Precise control of flexible manipulators

The design and experimental testing of end point position controllers for a very flexible one link lightweight manipulator are summarized. The latest upgraded version of the experimental set up, and the basic differences between conventional joint angle feedback and end point position feedback are described. A general procedure for application of modern control methods to the problem is outlined. The relationship between weighting parameters and the bandwidth and control stiffness of the resulting end point position closed loop system is shown. It is found that joint rate angle feedback in addition to the primary end point position sensor is essential for adequate disturbance rejection capability of the closed loop system. The use of a low order multivariable compensator design computer code; called Sandy is documented. A solution to the problem of control mode switching between position sensor sets is outlined. The proof of concept for endpoint position feedback for a one link flexible manipulator was demonstrated. The bandwidth obtained with the experimental end point position controller is about twice as fast as the beam's first natural cantilevered frequency, and comes within a factor of four of the absolute physical speed limit imposed by the wave propagation time of the beam

System and Method of Optical Axis Alignment Monitor and Feedback Control for a Spectrometer

The present invention relates to an apparatus and method of a real-time, monitoring and control feedback system for a 2-D spectrometer application, to correct for active optical axis pointing misalignments or jitter (i.e., tip, tilt), that result in degraded scientific image integrity, unwanted spatial crosstalk and image blurring artifacts which severely limit the applications for high resolution spectrometer image data. The present invention provides a unique system architecture which ensures the most direct optical axis motion detection and control capability that will enable sub-pixel image motion monitoring and boresight control stability, thus, maximizing the science image quality

Temporal Asynchrony but Not Total Energy Nor Duration Improves the Judgment of Numerosity in Electrotactile Stimulation

Stroke patients suffer from impairments of both motor and somatosensory functions. The functional recovery of upper extremities is one of the primary goals of rehabilitation programs. Additional somatosensory deficits limit sensorimotor function and significantly affect its recovery after the neuromotor injury. Sensory substitution systems, providing tactile feedback, might facilitate manipulation capability, and improve patient's dexterity during grasping movements. As a first step toward this aim, we evaluated the ability of healthy subjects in exploiting electrotactile feedback on the shoulder to determine the number of perceived stimuli in numerosity judgment tasks. During the experiment, we compared four different stimulation patterns (two simultaneous: short and long, intermittent and sequential) differing in total duration, total energy, or temporal synchrony. The experiment confirmed that the subject ability to enumerate electrotactile stimuli decreased with increasing the number of active electrodes. Furthermore, we found that, in electrotactile stimulation, the temporal coding schemes, and not total energy or duration modulated the accuracy in numerosity judgment. More precisely, the sequential condition resulted in significantly better numerosity discrimination than intermittent and simultaneous stimulation. These findings, together with the fact that the shoulder appeared to be a feasible stimulation site to communicate tactile information via electrotactile feedback, can serve as a guide to deliver tactile feedback to proximal areas in stroke survivors who lack sensory integrity in distal areas of their affected arm, but retain motor skills

An active feedback recovery technique from disruption events induced by m=2 n=1 tearing modes in ohmically heated tokamak plasmas

We present experimental results of magnetic feedback control on the m=2, n=1 tearing mode in RFX-mod operated as a circular ohmically heated tokamak. The feedback suppression of the non-resonant m=2, n=1 Resistive Wall Mode (RWM) in q(a)<2 plasmas is a well-established result of RFX-mod. The control of the tearing counterpart, which develops in q(a)>2 equilibrium, is instead a more difficult issue. In fact, the disruption induced by a growing amplitude m=2, n=1 tearing mode can be prevented by feedback only when the resonant surface q=2 is close to the plasma edge, namely 2<q(a)<2.5, and the electron density does not exceed approximately half of the Greenwald limit. A combined technique of tearing mode and q(a) control has been therefore developed to recover the discharge from the most critical conditions: the potentially disruptive tearing mode is converted into the relatively benign RWM by suddenly decreasing q(a) below 2. The experiments demonstrate the concept with 100% of successful cases. The q(a) control has been performed through the plasma current, given the capability of the toroidal loop-voltage power supply of RFX-mod. We also propose a path for controlling q(a) by acting on the plasma shape, which could be applied to medium size elongated tokamaks

Broadband detection of methane and nitrous oxide using a distributed-feedback quantum cascade laser array and quartz-enhanced photoacoustic sensing

Here we report on the broadband detection of nitrous oxide (N2O) and methane (CH4) mixtures in dry nitrogen by using a quartz-enhanced photoacoustic (QEPAS) sensor exploiting an array of 32 distributed-feedback quantum cascade lasers, within a spectral emission range of 1190−1340 cm−1 as the excitation source. Methane detection down to a minimum detection limit of 200 ppb at 10 s lock-in integration time was achieved. The sensor demonstrated a linear response in the range of 200−1000 ppm. Three different mixtures of N2O and CH4 in nitrogen at atmospheric pressure have been analyzed. The capability of the developed QEPAS sensor to selectively determine the N2O and CH4 concentrations was demonstrated, in spite of significant overlap in their respective absorption spectra in the investigated spectral range

Evolution of Representations and Intersubjectivity as sources of the Self. An Introduction to the Nature of Self-Consciousness.

It is agreed by most people that self-consciousness is the result of an evolutionary process, and that representations may have played an important role in that process. We would like to propose here that some evolutionary stages can highlight links existing between representations and the notion of self, opening a possible path to the nature of self-consciousness. Our starting point is to focus on representations as usage oriented items for the subject that carries them. These representations are about elements of the environment including conspecifics, and can also represent parts of the subject without refering to a notion of self (we introduce the notion of "auto-representation" that does not carry the notion of self-representation). Next step uses the performance of intersubjectivity (mirror neurons level in evolution) where a subject has the capability to mentally simulate the observed action of a conspecific (Gallese 2001). We propose that this intersubjectivity allows the subject to identify his auto-representation with the representations of his conspecifics, and so to consider his auto-representation as existing in the environment. We show how this evolutionary stage can introduce a notion of self-representation for a subject, opening a road to self-conciousness and to self. This evolutionary approach to the self via self- representation is close to the current theory of the self linked to representations and simulations (Metzinger 2003). We use a scenario about how evolution has brought the performance of self-representation to self-consciousness. We develop a process describing how the anxiety increase resulting from identification with endangered or suffering conspecifics may have called for the development of tools to limit this anxiety (empathy, imitation, language), and how these tools have accelerated the evolutionary process through a positive feedback on intersubjectivity (Menant 2004, 2005). We finish by summarizing the points addressed, and propose some possible continuations

The unstable CO2 feedback cycle on ocean planets

Ocean planets are volatile-rich planets, not present in our Solar system, which are thought to be dominated by deep, global oceans. This results in the formation of high-pressure water ice, separating the planetary crust from the liquid ocean and, thus, also from the atmosphere. Therefore, instead of a carbonate-silicate cycle like on the Earth, the atmospheric carbon dioxide concentration is governed by the capability of the ocean to dissolve carbon dioxide (CO2). In our study, we focus on the CO2 cycle between the atmosphere and the ocean which determines the atmospheric CO2 content. The atmospheric amount of CO2 is a fundamental quantity for assessing the potential habitability of the planet's surface because of its strong greenhouse effect, which determines the planetary surface temperature to a large degree. In contrast to the stabilizing carbonate-silicate cycle regulating the long-term CO2 inventory of the Earth atmosphere, we find that the CO2 cycle feedback on ocean planets is negative and has strong destabilizing effects on the planetary climate. By using a chemistry model for oceanic CO2 dissolution and an atmospheric model for exoplanets, we show that the CO2 feedback cycle can severely limit the extension of the habitable zone for ocean planet

Photon Number Resolving Detection with a Single-Photon Detector and Adaptive Storage Loop

Photon number resolving (PNR) measurements are beneficial or even necessary for many applications in quantum optics. Unfortunately, PNR detectors are usually large, slow, expensive, and difficult to operate. However, if the input signal is multiplexed, photon "click" detectors, that lack an intrinsic photon number resolving capability, can still be used to realize photon number resolution. Here, we investigate the operation of a single click detector, together with a storage line with tunable outcoupling. Using adaptive feedback to adjust the storage outcoupling rate, the dynamic range of the detector can in certain situations be extended by up to an order of magnitude relative to a purely passive setup. An adaptive approach can thus allow for photon number variance below the quantum shot noise limit under a wider range of conditions than using a passive multiplexing approach. This can enable applications in quantum enhanced metrology and quantum computing.Comment: 16 pages, 8 figure