Self calibration method of binocular vision based on Conformal geometric algebra

We will study binocular vision for 6-DOF robotic manipulator in conformal geometric algebra approach. We will focus on the case where some information as relative cameras positions, has been lost. In particular, we will use the construction of the manipulator to infer a self calibration method for cameras position based in binocular vision with incomplete information.

Note on geometric algebras and control problems with SO(3)-symmetries

We study the role of symmetries in control systems by means of geometric algebra approach. We discuss two specific control problems on Carnot group of step 2 invariant with respect to the action of$SO(3). We understand geodesics as curves in suitable geometric algebras which allows us to asses an efficient algorithm for local control.

Geometric Algebra Framework Applied to Circuits with Non-sinusoidal Voltages and Currents

We apply a well known technique of theoretical physics, known as Geometric Algebra or Clifford algebra, to linear electrical circuits with non-sinusoidal voltages and currents. We rederive from the first principles the Geometric Algebra approach to the apparent power decomposition. The important new point consists in a choice of a natural convenient basis in the Clifford vector space which simplifies considerably the presentation. Thus we are able to derive a number of general results which are missing in the former papers. In particular, a natural correspondence with the Current Physical Components approach is shown.

Motion Modeling and Control of Lower Limb Exoskeleton Based on Max-Plus Algebra

Max-plus algebra is a special method to describe the discrete event system. In this paper, it is introduced to describe the motion of lower limb exoskeleton. Based on the max-plus algebra and the timed event graph, the walking process of exoskeleton is modelled. The max-plus algebra approach can describe the logical sequence and safety condition in the walking process, which cannot be achieved via other conventional modelling approaches. The autonomous control of lower limb exoskeleton system is studied via the model based on max-plus algebra. In the end, an FSM (finite state machine) controller embedded with the max-plus algebra model is proposed, and the experiments show ideal speed and gait/phase period control effect, as well as the good safety and stable performance.

Learning Impulsive Pinning Control of Complex Networks

In this paper, we present an impulsive pinning control algorithm for discrete-time complex networks with different node dynamics, using a linear algebra approach and a neural network as an identifier, to synthesize a learning control law. The model of the complex network used in the analysis has unknown node self-dynamics, linear connections between nodes, where the impulsive dynamics add feedback control input only to the pinned nodes. The proposed controller consists of the linearization for the node dynamics and a reorder of the resulting quadratic Lyapunov function using the Rayleigh quotient. The learning part of the control is done with a discrete-time recurrent high order neural network used for identification of the pinned nodes, which is trained using an extended Kalman filter algorithm. A numerical simulation is included in order to illustrate the behavior of the system under the developed controller. For this simulation, a 20-node complex network with 5 different node dynamics is used. The node dynamics consists of discretized versions of well-known continuous chaotic attractors.

Gapped boundaries and string-like excitations in (3+1)d gauge models of topological phases

We study lattice Hamiltonian realisations of (3+1)d Dijkgraaf-Witten theory with gapped boundaries. In addition to the bulk loop-like excitations, the Hamiltonian yields bulk dyonic string-like excitations that terminate at gapped boundaries. Using a tube algebra approach, we classify such excitations and derive the corresponding representation theory. Via a dimensional reduction argument, we relate this tube algebra to that describing (2+1)d boundary point-like excitations at interfaces between two gapped boundaries. Such point-like excitations are well known to be encoded into a bicategory of module categories over the input fusion category. Exploiting this correspondence, we define a bicategory that encodes the string-like excitations ending at gapped boundaries, showing that it is a sub-bicategory of the centre of the input bicategory of group-graded 2-vector spaces. In the process, we explain how gapped boundaries in (3+1)d can be labelled by so-called pseudo-algebra objects over this input bicategory.

Exact results in a $$ \mathcal{N} $$ = 2 superconformal gauge theory at strong coupling

We consider the $$ \mathcal{N} $$ N = 2 SYM theory with gauge group SU(N) and a matter content consisting of one multiplet in the symmetric and one in the anti-symmetric representation. This conformal theory admits a large-N ’t Hooft expansion and is dual to a particular orientifold of AdS5 × S5. We analyze this gauge theory relying on the matrix model provided by localization à la Pestun. Even though this matrix model has very non-trivial interactions, by exploiting the full Lie algebra approach to the matrix integration, we show that a large class of observables can be expressed in a closed form in terms of an infinite matrix depending on the ’t Hooft coupling λ. These exact expressions can be used to generate the perturbative expansions at high orders in a very efficient way, and also to study analytically the leading behavior at strong coupling. We successfully compare these predictions to a direct Monte Carlo numerical evaluation of the matrix integral and to the Padé resummations derived from very long perturbative series, that turn out to be extremely stable beyond the convergence disk |λ| < π2 of the latter.