Modelling and Control of a Knuckle Boom Crane

Cranes come in various sizes and designs to perform different tasks. Depending on their dynamic properties, they can be classified as gantry cranes and rotary cranes. In this paper we will focus on the so called 'knuckle boom' cranes which are among the most common types of rotary cranes. Compared with the other kinds of cranes (e.g. boom cranes, tower cranes, overhead cranes, etc), the study of knuckle cranes is still at an early stage and very few control strategies for this kind of crane have been proposed in the literature. Although fairly simple mechanically, from the control viewpoint the knuckle cranes present several challenges. A first result of this paper is to present for the first time a complete mathematical model for this kind of crane where it is possible to control the three rotations of the crane (known as luff, slew, and jib movement), and the cable length. The only simplifying assumption of the model is that the cable is considered rigid. On the basis of this model, we propose a nonlinear control law based on energy considerations which is able to perform position control of the crane while actively damping the oscillations of the load. The corresponding stability and convergence analysis is carefully proved using the LaSalle's invariance principle. The effectiveness of the proposed control approach has been tested in simulation with realistic physical parameters and in the presence of model mismatch.Comment: This paper has been accepted to International Journal of Control on March 29th 2021. arXiv admin note: text overlap with arXiv:2103.0250

Precision Measurement of KS Meson Lifetime with the KLOE detector

Using a large sample of pure, slow, short lived K0 mesons collected with KLOE detector at DaFne, we have measured the KS lifetime. From a fit to the proper time distribution we find tau = (89.562 +- 0.029_stat +- 0.043_syst) ps. This is the most precise measurement today in good agreement with the world average derived from previous measurements. We observe no dependence of the lifetime on the direction of the Ks.Comment: 5 pages, 7 figure

K^L_{mu3} decay: A first evidence of Right-Handed Quark Currents ?

The experimental results published by KTeV and the preliminary results from NA48 concerning the slope of the Kpi scalar form factor suggest a significant discrepancy with the prediction of the Callan-Treiman low energy theorem once interpreted within the Standard Model. In this talk, we will show how this discrepancy could be explained as a first evidence of the direct coupling of right-handed quarks to W as suggested by certain type of effective electroweak theories.Comment: 4 pages, 2 figures. Talk given at the 7th International Conference on Hyperons, Charm And Beauty Hadrons (BEACH 2006), 2-8 July 2006, Lancaster, U

Magnetic control of DTT alternative plasma configurations

One of the main challenges concerning next generation tokamaks (such as DEMO) will be the development of a heat and power exhaust system able to withstand the large loads expected in the divertor region. A dedicated Divertor Tokamak Test (DTT) facility has been proposed in the EUROfusion Roadmap, with the aim of testing unconventional solutions, such as advanced magnetic configurations and liquid metal divertors. Magnetic control of alternative plasma configurations, such as the X-Divertor, will play a key role in the solution of the heat exhaust and yet can be a challenging point, due to increased sensitivity introduced by secondary x-points. To overcome the complications introduced by secondary x-points in advanced plasma shapes, magnetic control in DTT is achieved by resolving to the eXtreme Shape Controller, in order to control both the plasma shape and the secondary x-point position

New conditions for finite-time stability of impulsive dynamical systems via piecewise quadratic functions

In this paper, the use of time-varying piecewise quadratic functions is investigated to characterize the finite-time stability of state-dependent impulsive dynamical linear systems. Finite-time stability defines the behavior of a dynamic system over a bounded time interval. More precisely, a system is said to be finite-time stable if, given a set of initial conditions, its state vector does not exit a predefined domain for a certain finite interval of time. This paper presents new sufficient conditions for finite-time stability based on time-varying piecewise quadratic functions. These conditions can be reformulated as a set of Linear Matrix Inequalities that can be efficiently solved through convex optimization solvers. Dif ferent numerical analysis are included in order to prove that the presented conditions are able to improve the results presented so far in the literature

Tai Chi recreational exercise is not rehabilitation

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Dynamical changes of the polar cap potential structure: an information theory approach

Some features, such as vortex structures often observed through a wide spread of spatial scales, suggest that ionospheric convection is turbulent and complex in nature. Here, applying concepts from information theory and complex system physics, we firstly evaluate a pseudo Shannon entropy, <i>H</i>, associated with the polar cap potential obtained from the Super Dual Auroral Radar Network (SuperDARN) and, then, estimate the degree of disorder and the degree of complexity of ionospheric convection under different Interplanetary Magnetic Field (IMF) conditions. The aforementioned quantities are computed starting from time series of the coefficients of the 4th order spherical harmonics expansion of the polar cap potential for three periods, characterised by: (i) steady IMF <i>B<sub>z</sub></i> > 0, (ii) steady IMF <i>B<sub>z</sub></i> < 0 and (iii) a double rotation from negative to positive and then positive to negative <i>B<sub>z</sub></i>. A neat dynamical topological transition is observed when the IMF <i>B<sub>z</sub></i> turns from negative to positive and vice versa, pointing toward the possible occurrence of an order/disorder phase transition, which is the counterpart of the large scale convection rearrangement and of the increase of the global coherence. This result has been confirmed by applying the same analysis to a larger data base of about twenty days of SuperDARN data, allowing to investigate the role of IMF <i>B<sub>y</sub></i> too

An NF-kB site in the 5'-untraslated leader region of the Human Immunodeficiency virus type 1 enhances the viral expression in response to NF-kB-activating stimuli.

The 5'-untranslated leader region of human immunodeficiency virus, type 1 (HIV-1), includes a complex array of putative regulatory elements whose role in the viral expression is not completely understood. Here we demonstrate the presence of an NF-κB-responsive element in the trans- activation response (TAR) region of HIV-1 that confers the full induction of HIV-1 long terminal repeat (LTR) in response to NF-κB-activating stimuli, such as DNA alkylating agents, phorbol 12-myristate 13-acetate, and tumor necrosis factor-α. The TAR NF-κB site GGGAGCTCTC spans from positions +31 to +40 and cooperates with the NF-κB enhancer upstream of the TATA box in the NF-κB-mediated induction of HIV-1 LTR. The conclusion stems from the following observations: (i) deletion of the two NF-κB sites upstream of the TATA box reduces, but does not abolish, the HIV-1 LTR activation by NF-κB inducers; (ii) deletion or base pair substitutions of the TAR NF-κB site significantly reduce the HIV-1 LTR activation by NF-κB inducers; (iii) deletions of both the NF-κB sites upstream of the TATA box and the TAR NF- κB site abolish the activation of HIV-1 LTR in response to NF-κB inducers. Moreover, the p50·p65 NF-κB complex binds to the TAR NF-κB sequence and trans-activates the TAR NF-κB-directed expression. The identification of an additional NF-κB site in the HIV-1 LTR points to the relevance of NF-κB factors in the HIV-1 life cycle

High Contrast Imaging in the Visible: First Experimental Results at the Large Binocular Telescope

In February 2014, the SHARK-VIS (System for High contrast And coronography from R to K at VISual bands) Forerunner, a high contrast experimental imager operating at visible wavelengths, was installed at LBT (Large Binocular Telescope). Here we report on the first results obtained by recent on-sky tests. These results show the extremely good performance of the LBT ExAO (Extreme Adaptive Optics) system at visible wavelengths, both in terms of spatial resolution and contrast achieved. Similarly to what was done by (Amara et al. 2012), we used the SHARK-VIS Forerunner data to quantitatively assess the contrast enhancement. This is done by injecting several different synthetic faint objects in the acquired data and applying the ADI (angular differential imaging) technique. A contrast of the order of $5 \times 10^{-5}$ is obtained at 630 nm for angular separations from the star larger than 100 mas. These results are discussed in light of the future development of SHARK-VIS and compared to those obtained by other high contrast imagers operating at similar wavelengths.Comment: Astronomical Journal - Accepted for publicatio