Quantitative Feedback Theory (QFT) is a control system design methodology founded on the premise that feedback is necessary only because of system uncertainty. Articulating flexible structures, such as flexible manipulators, present a difficult closed-loop control problem. In such servo systems, the coupling of the rigid and flexible modes and the non-minimum phase dynamics severely limit system stability and performance. The difficulties in controlling these structures is exacerbated by the denumerably infinite number of flexible modes and associated difficulties in developing accurate dynamic models for controller design. As such, the control of articulating flexible structures presents a non-trivial testbed for the design of QFT based robust control systems. This dissertation examines the multi-input multi-output (MIMO) QFT based control of an articulating flexible structure and presents an enhancement of the theoretical basis for the MIMO QFT design methodologies. The control problem under consideration is the active vibration control of an articulating single-link flexible manipulator. This is facilitated by an actuation scheme comprised of a combination of spatially discrete actuation, in the form of a DC motor to perform articulation, and spatially distributed actuation, in the form of a piezoelectric transducer for active vibration control. In the process of developing and experimentally validating the QFT based control system, shortcomings in the theoretical basis for the MIMO QFT design methodologies are addressed. Robust stability theorems are developed for the two main MIMO QFT design methodologies, namely the sequential and non-sequential MIMO QFT design methodologies. The theorems complement and extend the existing theoretical basis for the MIMO QFT design methodologies. The dissertation results expose salient features of the MIMO QFT design methodologies and provide connections to other multivariable design methodologies.

Quantitative Feedback Theory (QFT) is a control system design methodology founded on the premise that feedback is necessary only because of system uncertainty. Articulating flexible structures, such as flexible manipulators, present a difficult closed-loop control problem. In such servo systems, the coupling of the rigid and flexible modes and the non-minimum phase dynamics severely limit system stability and performance. The difficulties in controlling these structures is exacerbated by the denumerably infinite number of flexible modes and associated difficulties in developing accurate dynamic models for controller design. As such, the control of articulating flexible structures presents a non-trivial testbed for the design of QFT based robust control systems. This dissertation examines the multi-input multi-output (MIMO) QFT based control of an articulating flexible structure and presents an enhancement of the theoretical basis for the MIMO QFT design methodologies. The control problem under consideration is the active vibration control of an articulating single-link flexible manipulator. This is facilitated by an actuation scheme comprised of a combination of spatially discrete actuation, in the form of a DC motor to perform articulation, and spatially distributed actuation, in the form of a piezoelectric transducer for active vibration control. In the process of developing and experimentally validating the QFT based control system, shortcomings in the theoretical basis for the MIMO QFT design methodologies are addressed. Robust stability theorems are developed for the two main MIMO QFT design methodologies, namely the sequential and non-sequential MIMO QFT design methodologies. The theorems complement and extend the existing theoretical basis for the MIMO QFT design methodologies. The dissertation results expose salient features of the MIMO QFT design methodologies and provide connections to other multivariable design methodologies.

In this thesis we study a particular realization of the Domain wall/Quantum Field Theory correspondence, a modification of the Anti de-Sitter/Conformal Field Theory correspondence that is used to study deformations of a Conformal Field Theory. In theQuantum gravity side of the duality we analyze a N = 1 gauged supergravity theory in 7 dimensions which presents two different Anti de-Sitter vacua, one of which preserves the full supersymmetry and one that breaks half of the supercharges. We will find a scalar 1/2-BPS solitonic solution describing a domain wall in an asymptotically Anti de-Sitter spacetime which interpolates between the supersymmetric AdS vacuum and a divergent AdS space situated at infinity, and we will calculate its tension and the effective mass of the scalar field when evaluated at the AdS vacuum. The dual theory of our gauged  supergravity is the 6-dimensional N = (1,0) Superconformal Field Theory, and the scalar 1/2-BPS field is dual to two relevant operators that induce a relevant deformation of the SCFT which can be identified with a renormalization group-flow. Here we will first compute the scaling dimension and the one-point functions of these operators in the SCFT, as well as indicating how to compute the two-point and three-point functions, and then we will study the c-function along the renormalization group-flow they induce and the beta function that characterizes this flow in order to derive some properties of the resulting Quantum Field Theory.

京都大学 / 0048 / 新制・課程博士 / 博士(理学) / 甲第18070号 / 理博第3948号 / 新制||理||1569(附属図書館) / 30928 / 京都大学大学院理学研究科物理学・宇宙物理学専攻 / (主査)教授 佐々木 節, 教授 田中 貴浩, 教授 畑 浩之 / 学位規則第4条第1項該当 / Doctor of Science / Kyoto University / DGAM

The focus of this thesis is to introduce the path integral and some of its applications. One interpretation of quantum mechanics is that a microscopic system which moves from an initial- to a final state moves through each possible intermediate state. The path integral uses the principle of least action to sum over all such intermediate states to find the evolution of a quantum mechanical system. We compare the path integral approach to that of the Schrödinger equation and show that the two give an equivalent description of quantum mechanics. To demonstrate the usefulness of the path integral, we introduce low-dimensional quantum field theory (QFT). In particular, we discuss Feynman diagrams. The idea behind Feynman diagrams is to sum over all possible weak interactions between fields to evaluate the properties of a system through the path integral. We also carry out a computation of a low energy effective action in a 0-dimensional model. The result of the computation shows that there is free energy also in a vacuum. Finally, we briefly generalize some of the previous discussion to 1-dimensional QFT. To give an example of a practical application, we give a qualitative discussion of how the path integral can be applied to statistical mechanics to predict the behaviour of superfluids. / Målet med den här rapporten är att introducera konceptet vägintegral och några av dess applikationer. En tolkning av kvantmekanik är att ett mikroskopiskt system som går från ett initialt- till ett slutgiltigt tillstånd kommer att passera genom alla möjliga mellanliggande tillstånd. Vägintegralen använder sig av principen om minsta verkan för att summera över alla sådana mellanliggande tillstånd för att hitta utvecklingen hos ett system. Vi kommer att jämföra vägintegralen med Schrödingers ekvation och visa att de två ger en ekvivalent beskrivning av kvantmekaniken. För att demonstrera vägintegralens användbarhet introducerar vi lågdimensionell kvantfältteori. Vi diskuterar speciellt Feynmandiagram. Idén bakom Feynmandiagram är att summera över alla möjliga svaga interaktioner mellan fält för att utvärdera fysikaliska egenskaper hos system med hjälp av vägintegraler. Vi kommer också att utvärdera en effektiv verkan i 0-dimensionell kvantfältteori. Resultatet visar att det finns fri energi även i ett vakuum. Slutligen generaliserar vi delar av vår tidigare diskussion till 1-dimensionell kvantfältteori. Som ett exempel på praktiska applikationer för vi en kvalitativ diskussion kring hur vägintegraler kan användas inom statistisk mekanik för att förutsäga egenskaper hos superfluider.

We calculate tree-level scattering amplitudes in φ^3 theory and Yang-Mills theory by means of the perturbiner expansion. This involves solving the Euler-Lagrange equations of motion perturbatively via a multi-particle ansatz, and using Berends-Giele recursion relations to extract the solution from simple on-shell data. The results are Berends-Giele currents which are then used to calculate the scattering amplitudes. The theoretical calculations are implemented into a Mathematica script which effectively handles recursive calculations and allows us to calculate amplitudes for an arbitrary number of particles.

Los sistemas tales como edificios y veh¨ªculos est¨¢n sujetos a vibraciones que pueden causar mal funcionamiento, incomodidad o colapso. Para mitigar estas vibraciones, se suelen instalar amortiguadores. Estas estructuras se convierten en sistemas adaptr¨®nicos cuando los amortiguadores son controlables. Esta tesis se enfoca en la soluci¨®n del problema de vibraciones en edificios y veh¨ªculos usando amortiguadores magnetoreol¨®gicos (MR). Estos son unos amortiguadores controlables caracterizados por una din¨¢mica altamente no lineal. Adem¨¢s, los sistemas donde se instalan se caracterizan por la incertidumbre param¨¦trica, la limitaci¨®n de medidas y las perturbaciones desconocidas, lo que obliga al uso de t¨¦cnicas complejas de control. En esta tesis se usan Backstepping, QFT y H2/H¡Þ mixto para resolver el problema. Las leyes de control se verifican mediante simulaci¨®n y experimentaci¨®n. / Buildings and vehicle systems are subject to vibrations that may cause malfunctioning, discomfort or collapse. It is an extended practice to install damping devices in order to mitigate such vibrations. With controllable dampers, structures act as adaptronic systems. This dissertation focuses on solving the vibration mitigation problem in buildings and vehicles making use of magnetorheological (MR) dampers which are controllable devices characterized by a highly nonlinear dynamics. Additionally, the systems where they are installed, are characterized by parametric uncertainties, limited measurement availability and unknown disturbances. This implies the use of complex control techniques in order to get a reliable performance of the control system. This research makes use of Backstepping, QFT and Mixed H2/H¡Þ control techniques for achieving the proposed goal. These are verified thorugh simulations and experimentation.

We investigate classically (iso)spinning topological soliton solutions in (2+1)- and (3+1)-dimensional models; more explicitly isospinning lump solutions in (2+1) dimensions, Skyrme solitons in (2+1) and (3+1) dimensions and Hopf soliton solutions in (3 +1) dimensions. For example, such soliton types can be used to describe quasiparticle excitations in ferromagnetic quantum Hall systems, can model spin and isospin states of nuclei and may be candidates to model glueball configurations in QCD.Unlike previous work, we do not impose any spatial symmetries on the isospinning soliton configurations and we explicitly allow the isospinning solitons to deform and break the symmetries of the static configurations. It turns out that soliton deformations clearly cannot be ignored. Depending on the topological model under investigation they can give rise to new types of instabilities, can result in new solution types which are unstable for vanishing isospin, can rearrange the spectrum of minimal energy solutions and can allow for transitions between different minimal-energy solutions in a given topological sector. Evidently, our numerical results on classically isospinning, arbitrarily deforming solitons are relevant for the quantization of classical soliton solutions.

We begin by studying field-theory amplitude relations such as the Kleiss-Kuijf, Bern-Carrasco-Johansson, Kawai-Lewellen-Tye and the double copy construction, which are important ingredients in this thesis. Going beyond the field-theory limit we study how the gauge-sector of the heterotic string relates to type I amplitudes through the single valued projection of multiple zeta values. At low energy and for a U(1) gauge group (a single brane) the type I amplitudes are generated by the Born-Infeld action, whereas the corresponding heterotic amplitudes vanish in this limit. As a simple exercise we study Yang-Mills theory deformed by a $F^4$ operator, which is the first correction induced by the Born-Infeld action. This exercise is then generalized by considering the four- and six-point amplitudes in Tseytlin's proposal for a non-Abelian Born-Infeld action. Comparing these amplitudes with those found in type I and heterotic string theory we attempt to gain more insight about the non-Abelian Born-Infeld action.

Streuamplituden der Quantenchromodynamik (QCD), N = 4 Super-Yang-Mills-Theorie (SYM-Theorie) und der sechsdimensionalen N = (1, 1) SYM-Theorie werden untersucht, mit einem Fokus auf die Symmetrien und Relationen zwischen den Streuamplituden dieser Eichtheorien auf dem Baum-Niveau. Die Baum-Niveau- und Ein-Schleifen-Farbzerlegung beliebiger QCD-Amplituden in primitive Amplituden wird bestimmt und Identitäten hergeleitet, welche den Nullraum unter den primitiven Amplituden aufspannen. Anschließend wird bewiesen, dass alle farbgeordneten Baum-Niveau-Amplituden der masselosen QCD aus der N = 4 SYM-Theorie erhalten werden können. Analytische Formeln für alle für die QCD relevanten N = 4 SYM-Amplituden werden bestimmt und die Effizienz und Genauigkeit der numerischen Auswertung der analytischen Formeln für farbgeordnete QCD-Baum-Niveau-Amplituden mit einer effizienten numerischen Implementierung der Berends-Giele-Rekursion verglichen. Die Symmetrien der massive Amplituden auf dem Coulomb-Zweig der N = 4 SYM-Theorie werden hergeleitet. Diese können durch eine dimensionale Reduktion der masselosen Baum-Niveau-Amplituden der sechsdimensionalen N = (1, 1) SYM-Theory erhalten werden. Darüber hinaus wird bezeigt, wie es mit Hilfe einer numerischen Implementierung der BCFW-Rekursion möglich ist analytische Formeln für die Baum-Niveau-Superamplituden der N = (1, 1) SYM-Theory zu erhalten und die Möglichkeit eines Uplifts der masselose Baum-Niveau-Amplituden der N = 4 SYM-Theory untersucht. Schließlich wird eine Alternative zur dimensionalen Regularisierung der N = 4 SYM-Theorie untersucht. Die Infrarotdivergenzen werden hierbei durch Massen regularisiert, die durch einen Higgs-Mechanismus erhalten wurden. Die korrespondierende Stringtheorie-Beschreibung deutet auf eine exakte duale konforme Symmetrie der Streuamplituden hin. Durch explizite Rechnungen wird dies bestätigt und Vorteile des Regulators werden demonstriert. / We study scattering amplitudes in quantum chromodynamics (QCD), N = 4 super Yang-Mills (SYM) theory and the six-dimensional N = (1, 1) SYM theory, focusing on the symmetries of and relations between the tree-level scattering amplitudes in these three gauge theories. We derive the tree level and one-loop color decomposition of an arbitrary QCD amplitude into primitive amplitudes. Furthermore, we derive identities spanning the null space among the primitive amplitudes. We prove that every color ordered tree amplitude of massless QCD can be obtained from gluon-gluino amplitudes of N = 4 SYM theory. Furthermore, we derive analytical formulae for all gluon-gluino amplitudes relevant for QCD. We compare the numerical efficiency and accuracy of evaluating these closed analytic formulae for color ordered QCD tree amplitudes to a numerically efficient implementation of the Berends-Giele recursion. We derive the symmetries of massive tree amplitudes on the coulomb branch of N = 4 SYM theory, which in turn can be obtained from N = (1, 1) SYM theory by dimensional reduction. Furthermore, we investigate the tree amplitudes of N = (1, 1) SYM theory and explain how analytical formulae can be obtained from a numerical implementation of the supersymmetric BCFW recursion relation and investigate a potential uplift of the massless tree amplitudes of N = 4 SYM theory. Finally we study an alternative to dimensional regularization of N = 4 SYM theory. The infrared divergences are regulated by masses obtained from a Higgs mechanism. The corresponding string theory set-up suggests that the amplitudes have an exact dual conformal symmetry. We confirm this expectation and illustrate the calculational advantages of the massive regulator by explicit calculations.