arXiv subjects

J. D. Alvarez

Publications and source records attributed to J. D. Alvarez.

4 recordsLinked to original sources

arXiv2026

Robodimm: A Physics-Grounded Framework for Automated Actuator Sizing in Scalable Modular Robots

Selecting an appropriate motor-gearbox combination is a critical design task in robotics because it directly affects cost, mass, and dynamic performance. This process is especially challenging in modular robots with closed kinematic chains, where joint torques are coupled and actuator inertia propagates through the mechanism. We present Robodimm, a software framework for automated actuator sizing in scalable robot architectures. By leveraging Pinocchio for dynamics and Pink for inverse kinematics, Robodimm uses a Karush-Kuhn-Tucker (KKT) formulation for constrained inverse dynamics. The platform supports parametric scaling, interactive trajectory programming through jog modes, and a two-round validation workflow that addresses actuator self-weight effects.

cs.RO↗

arXiv2019

Search for Dark Matter Gamma-ray Emission from the Andromeda Galaxy with the High-Altitude Water Cherenkov Observatory

The Andromeda Galaxy (M31) is a nearby ($\sim$780 kpc) galaxy similar to our own Milky Way. Observational evidence suggests that it resides in a large halo of dark matter (DM), making it a good target for DM searches. We present a search for gamma rays from M31 using 1017 days of data from the High Altitude Water Cherenkov (HAWC) Observatory. With its wide field of view and constant monitoring, HAWC is well-suited to search for DM in extended targets like M31. No DM annihilation or decay signal was detected for DM masses from 1 to 100 TeV in the $b\bar{b}$, $t\bar{t}$, $τ^{+}τ^{-}$, $μ^{+}μ^{-}$, and $W^{+}W^{-}$ channels. Therefore we present limits on those processes. Our limits nicely complement the existing body of DM limits from other targets and instruments. Specifically the DM decay limits from our benchmark model are the most constraining for DM masses from 25 TeV to 100 TeV in the $b\bar{b}, t\bar{t}$ and $μ^{+}μ{-}$ channels. In addition to DM-specific limits, we also calculate general gamma-ray flux limits for M31 in 5 energy bins from 1 TeV to 100 TeV.

astro-ph.HE↗

arXiv2018

Observation of Anisotropy of TeV Cosmic Rays with Two Years of HAWC

After two years of operation, the High-Altitude Water Cherenkov (HAWC) Observatory has analyzed the TeV cosmic-ray sky over an energy range between $2.0$ and $72.8$ TeV. The HAWC detector is a ground-based air-shower array located at high altitude in the state of Puebla, Mexico. Using 300 light-tight water tanks, it collects the Cherenkov light from the particles of extensive air showers from primary gamma rays and cosmic rays. This detection method allows for uninterrupted observation of the entire overhead sky (2~sr instantaneous, 8.5~sr integrated) in the energy range from a few TeV to hundreds of TeV. Like other detectors in the northern and southern hemisphere, HAWC observes an energy-dependent anisotropy in the arrival direction distribution of cosmic rays. The observed cosmic-ray anisotropy is dominated by a dipole moment with phase $α\approx40^{\circ}$ and amplitude that slowly rises in relative intensity from $8\times10^{-4}$ at 2 TeV to $14\times10^{-4}$ around 30.3 TeV, above which the dipole decreases in strength. A significant large-scale ($>60^{\circ}$ in angular extent) signal is also observed in the quadrupole and octupole moments, and significant small-scale features are also present, with locations and shapes consistent with previous observations. Compared to previous measurements in this energy range, the HAWC cosmic-ray sky maps improve on the energy resolution and fit precision of the anisotropy. These data can be used in an effort to better constrain local cosmic-ray accelerators and the intervening magnetic fields.

astro-ph.HE↗

arXiv2014

The Sensitivity of HAWC to High-Mass Dark Matter Annihilations

The High Altitude Water Cherenkov (HAWC) observatory is a wide field-of-view detector sensitive to gamma rays of 100 GeV to a few hundred TeV. Located in central Mexico at 19 degrees North latitude and 4100 m above sea level, HAWC will observe gamma rays and cosmic rays with an array of water Cherenkov detectors. The full HAWC array is scheduled to be operational in Spring 2015. In this paper, we study the HAWC sensitivity to the gamma-ray signatures of high-mass (multi- TeV) dark matter annihilation. The HAWC observatory will be sensitive to diverse searches for dark matter annihilation, including annihilation from extended dark matter sources, the diffuse gamma-ray emission from dark matter annihilation, and gamma-ray emission from non-luminous dark matter subhalos. Here we consider the HAWC sensitivity to a subset of these sources, including dwarf galaxies, the M31 galaxy, the Virgo cluster, and the Galactic center. We simulate the HAWC response to gamma rays from these sources in several well-motivated dark matter annihilation channels. If no gamma-ray excess is observed, we show the limits HAWC can place on the dark matter cross-section from these sources. In particular, in the case of dark matter annihilation into gauge bosons, HAWC will be able to detect a narrow range of dark matter masses to cross-sections below thermal. HAWC should also be sensitive to non-thermal cross-sections for masses up to nearly 1000 TeV. The constraints placed by HAWC on the dark matter cross-section from known sources should be competitive with current limits in the mass range where HAWC has similar sensitivity. HAWC can additionally explore higher dark matter masses than are currently constrained.

astro-ph.HE↗