Digital multishaker modal testing

A review of several modal testing techniques is made, along with brief discussions of their advantages and limitations. A new technique is presented which overcomes many of the previous limitations. Several simulated experiments are included to verify the validity and accuracy of the new method. Conclusions are drawn from the simulation studies and recommendations for further work are presented. The complete computer code configured for the simulation study is presented

An analysis of atmospheric entry trajectories for manned and unmanned missions to the planet Venus

A unified atmospheric density model is presented for the planet Venus, and this model is compatible with Russian and American data obtained during the 1967 Venus launch opportunity. Trajectory characteristics involved in atmospheric entry are discussed with reference to roll-control modulation and entry corridor. Subsequent to a trajectory-oriented discussion of potential Venus mission characteristics, a parametric analysis of manned and unmanned vehicle entry trajectories into the Venusian atmosphere is presented. A sensitivity analysis with reference to atmospheric density deviations is included to show the dependence of corridor depth on the atmospheric density profile

Effect of time delay on feedback control of a flashing ratchet

It was recently shown that the use of feedback control can improve the performance of a flashing ratchet. We investigate the effect of a time delay in the implementation of feedback control in a closed-loop collective flashing ratchet, using Langevin dynamics simulations. Surprisingly, for a large ensemble, a well-chosen delay time improves the ratchet performance by allowing the system to synchronize into a quasi-periodic stable mode of oscillation that reproduces the optimal average velocity for a periodically flashing ratchet. For a small ensemble, on the other hand, finite delay times significantly reduce the benefit of feedback control for the time-averaged velocity, because the relevance of information decays on a time scale set by the diffusion time of the particles. Based on these results, we establish that experimental use of feedback control is realistic.Comment: 6 pages, 6 figures, to appear in Europhysics Letter

Constrained trajectory optimization for kinematically redundant arms

Two velocity optimization schemes for resolving redundant joint configurations are compared. The Extended Moore-Penrose Technique minimizes the joint velocities and avoids obstacles indirectly by adjoining a cost gradient to the solution. A new method can incorporate inequality constraints directly to avoid obstacles and singularities in the workspace. A four-link arm example is used to illustrate singularity avoidance while tracking desired end-effector paths

Astrophysical Effects of Scalar Dark Matter Miniclusters

We model the formation, evolution and astrophysical effects of dark compact Scalar Miniclusters (``ScaMs''). These objects arise when a scalar field, with an axion-like or Higgs-like potential, undergoes a second order phase transition below the QCD scale. Such a scalar field may couple too weakly to the standard model to be detectable directly through particle interactions, but may still be detectable by gravitational effects, such as lensing and baryon accretion by large, gravitationally bound miniclusters. The masses of these objects are shown to be constrained by the Ly$\alpha$ power spectrum to be less than $\sim 10^4 M_\odot$, but they may be as light as classical axion miniclusters, of the order of $10^{-12} M_\odot$. We simulate the formation and nonlinear gravitational collapse of these objects around matter-radiation equality using an N-body code, estimate their gravitational lensing properties, and assess the feasibility of studying them using current and future lensing experiments. Future MACHO-type variability surveys of many background sources can reveal either high-amplification, strong lensing events, or measure density profiles directly via weak-lensing variability, depending on ScaM parameters and survey depth. However, ScaMs, due to their low internal densities, are unlikely to be responsible for apparent MACHO events already detected in the Galactic halo. A simple estimate is made of parameters that would give rise to early structure formation; in principle, early stellar collapse could be triggered by ScaMs as early as recombination, and significantly affect cosmic reionization.Comment: 13 pages, 12 figures. Replaced to reflect published versio

Modal vector estimation for closely spaced frequency modes

Techniques for obtaining improved modal vector estimates for systems with closely spaced frequency modes are discussed. In describing the dynamical behavior of a complex structure modal parameters are often analyzed: undamped natural frequency, mode shape, modal mass, modal stiffness and modal damping. From both an analytical standpoint and an experimental standpoint, identification of modal parameters is more difficult if the system has repeated frequencies or even closely spaced frequencies. The more complex the structure, the more likely it is to have closely spaced frequencies. This makes it difficult to determine valid mode shapes using single shaker test methods. By employing band selectable analysis (zoom) techniques and by employing Kennedy-Pancu circle fitting or some multiple degree of freedom (MDOF) curve fit procedure, the usefulness of the single shaker approach can be extended

Site-Specific Methylation of Adenine in the Nuclear Genome of a Eucaryote, \u3cem\u3eTetrahymena thermophila\u3c/em\u3e

DNA in the polyploid macronucleus of the ciliated protozoan Tetrahymena thermophila contains the modified base N6-methyladenine. We identified two GATC sites which are methylated in most or all of the 45 copies of the macronuclear genome. One site is 2 kilobases 5\u27 to the histone H4-I gene, and the other is 5 kilobases 3\u27 to the 73-kilodalton heat shock protein gene. These sites are de novo methylated between 10 and 16 h after initiation of conjugation, during macronuclear anlage development. The methylation states of these two GATC sites and four other unmethylated GATC sites do not change in the DNA of cells cultured under conditions which change the activity of the genes, including logarithmic growth, starvation, and heat shock

Particle-in-cell simulations of collisionless magnetic reconnection with a non-uniform guide field

Results are presented of a first study of collisionless magnetic reconnection starting from a recently found exact nonlinear force-free Vlasov–Maxwell equilibrium. The initial state has a Harris sheet magnetic field profile in one direction and a non-uniform guide field in a second direction, resulting in a spatially constant magnetic field strength as well as a constant initial plasma density and plasma pressure. It is found that the reconnection process initially resembles guide field reconnection, but that a gradual transition to anti-parallel reconnection happens as the system evolves. The time evolution of a number of plasma parameters is investigated, and the results are compared with simulations starting from a Harris sheet equilibrium and a Harris sheet plus constant guide field equilibrium

An adaptive controller for enhancing operator performance during teleoperation

An adaptive controller is developed for adjusting robot arm parameters while manipulating payloads of unknown mass and inertia. The controller is tested experimentally in a master/slave configuration where the adaptive slave arm is commanded via human operator inputs from a master. Kinematically similar six-joint master and slave arms are used with the last three joints locked for simplification. After a brief initial adaptation period for the unloaded arm, the slave arm retrieves different size payloads and maneuvers them about the workspace. Comparisons are then drawn with similar tasks where the adaptation is turned off. Several simplifications of the controller dynamics are also addressed and experimentally verified