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

High-order myopic coronagraphic phase diversity (COFFEE) for wave-front control in high-contrast imaging systems

The estimation and compensation of quasi-static aberrations is mandatory to reach the ultimate performance of high-contrast imaging systems. COFFEE is a focal plane wave-front sensing method that consists in the extension of phase diversity to high-contrast imaging systems. Based on a Bayesian approach, it estimates the quasi-static aberrations from two focal plane images recorded from the scientific camera itself. In this paper, we present COFFEE's extension which allows an estimation of low and high order aberrations with nanometric precision for any coronagraphic device. The performance is evaluated by realistic simulations, performed in the SPHERE instrument framework. We develop a myopic estimation that allows us to take into account an imperfect knowledge on the used diversity phase. Lastly, we evaluate COFFEE's performance in a compensation process, to optimize the contrast on the detector, and show it allows one to reach the 10^-6 contrast required by SPHERE at a few resolution elements from the star. Notably, we present a non-linear energy minimization method which can be used to reach very high contrast levels (better than 10^-7 in a SPHERE-like context)Comment: Accepted in Optics Expres

A simple and efficient BEM implementation of quasistatic linear visco-elasticity

A simple, yet efficient procedure to solve quasistatic problems of special linear visco-elastic solids at small strains with equal rheological response in all tensorial components, utilizing boundary element method (BEM), is introduced. This procedure is based on the implicit discretisation in time (the so-called Rothe method) combined with a simple "algebraic" transformation of variables, leading to a numerically stable procedure (proved explicitly by discrete energy estimates), which can be easily implemented in a BEM code to solve initial-boundary value visco-elastic problems by using the Kelvin elastostatic fundamental solution only. It is worth mentioning that no inverse Laplace transform is required here. The formulation is straightforward for both 2D and 3D problems involving unilateral frictionless contact. Although the focus is to the simplest Kelvin-Voigt rheology, a generalization to Maxwell, Boltzmann, Jeffreys, and Burgers rheologies is proposed, discussed, and implemented in the BEM code too. A few 2D and 3D initial-boundary value problems, one of them with unilateral frictionless contact, are solved numerically

Quantitative analysis of Clausius inequality

In the context of driven diffusive systems, for thermodynamic transformations over a large but finite time window, we derive an expansion of the energy balance. In particular, we characterize the transformations which minimize the energy dissipation and describe the optimal correction to the quasi-static limit. Surprisingly, in the case of transformations between homogeneous equilibrium states of an ideal gas, the optimal transformation is a sequence of inhomogeneous equilibrium states.Comment: arXiv admin note: text overlap with arXiv:1404.646

The maximum efficiency of nano heat engines depends on more than temperature

Sadi Carnot's theorem regarding the maximum efficiency of heat engines is considered to be of fundamental importance in thermodynamics. This theorem famously states that the maximum efficiency depends only on the temperature of the heat baths used by the engine, but not on the specific structure of baths. Here, we show that when the heat baths are finite in size, and when the engine operates in the quantum nanoregime, a revision to this statement is required. We show that one may still achieve the Carnot efficiency, when certain conditions on the bath structure are satisfied; however if that is not the case, then the maximum achievable efficiency can reduce to a value which is strictly less than Carnot. We derive the maximum efficiency for the case when one of the baths is composed of qubits. Furthermore, we show that the maximum efficiency is determined by either the standard second law of thermodynamics, analogously to the macroscopic case, or by the non increase of the max relative entropy, which is a quantity previously associated with the single shot regime in many quantum protocols. This relative entropic quantity emerges as a consequence of additional constraints, called generalized free energies, that govern thermodynamical transitions in the nanoregime. Our findings imply that in order to maximize efficiency, further considerations in choosing bath Hamiltonians should be made, when explicitly constructing quantum heat engines in the future. This understanding of thermodynamics has implications for nanoscale engineering aiming to construct small thermal machines.Comment: Main text 14 pages. Appendix 60 pages. Accepted in Journal Quantu

High-accuracy phase-field models for brittle fracture based on a new family of degradation functions

Phase-field approaches to fracture based on energy minimization principles have been rapidly gaining popularity in recent years, and are particularly well-suited for simulating crack initiation and growth in complex fracture networks. In the phase-field framework, the surface energy associated with crack formation is calculated by evaluating a functional defined in terms of a scalar order parameter and its gradients, which in turn describe the fractures in a diffuse sense following a prescribed regularization length scale. Imposing stationarity of the total energy leads to a coupled system of partial differential equations, one enforcing stress equilibrium and another governing phase-field evolution. The two equations are coupled through an energy degradation function that models the loss of stiffness in the bulk material as it undergoes damage. In the present work, we introduce a new parametric family of degradation functions aimed at increasing the accuracy of phase-field models in predicting critical loads associated with crack nucleation as well as the propagation of existing fractures. An additional goal is the preservation of linear elastic response in the bulk material prior to fracture. Through the analysis of several numerical examples, we demonstrate the superiority of the proposed family of functions to the classical quadratic degradation function that is used most often in the literature.Comment: 33 pages, 30 figure