A virtual manipulator model for space robotic systems

Future robotic manipulators carried by a spacecraft will be required to perform complex tasks in space, like repairing satellites. Such applications of robotic manipulators will encounter a number of kinematic, dynamic and control problems due to the dynamic coupling between the manipulators and the spacecraft. A new analytical modeling method for studying the kinematics and dynamics of manipulators in space is presented. The problem is treated by introducing the concept of a Virtual Manipulator (VM). The kinematic and dynamic motions of the manipulator, vehicle and payload, can be described relatively easily in terms of the Virtual Manipulator movements, which have a fixed base in inertial space at a point called a Virtual Ground. It is anticipated that the approach described here will aid in the design and development of future space manipulator systems

The Orbifolds of N=2 Superconformal Theories with c=3

We construct Z_M, M= 2, 3, 4, 6 orbifold models of the N=2 superconformal field theories with central charge c=3. Then we check the description of the Z_3, Z_4 and Z_6 orbifolds by the N=2 superconformal Landau-Ginzburg models with c=3, by comparing the spectrum of chiral fields, in particular the Witten index Tr(-1)^F.Comment: 20 pages; typos corrected, references adde

Vertex operator algebras and operads

Vertex operator algebras are mathematically rigorous objects corresponding to chiral algebras in conformal field theory. Operads are mathematical devices to describe operations, that is, $n$-ary operations for all $n$ greater than or equal to $0$, not just binary products. In this paper, a reformulation of the notion of vertex operator algebra in terms of operads is presented. This reformulation shows that the rich geometric structure revealed in the study of conformal field theory and the rich algebraic structure of the theory of vertex operator algebras share a precise common foundation in basic operations associated with a certain kind of (two-dimensional) ``complex'' geometric object, in the sense in which classical algebraic structures (groups, algebras, Lie algebras and the like) are always implicitly based on (one-dimensional) ``real'' geometric objects. In effect, the standard analogy between point-particle theory and string theory is being shown to manifest itself at a more fundamental mathematical level.Comment: 16 pages. Only the definitions of "partial operad" and of "rescaling group" have been improve

Toward the M(F)--Theory Embedding of Realistic Free-Fermion Models

We construct a Landau-Ginzburg model with the same data and symmetries as a $Z_2\times Z_2$ orbifold that corresponds to a class of realistic free-fermion models. Within the class of interest, we show that this orbifolding connects between different $Z_2\times Z_2$ orbifold models and commutes with the mirror symmetry. Our work suggests that duality symmetries previously discussed in the context of specific $M$ and $F$ theory compactifications may be extended to the special $Z_2\times Z_2$ orbifold that characterizes realistic free-fermion models.Comment: 15 pages. Standard Late

On Large N Gauge Theories from Orientifolds

We consider four dimensional ${\cal N}=1$ supersymmetric gauge theories obtained via orientifolds of Type IIB on Abelian C^3/G orbifolds. We construct all such theories that have well defined world-sheet expansion. The number of such orientifolds is rather limited. We explain this fact in the context of recent developments in four dimensional Type IIB orientifolds. In particular, we elaborate these issues in some examples of theories where world-sheet description is inadequate due to non-perturbative (from the orientifold viewpoint) states arising from D-branes wrapping (collapsed) 2-cycles in the orbifold. We find complete agreement with the corresponding statements recently discussed in the context of Type I compactifications on toroidal orbifolds. This provides a non-trivial check for correctness of the corresponding conclusions. We also find non-trivial agreement with various field theory expectations, and point out their origin in string language. The orientifold gauge theories that do possess well defined world-sheet description have the property that in the large N limit computation of any M-point correlation function in these theories reduces to the corresponding computation in the parent ${\cal N}=4$ oriented theory.Comment: 21 pages, revtex, minor errors and misprints corrected (to appear in Phys. Rev. D

Anomaly Free Non-Supersymmetric Large NN Gauge Theories from Orientifolds

We construct anomaly free non-supersymmetric large N gauge theories from orientifolds of Type IIB on C^3/G orbifolds. In particular, massless as well as tachyonic one-loop tadpoles are cancelled in these models. This is achieved by starting with ${\cal N}=1,2$ supersymmetric orientifolds with well defined world-sheet description and including discrete torsion (which breaks supersymmetry) in the orbifold action. In this way we obtain non-trivial non-chiral as well as anomaly free chiral large N gauge theories. We point out certain subtleties arising in the chiral cases. Subject to certain assumptions, these theories are shown to have the property that computation of any M-point correlation function in these theories reduces to the corresponding computation in the parent ${\cal N}=4$ oriented theory. This generalizes the analogous results recently obtained in supersymmetric large N gauge theories from orientifolds, as well as in (non)supersymmetric large N gauge theories without orientifold planes.Comment: 18 pages, revtex, minor misprints corrected, a clarifying footnote added (to appear in Phys. Rev. D

NC Calabi-Yau Orbifolds in Toric Varieties with Discrete Torsion

Using the algebraic geometric approach of Berenstein et {\it al} (hep-th/005087 and hep-th/009209) and methods of toric geometry, we study non commutative (NC) orbifolds of Calabi-Yau hypersurfaces in toric varieties with discrete torsion. We first develop a new way of getting complex $d$ mirror Calabi-Yau hypersurfaces $H_{\Delta}^{\ast d}$ in toric manifolds $M_{\Delta }^{\ast (d+1)}$ with a $C^{\ast r}$ action and analyze the general group of the discrete isometries of $H_{\Delta}^{\ast d}$. Then we build a general class of $d$ complex dimension NC mirror Calabi-Yau orbifolds where the non commutativity parameters $\theta_{\mu \nu}$ are solved in terms of discrete torsion and toric geometry data of $M_{\Delta}^{(d+1)}$ in which the original Calabi-Yau hypersurfaces is embedded. Next we work out a generalization of the NC algebra for generic $d$ dimensions NC Calabi-Yau manifolds and give various representations depending on different choices of the Calabi-Yau toric geometry data. We also study fractional D-branes at orbifold points. We refine and extend the result for NC $T^{2})/(\mathbf{{Z_{2}}\times {Z_{2})}}$ to higher dimensional torii orbifolds in terms of Clifford algebra.Comment: 38 pages, Late

Quantum Clifford-Hopf Algebras for Even Dimensions

In this paper we study the quantum Clifford-Hopf algebras $\widehat{CH_q(D)}$ for even dimensions $D$ and obtain their intertwiner $R-$matrices, which are elliptic solutions to the Yang- Baxter equation. In the trigonometric limit of these new algebras we find the possibility to connect with extended supersymmetry. We also analyze the corresponding spin chain hamiltonian, which leads to Suzuki's generalized $XY$ model.Comment: 12 pages, LaTeX, IMAFF-12/93 (final version to be published, 2 uuencoded figures added

Rigidity and defect actions in Landau-Ginzburg models

Studying two-dimensional field theories in the presence of defect lines naturally gives rise to monoidal categories: their objects are the different (topological) defect conditions, their morphisms are junction fields, and their tensor product describes the fusion of defects. These categories should be equipped with a duality operation corresponding to reversing the orientation of the defect line, providing a rigid and pivotal structure. We make this structure explicit in topological Landau-Ginzburg models with potential x^d, where defects are described by matrix factorisations of x^d-y^d. The duality allows to compute an action of defects on bulk fields, which we compare to the corresponding N=2 conformal field theories. We find that the two actions differ by phases.Comment: 53 pages; v2: clarified exposition of pivotal structures, corrected proof of theorem 2.13, added remark 3.9; version to appear in CM

Type IIB Orientifolds with NS-NS Antisymmetric Tensor Backgrounds

We consider six dimensional N=1 space-time supersymmetric Type IIB orientifolds with non-zero untwisted NS-NS sector B-field. The B-field is quantized due to the requirement that the Type IIB spectrum be left-right symmetric. The presence of the B-field results in rank reduction of both 99 and 55 open string sector gauge groups. We point out that in some of the models with non-zero B-field there are extra tensor multiplets in the Z_2 twisted closed string sector, and we explain their origin in a simple example. Also, the 59 open string sector states come with a multiplicity that depends on the B-field. These two facts are in accord with anomaly cancellation requirements. We point out relations between various orientifolds with and without the B-field, and also discuss the F-theory duals of these models.Comment: 13 pages, revtex, minor misprints correcte