Search for: All records

In this paper, a novel strategy is designed for trajectory control of a multi-section continuum robot in three-dimensional space to achieve accurate orientation, curvature, and section length tracking. The formulation connects the continuum manipulator dynamic behavior to a virtual discrete-jointed robot whose degrees-of-freedom are directly mapped to those of a continuum robot section. Based on this connection, a computed torque control architecture is developed for the virtual robot, for which inverse kinematics and dynamic equations are constructed and exploited, with appropriate transformations developed for implementation on the continuum robot. The control algorithm is implemented on a six degree-of-freedom two-section OctArm continuum manipulator. Experimental results show that the proposed method managed simultaneous extension/contraction, bending, and torsion actions on multi-section continuum robots with decent tracking performance (steady state arc length and curvature tracking error of merely 3.3mm and 0.13m-1, respectively). These results demonstrate that the proposed method can be applied to multi-section continuum manipulator and perform complex maneuvers within a nonlinear setting. 

The spectra for H5+ and D5+ are extended to cover the region between 4830 and 7300 cm−1. These spectra are obtained using mass-selected photodissociation spectroscopy. To understand the nature of the states that are accessed by the transitions in this and prior studies, we develop a four-dimensional model Hamiltonian. This Hamiltonian is expressed in terms of the two outer H2 stretches, the displacement of the shared proton from the center of mass of these two H2 groups, and the distance between the H2 groups. This choice is motivated by the large oscillator strength associated with the shared proton stretch and the fact that the spectral regions that have been probed correspond to zero, one, and two quanta of excitation in the H2 stretches. This model is analyzed using an adiabatic separation of the H2 stretches from the other two vibrations and includes the non-adiabatic couplings between H2 stretch states with the same number of quanta of excitation in the H2 stretches. Based on the analysis of the energies and wave functions obtained from this model, we find that when there are one or more quanta of excitation in the H2 stretches the states come in pairs that reflect tunneling doublets. The states accessed by the transitions in the spectrum with the largest intensity are assigned to the members of the doublets with requisite symmetry that are localized on the lowest-energy adiabat for a given level of H2 excitation. 

New control formulation for continuum robots via hybrid virtual rigid/soft robot model. 

A<sc>bstract</sc> An angular analysis ofB⁰→ K^*0e⁺e⁻decays is presented using proton-proton collision data collected by the LHCb experiment at centre-of-mass energies of 7, 8 and 13 TeV, corresponding to an integrated luminosity of 9 fb⁻¹. The analysis is performed in the region of the dilepton invariant mass squared of 1.1–6.0 GeV²/c⁴. In addition, a test of lepton flavour universality is performed by comparing the obtained angular observables with those measured inB⁰→ K^*0μ⁺μ⁻decays. In general, the angular observables are found to be consistent with the Standard Model expectations as well as with global analyses of otherb → sℓ⁺ℓ⁻processes, whereℓis either a muon or an electron. No sign of lepton-flavour-violating effects is observed. 

A<sc>bstract</sc> A search for the decay$$ {B}_c^{+} $$ $B_c^{+}$→ χ_c1(3872)π⁺is reported using proton-proton collision data collected with the LHCb detector between 2011 and 2018 at centre-of-mass energies of 7, 8, and 13 TeV, corresponding to an integrated luminosity of 9 fb⁻¹. No significant signal is observed. Using the decay$$ {B}_c^{+} $$ $B_c^{+}$→ψ(2S)π⁺as a normalisation channel, an upper limit for the ratio of branching fractions$$ {\mathcal{R}}_{\psi (2S)}^{\chi_{c1}(3872)}=\frac{{\mathcal{B}}_{B_c^{+}\to {\chi}_{c1}(3872){\pi}^{+}}}{{\mathcal{B}}_{B_c^{+}\to \psi (2S){\pi}^{+}}}\times \frac{{\mathcal{B}}_{\chi_{c1}(3872)\to J/\psi {\pi}^{+}{\pi}^{-}}}{{\mathcal{B}}_{\psi (2S)\to J/\psi {\pi}^{+}{\pi}^{-}}}<0.05(0.06), $$ $R_{\psi \left(2S\right)}^{{\chi }_{c1}\left(3872\right)}=\frac{B_{B_c^{+}\to {\chi }_{c1}\left(3872\right){\pi }^{+}}}{B_{B_c^{+}\to \psi \left(2S\right){\pi }^{+}}}\times \frac{B_{{\chi }_{c1}\left(3872\right)\to J/\psi {\pi }^{+}{\pi }^{-}}}{B_{\psi \left(2S\right)\to J/\psi {\pi }^{+}{\pi }^{-}}}<0.05\left(0.06\right),$ is set at the 90 (95)% confidence level. 

The branching fraction of the decay $B^{+}\to \psi \left(2S\right)\varphi \left(1020\right)K^{+}$, relative to the topologically similar decay $B^{+}\to J/\psi \varphi \left(1020\right)K^{+}$, is measured using proton-proton collision data collected by the LHCb experiment at center-of-mass energies of 7, 8, and 13 TeV, corresponding to an integrated luminosity of $9{\mathrm{fb}}^{-1}$. The ratio is found to be $0.061\pm 0.004\pm 0.009$, where the first uncertainty is statistical and the second systematic. Using the world-average branching fraction for $B^{+}\to J/\psi \varphi \left(1020\right)K^{+}$, the branching fraction for the decay $B^{+}\to \psi \left(2S\right)\varphi \left(1020\right)K^{+}$is found to be $(3.0\pm 0.2\pm 0.5\pm 0.2)\times {10}^{-6}$, where the first uncertainty is statistical, the second systematic, and the third is due to the branching fraction of the normalization channel. © 2025 CERN, for the LHCb Collaboration2025CERN