Perturbations of the local gravity field due to mass distribution on precise measuring instruments: a numerical method applied to a cold atom gravimeter

We present a numerical method, based on a FEM simulation, for the determination of the gravitational field generated by massive objects, whatever geometry and space mass density they have. The method was applied for the determination of the self gravity effect of an absolute cold atom gravimeter which aims at a relative uncertainty of 10-9. The deduced bias, calculated with a perturbative treatment, is finally presented. The perturbation reaches (1.3 \pm 0.1) \times 10-9 of the Earth's gravitational field.Comment: 12 pages, 7 figure

Influence of chirping the Raman lasers in an atom gravimeter: phase shifts due to the Raman light shift and to the finite speed of light

We present here an analysis of the influence of the frequency dependence of the Raman laser light shifts on the phase of a Raman-type atom gravimeter. Frequency chirps are applied to the Raman lasers in order to compensate gravity and ensure the resonance of the Raman pulses during the interferometer. We show that the change in the Raman light shift when this chirp is applied only to one of the two Raman lasers is enough to bias the gravity measurement by a fraction of $\mu$Gal ($1~\mu$Gal~=~$10^{-8}$~m/s$^2$). We also show that this effect is not compensated when averaging over the two directions of the Raman wavevector $k$. This thus constitutes a limit to the rejection efficiency of the $k$-reversal technique. Our analysis allows us to separate this effect from the effect of the finite speed of light, which we find in perfect agreement with expected values. This study highlights the benefit of chirping symmetrically the two Raman lasers

Kinematically Redundant Octahedral Motion Platform for Virtual Reality Simulations

We propose a novel design of a parallel manipulator of Stewart Gough type for virtual reality application of single individuals; i.e. an omni-directional treadmill is mounted on the motion platform in order to improve VR immersion by giving feedback to the human body. For this purpose we modify the well-known octahedral manipulator in a way that it has one degree of kinematical redundancy; namely an equiform reconfigurability of the base. The instantaneous kinematics and singularities of this mechanism are studied, where especially "unavoidable singularities" are characterized. These are poses of the motion platform, which can only be realized by singular configurations of the mechanism despite its kinematic redundancy.Comment: 13 pages, 6 figure

Supersonic Free-Flight Measurements of Heat Transfer and Transition on a 10 degree Cone having a Low Temperature Ratio

Heat-transfer coefficients in the form of Stanton number and boundary-layer transition data were obtained from a free-flight test of a 100-inch-long 10 deg. total-angle cone with a 1/16-inch tip radius which penetrated deep into the region of infinite stability of laminar boundary layer over a range of wall-to-local-stream temperature radius and for local Mach numbers from 1.8 to 3.5. Experimental heat-transfer coefficients, obtained at Reynolds numbers up to 160 x 10(exp 6), were in general somewhat higher than theoretical values. A maximum Reynolds number of transition of only 33 x 10(exp 6) was obtained. Contrary to theoretical and some other experimental investigations, the transition Reynolds number initially increased while the wall temperature ratio increased at relatively constant Mach number. Further increases in wall temperature ratio were accompanied by a decrease in transition Reynolds number. Increasing transition Reynolds number with increasing Mach number was also indicated at a relatively constant wall temperature ratio

Probabilistic analysis of the upwind scheme for transport

We provide a probabilistic analysis of the upwind scheme for multi-dimensional transport equations. We associate a Markov chain with the numerical scheme and then obtain a backward representation formula of Kolmogorov type for the numerical solution. We then understand that the error induced by the scheme is governed by the fluctuations of the Markov chain around the characteristics of the flow. We show, in various situations, that the fluctuations are of diffusive type. As a by-product, we prove that the scheme is of order 1/2 for an initial datum in BV and of order 1/2-a, for all a>0, for a Lipschitz continuous initial datum. Our analysis provides a new interpretation of the numerical diffusion phenomenon

The electric double layer has a life of its own

Using molecular dynamics simulations with recently developed importance sampling methods, we show that the differential capacitance of a model ionic liquid based double-layer capacitor exhibits an anomalous dependence on the applied electrical potential. Such behavior is qualitatively incompatible with standard mean-field theories of the electrical double layer, but is consistent with observations made in experiment. The anomalous response results from structural changes induced in the interfacial region of the ionic liquid as it develops a charge density to screen the charge induced on the electrode surface. These structural changes are strongly influenced by the out-of-plane layering of the electrolyte and are multifaceted, including an abrupt local ordering of the ions adsorbed in the plane of the electrode surface, reorientation of molecular ions, and the spontaneous exchange of ions between different layers of the electrolyte close to the electrode surface. The local ordering exhibits signatures of a first-order phase transition, which would indicate a singular charge-density transition in a macroscopic limit

Rotation symmetry axes and the quality index in a 3D octahedral parallel robot manipulator system

The geometry of a 3D octahedral parallel robot manipulator system is specified in terms of two rigid octahedral structures (the fixed and moving platforms) and six actuation legs. The symmetry of the system is exploited to determine the behaviour of (a new version of) the quality index for various motions. The main results are presented graphically

The 3-PPPS parallel robot with U-shape Base, a 6-DOF parallel robot with simple kinematics

International audienceOne of the main problems associated with the use of 6 DOF parallel robots remains the solving of their kinematic models. This is rarely possible to analytically solve their models thereby justifying the application of numerical methods. These methods are difficult to implement in an industrial controller and can cause solution bifurcations close to singularities resulting in following an unplanned trajectory. Recently, a 3-PPPS robot with U-shaped base was introduced where an analytical kinematic model can be derived. Previously, quaternion parameters were used to represent the orientation of the mobile platform. To allow for simpler model handling, this article introduces the use of Euler angles which have a physical meaning for the users. Compact writing of the direct and inverse kinematic model is thus obtained. Using algebraic and cylindrical decomposition for the workspace, this provides a simpler representation of the largest domain without singularity around the " home " configuration