doubled space by proposing and testing a formula that writes large transformations in terms of derivatives of the coordinate maps. Successive generalized coordinate transformations give a generalized coordinate transformation that differs from the direct composition of the original two. Instead, it is constructed using the Courant bracket. These transformations form a group when acting on fields but, intriguingly, do not associate when acting on coordinates.Comment: 40 pages, v2: discussion of dilaton added, to appear in JHE

Asymmetric Orbifolds, Non-Geometric Fluxes and Non-Commutativity in Closed String Theory

In this paper we consider a class of exactly solvable closed string flux backgrounds that exhibit non-commutativity in the closed string coordinates. They are realized in terms of freely-acting asymmetric Z_N-orbifolds, which are themselves close relatives of twisted torus fibrations with elliptic Z_N-monodromy (elliptic T-folds). We explicitly construct the modular invariant partition function of the models and derive the non-commutative algebra in the string coordinates, which is exact to all orders in {\alpha}'. Finally, we relate these asymmetric orbifold spaces to inherently stringy Scherk-Schwarz backgrounds and non-geometric fluxes.Comment: 30 page