The 1+1+2 formalism for Scalar-Tensor gravity

We use the 1+1+2 covariant approach to clarify a number of aspects of spherically symmetric solutions of non-minimally coupled scalar tensor theories. Particular attention is focused on the extension of Birkhoff's theorem and the nature of quasi-local horizons in this context.Comment: 27 pages, accepted versio

Motion control of the Twente humanoid head

In this work, we present the design and the realization of the motion control algorithm implemented in the Twente hu- manoid head, a seven degrees of freedom (dof) robotic sys- tem. The aim of the project is to have a humanoid head that can serve as a research platform for human-machine interac- tion purposes. The head should not only be able to percieve its environment and track objects, but also be able to move in a human-like way, i.e. to reproduce the motions of human beings and to mime the human expressions

Vision based motion control for a humanoid head

This paper describes the design of a motion control algorithm for a humanoid robotic head, which consists of a neck with four degrees of freedom and two eyes (a stereo pair system) that tilt on a common axis and rotate sideways freely. The kinematic and dynamic properties of the head are analyzed and modeled using screw theory. The motion control algorithm is designed to receive, as an input, the output of a vision processing algorithm and to exploit the redundancy of the system for the realization of the movements. This algorithm is designed to enable the head to focus on and to follow a target, showing human-like motions. The performance of the control algorithm has been tested in a simulated environment and, then, experimentally applied to the real humanoid head

Global gravitational instability of FLRW backgrounds - interpreting the dark sectors

The standard model of cosmology is based on homogeneous-isotropic solutions of Einstein's equations. These solutions are known to be gravitationally unstable to local inhomogeneous perturbations, commonly described as evolving on a background given by the same solutions. In this picture, the FLRW backgrounds are taken to describe the average over inhomogeneous perturbations for all times. We study in the present article the (in)stability of FLRW dust backgrounds within a class of averaged inhomogeneous cosmologies. We examine the phase portraits of the latter, discuss their fixed points and orbital structure and provide detailed illustrations. We show that FLRW cosmologies are unstable in some relevant cases: averaged models are driven away from them through structure formation and accelerated expansion. We find support for the proposal that the dark components of the FLRW framework may be associated to these instability sectors. Our conclusion is that FLRW cosmologies have to be considered critically as for their role to serve as reliable models for the physical background.Comment: 15 pages, 13 figures, 1 table. Matches published version in CQ

Port-Hamiltonian modeling for soft-finger manipulation

In this paper, we present a port-Hamiltonian model of a multi-fingered robotic hand, with soft-pads, while grasping and manipulating an object. The algebraic constraints of the interconnected systems are represented by a geometric object, called Dirac structure. This provides a powerful way to describe the non-contact to contact transition and contact viscoelasticity, by using the concepts of energy flows and power preserving interconnections. Using the port based model, an Intrinsically Passive Controller (IPC) is used to control the internal forces. Simulation results validate the model and demonstrate the effectiveness of the port-based approach

A new approach to reconstruction methods in f(R)f(R) gravity

We present a new approach of the reconstruction method based on the use of the cosmic parameters instead of a time law for the scale factor. This allows the derivation and analysis of a set of new non-trivial cosmological solutions for $f(R)$-gravity. A number of simple examples are given.Comment: 5 pages, Revtex

Modeling and design of energy efficient variable stiffness actuators

In this paper, we provide a port-based mathematical framework for analyzing and modeling variable stiffness actuators. The framework provides important insights in the energy requirements and, therefore, it is an important tool for the design of energy efficient variable stiffness actuators. Based on new insights gained from this approach, a novel conceptual actuator is presented. Simulations show that the apparent output stiffness of this actuator can be dynamically changed in an energy efficient way

A dynamical system analysis of hybrid metric-Palatini cosmologies

The so called $f(X)$ hybrid metric-Palatini gravity presents a unique viable generalisation of the $f(R)$ theories within the metric-affine formalism. Here the cosmology of the $f(X)$ theories is studied using the dynamical system approach. The method consists of formulating the propagation equation in terms of suitable (expansion-normalised) variables as an autonomous system. The fixed points of the system then represent exact cosmological solutions described by power-law or de Sitter expansion. The formalism is applied to two classes of $f(X)$ models, revealing both standard cosmological fixed points and new accelerating solutions that can be attractors in the phase space. In addition, the fixed point with vanishing expansion rate are considered with special care in order to characterise the stability of Einstein static spaces and bouncing solutions.Comment: 13 page

Dynamical System Analysis of Cosmologies with Running Cosmological Constant from Quantum Einstein Gravity

We discuss a mechanism that induces a time-dependent vacuum energy on cosmological scales. It is based on the instability induced renormalization triggered by the low energy quantum fluctuations in a Universe with a positive cosmological constant. We employ the dynamical systems approach to study the qualitative behavior of Friedmann-Robertson-Walker cosmologies where the cosmological constant is dynamically evolving according with this nonperturbative scaling at low energies. It will be shown that it is possible to realize a "two regimes" dark energy phases, where an unstable early phase of power-law evolution of the scale factor is followed by an accelerated expansion era at late times.Comment: 26 pages, 4 figures. To appear in New Journal of Physic