The power dissipation method and kinematic reducibility of multiple-model robotic systems

This paper develops a formal connection between the power dissipation method (PDM) and Lagrangian mechanics, with specific application to robotic systems. Such a connection is necessary for understanding how some of the successes in motion planning and stabilization for smooth kinematic robotic systems can be extended to systems with frictional interactions and overconstrained systems. We establish this connection using the idea of a multiple-model system, and then show that multiple-model systems arise naturally in a number of instances, including those arising in cases traditionally addressed using the PDM. We then give necessary and sufficient conditions for a dynamic multiple-model system to be reducible to a kinematic multiple-model system. We use this result to show that solutions to the PDM are actually kinematic reductions of solutions to the Euler-Lagrange equations. We are particularly motivated by mechanical systems undergoing multiple intermittent frictional contacts, such as distributed manipulators, overconstrained wheeled vehicles, and objects that are manipulated by grasping or pushing. Examples illustrate how these results can provide insight into the analysis and control of physical systems

Quantum feedback control and classical control theory

We introduce and discuss the problem of quantum feedback control in the context of established formulations of classical control theory, examining conceptual analogies and essential differences. We describe the application of state-observer-based control laws, familiar in classical control theory, to quantum systems and apply our methods to the particular case of switching the state of a particle in a double-well potential

Nonlinear physics of electrical wave propagation in the heart: a review

The beating of the heart is a synchronized contraction of muscle cells (myocytes) that are triggered by a periodic sequence of electrical waves (action potentials) originating in the sino-atrial node and propagating over the atria and the ventricles. Cardiac arrhythmias like atrial and ventricular fibrillation (AF,VF) or ventricular tachycardia (VT) are caused by disruptions and instabilities of these electrical excitations, that lead to the emergence of rotating waves (VT) and turbulent wave patterns (AF,VF). Numerous simulation and experimental studies during the last 20 years have addressed these topics. In this review we focus on the nonlinear dynamics of wave propagation in the heart with an emphasis on the theory of pulses, spirals and scroll waves and their instabilities in excitable media and their application to cardiac modeling. After an introduction into electrophysiological models for action potential propagation, the modeling and analysis of spatiotemporal alternans, spiral and scroll meandering, spiral breakup and scroll wave instabilities like negative line tension and sproing are reviewed in depth and discussed with emphasis on their impact in cardiac arrhythmias.Peer ReviewedPreprin

Three-D multilateration: A precision geodetic measurement system

A technique of satellite geodesy for determining the relative three dimensional coordinates of ground stations within one centimeter over baselines of 20 to 10,000 kilometers is discussed. The system is referred to as 3-D Multilateration and has applications in earthquake hazard assessment, precision surveying, plate tectonics, and orbital mechanics. The accuracy is obtained by using pulsed lasers to obtain simultaneous slant ranges between several ground stations and a moving retroreflector with known trajectory for aiming the lasers

Moving glass theory of driven lattices with disorder

We study periodic structures, such as vortex lattices, moving in a random potential. As predicted in [T. Giamarchi, P. Le Doussal Phys. Rev. Lett. 76 3408 (1996)] the periodicity in the direction transverse to motion leads to a new class of driven systems: the Moving Glasses. We analyse using several RG techniques the properties at T=0 and $T>0$: (i) decay of translational long range order (ii) particles flow along static channels (iii) the channel pattern is highly correlated (iv) barriers to transverse motion. We demonstrate the existence of the ``transverse critical force'' at T=0. A ``static random force'' is shown to be generated by motion. Displacements grow logarithmically in $d=3$ and algebraically in $d=2$. The persistence of quasi long range translational order in $d=3$ at weak disorder, or large velocity leads to predict a topologically ordered ``Moving Bragg Glass''. This state continues the static Bragg glass and is stable at $T>0$, with non linear transverse response and linear asymptotic behavior. In $d=2$, or in $d=3$ at intermediate disorder, another moving glass exist (the Moving Transverse Glass) with smectic quasi order in the transverse direction. A phase diagram in $T$ force and disorder for static and moving structures is proposed. For correlated disorder we predict a ``moving Bose glass'' state with anisotropic transverse Meissner effect and transverse pinning. We discuss experimental consequences such as anomalous Hall effect in Wigner crystal and transverse critical current in vortex lattice.Comment: 74 pages, 27 figures, RevTe

Modeling, Analysis, and Optimization Issues for Large Space Structures

Topics concerning the modeling, analysis, and optimization of large space structures are discussed including structure-control interaction, structural and structural dynamics modeling, thermal analysis, testing, and design