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Lucas Almeida

Publications and source records attributed to Lucas Almeida.

3 recordsLinked to original sources

Weitzenb\"{o}ck Remainder Spectrum on Rational Homogeneous Varieties

In this paper, we precisely describe the spectrum of closed invariant $(1,1)$-forms viewed as an operator acting on complex spinor bundles over rational homogeneous varieties. Using this result, we describe the spectrum of the Weitzenb\"{o}ck remainder of ${\rm{Spin}}^{c}$ Dirac operators on rational homogeneous varieties. In particular, we present an explicit formula for their smallest eigenvalue. As a byproduct, we obtain a new lower bound for the eigenvalues of the ${\rm{Spin}}^{c}$ Dirac operator, expressed in terms of Lie-theoretic data. Additionally, combining the Atiyah-Singer index theorem with the Borel-Weil-Bott theorem, we provide a complete classification of ${\rm{Spin}}^{c}$ structures on rational homogeneous varieties which admit harmonic spinors. In this last setting, we present an explicit formula for the index of the associated ${\rm{Spin}}^{c}$ Dirac operator in terms of Lie theory.

math.DG

Tetris: An SLA-aware Application Placement Strategy in the Edge-Cloud Continuum

An Edge-Cloud Continuum integrates edge and cloud resources to provide a flexible and scalable infrastructure. This paradigm can minimize latency by processing data closer to the source at the edge while leveraging the vast computational power of the cloud for more intensive tasks. In this context, module application placement requires strategic allocation plans that align user demands with infrastructure constraints, aiming for efficient resource use. Therefore, we propose Tetris, an application placement strategy that utilizes a heuristic algorithm to distribute computational services across edge and cloud resources efficiently. Tetris prioritizes services based on SLA urgencies and resource efficiency to avoid system overloading. Our results demonstrate that Tetris reduces SLA violations by approximately 76% compared to the baseline method, which serves as a reference point for benchmarking performance in this scenario. Therefore, Tetris offers an effective placement approach for managing latency-sensitive applications in Edge-Cloud Continuum environments, enhancing Quality of Service (QoS) for users.

cs.DC

Safety-Critical Control for Robotic Manipulators using Collision Cone Control Barrier Functions

This paper presents a comprehensive approach for the safety-critical control of robotic manipulators operating in dynamic environments. Building upon the framework of Control Barrier Functions (CBFs), we extend the collision cone methodology to formulate Collision Cone Control Barrier Functions (C3BFs) specifically tailored for manipulators. In our approach, safety constraints derived from collision cone geometry are seamlessly integrated with Cartesian impedance control to ensure compliant yet safe end-effector behavior. A Quadratic Program (QP)-based controller is developed to minimally modify the nominal control input to enforce safety. Extensive simulation experiments demonstrate the efficacy of the proposed method in various dynamic scenarios.

cs.RO