Fuzzy sliding mode control of a multi-DOF parallel robot in rehabilitation environment

Multi-degrees of freedom (DOF) parallel robot, due to its compact structure and high operation accuracy, is a promising candidate for medical rehabilitation devices. However, its controllability relating to the nonlinear characteristics challenges its interaction with human subjects during the rehabilitation process. In this paper, we investigated the control of a parallel robot system using fuzzy sliding mode control (FSMC) for constructing a simple controller in practical rehabilitation, where a fuzzy logic system was used as the additional compensator to the sliding mode controller (SMC) for performance enhancement and chattering elimination. The system stability is guaranteed by the Lyapunov stability theorem. Experiments were conducted on a lower limb rehabilitation robot, which was built based on kinematics and dynamics analysis of the 6-DOF Stewart platform. The experimental results showed that the position tracking precision of the proposed FSMC is sufficient in practical applications, while the velocity chattering had been effectively reduced in comparison with the conventional FSMC with parameters tuned by fuzzy systems

The conformal frame freedom in theories of gravitation

It has frequently been claimed in the literature that the classical physical predictions of scalar tensor theories of gravity depend on the conformal frame in which the theory is formulated. We argue that this claim is false, and that all classical physical predictions are conformal-frame invariants. We also respond to criticisms by Vollick [gr-qc/0312041], in which this issue arises, of our recent analysis of the Palatini form of 1/R gravity.Comment: 9 pages, no figures, revtex; final published versio

The Muon Anomalous Magnetic Moment and the Standard Model

The muon anomalous magnetic moment measurement, when compared with theory, can be used to test many extensions to the standard model. The most recent measurement made by the Brookhaven E821 Collaboration reduces the uncertainty on the world average of a_mu to 0.7 ppm, comparable in precision to theory. This paper describes the experiment and the current theoretical efforts to establish a correct standard model reference value for the muon anomaly.Comment: Plenary Talk; PANIC'02 XVI Particles and Nuclear International Conference, Osaka, Japan; Sept. 30 - Oct. 4, 2002; Report describes the published 0.7 ppm result and updates the theory statu

Search for Lorentz and CPT Violation Effects in Muon Spin Precession

The spin precession frequency of muons stored in the $(g-2)$ storage ring has been analyzed for evidence of Lorentz and CPT violation. Two Lorentz and CPT violation signatures were searched for: a nonzero $\Delta\omega_{a}$ (=$\omega_{a}^{\mu^{+}}-\omega_{a}^{\mu^{-}}$); and a sidereal variation of $\omega_{a}^{\mu^{\pm}}$. No significant effect is found, and the following limits on the standard-model extension parameters are obtained: $b_{Z} =-(1.0 \pm 1.1)\times 10^{-23}$ GeV; $(m_{\mu}d_{Z0}+H_{XY}) = (1.8 \pm 6.0 \times 10^{-23})$ GeV; and the 95% confidence level limits $\check{b}_{\perp}^{\mu^{+}}< 1.4 \times 10^{-24}$ GeV and $\check{b}_{\perp}^{\mu^{-}} < 2.6 \times 10^{-24}$ GeV.Comment: 5 pages, 3 figures, submitted to Physical Review Letters, Modified to answer the referees suggestion

Final Report of the Muon E821 Anomalous Magnetic Moment Measurement at BNL

We present the final report from a series of precision measurements of the muon anomalous magnetic moment, a_mu = (g-2)/2. The details of the experimental method, apparatus, data taking, and analysis are summarized. Data obtained at Brookhaven National Laboratory, using nearly equal samples of positive and negative muons, were used to deduce a_mu(Expt) = 11 659 208.0(5.4)(3.3) x 10^-10, where the statistical and systematic uncertainties are given, respectively. The combined uncertainty of 0.54 ppm represents a 14-fold improvement compared to previous measurements at CERN. The standard model value for a_mu includes contributions from virtual QED, weak, and hadronic processes. While the QED processes account for most of the anomaly, the largest theoretical uncertainty, ~0.55 ppm, is associated with first-order hadronic vacuum polarization. Present standard model evaluations, based on e+e- hadronic cross sections, lie 2.2 - 2.7 standard deviations below the experimental result.Comment: Summary paper of E821 Collaboration measurements of the muon anomalous magnetic moment, each reported earlier in Letters or Brief Reports; 96 pages, 41 figures, 16 tables. Revised version submitted to PR

An Improved Limit on the Muon Electric Dipole Moment

Three independent searches for an electric dipole moment (EDM) of the positive and negative muons have been performed, using spin precession data from the muon g-2 storage ring at Brookhaven National Laboratory. Details on the experimental apparatus and the three analyses are presented. Since the individual results on the positive and negative muon, as well as the combined result, d=-0.1(0.9)E-19 e-cm, are all consistent with zero, we set a new muon EDM limit, |d| < 1.9E-19 e-cm (95% C.L.). This represents a factor of 5 improvement over the previous best limit on the muon EDM.Comment: 19 pages, 15 figures, 7 table

Search for Lorentz and CPT Violation Effects in Muon Spin Precession

The spin precession frequency of muons stored in the $(g-2)$ storage ring has been analyzed for evidence of Lorentz and CPT violation. Two Lorentz and CPT violation signatures were searched for: a nonzero $\Delta\omega_{a}$ (=$\omega_{a}^{\mu^{+}}-\omega_{a}^{\mu^{-}}$); and a sidereal variation of $\omega_{a}^{\mu^{\pm}}$. No significant effect is found, and the following limits on the standard-model extension parameters are obtained: $b_{Z} =-(1.0 \pm 1.1)\times 10^{-23}$ GeV; $(m_{\mu}d_{Z0}+H_{XY}) = (1.8 \pm 6.0 \times 10^{-23})$ GeV; and the 95% confidence level limits $\check{b}_{\perp}^{\mu^{+}}< 1.4 \times 10^{-24}$ GeV and $\check{b}_{\perp}^{\mu^{-}} < 2.6 \times 10^{-24}$ GeV.Comment: 5 pages, 3 figures, submitted to Physical Review Letters, Modified to answer the referees suggestion

News from the Muon (g-2) Experiment at BNL

The magnetic moment anomaly a_mu = (g_mu - 2) / 2 of the positive muon has been measured at the Brookhaven Alternating Gradient Synchrotron with an uncertainty of 0.7 ppm. The new result, based on data taken in 2000, agrees well with previous measurements. Standard Model evaluations currently differ from the experimental result by 1.6 to 3.0 standard deviations.Comment: Talk presented at RADCOR - Loops and Legs 2002, Kloster Banz, Germany, September 8-13 2002, to be published in Nuclear Physics B (Proc. Suppl.); 5 pages, 3 figure

Measurement of the Negative Muon Anomalous Magnetic Moment to 0.7 ppm

The anomalous magnetic moment of the negative muon has been measured to a precision of 0.7 parts per million (ppm) at the Brookhaven Alternating Gradient Synchrotron. This result is based on data collected in 2001, and is over an order of magnitude more precise than the previous measurement of the negative muon. The result a_mu= 11 659 214(8)(3) \times 10^{-10} (0.7 ppm), where the first uncertainty is statistical and the second is sytematic, is consistend with previous measurements of the anomaly for the positive and negative muon. The average for the muon anomaly a_{mu}(exp) = 11 659 208(6) \times 10^{-10} (0.5ppm).Comment: 4 pages, 4 figures, submitted to Physical Review Letters, revised to reflect referee comments. Text further revised to reflect additional referee comments and a corrected Fig. 3 replaces the older versio

Precision Measurement of the Anomalous Magnetic Moment of the Muon

A precision measurement of the anomalous magnetic moment (g-2) of the muon has been made by the E821 collaboration at BNL. This paper is a written version of a ``hot topics'' talk at ICAP2002 (Cambridge, MA). The principles of the experiment are discussed, especially the beam dynamics aspects.Comment: 8 pages, 5 figures. Proceedings of a talk at ICAP200