Description and Realization for a Class of Irrational Transfer Functions

This paper proposes an exact description scheme which is an extension to the well-established frequency distributed model method for a class of irrational transfer functions. The method relaxes the constraints on the zero initial instant by introducing the generalized Laplace transform, which provides a wide range of applicability. With the discretization of continuous frequency band, the infinite dimensional equivalent model is approximated by a finite dimensional one. Finally, a fair comparison to the well-known Charef method is presented, demonstrating its added value with respect to the state of art.Comment: 9 pages, 9 figure

Some fundamental properties on the sampling free nabla Laplace transform

Discrete fractional order systems have attracted more and more attention in recent years. Nabla Laplace transform is an important tool to deal with the problem of nabla discrete fractional order systems, but there is still much room for its development. In this paper, 14 lemmas are listed to conclude the existing properties and 14 theorems are developed to describe the innovative features. On one hand, these properties make the N-transform more effective and efficient. On the other hand, they enrich the discrete fractional order system theor

Spin-dependent Rotating Wigner Molecules in Quantum dots

The spin-dependent trial wave functions with rotational symmetry are introduced to describe rotating Wigner molecular states with spin degree of freedom in four- and five-electron quantum dots under magnetic fields. The functions are constructed with unrestricted Hartree-Fock orbits and projection technique in long-range interaction limit. They highly overlap with the exact-diagonalized ones and give the accurate energies in strong fields. The zero points, i.e. vortices of the functions have straightforward relations to the angular momenta of the states. The functions with different total spins automatically satisfy the angular momentum transition rules with the increase of magnetic fields and explicitly show magnetic couplings and characteristic oscillations with respect to the angular momenta. Based on the functions, it is demonstrated that the entanglement entropies of electrons depend on the z-component of total spin and rise with the increase of angular momenta

Aharonov-Bohm phase operations on a double-barrier nanoring charge qubit

We present a scheme for charge qubit implementation in a double-barrier nanoring. The logical states of the qubit are encoded in the spatial wavefunctions of the two lowest energy states of the system. The Aharonov-Bohm phase introduced by magnetic flux, instead of tunable tunnelings, along with electric fields can be used for implementing the quantum gate operations. During the operations, the external fields should be switched smoothly enough to avoid the errors caused by the transition to higher-lying states. The structure and field effects on the validity of the qubit are also studied.Comment: 6 pages, 7 figure

Impact-Aware Multi-Contact Balance Criteria

Intentionally applying impacts while maintaining balance is challenging for legged robots. This study originated from observing experimental data of the humanoid robot HRP-4 intentionally hitting a wall with its right arm while standing on two feet. Strangely, violating the usual zero moment point balance criteria did not systematically result in a fall. To investigate this phenomenon, we propose the zero-step capture region for non-coplanar contacts, defined as the center of mass (CoM) velocity area, and validated it with push-recovery experiments employing the HRP-4 balancing on two non-coplanar contacts. To further enable on-purpose impacts, we compute the set of candidate post-impact CoM velocities accounting for frictional-impact dynamics in three dimensions, and restrict the entire set within the CoM velocity area to maintain balance with the sustained contacts during and after impacts. We illustrate the maximum contact velocity for various HRP-4 stances in simulation, indicating potential for integration into other task-space whole-body controllers or planners. This study is the first to address the challenging problem of applying an intentional impact with a kinematic-controlled humanoid robot on non-coplanar contacts