Feedback Synthesis for Controllable Underactuated Systems using Sequential Second Order Actions

This paper derives nonlinear feedback control synthesis for general control affine systems using second-order actions---the needle variations of optimal control---as the basis for choosing each control response to the current state. A second result of the paper is that the method provably exploits the nonlinear controllability of a system by virtue of an explicit dependence of the second-order needle variation on the Lie bracket between vector fields. As a result, each control decision necessarily decreases the objective when the system is nonlinearly controllable using first-order Lie brackets. Simulation results using a differential drive cart, an underactuated kinematic vehicle in three dimensions, and an underactuated dynamic model of an underwater vehicle demonstrate that the method finds control solutions when the first-order analysis is singular. Moreover, the simulated examples demonstrate superior convergence when compared to synthesis based on first-order needle variations. Lastly, the underactuated dynamic underwater vehicle model demonstrates the convergence even in the presence of a velocity field.Comment: 9 page

Effects of deposit-feeding bivalve (Macomona liliana) density on intertidal sediment stability

Effects of macrofaunal feeding and bioturbation on intertidal sediment stability (u*crit) were investigated by manipulating density (0-3 x ambient) of the facultative deposit-feeding wedge shell (Macomona liliana) on the Tuapiro sandflat in Tauranga Harbour, New Zealand. Sediment stability increased up to 200% with decreasing M. liliana density and this was correlated with greater sediment microalgal biomass and mucilage content. The change in stability occurred despite homogeneity of grain size amongst experimental treatments, highlighting the importance of macrofaunal-microbial relationships in determining estuarine sediment erodibility

Categorisation and Detection of Dark Matter Candidates from String/M-theory Hidden Sectors

We study well-motivated dark matter candidates arising from weakly-coupled hidden sectors in compactified string/$M$-theory. Imposing generic top-down constraints greatly restricts allowed candidates. By considering the possible mechanisms for achieving the correct dark matter relic density, we compile categories of viable dark matter candidates and annihilation mediators. We consider the case where supersymmetry breaking occurs via moduli stabilisation and is gravitationally mediated to the visible and other hidden sectors, without assuming sequestering of the sector in which supersymmetry is broken. We find that in this case, weakly-coupled hidden sectors only allow for fermionic dark matter. Additionally, most of the mechanisms for obtaining the full relic density only allow for a gauge boson mediator, such as a dark $Z'$. Given these considerations, we study the potential for discovering or constraining the allowed parameter space given current and future direct detection experiments, and direct production at the LHC. We also present a model of a hidden sector which would contain a satisfactory dark matter candidate.Comment: 29 pages, 10 figure

Can Changes in Eye Movement Scanning Alter the Age-Related Deficit in Recognition Memory?

Older adults typically exhibit poorer face recognition compared to younger adults. These recognition differences may be due to underlying age-related changes in eye movement scanning. We examined whether older adults’ recognition could be improved by yoking their eye movements to those of younger adults. Participants studied younger and older faces, under free viewing conditions (bases), through a gaze-contingent moving window (own), or a moving window which replayed the eye movements of a base participant (yoked). During the recognition test, participants freely viewed the faces with no viewing restrictions. Own-age recognition biases were observed for older adults in all viewing conditions, suggesting that this effect occurs independently of scanning. Participants in the bases condition had the highest recognition accuracy, and participants in the yoked condition were more accurate than participants in the own condition. Among yoked participants, recognition did not depend on age of the base participant. These results suggest that successful encoding for all participants requires the bottom-up contribution of peripheral information, regardless of the locus of control of the viewer. Although altering the pattern of eye movements did not increase recognition, the amount of sampling of the face during encoding predicted subsequent recognition accuracy for all participants. Increased sampling may confer some advantages for subsequent recognition, particularly for people who have declining memory abilities

Water facilities in retrospect and prospect: An illuminating tool for vehicle design

Water facilities play a fundamental role in the design of air, ground, and marine vehicles by providing a qualitative, and sometimes quantitative, description of complex flow phenomena. Water tunnels, channels, and tow tanks used as flow-diagnostic tools have experienced a renaissance in recent years in response to the increased complexity of designs suitable for advanced technology vehicles. These vehicles are frequently characterized by large regions of steady and unsteady three-dimensional flow separation and ensuing vortical flows. The visualization and interpretation of the complicated fluid motions about isolated vehicle components and complete configurations in a time and cost effective manner in hydrodynamic test facilities is a key element in the development of flow control concepts, and, hence, improved vehicle designs. A historical perspective of the role of water facilities in the vehicle design process is presented. The application of water facilities to specific aerodynamic and hydrodynamic flow problems is discussed, and the strengths and limitations of these important experimental tools are emphasized

A quantum mechanical approach to establishing the magnetic field orientation from a maser Zeeman profile

Recent comparisons of magnetic field directions derived from maser Zeeman splitting with those derived from continuum source rotation measures have prompted new analysis of the propagation of the Zeeman split components, and the inferred field orientation. In order to do this, we first review differing electric field polarization conventions used in past studies. With these clearly and consistently defined, we then show that for a given Zeeman splitting spectrum, the magnetic field direction is fully determined and predictable on theoretical grounds: when a magnetic field is oriented away from the observer, the left-hand circular polarization is observed at higher frequency and the right-hand polarization at lower frequency. This is consistent with classical Lorentzian derivations. The consequent interpretation of recent measurements then raises the possibility of a reversal between the large-scale field (traced by rotation measures) and the small-scale field (traced by maser Zeeman splitting).Comment: 10 pages, 5 Figures, accepted for publication in MNRA

Cricket, migration and diasporic communities

Ever since different communities began processes of global migration, sport has been an integral feature in how we conceptualise and experience the notion of being part of a diaspora. Sport provides diasporic communities with a powerful means for creating transnational ties, but also shapes ideas of their ethnic and racial identities. In spite of this, theories of diaspora have been applied sparingly to sporting discourses. Due mainly to its central role in spreading dominant white racial narratives within the British Empire, and the various ways different ethnic groups have ‘played’ with the meanings and associations of the sport in the (post-)colonial period, cricket is an interesting focus for academic research. Despite W.G. Grace’s claim that cricket advances civilisation by promoting a common bond, binding together peoples of vastly different backgrounds, to this day cricket operates strict symbolic boundaries; defining those who do, and equally, do not belong. C.L.R. James’ now famous metaphor of looking ‘beyond the boundary’ captures the belief that, to fully understand the significance of cricket, and the sport’s roles in changing and shaping society, one must consider the wider social and political contexts within which the game is played. The collection of papers in this special issue does just that. Cricket acts as the point of departure in each, but the way in which ideas of power, representation and inequality are ‘played out’ is unique in each