Classification and characterization of places for mapping of environment using hierarchical neural network and omnivision

Mobile robots need autonomy to fulfill their tasks. Such autonomy is related whith their capacity to explorer and to recognize their navigation environments. In this context, the present work considers techniques for the classification and extraction of features from images, using artificial neural networks. This images are used in the mapping and localization system of LACE (Automation and Evolutive Computing Laboratory) mobile robot. In this direction, the robot uses a sensorial system composed by ultrasound sensors and a catadioptric vision system equipped with a camera and a conical mirror. The mapping system is composed of three modules; two of them will be presented in this paper: the classifier and the characterizer modules. Results of these modules simulations are presented in this paper.

Solitons, τ-functions and hamiltonian reduction for non-Abelian conformal affine Toda theories

We consider the Hamiltonian reduction of the two-loop Wess-Zumino-Novikov-Witten model (WZNW) based on an untwisted affine Kac-Moody algebra script Ĝ. The resulting reduced models, called Generalized Non-Abelian Conformal Affine Toda (G-CAT), are conformally invariant and a wide class of them possesses soliton solutions; these models constitute non-Abelian generalizations of the conformal affine Toda models. Their general solution is constructed by the Leznov-Saveliev method. Moreover, the dressing transformations leading to the solutions in the orbit of the vacuum are considered in detail, as well as the τ-functions, which are defined for any integrable highest weight representation of script Ĝ, irrespectively of its particular realization. When the conformal symmetry is spontaneously broken, the G-CAT model becomes a generalized affine Toda model, whose soliton solutions are constructed. Their masses are obtained exploring the spontaneous breakdown of the conformal symmetry, and their relation to the fundamental particle masses is discussed. We also introduce what we call the two-loop Virasoro algebra, describing extended symmetries of the two-loop WZNW models.

GLOBAL DYNAMICS of THE LORENZ SYSTEM WITH INVARIANT ALGEBRAIC SURFACES

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

GLOBAL DYNAMICS IN THE POINCARE BALL of THE CHEN SYSTEM HAVING INVARIANT ALGEBRAIC SURFACES

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Noether and topological currents equivalence and soliton/particle correspondence in affine sl(2)((1)) Toda theory coupled to matter

A submodel of the so-called conformal affine Toda model coupled to the matter field (CATM) is defined such that its real Lagrangian has a positive-definite kinetic term for the Toda field and a usual kinetic term for the (Dirac) spinor field. After spontaneously broken the conformal symmetry by means of BRST analysis, we end up with an effective theory, the off-critical affine Toda model coupled to the matter (ATM). It is shown that the ATM model inherits the remarkable properties of the general CATM model such as the soliton solutions, the particle/soliton correspondence and the equivalence between the Noether and topological currents. The classical solitonic spectrum of the ATM model is also discussed. (C) 2001 Elsevier B.V. B.V. All rights reserved.

Affine Toda model coupled to matter and the string tension in 2D QCD

The sl(2) affine Toda model coupled to matter is shown to describe various features, such as the spectrum and string tension, of the low-energy effective Lagrangian of two-dimensional QCD (one flavor and N colors). The corresponding string tension is computed when the dynamical quarks are in the fundamental representation of SU(N) and in the adjoint representation of SU(2).

T-duality in affine NA Toda models

The construction of non-Abelian affine Toda models is discussed in terms of its underlying Lie algebraic structure. It is shown that a subclass of such non-conformal two-dimensional integrable models naturally leads to the construction of a pair of actions, which share the same spectra and are related by canonical transformations.

The sl(2) affine Toda model coupled to the matter: solitons and confinement

The so-called conformal affine Toda theory coupled to the matter fields (CATM), associated to the (s) over capl(2) affine Lie algebra, is studied. The conformal symmetry is fixed by setting a connection to zero, then one defines an off-critical model, the affine Toda model coupled to the matter (ATM). Using the dressing transformation method we construct the explicit forms of the two-soliton classical solutions, and show that a physical bound soliton-antisoliton pair (breather) does not exist. Moreover, we verify that these solutions share some features of the sine-Gordon (massive Thirring) solitons, and satisfy the classical equivalence of topological and Noether currents in the ATM model. We show, using bosonization techniques that the ATM theory decouples into a sine-Gordon model and a free scalar. Imposing the Noether and topological currents equivalence as a constraint, one can show that the ATM model leads to a bag model like mechanism for the confinement of the color charge inside the sine-Gordon solitons (baryons).

Vertex operators and soliton solutions of affine Toda model with U(2) symmetry

The symmetry structure of the non-Abelian affine Toda model based on the coset SL(3)/SL(2) circle times U(1) is studied. It is shown that the model possess non-Abelian Noether symmetry closing into a q-deformed SL(2) circle times U(1) algebra. Specific two-vertex soliton solutions are constructed.

PT-invariant point interactions in one dimension

By using Wu and Yu's pseudo-potential, we construct point interactions in one dimension that are complex but conform to space-time reflection (PT) invariance. The resulting point interactions are equivalent to those obtained by Albeverio, Fei and Kurasov as self-adjoint extensions of the kinetic energy operator.

The Faddeev-Jackiw approach and the conformal affine sl(2) Toda model coupled to the matter field

The conformal affine sl(2) Toda model coupled to the matter field is treated as a constrained system in the context of Faddeev-Jackiw and the (constrained) symplectic schemes. We recover from this theory either the sine-Gordon or the massive Thirring model, through a process of Hamiltonian reduction, considering the equivalence of the Noether and topological currrents as a constraint and gauge fixing the conformal symmetry. (C) 2000 Academic Press.

Metric-affine approach to teleparallel gravity

The teleparallel gravity theory, treated physically as a gauge theory of translations, naturally represents a particular case of the most general gauge-theoretic model based on the general affine group of spacetime. on the other hand, geometrically, the Weitzenbock spacetime of distant parallelism is a particular case of the general metric-affine spacetime manifold. These physical and geometrical facts offer a new approach to teleparallelism. We present a systematic treatment of teleparallel gravity within the framework of the metric-affine theory. The symmetries, conservation laws and the field equations are consistently derived, and the physical consequences are discussed in detail. We demonstrate that the so-called teleparallel GR-equivalent model has a number of attractive features which distinguishes it among the general teleparallel theories, although it has a consistency problem when dealing with spinning matter sources.

The two-loop massless (lambda/4!)phi(4) model in nontranslational invariant domain

We study the (lambda/4!)phi(4) massless scalar field theory in a four-dimensional Euclidean space, where all but one of the coordinates are unbounded. We are considering Dirichlet boundary conditions in two hyperplanes, breaking the translation invariance of the system. We show how to implement the perturbative renormalization up to two-loop level of the theory. First, analyzing the full two and four-point functions at the one-loop level, we show that the bulk counterterms are sufficient to render the theory finite. Meanwhile, at the two-loop level, we must also introduce surface counterterms in the bare Lagrangian in order to make finite the full two and also four-point Schwinger functions. (c) 2006 American Institute of Physics.

Conserved currents in gravitational models with quasi-invariant Lagrangians: Application to teleparallel gravity

Conservation laws in gravitational theories with diffeomorphism and local Lorentz symmetry are studied. Main attention is paid to the construction of conserved currents and charges associated with an arbitrary vector field that generates a diffeomorphism on the spacetime. We further generalize previous results for the case of gravitational models described by quasi-invariant Lagrangians, that is, Lagrangians that change by a total derivative under the action of the local Lorentz group. The general formalism is then applied to the teleparallel models, for which the energy and the angular momentum of a Kerr black hole are calculated. The subsequent analysis of the results obtained demonstrates the importance of the choice of the frame.

Measurement of the dijet invariant mass cross section in p(p)over-bar collisions at root s=1.96 TeV

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)