797 research outputs found

    iCub robot modelling and control of its biped locomotion

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    Kac-Moody Symmetries of Ten-dimensional Non-maximal Supergravity Theories

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    A description of the bosonic sector of ten-dimensional N=1 supergravity as a non-linear realisation is given. We show that if a suitable extension of this theory were invariant under a Kac-Moody algebra, then this algebra would have to contain a rank eleven Kac-Moody algebra, that can be identified to be a particular real form of very-extended D_8. We also describe the extension of N=1 supergravity coupled to an abelian vector gauge field as a non-linear realisation, and find the Kac-Moody algebra governing the symmetries of this theory to be very-extended B_8. Finally, we discuss the related points for the N=1 supergravity coupled to an arbitrary number of abelian vector gauge fields

    Dualisation of the D=7 Heterotic String

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    The dualisation and the first-order formulation of the D=7 abelian Yang-Mills supergravity which is the low energy effective limit of the D=7 fully Higssed heterotic string is discussed. The non-linear coset formulation of the scalars is enlarged to include the entire bosonic sector by introducing dual fields and by constructing the Lie superalgebra which generates the dualized coset element.Comment: 20 page

    Duality Symmetries and G^{+++} Theories

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    We show that the non-linear realisations of all the very extended algebras G^{+++}, except the B and C series which we do not consider, contain fields corresponding to all possible duality symmetries of the on-shell degrees of freedom of these theories. This result also holds for G_2^{+++} and we argue that the non-linear realisation of this algebra accounts precisely for the form fields present in the corresponding supersymmetric theory. We also find a simple necessary condition for the roots to belong to a G^{+++} algebra.Comment: 35 pages. v2: 2 appendices added, other minor corrections. v3: tables corrected, other minor changes, one appendix added, refs. added. Version published in Class. Quant. Gra

    E_{11} origin of Brane charges and U-duality multiplets

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    We derive general equations which determine the decomposition of the G^{+++} multiplet of brane charges into the sub-algebras that arise when the non-linearly realised G^{+++} theory is dimensionally reduced on a torus. We apply this to calculate the low level E_8 multiplets of brane charges that arise when the E_{8}^{+++}, or E_{11}, non-linearly realised theory is dimensionally reduced to three dimensions on an eight dimensional torus. We find precise agreement with the U-duality multiplet of brane charges previously calculated, thus providing a natural eleven dimensional origin for the "mysterious" brane charges found that do not occur as central charges in the supersymmetry algebra. We also discuss the brane charges in nine dimensions and how they arise from the IIA and IIB theories.Comment: 30 pages, plain te

    IIA Ten-forms and the Gauge Algebras of Maximal Supergravity Theories

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    We show that IIA supergravity can be extended with two independent 10-form potentials. These give rise to a single BPS IIA 9-brane. We investigate the bosonic gauge algebra of both IIA and IIB supergravity in the presence of 10-form potentials and point out an intriguing relation with the symmetry algebra E11E_{11}, which has been conjectured to be the underlying symmetry of string theory/M-theory.Comment: 18 pages, section on IIA 9-branes added, references added; version to be publishe
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