Design of feedback controllers for paraplegic standing

The development, implementation and experimental evaluation of feedback systems for the control of the upright posture of paraplegic persons in standing is described. While the subject stands in a special apparatus, stabilising torque at the ankle joint is generated by electrical stimulation of the paralysed calf muscles of both legs using surface electrodes. This allows the subject to stand without the need to hold on to external supports for stability- this is termed 'unsupported standing'. Sensors in the apparatus allow independent measurement of left and right ankle moments together with measurement of the inclination angle. A nested loop structure for control of standing is implemented, where a high-bandwidth inner loop provides control of the ankle moments, while the angle controller in the outer loop regulates the inclination angle. A number of important modifications to a control strategy which was previously tested with both neurologically intact and paraplegic subjects are presented. The new strategy is described, and an experimental evaluation with intact subjects is reported. The experimental results show that the control system for unsupported standing performs reliably, and according to the design formulation. There aa-e a number of design choices, appropriate to different situations, and the practical effect of each is clear. This allows easy 'tuning' during an experimental session. This is important since the complete design procedure, from muscle dynamics identification to control design, has to be carried out as quickly as possible while the subject is standing in the apparatus. A number of recommendations are made regarding the preferred design choices for control of unsupported standing

Stability and BPS branes

We define the concept of Pi-stability, a generalization of mu-stability of vector bundles, and argue that it characterizes N=1 supersymmetric brane configurations and BPS states in very general string theory compactifications with N=2 supersymmetry in four dimensions.Comment: harvmac, 18 p

The spectrum of BPS branes on a noncompact Calabi-Yau

We begin the study of the spectrum of BPS branes and its variation on lines of marginal stability on O_P^2(-3), a Calabi-Yau ALE space asymptotic to C^3/Z_3. We show how to get the complete spectrum near the large volume limit and near the orbifold point, and find a striking similarity between the descriptions of holomorphic bundles and BPS branes in these two limits. We use these results to develop a general picture of the spectrum. We also suggest a generalization of some of the ideas to the quintic Calabi-Yau.Comment: harvmac, 45 pp. (v2: added references

Stability of the Minimal Heterotic Standard Model Bundle

The observable sector of the "minimal heterotic standard model" has precisely the matter spectrum of the MSSM: three families of quarks and leptons, each with a right-handed neutrino, and one Higgs-Higgs conjugate pair. In this paper, it is explicitly proven that the SU(4) holomorphic vector bundle leading to the MSSM spectrum in the observable sector is slope-stable.Comment: LaTeX, 19 page

The Particle Spectrum of Heterotic Compactifications

Techniques are presented for computing the cohomology of stable, holomorphic vector bundles over elliptically fibered Calabi-Yau threefolds. These cohomology groups explicitly determine the spectrum of the low energy, four-dimensional theory. Generic points in vector bundle moduli space manifest an identical spectrum. However, it is shown that on subsets of moduli space of co-dimension one or higher, the spectrum can abruptly jump to many different values. Both analytic and numerical data illustrating this phenomenon are presented. This result opens the possibility of tunneling or phase transitions between different particle spectra in the same heterotic compactification. In the course of this discussion, a classification of SU(5) GUT theories within a specific context is presented.Comment: 77 pages, 3 figure

Curve counting via stable pairs in the derived category

For a nonsingular projective 3-fold $X$, we define integer invariants virtually enumerating pairs $(C,D)$ where $C\subset X$ is an embedded curve and $D\subset C$ is a divisor. A virtual class is constructed on the associated moduli space by viewing a pair as an object in the derived category of $X$. The resulting invariants are conjecturally equivalent, after universal transformations, to both the Gromov-Witten and DT theories of $X$. For Calabi-Yau 3-folds, the latter equivalence should be viewed as a wall-crossing formula in the derived category. Several calculations of the new invariants are carried out. In the Fano case, the local contributions of nonsingular embedded curves are found. In the local toric Calabi-Yau case, a completely new form of the topological vertex is described. The virtual enumeration of pairs is closely related to the geometry underlying the BPS state counts of Gopakumar and Vafa. We prove that our integrality predictions for Gromov-Witten invariants agree with the BPS integrality. Conversely, the BPS geometry imposes strong conditions on the enumeration of pairs.Comment: Corrected typos and duality error in Proposition 4.6. 47 page

SU(4) Instantons on Calabi-Yau Threefolds with Z_2 x Z_2 Fundamental Group

Structure group SU(4) gauge vacua of both weakly and strongly coupled heterotic superstring theory compactified on torus-fibered Calabi-Yau threefolds Z with Z_2 x Z_2 fundamental group are presented. This is accomplished by constructing invariant, stable, holomorphic rank four vector bundles on the simply connected cover of Z. Such bundles can descend either to Hermite-Yang-Mills instantons on Z or to twisted gauge fields satisfying the Hermite-Yang-Mills equation corrected by a non-trivial flat B-field. It is shown that large families of such instantons satisfy the constraints imposed by particle physics phenomenology. The discrete parameter spaces of those families are presented, as well as a lower bound on the dimension of the continuous moduli of any such vacuum. In conjunction with Z_2 x Z_2 Wilson lines, these SU(4) gauge vacua can lead to standard-like models at low energy with an additional U(1)_{B-L} symmetry. This U(1)_{B-L} symmetry is very helpful in naturally suppressing nucleon decay.Comment: 68 pages, no figure

Extremal Bundles on Calabi-Yau Threefolds

We study constructions of stable holomorphic vector bundles on Calabi–Yau threefolds, especially those with exact anomaly cancellation which we call extremal. By going through the known databases we find that such examples are rare in general and can be ruled out for the spectral cover construction for all elliptic threefolds. We then introduce a general Hartshorne–Serre construction and use it to find extremal bundles of general ranks and study their stability, as well as computing their Chern numbers. Based on both existing and our new constructions, we revisit the DRY conjecture for the existence of stable sheaves on Calabi–threefolds, and provide theoretical and numerical evidence for its correctness. Our construction can be easily generalized to bundles with no extremal conditions imposed

Topological String Amplitudes, Complete Intersection Calabi-Yau Spaces and Threshold Corrections

We present the most complete list of mirror pairs of Calabi-Yau complete intersections in toric ambient varieties and develop the methods to solve the topological string and to calculate higher genus amplitudes on these compact Calabi-Yau spaces. These symplectic invariants are used to remove redundancies in examples. The construction of the B-model propagators leads to compatibility conditions, which constrain multi-parameter mirror maps. For K3 fibered Calabi-Yau spaces without reducible fibers we find closed formulas for all genus contributions in the fiber direction from the geometry of the fibration. If the heterotic dual to this geometry is known, the higher genus invariants can be identified with the degeneracies of BPS states contributing to gravitational threshold corrections and all genus checks on string duality in the perturbative regime are accomplished. We find, however, that the BPS degeneracies do not uniquely fix the non-perturbative completion of the heterotic string. For these geometries we can write the topological partition function in terms of the Donaldson-Thomas invariants and we perform a non-trivial check of S-duality in topological strings. We further investigate transitions via collapsing D5 del Pezzo surfaces and the occurrence of free Z2 quotients that lead to a new class of heterotic duals.Comment: 117 pages, 1 Postscript figur

Stability and duality in N=2 supergravity

The BPS-spectrum is known to change when moduli cross a wall of marginal stability. This paper tests the compatibility of wall-crossing with S-duality and electric-magnetic duality for N=2 supergravity. To this end, the BPS-spectrum of D4-D2-D0 branes is analyzed in the large volume limit of Calabi-Yau moduli space. Partition functions are presented, which capture the stability of BPS-states corresponding to two constituents with primitive charges and supported on very ample divisors in a compact Calabi-Yau. These functions are `mock modular invariant' and therefore confirm S-duality. Furthermore, wall-crossing preserves electric-magnetic duality, but is shown to break the `spectral flow' symmetry of the N=(4,0) CFT, which captures the degrees of freedom of a single constituent.Comment: 25 pages + appendix; v3: final versio