Heterogeneous Leg Stiffness and Roll in Dynamic Running

Legged robots are by nature strongly non-linear, high-dimensional systems whose full complexity permits neither tractable mathematical analysis nor comprehensive numerical study. In consequence, a growing body of literature interrogates simplified “template” [1], [2] models—to date almost exclusively confined to sagittal- or horizontal-plane motion—with the aim of gaining insight into the design or control of the far messier reality. In this paper we introduce a simple bounding-in-place (“BIP”) model as a candidate frontal plane template for straight-ahead level ground running and explore its use in formulating hypotheses about whether and why rolling motion is important in legged locomotion. Numerical study of left-right compliance asymmetry in the BIP model suggests that compliance ratios yielding lowest steady state roll suffer far longer disturbance recovery transients than those promoting greater steady state roll. We offer preliminary experimental data obtained from video motion capture data of the frontal plane disturbance recovery patterns of a RHex-like hexapod suggesting a correspondence to the conclusions of the numerical study. Fig. 1. EduBot [19], a RHex-like [20] hexapedal robot. Jonathan Clark was supported by the IC Postdoctoral Fellow Program under grant number HM158204-1-2030. Samuel Burden was supported by the SUNFEST REU program at the University of Pennsylvania. This work was also partially supported by the NSF FIBR grant #0425878. For more information: Kod*La

Hadron Correlators and the Structure of the Quark Propagator

The structure of the quark propagator of $QCD$ in a confining background is not known. We make an Ansatz for it, as hinted by a particular mechanism for confinement, and analyze its implications in the meson and baryon correlators. We connect the various terms in the K\"allen-Lehmann representation of the quark propagator with appropriate combinations of hadron correlators, which may ultimately be calculated in lattice $QCD$. Furthermore, using the positivity of the path integral measure for vector like theories, we reanalyze some mass inequalities in our formalism. A curiosity of the analysis is that, the exotic components of the propagator (axial and tensor), produce terms in the hadron correlators which, if not vanishing in the gauge field integration, lead to violations of fundamental symmetries. The non observation of these violations implies restrictions in the space-time structure of the contributing gauge field configurations. In this way, lattice $QCD$ can help us analyze the microscopic structure of the mechanisms for confinement.Comment: 12 pp in LaTeX, preprint Univ. of Valencia, FTUV/94-16, IFIC/94-15. To appear in Z.Phys.

1+1 dimensional QCD with fundamental bosons and fermions

We analyze the properties of mesons in 1+1 dimensional QCD with bosonic and fermionic ``quarks'' in the large \nc limit. We study the spectrum in detail and show that it is impossible to obtain massless mesons including boson constituents in this model. We quantitatively show how the QCD mass inequality is realized in two dimensional QCD. We find that the mass inequality is close to being an equality even when the quarks are light. Methods for obtaining the properties of ``mesons'' formed from boson and/or fermion constituents are formulated in an explicit manner convenient for further study. We also analyze how the physical properties of the mesons such as confinement and asymptotic freedom are realized.Comment: 20 pages, harvmac, 5 figure

Search for dark matter produced in association with bottom or top quarks in √s = 13 TeV pp collisions with the ATLAS detector

A search for weakly interacting massive particle dark matter produced in association with bottom or top quarks is presented. Final states containing third-generation quarks and miss- ing transverse momentum are considered. The analysis uses 36.1 fb−1 of proton–proton collision data recorded by the ATLAS experiment at √s = 13 TeV in 2015 and 2016. No significant excess of events above the estimated backgrounds is observed. The results are in- terpreted in the framework of simplified models of spin-0 dark-matter mediators. For colour- neutral spin-0 mediators produced in association with top quarks and decaying into a pair of dark-matter particles, mediator masses below 50 GeV are excluded assuming a dark-matter candidate mass of 1 GeV and unitary couplings. For scalar and pseudoscalar mediators produced in association with bottom quarks, the search sets limits on the production cross- section of 300 times the predicted rate for mediators with masses between 10 and 50 GeV and assuming a dark-matter mass of 1 GeV and unitary coupling. Constraints on colour- charged scalar simplified models are also presented. Assuming a dark-matter particle mass of 35 GeV, mediator particles with mass below 1.1 TeV are excluded for couplings yielding a dark-matter relic density consistent with measurements

Measurement of the inclusive isolated-photon cross section in pp collisions at √s = 13 TeV using 36 fb−1 of ATLAS data

The differential cross section for isolated-photon production in pp collisions is measured at a centre-of-mass energy of 13 TeV with the ATLAS detector at the LHC using an integrated luminosity of 36.1 fb. The differential cross section is presented as a function of the photon transverse energy in different regions of photon pseudorapidity. The differential cross section as a function of the absolute value of the photon pseudorapidity is also presented in different regions of photon transverse energy. Next-to-leading-order QCD calculations from Jetphox and Sherpa as well as next-to-next-to-leading-order QCD calculations from Nnlojet are compared with the measurement, using several parameterisations of the proton parton distribution functions. The predictions provide a good description of the data within the experimental and theoretical uncertainties. [Figure not available: see fulltext.