A nonlinear disturbance observer for robotic manipulators

A new nonlinear disturbance observer (NDO) for robotic manipulators is derived in this paper. The global exponential stability of the proposed disturbance observer (DO) is guaranteed by selecting design parameters, which depend on the maximum velocity and physical parameters of robotic manipulators. This new observer overcomes the disadvantages of existing DOs, which are designed or analyzed by linear system techniques. It can be applied in robotic manipulators for various purposes such as friction compensation, independent joint control, sensorless torque control and fault diagnosis. The performance of the proposed observer is demonstrated by the friction estimation and compensation for a two-link robotic manipulator. Both simulation and experimental results show the NDO works well

Optimal control of nonlinear systems: a predictive control approach

A new nonlinear predictive control law for a class of multivariable nonlinear systems is presented in this paper. It is shown that the closed-loop dynamics under this nonlinear predictive controller explicitly depend on design parameters (prediction time and control order). The main features of this result are that an explicitly analytical form of the optimal predictive controller is given, on-line optimisation is not required, stability of the closed-loop system is guaranteed, the whole design procedure is transparent to designers and the resultant controller is easy to implement. By establishing the relationship between the design parameters and time-domain transient, it is shown that the design of an optimal generalised predictive controller to achieve desired time-domain specifications for nonlinear systems can be performed by looking up tables. The design procedure is illustrated by designing an autopilot for a missile

Using the Hopf Algebra Structure of QFT in Calculations

We employ the recently discovered Hopf algebra structure underlying perturbative Quantum Field Theory to derive iterated integral representations for Feynman diagrams. We give two applications: to massless Yukawa theory and quantum electrodynamics in four dimensions.Comment: 28 p, Revtex, epsf for figures, minor changes, to appear in Phys.Rev.

Aharonov-Anandan phase in Lipkin-Meskov-Glick model

In the system of several interacting spins, geometric phases have been researched intensively.However, the studies are mainly focused on the adiabatic case (Berry phase), so it is necessary for us to study the non-adiabatic counterpart (Aharonov and Anandan phase). In this paper, we analyze both the non-degenerate and degenerate geometric phase of Lipkin-Meskov-Glick type model, which has many application in Bose-Einstein condensates and entanglement theory. Furthermore, in order to calculate degenerate geometric phases, the Floquet theorem and decomposition of operator are generalized. And the general formula is achieved

An all-fibre PM MOPA pumped high-power OPO at 3.82 microns based on large aperture PPMgLN

We report a large aperture PPMgLN based OPO generating 21W of average output power at a slope efficiency of 45%, pumped by the output from a polarization maintaining Ytterbium doped fiber MOPA operating at 1060nm producing 58W of average output power and 20ns pulses at a repetition rate of 100kHz. A maximum of 5.5W of optical power was recorded at the idler wavelength of 3.82µm without thermal roll-off. We have experimentally verified that the pulse rise/fall time plays a significant role in the OPO conversion efficiency and that further enhancement in the OPO conversion efficiency will be possible using sub-nanosecond rise and fall times

A Dense Packing of Regular Tetrahedra

We construct a dense packing of regular tetrahedra, with packing density $D > >.7786157$.Comment: full color versio

Structured light techniques for 3D surface reconstruction in robotic tasks

Robotic tasks such as navigation and path planning can be greatly enhanced by a vision system capable of providing depth perception from fast and accurate 3D surface reconstruction. Focused on robotic welding tasks we present a comparative analysis of a novel mathematical formulation for 3D surface reconstruction and discuss image processing requirements for reliable detection of patterns in the image. Models are presented for a parallel and angled configurations of light source and image sensor. It is shown that the parallel arrangement requires 35\% fewer arithmetic operations to compute a point cloud in 3D being thus more appropriate for real-time applications. Experiments show that the technique is appropriate to scan a variety of surfaces and, in particular, the intended metallic parts for robotic welding tasks

Modelling and simulation of the chondrocyte cell growth, glucose consumption and lactate production within a porous tissue scaffold inside a perfusion bioreactor

AbstractMathematical and numerical modelling of the tissue culture process in a perfusion bioreactor is able to provide insight into the fluid flow, nutrients and wastes transport, dynamics of the pH value, and the cell growth rate. Knowing the complicated interdependence of these processes is essential for optimizing the culture process for cell growth. This paper presents a resolved scale numerical simulation, which allows one not only to characterize the supply of glucose inside a porous tissue scaffold in a perfusion bioreactor, but also to assess the overall culture condition and predict the cell growth rate. The simulation uses a simplified scaffold that consists of a repeatable unit composed of multiple strands. The simulation results explore some problematic regions inside the simplified scaffold where the concentration of glucose becomes lower than the critical value for the chondrocyte cell viability and the cell growth rate becomes significantly reduced

Network of Minima of the Thomson Problem and Smale's 7th Problem

The Thomson problem, arrangement of identical charges on the surface of a sphere, has found many applications in physics, chemistry and biology. Here, we show that the energy landscape of the Thomson problem for N particles with N=132, 135, 138, 141, 144, 147, and 150 is single funneled, characteristic of a structure-seeking organization where the global minimum is easily accessible. Algorithmically, constructing starting points close to the global minimum of such a potential with spherical constraints is one of Smale’s 18 unsolved problems in mathematics for the 21st century because it is important in the solution of univariate and bivariate random polynomial equations. By analyzing the kinetic transition networks, we show that a randomly chosen minimum is, in fact, always “close” to the global minimum in terms of the number of transition states that separate them, a characteristic of small world networks