Approximate minimum-time trajectories for 2-link flexible manipulators

Powell's nonlinear programming code, VF02AD, was used to generate approximate minimum-time tip trajectories for 2-link semi-rigid and flexible manipulator movements in the horizontal plane. The manipulator is modeled with an efficient finite-element scheme for an n-link, m-joint system with horizontal-plane bending only. Constraints on the trajectory include boundary conditions on position and energy for a rest-to-rest maneuver, straight-line tracking between boundary positions, and motor torque limits. Trajectory comparisons utilize a change in the link stiffness, EI, to transition from the semi-rigid to flexible case. Results show the level of compliance necessary to excite significant modal behavior. Quiescence of the final configuration is examined with the finite-element model

Exact results for `bouncing' Gaussian wave packets

We consider time-dependent Gaussian wave packet solutions of the Schrodinger equation (with arbitrary initial central position, x_0, and momentum, p_0, for an otherwise free-particle, but with an infinite wall at x=0, so-called bouncing wave packets. We show how difference or mirror solutions of the form psi(x,t)-psi(-x,t) can, in this case, be normalized exactly, allowing for the evaluation of a number of time-dependent expectation values and other quantities in closed form. For example, we calculate _t explicitly which illustrates how the free-particle kinetic (and hence total) energy is affected by the presence of the distant boundary. We also discuss the time dependence of the expectation values of position, _t, and momentum, _t, and their relation to the impulsive force during the `collision' with the wall. Finally, the x_0,p_0 --> 0 limit is shown to reduce to a special case of a non-standard free-particle Gaussian solution. The addition of this example to the literature then expands on the relatively small number of Gaussian solutions to quantum mechanical problems with familiar classical analogs (free particle, uniform acceleration, harmonic oscillator, unstable oscillator, and uniform magnetic field) available in closed form.Comment: 14 pages, 1 embedded .eps figur

Energy Storage Systems For Electrical Microgrids With Pulsed Power Loads

Pulsed power loads (PPLs) are highly non-linear and can cause significant stability and power quality issues in an electrical microgrid. According to the present invention, many of these issues can be mitigated by an Energy Storage System (ESS) that offsets the PPL. The ESS can maintain a constant bus voltage and decouple the generation sources from the PPL. For example, the ESS specifications can be obtained with an ideal, band-limited hybrid battery and flywheel system.https://digitalcommons.mtu.edu/patents/1158/thumbnail.jp

Analytic results for Gaussian wave packets in four model systems: II. Autocorrelation functions

The autocorrelation function, A(t), measures the overlap (in Hilbert space) of a time-dependent quantum mechanical wave function, psi(x,t), with its initial value, psi(x,0). It finds extensive use in the theoretical analysis and experimental measurement of such phenomena as quantum wave packet revivals. We evaluate explicit expressions for the autocorrelation function for time-dependent Gaussian solutions of the Schrodinger equation corresponding to the cases of a free particle, a particle undergoing uniform acceleration, a particle in a harmonic oscillator potential, and a system corresponding to an unstable equilibrium (the so-called `inverted' oscillator.) We emphasize the importance of momentum-space methods where such calculations are often more straightforwardly realized, as well as stressing their role in providing complementary information to results obtained using position-space wavefunctions.Comment: 18 pages, RevTeX, to appear in Found. Phys. Lett, Vol. 17, Dec. 200

Energy storage power and energy sizing and specification using HSSPFC

The intermittent nature of renewable sources requires the integration of Energy Storage Systems (ESSs) with appropriate power and energy densities. One of the applications of Hamiltonian Surface Shaping and Power Flow Control (HSSPFC) is to size ESSs for power and energy densities by employing them as sole actuators of Microgrid (MG) systems. This Article provides a comprehensive yet simplified example of utilization of HSSPFC to size ESSs of inverter-based three-phase MG systems under hierarchical control. Here, the distributed Hamiltonian controller is expanded for control of parallel ESSs and power sharing metrics are defined to distribute power between hybrid storage systems according to their power and energy density capabilities. Simulated hybrid ESSs comprising battery and flywheel systems are used as examples to demonstrate the behaviour of the expanded control, verify the power sharing criteria and illustrate ESS design and specification by utilizing HSSPFC

Leptoquark production in ultrahigh-energy neutrino interactions revisited

The prospects for producing leptoquarks (LQs) in ultrahigh-energy (UHE) neutrino nucleon collisions are re-examined in the light of recent interpretations of HERA data in terms of leptoquark production. We update predictions for cross-sections for the production of first- and second-generation leptoquarks in UHE nu-N and nubar-N collisions including (i) recent experimental limits on masses and couplings from the LEP and TEVATRON colliders as well as rare processes, (ii) modern parton distributions, and (iii) radiative corrections to single leptoquark production. If the HERA events are due to an SU(2) doublet leptoquark which couples mainly to (e+,q) states, we argue that there are likely other LQ states which couple to neutrinos which are close in mass, due to constraints from precision electroweak measurements.Comment: 12 pages, LaTeX, 3 separate postscript figures. Added 1 reference plus discussion, updated another referenc

A Hamiltonian Surface-Shaping approach for control system analysis and the design of nonlinear wave energy converters

The dynamic model of Wave Energy Converters (WECs) may have nonlinearities due to several reasons such as a nonuniform buoy shape and/or nonlinear power takeoff units. This paper presents the Hamiltonian Surface-Shaping (HSS) approach as a tool for the analysis and design of nonlinear control of WECs. The Hamiltonian represents the stored energy in the system and can be constructed as a function of the WEC’s system states, its position, and velocity. The Hamiltonian surface is defined by the energy storage, while the system trajectories are constrained to this surface and determined by the power flows of the applied non-conservative forces. The HSS approach presented in this paper can be used as a tool for the design of nonlinear control systems that are guaranteed to be stable. The optimality of the obtained solutions is not addressed in this paper. The case studies presented here cover regular and irregular waves and demonstrate that a nonlinear control system can result in a multiple fold increase in the harvested energy

Reconstruction of the Extended Gauge Structure from Z′Z' Observables at Future Colliders

The discovery of a new neutral gauge boson $Z'$ with a mass in the TeV region would allow for determination of gauge couplings of the $Z'$ to ordinary quarks and leptons in a model independent way. We show that these couplings in turn would allow us to determine the nature of the extended gauge structure. As a prime example we study the $E_6$ group. In this case two discrete constraints on experimentally determined couplings have to be satisfied. If so, the couplings would then uniquely determine the two parameters, $\tan \beta$ and $\delta$, which fully specify the nature of the $Z'$ within $E_6$. If the $Z'$ is part of the $E_6$ gauge structure, then for $M_{Z'}=1$ TeV $\tan \beta$ and $\delta$ could be determined to around $10\%$ at the future colliders. The NLC provides a unique determination of the two constraints as well as of $\tan \beta$ and $\delta$, though with slightly larger error bars than at the LHC. On the other hand, since the LHC primarily determines three out of four normalized couplings, it provides weaker constraints for the underlying gauge structure.Comment: 14 pages LaTeX using RevTeX and psfig.sty. TeX source and 3 PS figures, tarred, compressed and uuencoded; also available via anonymous ftp to ftp://dept.physics.upenn.edu/pub/Cvetic/UPR-636-T

Integration and optimal control of microcsp with building hvac systems: Review and future directions

Heating, ventilation, and air-conditioning (HVAC) systems are omnipresent in modern buildings and are responsible for a considerable share of consumed energy and the electricity bill in buildings. On the other hand, solar energy is abundant and could be used to support the building HVAC system through cogeneration of electricity and heat. Micro-scale concentrated solar power (MicroCSP) is a propitious solution for such applications that can be integrated into the building HVAC system to optimally provide both electricity and heat, on-demand via application of optimal control techniques. The use of thermal energy storage (TES) in MicroCSP adds dispatching capabilities to the MicroCSP energy production that will assist in optimal energy management in buildings. This work presents a review of the existing contributions on the combination of MicroCSP and HVAC systems in buildings and how it compares to other thermal-assisted HVAC applications. Different topologies and architectures for the integration of MicroCSP and building HVAC systems are proposed, and the components of standard MicroCSP systems with their control-oriented models are explained. Furthermore, this paper details the different control strategies to optimally manage the energy flow, both electrical and thermal, from the solar field to the building HVAC system to minimize energy consumption and/or operational cost