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

Perturbative QCD Analysis of Local Duality in a fixed W^2 Framework

We study the global Q^2 dependence of large x, F_2 nucleon structure function data, with the aim of providing a perturbative-QCD based, quantitative analysis of parton-hadron duality. As opposed to previous analyses at fixed x, we use a framework in fixed W^2. We uncover a breakdown of the twist-4 approximation with a renormalon type improvement at O(1/Q^4) which, by affecting the initial evolution of parton distributions, will have consequences for pQCD analyses also at large x and very large Q^2.Comment: RevTex4, 8 pages, 3 figure

Measurements of the Separated Longitudinal Structure Function FL From Hydrogen and Deuterium Targets at Low Q2

Structure functions, as measured in lepton-nucleon scattering, have proven to be very useful in studying the partonic dynamics within the nucleon. However, it is experimentally difficult to separately determine the longitudinal and transverse structure functions, and consequently there are substantially less data available in particular for the longitudinal structure function. Here, we present separated structure functions for hydrogen and deuterium at low four-momentum transfer squared, Q2 \u3c 1GeV2, and compare them with parton distribution parametrization and kT factorization approaches. While differences are found, the parametrizations generally agree with the data, even at the very low-Q2 scale of the data. The deuterium data show a smaller longitudinal structure function and a smaller ratio of longitudinal to transverse cross section, R, than the proton. This suggests either an unexpected difference in R for the proton and the neutron or a suppression of the gluonic distribution in nuclei

Subprocess Size in Hard Exclusive Scattering

The interaction region of hard exclusive hadron scattering can have a large transverse size due to endpoint contributions, where one parton carries most of the hadron momentum. The endpoint region is enhanced and can dominate in processes involving multiple scattering and quark helicity flip. The endpoint Fock states have perturbatively short lifetimes and scatter softly in the target. We give plausible arguments that endpoint contributions can explain the apparent absence of color transparency in fixed angle exclusive scattering and the dimensional scaling of transverse rho photoproduction at high momentum transfer, which requires quark helicity flip. We also present a quantitative estimate of Sudakov effects.Comment: 16 pages, 4 figures, JHEP style; v2: quantitative estimate of Sudakov effects and more detailed discussion of endpoint behaviour of meson distribution amplitude added, few other clarifications, version to appear in Phys. Rev.

Quark-hadron duality in a relativistic, confining model

Quark-hadron duality is an interesting and potentially very useful phenomenon, as it relates the properly averaged hadronic data to a perturbative QCD result in some kinematic regions. While duality is well established experimentally, our current theoretical understanding is still incomplete. We employ a simple model to qualitatively reproduce all the features of Bloom-Gilman duality as seen in electron scattering. In particular, we address the role of relativity, give an explicit analytic proof of the equality of the hadronic and partonic scaling curves, and show how the transition from coherent to incoherent scattering takes place.Comment: This paper is dedicated to the memory of our collaborator Nathan Isgur. (34 pages, 13 figures

A conceptual design study of a Compact Photon Source (CPS) for Jefferson Lab

This document describes the technical design concept of a compact high intensity, multi-GeV photon source. Capable of producing 1012 equivalent photons per second this novel device will provide unprecedented access to physics processes with very small scattering probabilities such as hard exclusive reactions on the nucleon. When combined with dynamic nuclear polarized targets, its deployment will result in a large gain in polarized experiment figure-of-merit compared to all previous measurements. Compared to a traditional bremsstrahlung photon source the proposed concept presents several advantages, most significantly in providing a full intensity in a small spot at the target and in taking advantage of the narrow angular spread associated with high energy bremsstrahlung compared to the wide angular distribution of the secondary radiation to minimize the operational prompt and activation radiation dose rates