Kinematic Analysis and Trajectory Planning of the Orthoglide 5-axis

The subject of this paper is about the kinematic analysis and the trajectory planning of the Orthoglide 5-axis. The Orthoglide 5-axis a five degrees of freedom parallel kinematic machine developed at IRCCyN and is made up of a hybrid architecture, namely, a three degrees of freedom translational parallel manip-ulator mounted in series with a two degrees of freedom parallel spherical wrist. The simpler the kinematic modeling of the Or-thoglide 5-axis, the higher the maximum frequency of its control loop. Indeed, the control loop of a parallel kinematic machine should be computed with a high frequency, i.e., higher than 1.5 MHz, in order the manipulator to be able to reach high speed motions with a good accuracy. Accordingly, the direct and inverse kinematic models of the Orthoglide 5-axis, its inverse kine-matic Jacobian matrix and the first derivative of the latter with respect to time are expressed in this paper. It appears that the kinematic model of the manipulator under study can be written in a quadratic form due to the hybrid architecture of the Orthoglide 5-axis. As illustrative examples, the profiles of the actuated joint angles (lengths), velocities and accelerations that are used in the control loop of the robot are traced for two test trajectories.Comment: Appears in International Design Engineering Technical Conferences \& Computers and Information in Engineering Conference, Aug 2015, Boston, United States. 201

Etude du répertoire de réponses : une approche dialogique de l'opinion

Opinion surveys usually settle for measuring opinion, an answer considered to be the participant’s attitude toward the subject. Yet when further questioned, we are able to give several opinions, several answers, that we have internalized from our interactions with others, into a repertoire of responses (Moscovici, 1970). In doing so, we assume the attitude of others (Mead, 1934) thus mediating our relationship to the object (Moscovici, 1984): each position is the result of an internal dialogue, maintained by the subject with others and their responses (Markova, 2005). Our goal in this thesis is to invent a method to understand this repertoire of responses. Thus, in our first two studies, we tested a paradigm that allows us to observe, the multiplicity of responses that are available in our repertoire, as well as their shared and coherent nature. A thirdstudy based on this method, enabled us to observe that the degree of development of the repertoire of responses is related to the involvement of the individual in regard to the object. We were also able to observe the development of a repertoire of responses in a field study lasting over two years, in a small group who discovered a new technology. Generally, this thesis contributes to writing the grammar of the repertoire of responses by presenting a paradigm that emphasizes the varied nature of opinion

UHE nuclei propagation and the interpretation of the ankle in the cosmic-ray spectrum

We consider the stochastic propagation of high-energy protons and nuclei in the cosmological microwave and infrared backgrounds, using revised photonuclear cross-sections and following primary and secondary nuclei in the full 2D nuclear chart. We confirm earlier results showing that the high-energy data can be fit with a pure proton extragalactic cosmic ray (EGCR) component if the source spectrum is \propto E^{-2.6}. In this case the ankle in the CR spectrum may be interpreted as a pair-production dip associated with the propagation. We show that when heavier nuclei are included in the source with a composition similar to that of Galactic cosmic-rays (GCRs), the pair-production dip is not present unless the proton fraction is higher than 85%. In the mixed composition case, the ankle recovers the past interpretation as the transition from GCRs to EGCRs and the highest energy data can be explained by a harder source spectrum \propto E^{-2.2} - E^{-2.3}, reminiscent of relativistic shock acceleration predictions, and in good agreement with the GCR data at low-energy and holistic scenarios.Comment: 4 pages, 4 figures, submitted to A&A Letters (minor changes, two figures replaced, two references added

The moduli problem at the perturbative level

Moduli fields generically produce strong dark matter -- radiation and baryon -- radiation isocurvature perturbations through their decay if they remain light during inflation. We show that existing upper bounds on the magnitude of such fluctuations can thus be translated into stringent constraints on the moduli parameter space m_\sigma (modulus mass) -- \sigma_{inf} (modulus vacuum expectation value at the end of inflation). These constraints are complementary to previously existing bounds so that the moduli problem becomes worse at the perturbative level. In particular, if the inflationary scale H_{inf}~10^{13} GeV, particle physics scenarios which predict high moduli masses m_\sigma > 10-100 TeV are plagued by the perturbative moduli problem, even though they evade big-bang nucleosynthesis constraints.Comment: 4 pages, 3 figures (revtex) -- v2: an important correction on the amplitude/transfer of isocurvature modes at the end of inflation, typos corrected, references added, basic result unchange

Fermi Detection of the Pulsar Wind Nebula HESS J1640-465

We present observations of HESS J1640-465 with the Fermi-LAT. The source is detected with high confidence as an emitter of high-energy gamma-rays. The spectrum lacks any evidence for the characteristic cutoff associated with emission from pulsars, indicating that the emission arises primarily from the pulsar wind nebula. Broadband modeling implies an evolved nebula with a low magnetic field resulting in a high gamma-ray to X-ray flux ratio. The Fermi emission exceeds predictions of the broadband model, and has a steeper spectrum, possibly resulting from a distinct excess of low energy electrons similar to what is inferred for both the Vela X and Crab pulsar wind nebulae.Comment: 6 pages, 5 figures, accepted for publication in Ap

Detecting stable massive neutral particles through particle lensing

Stable massive neutral particles emitted by astrophysical sources undergo deflection under the gravitational potential of our own galaxy. The deflection angle depends on the particle velocity and therefore non-relativistic particles will be deflected more than relativistic ones. If these particles can be detected through neutrino telescopes, cosmic ray detectors or directional dark matter detectors, their arrival directions would appear aligned on the sky along the source-lens direction. On top of this deflection, the arrival direction of non-relativistic particles is displaced with respect to the relativistic counterpart also due to the relative motion of the source with respect to the observer; this induces an alignment of detections along the sky projection of the source trajectory. The final alignment will be given by a combination of the directions induced by lensing and source proper motion. We derive the deflection-velocity relation for the Milky Way halo and suggest that searching for alignments on detection maps of particle telescopes could be a way to find new particles or new astrophysical phenomena.Comment: 17 pages, 7 figures. Accepted by PR

Field-induced axion emission via process e+e−→ae^+ e^- \to a in plasma

The annihilation into axion $e^+ e^- \to a$ is investigated in a plasma and an external magnetic field. This process via a plasmon intermediate state has a resonant character at a particular energy of the emitted axion. The emissivity by $e^+ e^- \to a$ is compared with the axion cyclotron emissivity.Comment: 8 pages, latex, 4 PS figure