Modelado y Resolución del Problema Dinámico Inverso y Directo en Tiempo Real de Robots Industriales

ResumenEste trabajo presenta el desarrollo y la validación de una metodología que permite el modelado y la resolución del problema dinámico en tiempo real de robots manipuladores. La ecuación dinámica del robot está basada en la ecuación de movimiento de Gibbs-Appell, proporcionando un conjunto de ecuaciones bien estructuradas que pueden ser calculadas en tiempo real.El artículo aborda el cálculo e implementación del problema dinámico directo e inverso de robots, aplicándose al control en tiempo real de un robot industrial PUMA 560 equipado con una arquitectura abierta de control basada en un computador personal industrial

Searches for dark matter decay with ultra-high-energy neutrinos endure backgrounds

Next-generation ultra-high-energy (UHE) neutrino telescopes, presently under planning, will have the potential to probe the decay of heavy dark matter (DM) into UHE neutrinos, with energies in excess of $10^7$~GeV. Yet, this potential may be deteriorated by the presence of an unknown background of UHE neutrinos, cosmogenic or from astrophysical sources, not of DM origin and seemingly large enough to obscure the DM signature. We show that leveraging the angular and energy distributions of detected events safeguards future searches for DM decay against such backgrounds. We focus on the radio-detection of UHE neutrinos in the planned IceCube-Gen2 neutrino telescope, which we model in state-of-the-art detail. We report promising prospects for the discovery potential of DM decay into UHE neutrinos, the measurement of DM mass and lifetime, and limits on the DM lifetime, despite the presence of a large background, without prior knowledge of its size and shape.Comment: Version accepted for publication in PRD; 19 pages, 13 figures, plus 4 figures in appendi