Estimating body-fixed frame velocity and attitude from inertial measurements for a quadrotor vehicle

© 2014 IEEE. A key requirement for effective control of quadrotor vehicles is estimation of both attitude and linear velocity. Recent work has demonstrated that it is possible to measure horizontal velocities of a quadrotor vehicle from strap-down ac-celerometers along with a system model. In this paper we extend this to full body-fixed-frame velocity measurement by exploiting recent work in aerodynamic modeling of rotor performance and measurements of mechanical power supplied to the rotor hub. We use these measurements in a combined attitude and velocity nonlinear observer design to jointly estimate attitude and body-fixed-frame linear velocity. Almost global asymptotic stability of the resulting system is demonstrated using Lyapunov analysis of the resulting error system. In the current work, we ignore bias and leave it for future work. The performance of the observer is verified by simulation results

Landau quantization effects in the charge-density-wave system (Per)2M_2M(mnt)2_2 (where M=M=Au and Pt)

A finite transfer integral $t_a$ orthogonal to the conducting chains of a highly one-dimensional metal gives rise to empty and filled bands that simulate an indirect-gap semiconductor upon formation of a commensurate charge-density-wave (CDW). In contrast to semiconductors such as Ge and Si with bandgaps $\sim 1$ eV, the CDW system possesses an indirect gap with a greatly reduced energy scale, enabling moderate laboratory magnetic fields to have a major effect. The consequent variation of the thermodynamic gap with magnetic field due to Zeeman splitting and Landau quantization enables the electronic bandstructure parameters (transfer integrals, Fermi velocity) to be determined accurately. These parameters reveal the orbital quantization limit to be reached at $\sim 20$ T in (Per)$_2M$(mnt)$_2$ salts, making them highly unlikely candidates for a recently-proposed cascade of field-induced charge-density wave states

Quantum oscillations in the parent pnictide BaFe2_2As2_2 : itinerant electrons in the reconstructed state

We report quantum oscillation measurements that enable the direct observation of the Fermi surface of the low temperature ground state of \ba122. From these measurements we characterize the low energy excitations, revealing that the Fermi surface is reconstructed in the antiferromagnetic state, but leaving itinerant electrons in its wake. The present measurements are consistent with a conventional band folding picture of the antiferromagnetic ground state, placing important limits on the topology and size of the Fermi surface.Comment: 5 pages, 3 figure

Topological change of the Fermi surface in ternary iron-pnictides with reduced c/a ratio: A dHvA study of CaFe2P2

We report a de Haas-van Alphen effect study of the Fermi surface of CaFe2P2 using low temperature torque magnetometry up to 45 T. This system is a close structural analogue of the collapsed tetragonal non-magnetic phase of CaFe2As2. We find the Fermi surface of CaFe2P2 to differ from other related ternary phosphides in that its topology is highly dispersive in the c-axis, being three-dimensional in character and with identical mass enhancement on both electron and hole pockets (~1.5). The dramatic change in topology of the Fermi surface suggests that in a state with reduced (c/a) ratio, when bonding between pnictogen layers becomes important, the Fermi surface sheets are unlikely to be nested

13C NMR study of superconductivity near charge instability realized in beta"-(BEDT-TTF)4[(H3O)Ga(C2O4)3]C6H5NO2

To investigate the superconducting (SC) state near a charge instability, we performed ^{13}C NMR experiments on the molecular superconductor beta"-(BEDT-TTF)_{4}[(H_{3}O)Ga(C_{2}O_{4})_{3}]C_{6}H_{5}NO_{2}, which exhibits a charge anomaly at 100 K. The Knight shift which we measured in the SC state down to 1.5 K demonstrates that Cooper pairs are in spin-singlet state. Measurements of the nuclear spin-lattice relaxation time reveal strong electron-electron correlations in the normal state. The resistivity increase observed below 10 K indicates that the enhanced fluctuation has an electric origin. We discuss the possibility of charge-fluctuation-induced superconductivity.Comment: 5 pages, 4 figure

Directional field-induced metallization of quasi-one-dimensional Li0.9_{0.9}Mo6_6O17_{17}

We report a detailed magnetotransport study of the highly anisotropic quasi-one-dimensional oxide Li$_{0.9}$Mo$_6$O$_{17}$ whose in-chain electrical resistivity diverges below a temperature $T_{\rm min} \sim$ 25 K. For $T < T_{\rm min}$, a magnetic field applied parallel to the conducting chain induces a large negative magnetoresistance and ultimately, the recovery of a metallic state. We show evidence that this insulator/metal crossover is a consequence of field-induced suppression of a density-wave gap in a highly one-dimensional conductor. At the highest fields studied, there is evidence for the possible emergence of a novel superconducting state with an onset temperature $T_c >$ 10 K.Comment: 4 pages, 2 figures. To appear in Physical Review Letter

Fermi surface of superconducting LaFePO determined by quantum oscillations

We report extensive measurements of quantum oscillations in the normal state of the Fe-based superconductor LaFePO, (Tc ~ 6 K) using low temperature torque magnetometry and transport in high static magnetic fields (45 T). We find that the Fermi surface is in broad agreement with the band-structure calculations with the quasiparticle mass enhanced by a factor ~2. The quasi-two dimensional Fermi surface consist of nearly-nested electron and hole pockets, suggesting proximity to a spin/charge density wave instability.Comment: to appear in Physical Review Letter

Quantum oscillations from Fermi arcs

When a metal is subjected to strong magnetic field B nearly all measurable quantities exhibit oscillations periodic in 1/B. Such quantum oscillations represent a canonical probe of the defining aspect of a metal, its Fermi surface (FS). In this study we establish a new mechanism for quantum oscillations which requires only finite segments of a FS to exist. Oscillations periodic in 1/B occur if the FS segments are terminated by a pairing gap. Our results reconcile the recent breakthrough experiments showing quantum oscillations in a cuprate superconductor YBCO, with a well-established result of many angle resolved photoemission (ARPES) studies which consistently indicate "Fermi arcs" -- truncated segments of a Fermi surface -- in the normal state of the cuprates.Comment: 8 pages, 5 figure

A new quantum fluid at high magnetic fields in the marginal charge-density-wave system α\alpha-(BEDT-TTF)2M_2MHg(SCN)4_4 (where M=M=~K and Rb)

Single crystals of the organic charge-transfer salts $\alpha$-(BEDT-TTF)$_2M$Hg(SCN)$_4$ have been studied using Hall-potential measurements ($M=$K) and magnetization experiments ($M$ = K, Rb). The data show that two types of screening currents occur within the high-field, low-temperature CDW$_x$ phases of these salts in response to time-dependent magnetic fields. The first, which gives rise to the induced Hall potential, is a free current (${\bf j}_{\rm free}$), present at the surface of the sample. The time constant for the decay of these currents is much longer than that expected from the sample resistivity. The second component of the current appears to be magnetic (${\bf j}_{\rm mag}$), in that it is a microscopic, quasi-orbital effect; it is evenly distributed within the bulk of the sample upon saturation. To explain these data, we propose a simple model invoking a new type of quantum fluid comprising a CDW coexisting with a two-dimensional Fermi-surface pocket which describes the two types of current. The model and data are able to account for the body of previous experimental data which had generated apparently contradictory interpretations in terms of the quantum Hall effect or superconductivity.Comment: 13 pages, 11 figure