Velocity fluctuations and hydrodynamic diffusion in sedimentation

We study non-equilibrium velocity fluctuations in a model for the sedimentation of non-Brownian particles experiencing long-range hydrodynamic interactions. The complex behavior of these fluctuations, the outcome of the collective dynamics of the particles, exhibits many of the features observed in sedimentation experiments. In addition, our model predicts a final relaxation to an anisotropic (hydrodynamic) diffusive state that could be observed in experiments performed over longer time ranges.Comment: 7 pages, 5 EPS figures, EPL styl

Resilience and Controllability of Dynamic Collective Behaviors

The network paradigm is used to gain insight into the structural root causes of the resilience of consensus in dynamic collective behaviors, and to analyze the controllability of the swarm dynamics. Here we devise the dynamic signaling network which is the information transfer channel underpinning the swarm dynamics of the directed interagent connectivity based on a topological neighborhood of interactions. The study of the connectedness of the swarm signaling network reveals the profound relationship between group size and number of interacting neighbors, which is found to be in good agreement with field observations on flock of starlings [Ballerini et al. (2008) Proc. Natl. Acad. Sci. USA, 105: 1232]. Using a dynamical model, we generate dynamic collective behaviors enabling us to uncover that the swarm signaling network is a homogeneous clustered small-world network, thus facilitating emergent outcomes if connectedness is maintained. Resilience of the emergent consensus is tested by introducing exogenous environmental noise, which ultimately stresses how deeply intertwined are the swarm dynamics in the physical and network spaces. The availability of the signaling network allows us to analytically establish for the first time the number of driver agents necessary to fully control the swarm dynamics

Adaptive servo control for umbilical mating

Robotic applications at Kennedy Space Center are unique and in many cases require the fime positioning of heavy loads in dynamic environments. Performing such operations is beyond the capabilities of an off-the-shelf industrial robot. Therefore Robotics Applications Development Laboratory at Kennedy Space Center has put together an integrated system that coordinates state of the art robotic system providing an excellent easy to use testbed for NASA sensor integration experiments. This paper reviews the ways of improving the dynamic response of the robot operating under force feedback with varying dynamic internal perturbations in order to provide continuous stable operations under variable load conditions. The goal is to improve the stability of the system with force feedback using the adaptive control feature of existing system over a wide range of random motions. The effect of load variations on the dynamics and the transfer function (order or values of the parameters) of the system has been investigated, more accurate models of the system have been determined and analyzed

Irreversible flow of vortex matter: polycrystal and amorphous phases

We investigate the microscopic mechanisms giving rise to plastic depinning and irreversible flow in vortex matter. The topology of the vortex array crucially determines the flow response of this system. To illustrate this claim, two limiting cases are considered: weak and strong pinning interactions. In the first case disorder is strong enough to introduce plastic effects in the vortex lattice. Diffraction patterns unveil polycrystalline lattice topology with dislocations and grain boundaries determining the electromagnetic response of the system. Filamentary flow is found to arise as a consequence of dislocation dynamics. We analize the stability of vortex lattices against the formation of grain boundaries, as well as the steady state dynamics for currents approaching the depinning critical current from above, when vortex motion is mainly localized at the grain boundaries. On the contrary, a dislocation description proves no longer adequate in the second limiting case examined. For strong pinning interactions, the vortex array appears completely amorphous and no remnant of the Abrikosov lattice order is left. Here we obtain the critical current as a function of impurity density, its scaling properties, and characterize the steady state dynamics above depinning. The plastic depinning observed in the amorphous phase is tightly connected with the emergence of channel-like flow. Our results suggest the possibility of establishing a clear distinction between two topologically disordered vortex phases: the vortex polycrystal and the amorphous vortex matter.Comment: 13 pages, 16 figure

Driven depinning of strongly disordered media and anisotropic mean-field limits

Extended systems driven through strong disorder are modeled generically using coarse-grained degrees of freedom that interact elastically in the directions parallel to the driving force and that slip along at least one of the directions transverse to the motion. A realization of such a model is a collection of elastic channels with transverse viscous couplings. In the infinite range limit this model has a tricritical point separating a region where the depinning is continuous, in the universality class of elastic depinning, from a region where depinning is hysteretic. Many of the collective transport models discussed in the literature are special cases of the generic model.Comment: 4 pages, 2 figure

Modeling and Robust Attitude Controller Design for a Small Size Helicopter

This paper addresses the design and application controller for a small-size unmanned aerial vehicle (UAV). In this work, the main objective is to study the modeling and attitude controller design for a small size helicopter. Based on a non-simplified helicopter model, a new robust attitude control law, which is combined with a nonlinear control method and a model-free method, is proposed in this paper. Both wind gust and ground effect phenomena conditions are involved in this experiment and the result on a real helicopter platform demonstrates the effectiveness of the proposed control algorithm and robustness of its resultant controller.Comment: 6 page