Ball on a beam: stabilization under saturated input control with large basin of attraction

This article is devoted to the stabilization of two underactuated planar systems, the well-known straight beam-and-ball system and an original circular beam-and-ball system. The feedback control for each system is designed, using the Jordan form of its model, linearized near the unstable equilibrium. The limits on the voltage, fed to the motor, are taken into account explicitly. The straight beam-and-ball system has one unstable mode in the motion near the equilibrium point. The proposed control law ensures that the basin of attraction coincides with the controllability domain. The circular beam-and-ball system has two unstable modes near the equilibrium point. Therefore, this device, never considered in the past, is much more difficult to control than the straight beam-and-ball system. The main contribution is to propose a simple new control law, which ensures by adjusting its gain parameters that the basin of attraction arbitrarily can approach the controllability domain for the linear case. For both nonlinear systems, simulation results are presented to illustrate the efficiency of the designed nonlinear control laws and to determine the basin of attraction

Level densities and γ\gamma-strength functions in 148,149^{148,149}Sm

The level densities and $\gamma$-strength functions of the weakly deformed $^{148}$Sm and $^{149}$Sm nuclei have been extracted. The temperature versus excitation energy curve, derived within the framework of the micro canonical ensemble, shows structures, which we associate with the break up of Cooper pairs. The nuclear heat capacity is deduced within the framework of both the micro canonical and the canonical ensemble. We observe negative heat capacity in the micro canonical ensemble whereas the canonical heat capacity exhibits an S-shape as function of temperature, both signals of a phase transition. The structures in the $\gamma$-strength functions are discussed in terms of the pygmy resonance and the scissors mode built on exited states. The samarium results are compared with data for the well deformed $^{161,162}$Dy, $^{166,167}$Er and $^{171,172}$Yb isotopes and with data from (n,$\gamma$)-experiments and giant dipole resonance studies.Comment: 12 figure

Astrophysical Reaction Rates for 10^{10}B(p,α\alpha)7^{7}Be and 11^{11}B(p,α\alpha)8^{8}Be From a Direct Model

The reactions $^{10}$B(p,$\alpha$)$^{7}$Be and $^{11}$B(p,$\alpha$)$^{8}$Be are studied at thermonuclear energies using DWBA calculations. For both reactions, transitions to the ground states and first excited states are investigated. In the case of $^{10}$B(p,$\alpha$)$^{7}$Be, a resonance at $E_{Res}=10$ keV can be consistently described in the potential model, thereby allowing the extension of the astrophysical $S$-factor data to very low energies. Strong interference with a resonance at about $E_{Res}=550$ keV require a Breit-Wigner description of that resonance and the introduction of an interference term for the reaction $^{10}$B(p,$\alpha_1$)$^{7}$Be$^*$. Two isospin $T=1$ resonances (at $E_{Res1}=149$ keV and $E_{Res2}=619$ keV) observed in the $^{11}$B+p reactions necessitate Breit-Wigner resonance and interference terms to fit the data of the $^{11}$B(p,$\alpha$)$^{8}$Be reaction. $S$-factors and thermonuclear reaction rates are given for each reaction. The present calculation is the first consistent parametrization for the transition to the ground states and first excited states at low energies.Comment: 27 pages, 5 Postscript figures, uses RevTex and aps.sty; preprint also available at http://quasar.physik.unibas.ch/ Phys. Rev. C, in pres

A note on the Sagnac effect and current terrestrial experiments

We focus on the Sagnac effect for light beams in order to evaluate if the higher-order relativistic corrections of kinematic origin could be relevant for actual terrestrial experiments. Moreover, we discuss to what extent the analogy with the Aharonov-Bohm effect holds true in a fully relativistic framework. We show that the analogy with the Aharonov-Bohm is not true in general, but is recovered in a suitable low-order approximation, and that even though the Sagnac effect is influenced by both the position of the interferometer in the rotating frame and its extension, these effects are negligible for current terrestrial experiment

Processing and mechanical properties of magnesium-lithium composites containing steel fibers

Deformation-processed metal-metal composites (DMMC) of Mg-Li alloys containing steel reinforcing fibers were prepared by infiltrating a preform of steel wool with the molten matrix. The Li content was varied to control the crystal structure of the matrix; Mg-4 wt pct Li is hexagonal close packed (hcp), while Mg-12 wt pct Li is body-centered cubic (bcc). The low carbon steel used as the reinforcing fiber is essentially bcc. The hcp/bcc and bcc/bcc composites were subsequently deformed by rolling and by extrusion/swaging and mechanically tested to relate the tensile strength of the composites to true deformation strain. The hcp/bcc composites had limited formability at temperatures up to 400 °C, while the bcc/bcc composites had excellent formability during sheet rolling at room temperature but limited formability during swaging at room temperature. The tensile strengths of the hcp/bcc composite rod and the bcc/bcc composite sheet and rod increased moderately with deformation, though less than predicted from rule-of-mixtures (ROM) calculations. This article presents the experimental data for these DMMC materials and comments on the possible effect of texture development in the matrix and fiber phases on the deformation characteristics of the composite material

Response to “Comment on ‘optimal exposure biomarkers for nonpersistent chemicals in environmental epidemiology’”

We appreciate the opportunity to respond to the letter from Stahlhut et al. regarding our Brief Communication. We stressed the importance of biospecimen integrity and the potential danger of unrecognized contamination of convenience samples, particularly with ubiquitous environmental chemicals such as bisphenol A (BPA) and phthalates

Discovery of the Binary Pulsar PSR B1259-63 in Very-High-Energy Gamma Rays around Periastron with H.E.S.S

We report the discovery of very-high-energy (VHE) gamma-ray emission of the binary system PSR B1259-63/SS 2883 of a radio pulsar orbiting a massive, luminous Be star in a highly eccentric orbit. The observations around the 2004 periastron passage of the pulsar were performed with the four 13 m Cherenkov telescopes of the H.E.S.S. experiment, recently installed in Namibia and in full operation since December 2003. Between February and June 2004, a gamma-ray signal from the binary system was detected with a total significance above 13 sigma. The flux was found to vary significantly on timescales of days which makes PSR B1259-63 the first variable galactic source of VHE gamma-rays observed so far. Strong emission signals were observed in pre- and post-periastron phases with a flux minimum around periastron, followed by a gradual flux decrease in the months after. The measured time-averaged energy spectrum above a mean threshold energy of 380 GeV can be fitted by a simple power law F_0(E/1 TeV)^-Gamma with a photon index Gamma = 2.7+-0.2_stat+-0.2_sys and flux normalisation F_0 = (1.3+-0.1_stat+-0.3_sys) 10^-12 TeV^-1 cm^-2 s^-1. This detection of VHE gamma-rays provides unambiguous evidence for particle acceleration to multi-TeV energies in the binary system. In combination with coeval observations of the X-ray synchrotron emission by the RXTE and INTEGRAL instruments, and assuming the VHE gamma-ray emission to be produced by the inverse Compton mechanism, the magnetic field strength can be directly estimated to be of the order of 1 G.Comment: 10 pages, 8 figures, accepted in Astronomy and Astrophysics on 2 June 2005, replace: document unchanged, replaced author field in astro-ph entry - authors are all members of the H.E.S.S. collaboration and three additional authors (99+3, see document

Fluctuating asymmetry in dental and mandibular nonmetric traits as evidence for childcare sex bias in 19th/20th century Portugal.

Fluctuating asymmetry, often considered a measure of developmental instability, was studied in the dental morphological traits of 600 individuals from among the poorest sectors of society in 19th-20th century Portugal. The aims are to identify and interpret any differences between: (1) males and females, and (2) patterns of distribution among teeth with different odontogenic timings, to assess if any sex bias existed in childcare. Dental and mandibular morphological traits were recorded using the Arizona State University Dental Anthropology System. z-Ratios were used to compare summed absolute fluctuating asymmetry frequencies between sexes and age groups. Results from rank correlation coefficients ruled out directional asymmetry and antisymmetry, based on positive (>0.2) bilateral association of traits in larger samples. Sex differences were significant (z-ratio=3.128; p=0.0018), while age differences were not (z-ratio=-0.644; p=0.5196). Teeth forming after infancy tended to be more asymmetric in females. Potential reasons for the sex difference include: (1) greater female susceptibility to developmental instability, (2) greater male childhood mortality that yields lower fluctuating asymmetry in surviving males, and/or (3) cultural bias favoring male access to resources. Results suggest the latter hypothesis is most likely, as fluctuating asymmetry is enhanced during childhood, perhaps coinciding with gender role definitions. There seems to be no association between asymmetry and early mortality in males. A lack of parallels in prior research renders differential sex reaction to environmental stress dubious. This population may have favored male children in their access to appropriate conditions for development

The evolution of language: a comparative review

For many years the evolution of language has been seen as a disreputable topic, mired in fanciful "just so stories" about language origins. However, in the last decade a new synthesis of modern linguistics, cognitive neuroscience and neo-Darwinian evolutionary theory has begun to make important contributions to our understanding of the biology and evolution of language. I review some of this recent progress, focusing on the value of the comparative method, which uses data from animal species to draw inferences about language evolution. Discussing speech first, I show how data concerning a wide variety of species, from monkeys to birds, can increase our understanding of the anatomical and neural mechanisms underlying human spoken language, and how bird and whale song provide insights into the ultimate evolutionary function of language. I discuss the ‘‘descended larynx’ ’ of humans, a peculiar adaptation for speech that has received much attention in the past, which despite earlier claims is not uniquely human. Then I will turn to the neural mechanisms underlying spoken language, pointing out the difficulties animals apparently experience in perceiving hierarchical structure in sounds, and stressing the importance of vocal imitation in the evolution of a spoken language. Turning to ultimate function, I suggest that communication among kin (especially between parents and offspring) played a crucial but neglected role in driving language evolution. Finally, I briefly discuss phylogeny, discussing hypotheses that offer plausible routes to human language from a non-linguistic chimp-like ancestor. I conclude that comparative data from living animals will be key to developing a richer, more interdisciplinary understanding of our most distinctively human trait: language