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. 

A systematic analysis was used to understand electrical drift occurring in field-effect transistor (FET) dissolved-analyte sensors by investigating its dependence on electrode surface-solution combinations in a remote-gate (RG) FET configuration. Water at pH 7 and neat acetonitrile, having different dipoles and polarizabilities, were applied to the RG surface of indium tin oxide (ITO), SiO2, hexamethyldisilazane-modified SiO2, polystyrene, poly(styrene-co-acrylic acid), poly(3-hexylthiophene-2,5-diyl) (P3HT), and poly [3-(3-carboxypropyl)thiophene-2,5-diyl] (PT-COOH). We discovered that in some cases a slow reorientation of dipoles at the interface induced by gate electric fields caused severe drift and hysteresis because of induced interface potential changes. Conductive and charged P3HT and PT-COOH increased electrochemical stability by promoting fast surface equilibrations. We also demonstrated pH sensitivity of P3HT (17 mV/pH) as an indication of proton doping. PT-COOH showed further enhanced pH sensitivity (30 mV/pH). This combination of electrochemical stability and pH response in PT-COOH are proposed as advantageous for polymer-based biosensors. 

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

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. 

A<sc>bstract</sc> Thepp→W^±(→μ^±ν_μ)Xcross-sections are measured at a proton-proton centre-of-mass energy$$ \sqrt{s}=5.02 $$ $\sqrt{s}=5.02$TeV using a dataset corresponding to an integrated luminosity of 100 pb⁻¹recorded by the LHCb experiment. Considering muons in the pseudorapidity range 2.2< η <4.4, the cross-sections are measured differentially in twelve intervals of muon transverse momentum between 28< p_T<52 GeV. Integrated overp_T, the measured cross-sections are$$ {\displaystyle \begin{array}{c}{\sigma}_{W^{+}\to {\mu}^{+}{\nu}_{\mu }}=300.9\pm 2.4\pm 3.8\pm 6.0\ \textrm{pb},\\ {}{\sigma}_{W^{-}\to {\mu}^{-}{\overline{\nu}}_{\mu }}=236.9\pm 2.1\pm 2.7\pm 4.7\ \textrm{pb},\end{array}} $$ $\begin{array}{c}{\sigma }_{W^{+}\to {\mu }^{+}{\nu }_{\mu }}=300.9\pm 2.4\pm 3.8\pm 6.0\mathrm{pb},\\ {\sigma }_{W^{-}\to {\mu }^{-}{\overline{\nu }}_{\mu }}=236.9\pm 2.1\pm 2.7\pm 4.7\mathrm{pb},\end{array}$ where the first uncertainties are statistical, the second are systematic, and the third are associated with the luminosity calibration. These integrated results are consistent with theoretical predictions. This analysis introduces a new method to determine theW-boson mass using the measured differential cross-sections corrected for detector effects. The measurement is performed on this statistically limited dataset as a proof of principle and yields$$ {m}_W=80369\pm 130\pm 33\ \textrm{MeV}, $$ $m_W=80369\pm 130\pm 33\mathrm{MeV},$ where the first uncertainty is experimental and the second is theoretical. 

The first dedicated $Z$-boson mass measurement at the LHC with $Z\to {\mu }^{+}{\mu }^{-}$decays is reported. The dataset uses proton-proton collisions at a center-of-mass energy of 13 TeV, recorded in 2016 by the LHCb experiment, and corresponds to an integrated luminosity of $1.7{\mathrm{fb}}^{-1}$. A template fit to the ${\mu }^{+}{\mu }^{-}$mass distribution yields the following result for the $Z$-boson mass: $m_Z=91,185.7\pm 8.3\pm 3.9\mathrm{MeV}$, where the first uncertainty is statistical and the second systematic. This result is consistent with previous measurements and predictions from global electroweak fits.