4,732 research outputs found
Efficient computation of inverse dynamics and feedback linearization for VSA-based robots
We develop a recursive numerical algorithm to compute the inverse dynamics of robot manipulators with an arbitrary number of joints, driven by variable stiffness actuation (VSA) of the antagonistic type. The algorithm is based on Newton-Euler dynamic equations, generalized up to the fourth differential order to account for the compliant transmissions, combined with the decentralized nonlinear dynamics of the variable stiffness actuators at each joint. A variant of the algorithm can be used also for implementing a feedback linearization control law for the accurate tracking of desired link and stiffness trajectories. As in its simpler versions, the algorithm does not require dynamicmodeling in symbolic form, does not use numerical approximations, grows linearly in complexity with the number of joints, and is suitable for online feedforward and real-time feedback control. A Matlab/C code is made available
Open and Closed Prefixes of Sturmian Words
A word is closed if it contains a proper factor that occurs both as a prefix
and as a suffix but does not have internal occurrences, otherwise it is open.
We deal with the sequence of open and closed prefixes of Sturmian words and
prove that this sequence characterizes every finite or infinite Sturmian word
up to isomorphisms of the alphabet. We then characterize the combinatorial
structure of the sequence of open and closed prefixes of standard Sturmian
words. We prove that every standard Sturmian word, after swapping its first
letter, can be written as an infinite product of squares of reversed standard
words.Comment: To appear in WORDS 2013 proceeding
The sequence of open and closed prefixes of a Sturmian word
A finite word is closed if it contains a factor that occurs both as a prefix
and as a suffix but does not have internal occurrences, otherwise it is open.
We are interested in the {\it oc-sequence} of a word, which is the binary
sequence whose -th element is if the prefix of length of the word is
open, or if it is closed. We exhibit results showing that this sequence is
deeply related to the combinatorial and periodic structure of a word. In the
case of Sturmian words, we show that these are uniquely determined (up to
renaming letters) by their oc-sequence. Moreover, we prove that the class of
finite Sturmian words is a maximal element with this property in the class of
binary factorial languages. We then discuss several aspects of Sturmian words
that can be expressed through this sequence. Finally, we provide a linear-time
algorithm that computes the oc-sequence of a finite word, and a linear-time
algorithm that reconstructs a finite Sturmian word from its oc-sequence.Comment: Published in Advances in Applied Mathematics. Journal version of
arXiv:1306.225
Enumeration and Structure of Trapezoidal Words
Trapezoidal words are words having at most distinct factors of length
for every . They therefore encompass finite Sturmian words. We give
combinatorial characterizations of trapezoidal words and exhibit a formula for
their enumeration. We then separate trapezoidal words into two disjoint
classes: open and closed. A trapezoidal word is closed if it has a factor that
occurs only as a prefix and as a suffix; otherwise it is open. We investigate
open and closed trapezoidal words, in relation with their special factors. We
prove that Sturmian palindromes are closed trapezoidal words and that a closed
trapezoidal word is a Sturmian palindrome if and only if its longest repeated
prefix is a palindrome. We also define a new class of words, \emph{semicentral
words}, and show that they are characterized by the property that they can be
written as , for a central word and two different letters .
Finally, we investigate the prefixes of the Fibonacci word with respect to the
property of being open or closed trapezoidal words, and show that the sequence
of open and closed prefixes of the Fibonacci word follows the Fibonacci
sequence.Comment: Accepted for publication in Theoretical Computer Scienc
Some Results on Digital Segments and Balanced Words
We exhibit combinatorial results on Christoffel words and binary balanced
words that are motivated by their geometric interpretation as approximations of
digital segments. We show that for every pair of positive integers, all
the binary balanced words with zeroes and ones are good approximations
of the Euclidean segment from to , in the sense that they encode
paths that are contained within the region of the grid delimited by the lower
and the upper Christoffel words of slope . We then give a closed formula
for counting the exact number of balanced words with zeroes and ones.
We also study minimal non-balanced words and prefixes of Christoffel words.Comment: Submitte
Holographic duals of 6d RG flows
A notable class of superconformal theories (SCFTs) in six dimensions is
parameterized by an integer , an ADE group , and two nilpotent elements
in . Nilpotent elements have a natural partial ordering,
which has been conjectured to coincide with the hierarchy of
renormalization-group flows among the SCFTs. In this paper we test this
conjecture for , where AdS duals exist in IIA. We work
with a seven-dimensional gauged supergravity, consisting of the gravity
multiplet and two non-Abelian vector multiplets. We show that
this theory has many supersymmetric AdS vacua, determined by two nilpotent
elements, which are naturally interpreted as IIA AdS solutions. The BPS
equations for domain walls connecting two such vacua can be solved
analytically, up to a Nahm equation with certain boundary conditions. The
latter admit a solution connecting two vacua if and only if the corresponding
nilpotent elements are related by the natural partial ordering, in agreement
with the field theory conjecture.Comment: 33 pages, 2 figure
Application of a method to diagnose the source of performance degradation in MPC systems
Model Predictive Control systems may suffer from performance degradation mainly for two reasons: (i) external unmeasured disturbances are not estimated correctly, (ii) the (linear) dynamic model used by the MPC does not match (any longer) the actual process response. In this work we present the application of a method to detect when performance is not optimal, to diagnose the source of performance degradation and to propose appropriate corrections. In the simplest situation (i), optimal performance can be restored by recomputing the estimator parameters; in the other case (ii), re-identification becomes necessary. The method is based on analysis of the prediction error, i.e. the difference between the actual measured output and the corresponding model prediction, and uses three main tools: a statistical (whiteness) test on the prediction error sequence, a subspace identification method to detect the order of the input-to-prediction error system, and a nonlinear optimization algorithm to recompute optimal estimator parameters. We illustrate the effectiveness of the method on a large-scale rigorously simulated industrial process. Copyright © 2013, AIDIC Servizi S.r.l
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