Statistical identification of geometric parameters for high speed train catenary

Pantograph/catenary interaction is known to be strongly dependent on the static geometry of the catenary, this research thus seeks to build a statistical model of this geometry. Sensitivity analyses provide a selection of relevant parameters affecting the geometry. After correction for the dynamic nature of the measurement, provide a database of measurements. One then seeks to solve the statistical inverse problem using the maximum entropy principle and the maximum likelihood method. Two methods of multivariate density estimations are presented, the Gaussian kernel density estimation method and the Gaussian parametric method. The results provide statistical information on the significant parameters and show that the messenger wire tension of the catenary hides sources of variability that are not yet taken into account in the model

Task Specific Uncertainty in Coordinate Measurement

Task specific uncertainty is the measurement uncertainty associated with the measurement of a specific feature using a specific measurement plan. This paper surveys techniques developed to model and estimate task specific uncertainty for coordinate measuring systems, primarily coordinate measuring machines using contacting probes. Sources of uncertainty are also reviewed

Robust nonlinear control of vectored thrust aircraft

An interdisciplinary program in robust control for nonlinear systems with applications to a variety of engineering problems is outlined. Major emphasis will be placed on flight control, with both experimental and analytical studies. This program builds on recent new results in control theory for stability, stabilization, robust stability, robust performance, synthesis, and model reduction in a unified framework using Linear Fractional Transformations (LFT's), Linear Matrix Inequalities (LMI's), and the structured singular value micron. Most of these new advances have been accomplished by the Caltech controls group independently or in collaboration with researchers in other institutions. These recent results offer a new and remarkably unified framework for all aspects of robust control, but what is particularly important for this program is that they also have important implications for system identification and control of nonlinear systems. This combines well with Caltech's expertise in nonlinear control theory, both in geometric methods and methods for systems with constraints and saturations

A model-based residual approach for human-robot collaboration during manual polishing operations

A fully robotized polishing of metallic surfaces may be insufficient in case of parts with complex geometric shapes, where a manual intervention is still preferable. Within the EU SYMPLEXITY project, we are considering tasks where manual polishing operations are performed in strict physical Human-Robot Collaboration (HRC) between a robot holding the part and a human operator equipped with an abrasive tool. During the polishing task, the robot should firmly keep the workpiece in a prescribed sequence of poses, by monitoring and resisting to the external forces applied by the operator. However, the user may also wish to change the orientation of the part mounted on the robot, simply by pushing or pulling the robot body and changing thus its configuration. We propose a control algorithm that is able to distinguish the external torques acting at the robot joints in two components, one due to the polishing forces being applied at the end-effector level, the other due to the intentional physical interaction engaged by the human. The latter component is used to reconfigure the manipulator arm and, accordingly, its end-effector orientation. The workpiece position is kept instead fixed, by exploiting the intrinsic redundancy of this subtask. The controller uses a F/T sensor mounted at the robot wrist, together with our recently developed model-based technique (the residual method) that is able to estimate online the joint torques due to contact forces/torques applied at any place along the robot structure. In order to obtain a reliable residual, which is necessary to implement the control algorithm, an accurate robot dynamic model (including also friction effects at the joints and drive gains) needs to be identified first. The complete dynamic identification and the proposed control method for the human-robot collaborative polishing task are illustrated on a 6R UR10 lightweight manipulator mounting an ATI 6D sensor

Report on LPG infrastructure impact at the WUI microscale

Preprin

Holographic glueball structure

We derive and systematically analyze scalar glueball correlation functions in both the hard-wall and dilaton soft-wall approximations to holographic QCD. The dynamical content of the holographic correlators is uncovered by examining their spectral density and by relating them to the operator product expansion, a dilatational low-energy theorem and a recently suggested two-dimensional power correction associated with the short-distance behavior of the heavy-quark potential. This approach provides holographic estimates for the three lowest-dimensional gluon condensates or alternatively their Wilson coefficients, the two leading moments of the instanton size distribution in the QCD vacuum and an effective UV gluon mass. A remarkable complementarity between the nonperturbative physics of the hard- and soft-wall correlators emerges, and their ability to describe detailed QCD results can be assessed quantitatively. We further provide the first holographic estimates for the decay constants of the 0++ glueball and its excitations. The hard-wall background turns out to encode more of the relevant QCD physics, and its prediction f ~ 0.8-0.9 GeV for the phenomenologically important ground state decay constant agrees inside errors with recent QCD sum rule and lattice results.Comment: 25 pages, discussion extended to match the published version (up to stylistic details), results and conclusions unchange

Dynamic investigation on the Mirandola bell tower in post-earthquake scenarios

After the seismic events of the 20th and 29th of May 2012 in Emilia (Italy), most of the monumental and historic buildings of the area were severely damaged. In a few structures, partial collapse mechanisms were observed (e.g. façade tilting, out-of-plane overturning of panels…). This paper presents the case-study of the bell tower of the Santa Maria Maggiore cathedral, located in Mirandola (Italy). The dynamic response of the structure was evaluated through operational modal analysis using ambient vibrations, a consolidated non-destructive procedure that estimates the dynamic parameters of the bell-tower. The dynamic tests were carried out in pre-intervention and post-intervention conditions in order to understand the sensitivity of dynamic measurements to safety interventions. Furthermore, a comparative study is made with similar cases of undamaged masonry towers up to the 6th mode. Finally, an investigation on the state of connections and of the building itself is carried out via FE model updating

F-theory and Neutrinos: Kaluza-Klein Dilution of Flavor Hierarchy

We study minimal implementations of Majorana and Dirac neutrino scenarios in F-theory GUT models. In both cases the mass scale of the neutrinos m_nu ~ (M_weak)^2/M_UV arises from integrating out Kaluza-Klein modes, where M_UV is close to the GUT scale. The participation of non-holomorphic Kaluza-Klein mode wave functions dilutes the mass hierarchy in comparison to the quark and charged lepton sectors, in agreement with experimentally measured mass splittings. The neutrinos are predicted to exhibit a "normal" mass hierarchy, with masses m_3,m_2,m_1 ~ .05*(1,(alpha_GUT)^(1/2),alpha_GUT) eV. When the interactions of the neutrino and charged lepton sectors geometrically unify, the neutrino mixing matrix exhibits a mild hierarchical structure such that the mixing angles theta_23 and theta_12 are large and comparable, while theta_13 is expected to be smaller and close to the Cabibbo angle: theta_13 ~ theta_C ~ (alpha_GUT)^(1/2) ~ 0.2. This suggests that theta_13 should be near the current experimental upper bound.Comment: v2: 83 pages, 10 figures, references adde