Stiffness Analysis and Experiment of a Novel 5-DoF Parallel Kinematic Machine Considering Gravitational Effects

In order to carry out high-precision machining of aerospace structural components with large size, thin wall and complex surface, this paper proposes a novel parallel kinematic machine (PKM) and formulates its semi-analytical theoretical stiffness model considering gravitational effects that is verified by stiffness experiments. From the viewpoint of topology structure, the novel PKM consists of two substructures in terms of the redundant and overconstrained parallel mechanisms that are connected by two interlinked revolute joints. The theoretical stiffness model of the novel PKM is established based upon the virtual work principle and deformation superposition principle after mapping the stiffness models of substructures from joint space to operated space by Jacobian matrices and considering the deformation contributions of interlinked revolute joints to two substructures. Meanwhile, the component gravities are treated as external payloads exerting on the end reference point of the novel PKM resorting to static equivalence principle. This approach is proved by comparing the theoretical stiffness values with experimental stiffness values in the same configurations, which also indicates equivalent gravity can be employed to describe the actual distributed gravities in an acceptable accuracy manner. Finally, on the basis of the verified theoretical stiffness model, the stiffness distributions of the novel PKM are illustrated and the contributions of component gravities to the stiffness of the novel PKM are discussed.

Representações em situações problemáticas que envolvem inequações do 1.º grau a uma incógnita : um estudo com alunos do 9.º ano de escolaridade

Relatório da Prática de Ensino Supervisionada, Ensino da Matemática, Universidade de Lisboa, 2013

Uma análise dos leilões de partilha de produção do pré-sal através de simulação computacional

O presente trabalho consiste na aplicação da simulação computacional como método de aprofundamento do estudo de mecanismos de leilões aplicados na alocação do direito de exploração das reservas de petróleo da camada do pré-sal. A camada do pré-sal está localizada na costa brasileira e apresenta um grande potencial em termos de reserva de óleo e gás. A função lance aplicada para os participantes criados computacionalmente foi estimada com base em dados experimentais e segue uma função exponencial. A simulação possibilita reproduzir o modelo de leilão considerando todas as características e parâmetros dos experimentos sem incorrer no custo da realização de novas sessões de leilão com participantes reais. Os leilões estudados foram o leilão de valores privados de 1° preço e o leilão de valores privados de 2° preço. Através dos resultados obtidos identificou-se que o leilão de valores privados de 1° preço é menos arriscado que o leilão de valores privados de 2° preço; no leilão com simetria, o Princípio de Equivalência de Receita é válido; a eficiência observada é menor em leilões assimétricos; o leilão de 2° preço comparado com o de 1° preço apresenta um tradeoff entre a eficiência e a receita do governo; e que considerando o aprendizado dos participantes, não se observam alterações significativas nas estatísticas analisadas à medida que os participantes se tornam mais experientes.

Global analysis of the post-SNO solar neutrino data for standard and nonstandard oscillation mechanisms

What can we learn from solar neutrino observations? Is there any solution to the solar neutrino anomaly which is favored by the present experimental panorama? After SNO results, is it possible to affirm that neutrinos have mass? In order to answer such questions we analyze the current available data from the solar neutrino experiments, including the recent SNO result, in view of many acceptable solutions to the solar neutrino problem based on different conversion mechanisms, for the first time using the same statistical procedure. This allows us to do a direct comparison of the goodness of the fit among different solutions, from which we can discuss and conclude on the current status of each proposed dynamical mechanism. These solutions are based on different assumptions: (a) neutrino mass and mixing, (b) a nonvanishing neutrino magnetic moment, (c) the existence of nonstandard flavor-changing and nonuniversal neutrino interactions, and (d) a tiny violation of the equivalence principle. We investigate the quality of the fit provided by each one of these solutions not only to the total rate measured by all the solar neutrino experiments but also to the recoil electron energy spectrum measured at different zenith angles by the Super-Kamiokande Collaboration. We conclude that several nonstandard neutrino flavor conversion mechanisms provide a very good fit to the experimental data which is comparable with (or even slightly better than) the most famous solution to the solar neutrino anomaly based on the neutrino oscillation induced by mass.

Some remarks on the coupling prescription of teleparallel gravity

By using a nonholonomic moving frame version of the general covariance principle, an active version of the equivalence principle, an analysis of the gravitational coupling prescription of teleparallel gravity is made. It is shown that the coupling prescription determined by this principle is always equivalent with the corresponding prescription of general relativity, even in the presence of fermions. An application to the case of a Dirac spinor is made.

Torsion and the gravitational interaction

By using a nonholonomous-frame formulation of the general covariance principle, seen as an active version of the strong equivalence principle, an analysis of the gravitational coupling prescription in the presence of curvature and torsion is made. The Coupling prescription implied by this principle is found to be always equivalent to that of general relativity, a result that reinforces the completeness of this theory, as well as the teleparallel point of view according to which torsion does not represent additional degrees of freedom for gravity, but simply an alternative way of representing the gravitational field.

Gravitation: global formulation and quantum effects

A non-integrable phase-factor global approach to gravitation is developed by using the similarity of teleparallel gravity to electromagnetism. The phase shifts of both the COW and the gravitational Aharonov-Bohm effects are obtained. It is then shown, by considering a simple slit experiment, that in the classical limit the global approach yields the same result as the gravitational Lorentz force equation of teleparallel gravity. It represents, therefore, the quantum mechanical version of the classical description provided by the gravitational Lorentz force equation. As teleparallel gravity can be formulated independently of the equivalence principle, it will consequently require no generalization of this principle at the quantum level.

Torsion gravity: A reappraisal

The role played by torsion in gravitation is critically reviewed. After a description of the problems and controversies involving the physics of torsion, a comprehensive presentation of the teleparallel equivalent of general relativity is made. According to this theory, curvature and torsion are alternative ways of describing the gravitational field, and consequently related to the same degrees of freedom of gravity. However, more general gravity theories, like for example Einstein-Cartan and gauge theories for the Poincare and the affine groups, consider curvature and torsion as representing independent degrees of freedom. By using an active version of the strong equivalence principle, a possible solution to this conceptual question is reviewed. This solution ultimately favors the teleparallel point of view, and consequently the completeness of general relativity. A discussion of the consequences for gravitation is presented.

Selected topics in teleparallel gravity

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Do static sources outside a Schwarzschild black hole radiate?

We show that static sources coupled to a massless scalar field in Schwarzschild spacetime give rise to emission and absorption of zero-energy particles due to the presence of Hawking radiation. This is in complete analogy with the description of the bremsstrahlung by a uniformly accelerated charge from the coaccelerated observers' point of view. The response rate of the source is found to coincide with that in Minkowski spacetime as a function of its proper acceleration. It is interesting that this quantum result appears to reflect the classical equivalence principle.

Gravity and the quantum: Are they reconcilable?

General relativity and quantum mechanics are not consistent with each other. This conflict stems from the very fundamental principles on which these theories are grounded. General relativity, on one hand, is based on the equivalence principle, whose strong version establishes the local equivalence between gravitation and inertia. Quantum mechanics, on the other hand, is fundamentally based on the uncertainty principle, which is essentially nonlocal. This difference precludes the existence of a quantum version of the strong equivalence principle, and consequently of a quantum version of general relativity. Furthermore, there are compelling experimental evidences that a quantum object in the presence of a gravitational field violates the weak equivalence principle. Now it so happens that, in addition to general relativity, gravitation has an alternative, though equivalent, description, given by teleparallel gravity, a gauge theory for the translation group. In this theory torsion, instead of curvature, is assumed to represent the gravitational field. These two descriptions lead to the same classical results, but are conceptually different. In general relativity, curvature geometrizes the interaction while torsion, in teleparallel gravity, acts as a force, similar to the Lorentz force of electrodynamics. Because of this peculiar property, teleparallel gravity describes the gravitational interaction without requiring any of the equivalence principle versions. The replacement of general relativity by teleparallel gravity may, in consequence, lead to a conceptual reconciliation of gravitation with quantum mechanics. © 2006 American Institute of Physics.

Bringing together gravity and the quanta

Due to its underlying gauge structure, teleparallel gravity achieves a separation between inertial and gravitational effects. It can, in consequence, describe the isolated gravitational interaction without resorting to the equivalence principle, and is able to provide a tensorial definition for the energy-momentum density of the gravitational field. Considering the conceptual conflict between the local equivalence principle and the nonlocal uncertainty principle, the replacement of general relativity by its teleparallel equivalent can be considered an important step towards a prospective reconciliation between gravitation and quantum mechanics. © 2006 American Institute of Physics.

Teorias semiclássica e efetiva da gravitação

Pós-graduação em Física - IFT

On the motion of particles in covariant Horava-Lifshitz gravity and the meaning of the A-field

We studied the low energy motion of particles in the general covariant. version of Horava-Lifshitz gravity proposed by Horava and Melby-Thompson. Using a scalar field coupled to gravity according to the minimal substitution recipe proposed by da Silva and taking the geometrical optics limit, we could write an effective relativistic metric for a general solution. As a result, we discovered that the equivalence principle is not in general recovered at low energies, unless the spatial Laplacian of A vanishes. Finally, we analyzed the motion on the spherical symmetric solution proposed by Horava and Melby-Thompson, where we could find its effective line element and compute spin-0 geodesics. Using standard methods we have shown that such an effective metric cannot reproduce Newton's gravity law even in the weak gravitational field approximation. (C) 2011 Elsevier B.V All rights reserved.

Geometric and Combinatorial Aspects of NonEquilibrium Statistical Mechanics

Non-Equilibrium Statistical Mechanics is a broad subject. Grossly speaking, it deals with systems which have not yet relaxed to an equilibrium state, or else with systems which are in a steady non-equilibrium state, or with more general situations. They are characterized by external forcing and internal fluxes, resulting in a net production of entropy which quantifies dissipation and the extent by which, by the Second Law of Thermodynamics, time-reversal invariance is broken. In this thesis we discuss some of the mathematical structures involved with generic discrete-state-space non-equilibrium systems, that we depict with networks in all analogous to electrical networks. We define suitable observables and derive their linear regime relationships, we discuss a duality between external and internal observables that reverses the role of the system and of the environment, we show that network observables serve as constraints for a derivation of the minimum entropy production principle. We dwell on deep combinatorial aspects regarding linear response determinants, which are related to spanning tree polynomials in graph theory, and we give a geometrical interpretation of observables in terms of Wilson loops of a connection and gauge degrees of freedom. We specialize the formalism to continuous-time Markov chains, we give a physical interpretation for observables in terms of locally detailed balanced rates, we prove many variants of the fluctuation theorem, and show that a well-known expression for the entropy production due to Schnakenberg descends from considerations of gauge invariance, where the gauge symmetry is related to the freedom in the choice of a prior probability distribution. As an additional topic of geometrical flavor related to continuous-time Markov chains, we discuss the Fisher-Rao geometry of nonequilibrium decay modes, showing that the Fisher matrix contains information about many aspects of non-equilibrium behavior, including non-equilibrium phase transitions and superposition of modes. We establish a sort of statistical equivalence principle and discuss the behavior of the Fisher matrix under time-reversal. To conclude, we propose that geometry and combinatorics might greatly increase our understanding of nonequilibrium phenomena.