15,750 research outputs found
Luminosity measurement method for the LHC: The detector requirements studies
Absolute normalisation of the LHC measurements with a precision of O(1%) is
desirable but beyond the reach of the present LHC detectors. This series of
papers proposes and evaluates a measurement method capable to achieve such a
precision target. In our earlier paper we have selected the phase-space region
where the lepton pair production cross section in pp collisions at the LHC can
be controlled with < 1 % precision and is large enough to reach a comparable
statistical accuracy of the absolute luminosity measurement on the day-by-day
basis. In the present one the performance requirements for a dedicated
detector, indispensable to efficiently select events in the proposed
phase-space region, are discussed.Comment: 26 pages, 13 figure
Elastic circuits
Elasticity in circuits and systems provides tolerance to variations in computation and communication delays. This paper presents a comprehensive overview of elastic circuits for those designers who are mainly familiar with synchronous design. Elasticity can be implemented both synchronously and asynchronously, although it was traditionally more often associated with asynchronous circuits. This paper shows that synchronous and asynchronous elastic circuits can be designed, analyzed, and optimized using similar techniques. Thus, choices between synchronous and asynchronous implementations are localized and deferred until late in the design process.Peer ReviewedPostprint (published version
Push recovery with stepping strategy based on time-projection control
In this paper, we present a simple control framework for on-line push
recovery with dynamic stepping properties. Due to relatively heavy legs in our
robot, we need to take swing dynamics into account and thus use a linear model
called 3LP which is composed of three pendulums to simulate swing and torso
dynamics. Based on 3LP equations, we formulate discrete LQR controllers and use
a particular time-projection method to adjust the next footstep location
on-line during the motion continuously. This adjustment, which is found based
on both pelvis and swing foot tracking errors, naturally takes the swing
dynamics into account. Suggested adjustments are added to the Cartesian 3LP
gaits and converted to joint-space trajectories through inverse kinematics.
Fixed and adaptive foot lift strategies also ensure enough ground clearance in
perturbed walking conditions. The proposed structure is robust, yet uses very
simple state estimation and basic position tracking. We rely on the physical
series elastic actuators to absorb impacts while introducing simple laws to
compensate their tracking bias. Extensive experiments demonstrate the
functionality of different control blocks and prove the effectiveness of
time-projection in extreme push recovery scenarios. We also show self-produced
and emergent walking gaits when the robot is subject to continuous dragging
forces. These gaits feature dynamic walking robustness due to relatively soft
springs in the ankles and avoiding any Zero Moment Point (ZMP) control in our
proposed architecture.Comment: 20 pages journal pape
A parallel interaction potential approach coupled with the immersed boundary method for fully resolved simulations of deformable interfaces and membranes
In this paper we show and discuss the use of a versatile interaction
potential approach coupled with an immersed boundary method to simulate a
variety of flows involving deformable bodies. In particular, we focus on two
kinds of problems, namely (i) deformation of liquid-liquid interfaces and (ii)
flow in the left ventricle of the heart with either a mechanical or a natural
valve. Both examples have in common the two-way interaction of the flow with a
deformable interface or a membrane. The interaction potential approach (de
Tullio & Pascazio, Jou. Comp. Phys., 2016; Tanaka, Wada and Nakamura,
Computational Biomechanics, 2016) with minor modifications can be used to
capture the deformation dynamics in both classes of problems. We show that the
approach can be used to replicate the deformation dynamics of liquid-liquid
interfaces through the use of ad-hoc elastic constants. The results from our
simulations agree very well with previous studies on the deformation of drops
in standard flow configurations such as deforming drop in a shear flow or a
cross flow. We show that the same potential approach can also be used to study
the flow in the left ventricle of the heart. The flow imposed into the
ventricle interacts dynamically with the mitral valve (mechanical or natural)
and the ventricle which are simulated using the same model. Results from these
simulations are compared with ad- hoc in-house experimental measurements.
Finally, a parallelisation scheme is presented, as parallelisation is
unavoidable when studying large scale problems involving several thousands of
simultaneously deforming bodies on hundreds of distributed memory computing
processors
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