Parameter Calibration on Replacement Manipulator for UHV Valve-Side Bushing Based on Spinor Theory

In this paper, a structure design scheme of intelligent replacement device for the ultrahigh voltage (UHV) converter transformer valve-side bushing is put forward, and its size is determined according to the actual size of domestic converter station valve hall and UHV converter transformer valve-side bushing. Moreover, the weak links in its working state are analyzed by finite element method to ensure the safety and reliability of the structure. Based on the spinor theory, the forward kinematics and Jacobian matrix model of the manipulator are established, and the analytical solution of inverse kinematics is derived. In order to analyze the accuracy of the intelligent replacement manipulator for the UHV converter transformer valve-side bushing, considering that the end actuator of the robot arm is under heavy load, the absolute positioning accuracy and repeated positioning accuracy are analyzed. In addition, the corresponding error model is established, the least square method is proposed to identify the error model, and the influence of the error caused by the load on the repetition accuracy is analyzed. Finally, the whole process simulation in ROS provides data support for the calculation of repetitive precision and verifies the feasibility of the intelligent replacement device for the UHV converter valve-side bushing.

Galaxy rotation curves in the light of the Spinor Theory of Gravity

We analyze the recently obtained static and spherically symmetric solutions of the Spinor Theory of Gravity (STG) which, in the weak field limit, presents an effective Newtonian potential that contains an extra logarithmic behavior. We apply this solution to the description of the galaxy rotation curves finding an interesting analogy with the dark matter halo profile proposed by Navarro, Frenk and White.

An improved parameter identification method of redundant manipulator

To achieve more accurate simulation and control in the use of the manipulator, it is necessary to establish an accurate dynamic model of the redundant manipulator. The research of this article focuses on the dynamic parameter identification method of the redundant manipulator. In the study, the spinor theory is applied to the Newton–Euler dynamic equation, the Coulomb + viscous friction model is adopted, and the minimum parameter set is obtained by linearization derivation. The parameter identification of the manipulator is realized using the method of offline identification of the measured current, and the coefficient of the excitation trajectory is optimized using the nonlinear optimization function. Finally, the parameter set with high accuracy is obtained, and the motion trajectory of each joint can be obtained. The scheme has high accuracy and can meet the needs of practical application. To verify the accuracy and reliability of this method, we have carried out experiments on a service robot “Walker” and obtained the desired results.

Gravitational waves in the spinor theory of gravity

We analyze the gravitational waves within the Spinor Theory of Gravity (STG) and compare it with the General Relativity proposal. In the case of STG, a gravitational wave may occur if the effective gravitational metric induced by the spinorial field is Ricci flat.

An introduction to the edition of two Lemaître’s original manuscripts

The aim of this paper is to explain the contributions of G. Lemaître to Spinor Theory. At the end of the paper, we edited also, for the first time two short manuscripts: Spineurs et Quanta and Les spineurs et la physique quantique, written by Lemaître in December 1955 and in January 1956. This edition is a way of honouring Professor Michael Heller because he was the first, with Professor Odon Godart, who discovered, classified and published unedited manuscripts of G. Lemaître.

DIRAC THEORY ON A SPACE WITH LINEAR LIE TYPE FUZZINESS

A spinor theory on a space with linear Lie type noncommutativity among spatial coordinates is presented. The model is based on the Fourier space corresponding to spatial coordinates, as this Fourier space is commutative. When the group is compact, the real space exhibits lattice characteristics (as the eigenvalues of space operators are discrete), and the similarity of such a lattice with ordinary lattices is manifested, among other things, in a phenomenon resembling the famous fermion doubling problem. A projection is introduced to make the dynamical number of spinors equal to that corresponding to the ordinary space. The actions for free and interacting spinors (with Fermi-like interactions) are presented. The Feynman rules are extracted and 1-loop corrections are investigated.