Analysis of balance control methods based on inverted pendulum for legged robots

Methods of balance control for a legged robot, the model of which is presented as a two-section inverted pendulum, are considered. The following balance methods for humanoid robots are analysed: the parallel algorithm of the network operator method; the method of natural synergies; the method of fuzzy control, the spherical inverted pendulum mode, a dual length linear inverted pendulum method. The best of these methods will be used in the development of the Russian anthropomorphic robot Antares

The graceful exit from the anomaly-induced inflation: Supersymmetry as a key

The stable version of the anomaly-induced inflation does not need a fine tuning and leads to sufficient expansion of the Universe. The non-stable version (Starobinsky model) provides the graceful exit to the FRW phase. We indicate the possibility of the inflation which is stable at the beginning and unstable at the end. The effect is due to the soft supersymmetry breaking and the decoupling of the massive sparticles at low energy.Comment: 10 pages, 2 figures using axodraw. Modified version. Discussion concerning the gravitational scale modified, the effect of massive particles in the last stage of inflation taken into accoun

DeWitt-Schwinger Renormalization and Vacuum Polarization in d Dimensions

Calculation of the vacuum polarization, $$, and expectation value of the stress tensor,$$, has seen a recent resurgence, notably for black hole spacetimes. To date, most calculations of this type have been done only in four dimensions. Extending these calculations to $d$ dimensions includes $d$-dimensional renormalization. Typically, the renormalizing terms are found from Christensen's covariant point splitting method for the DeWitt-Schwinger expansion. However, some manipulation is required to put the correct terms into a form that is compatible with problems of the vacuum polarization type. Here, after a review of the current state of affairs for $$and$$ calculations and a thorough introduction to the method of calculating $$, a compact expression for the DeWitt-Schwinger renormalization terms suitable for use in even-dimensional spacetimes is derived. This formula should be useful for calculations of$$ and $$in even dimensions, and the renormalization terms are shown explicitly for four and six dimensions. Furthermore, use of the finite terms of the DeWitt-Schwinger expansion as an approximation to$$ for certain spacetimes is discussed, with application to four and five dimensions.Comment: 21 pages, 2 tables, 3 figures. References added, rewritten to clarify some points, corrections performed, our claim in the first version that there is an error in Anderson's calculations is incorrec

Анализ данных системы учета и автоматического регулирования теплоснабжения пяти- и более этажных жилых домов

The paper considers regulation of heat supply to housing buildings using automatic regulators. Integral index of automatic regulator action on the heat-supply system of multi-storey housing building is proportional to a thermal criterion of Pomerantsev similarity.Рассмотрено регулирование теплоснабжения жилых домов с использованием автоматических регуляторов. Интегральный показатель воздействия автоматического регулятора на систему теплоснабжения многоэтажного жилого дома оказывается пропорциональным теп­лофизическому критерию подобия Померанцева

Route to nonlocality and observation of accessible solitons

We develop a general theory of spatial solitons in a liquid crystalline medium exhibiting a nonlinearity with an arbitrary degree of effective nonlocality. The model accounts the observability of "accessible solitons" and establishes an important link with parametric solitons.Comment: 4 pages, 2 figure

Manipulation and removal of defects in spontaneous optical patterns

Defects play an important role in a number of fields dealing with ordered structures. They are often described in terms of their topology, mutual interaction and their statistical characteristics. We demonstrate theoretically and experimentally the possibility of an active manipulation and removal of defects. We focus on the spontaneous formation of two-dimensional spatial structures in a nonlinear optical system, a liquid crystal light valve under single optical feedback. With increasing distance from threshold, the spontaneously formed hexagonal pattern becomes disordered and contains several defects. A scheme based on Fourier filtering allows us to remove defects and to restore spatial order. Starting without control, the controlled area is progressively expanded, such that defects are swept out of the active area.Comment: 4 pages, 4 figure

Quadratic solitons as nonlocal solitons

We show that quadratic solitons are equivalent to solitons of a nonlocal Kerr medium. This provides new physical insight into the properties of quadratic solitons, often believed to be equivalent to solitons of an effective saturable Kerr medium. The nonlocal analogy also allows for novel analytical solutions and the prediction of novel bound states of quadratic solitons.Comment: 4 pages, 3 figure

Dipole-Mode Vector Solitons

We find a new type of optical vector soliton that originates from trapping of a dipole mode by a soliton-induced waveguide. These solitons, which appear as a consequence of the vector nature of the two component system, are more stable than the previously found optical vortex-mode solitons and represent a new type of extremely robust nonlinear vector structure.Comment: Four pages with five eps figure

Quantum cosmology in the models of 2d and 4d dilatonic supergravity with WZ matter

We consider N=1 two-dimensional (2d) dilatonic supergravity (SG), 2d dilatonic SG obtained by dimensional reduction from N=1 four-dimensional (4d) SG, N=2 2d dilatonic SG and string-inspired 4d dilatonic SG. For all the theories, the corresponding action on a bosonic background is constructed and the interaction with $N$ (dilatonic) Wess-Zumino (WZ) multiplets is presented. Working in the large-N approximation, it is enough to consider the trace anomaly induced effective action due to dilaton-coupled conformal matter as a quantum correction (for 2d models s-waves approximation is additionally used). The equations of motion for all such models with quantum corrections are written in a form convenient for numerical analysis. Their solutions are numerically investigated for 2d and 4d Friedmann-Robertson-Walker (FRW) or 4d Kantowski-Sacks Universes with a time-dependent dilaton via exponential dilaton coupling. The evolution of the corresponding quantum cosmological models is given for different choices of initial conditions and theory parameters. In most cases we find quantum singular Universes. Nevertheless, there are examples of Universe non-singular at early times. Hence, it looks unlikely that quantum matter back reaction on dilatonic background (at least in large $N$ approximation) may really help to solve the singularity problem.Comment: LaTeX file of the text (36 pages) and 3 ps files of 14 figures, few misprints are corrected and references adde

Modulational instability of solitary waves in non-degenerate three-wave mixing: The role of phase symmetries

We show how the analytical approach of Zakharov and Rubenchik [Sov. Phys. JETP {\bf 38}, 494 (1974)] to modulational instability (MI) of solitary waves in the nonlinear Schr\"oedinger equation (NLS) can be generalised for models with two phase symmetries. MI of three-wave parametric spatial solitons due to group velocity dispersion (GVD) is investigated as a typical example of such models. We reveal a new branch of neck instability, which dominates the usual snake type MI found for normal GVD. The resultant nonlinear evolution is thereby qualitatively different from cases with only a single phase symmetry.Comment: 4 pages with figure