Robust stability of second-order systems

A feedback linearization technique is used in conjunction with passivity concepts to design robust controllers for space robots. It is assumed that bounded modeling uncertainties exist in the inertia matrix and the vector representing the coriolis, centripetal, and friction forces. Under these assumptions, the controller guarantees asymptotic tracking of the joint variables. A Lagrangian approach is used to develop a dynamic model for space robots. Closed-loop simulation results are illustrated for a simple case of a single link planar manipulator with freely floating base

Theory and computation of optimal low- and medium-thrust transfers

This report presents the formulation of the optimal low- and medium-thrust orbit transfer control problem and methods for numerical solution of the problem. The problem formulation is for final mass maximization and allows for second-harmonic oblateness, atmospheric drag, and three-dimensional, non-coplanar, non-aligned elliptic terminal orbits. We setup some examples to demonstrate the ability of two indirect methods to solve the resulting TPBVP's. The methods demonstrated are the multiple-point shooting method as formulated in H. J. Oberle's subroutine BOUNDSCO, and the minimizing boundary-condition method (MBCM). We find that although both methods can converge solutions, there are trade-offs to using either method. BOUNDSCO has very poor convergence for guesses that do not exhibit the correct switching structure. MBCM, however, converges for a wider range of guesses. However, BOUNDSCO's multi-point structure allows more freedom in quesses by increasing the node points as opposed to only quessing the initial state in MBCM. Finally, we note an additional drawback for BOUNDSCO: the routine does not supply information to the users routines for switching function polarity but only the location of a preset number of switching points

High Dynamic Range RF Front End with Noise Cancellation and Linearization for WiMAX Receivers

This research deals with verification of the high dynamic range for a heterodyne radio frequency (RF) front end. A 2.6 GHz RF front end is designed and implemented in a hybrid microwave integrated circuit (HMIC) for worldwide interoperability for microwave access (WiMAX) receivers. The heterodyne RF front end consists of a low-noise amplifier (LNA) with noise cancellation, an RF bandpass filter (BPF), a downconverter with linearization, and an intermediate frequency (IF) BPF. A noise canceling technique used in the low-noise amplifier eliminates a thermal noise and then reduces the noise figure (NF) of the RF front end by 0.9 dB. Use of a downconverter with diode linearizer also compensates for gain compression, which increases the input-referred third-order intercept point (IIP3) of the RF front end by 4.3 dB. The proposed method substantially increases the spurious-free dynamic range (DRf) of the RF front end by 3.5 dB

讀藍氏箸中國之家庭與社會 = On Olga Lang : Chinese family and society

藍氏(Olga Lang)係曾在北平協和醫院社會服務部工作之—俄國女子，此書於一九三五年至三七年受社會硏究所(哥侖比亞大學)及太平洋學會委託而硏究之結果，但遲至一九四六年始由耶魯大學出版部印行。全書分爲兩編：舊時中國之家庭及現代中國之家庭。 第一編首將中國舊時社會狀況作—簡要之叙述,然後列舉舊家庭生活之各方面：家庭之功能與結構；家庭中各種關係：愛情，婚姻，離婚；女子在舊日中國家庭及社會中地位；殿以‘家庭與社會’一章，作者指出孝道過度發展之種種弊病。 第二編所佔篇幅數倍於前，似爲作者所硏究之主要部分。作者首將中國鄕村與城市之新經濟與社會環境說明，再述舊式家庭之受人攻擊。然後暢論現代中國之愛情與婚姻及其與舊日之對照。再在舉出家庭之類型與人數後，將家庭中各方面關係分爲數章詳述：家庭分子之合作，親戚關係，家庭勢力，人情主義，夫妻關係，老年人地位，兒童，靑年及友誼。最後一章係‘總結’

Scheme for direct measurement of a general two-qubit Hamiltonian

The construction of two-qubit gates appropriate for universal quantum computation is of enormous importance to quantum information processing. Building such gates is dependent on accurate knowledge of the interaction dynamics between two qubit systems. This letter will present a systematic method for reconstructing the full two-qubit interaction Hamiltonian through experimental measures of concurrence. This not only gives a convenient method for constructing two qubit quantum gates, but can also be used to experimentally determine various Hamiltonian parameters in physical systems. We show explicitly how this method can be employed to determine the first and second order spin-orbit corrections to the exchange coupling in quantum dots.Comment: 4 Pages, 1 Figur

Conceptual Design of a Communication-Based Deep Space Navigation Network

As the need grows for increased autonomy and position knowledge accuracy to support missions beyond Earth orbit, engineers must push and develop more advanced navigation sensors and systems that operate independent of Earth-based analysis and processing. Several spacecraft are approaching this problem using inter-spacecraft radiometric tracking and onboard autonomous optical navigation methods. This paper proposes an alternative implementation to aid in spacecraft position fixing. The proposed method Network-Based Navigation technique takes advantage of the communication data being sent between spacecraft and between spacecraft and ground control to embed navigation information. The navigation system uses these packets to provide navigation estimates to an onboard navigation filter to augment traditional ground-based radiometric tracking techniques. As opposed to using digital signal measurements to capture inherent information of the transmitted signal itself, this method relies on the embedded navigation packet headers to calculate a navigation estimate. This method is heavily dependent on clock accuracy and the initial results show the promising performance of a notional system

Cryogenic-coolant He4-superconductor dynamic and static interactions

A composite superconducting material (NbTi-Cu) was evaluated with emphasis on post quench solid cooling interaction regimes. The quasi-steady runs confirm the existence of a thermodynamic limiting thickness for insulating coatings. Two distinctly different post quench regimes of coated composites are shown to relate to the limiting thickness. Only one regime,, from quench onset to the peak value, revealed favorable coolant states, in particular in He2. Transient recovery shows favorable recovery times from this post quench regime (not drastically different from bare conductors) for both single coated specimens and a coated conductor bundle

Programmable quantum gate arrays

We show how to construct quantum gate arrays that can be programmed to perform different unitary operations on a data register, depending on the input to some program register. It is shown that a universal quantum gate array - a gate array which can be programmed to perform any unitary operation - exists only if one allows the gate array to operate in a probabilistic fashion. The universal quantum gate array we construct requires an exponentially smaller number of gates than a classical universal gate array.Comment: 3 pages, REVTEX. Submitted to Phys. Rev. Let