Force guided robot control is a control scheme based on the interpretation of measured force acting on the robot end effector. A functional map relating the correction of motion to force measurements is generated based on the geometry of the workpiece and its kinematic behavior in interacting with the environment. In the traditional force-guided control schemes, the contact force measured by a ...

I make a number of observations concerning discretization errors in twisted-mass lattice QCD that can be deduced by applying chiral perturbation theory including lattice artifacts. (1) The line along which the PCAC quark mass vanishes in the untwisted mass-twisted mass plane makes an angle to the twisted mass axis which is a direct measure of O(a) terms in the chiral Lagrangian, and is found nu...

In cosmological perturbation theory a first major step consists in the decomposition of the various perturbation amplitudes into scalar, vector and tensor perturbations, which mutually decouple. In performing this decomposition one uses – beside the Hodge decomposition for one-forms – an analogous decomposition of symmetric tensor fields of second rank on Riemannian manifolds with constant curv...

The metric perturbation induced by a particle in the Schwarzschild background is usually calculated in the Regge-Wheeler ~RW! gauge, whereas the gravitational self-force is known to be given by the tail part of the metric perturbation in the harmonic gauge. Thus, to identify the gravitational self-force correctly in a specified gauge, it is necessary to find out a gauge transformation that conn...

A direct approach is applied to the periodic amplification of a soliton in an optical fibre link with loss. In a single soliton case, the adiabatic solution and first-order correction are given for the system. The apparent advantage of this direct approach is that it not only presents the slow evolution of soliton parameters, but also the perturbation-induced radiation, and can be easily used t...

The slope of the three-isotope plot for the isotopomer fractionation by direct or nearly direct photodissociation is obtained using a perturbation theoretical analysis. This result, correct to first order in the mass difference, is the same as that for equilibrium chemical exchange reactions, a similarity unexpected a priori. A comparison is made with computational results for N2O photodissocia...