Control Synthesis for an Underactuated Cable Suspended System Using Dynamic Decoupling

This article studies the dynamics and control of a novel underactuated system, wherein a plate suspended by cables and with a freely moving mass on top, whose other ends are attached to three quadrotors, is sought to be horizontally stabilized at a certain height, with the ball positioned at the center of mass of the plate. The freely moving mass introduces a 2-degree of underactuation into the system. The design proceeds through a decoupling of the quadrotors and the plate dynamics. Through a partial feedback linearization approach, the attitude of the plate and the translational height of the plate is initially controlled, while maintaining a bounded velocity along the $y$ and $x$ directions. These inputs are then synthesized through the quadrotors with a backstepping and timescale separation argument based on Tikhonov's theorem

File Fragmentation over an Unreliable Channel

It has been recently discovered that heavy-tailed file completion time can result from protocol interaction even when file sizes are light-tailed. A key to this phenomenon is the RESTART feature where if a file transfer is interrupted before it is completed, the transfer needs to restart from the beginning. In this paper, we show that independent or bounded fragmentation guarantees light-tailed file completion time as long as the file size is light-tailed, i.e., in this case, heavy-tailed file completion time can only originate from heavy-tailed file sizes. If the file size is heavy-tailed, then the file completion time is necessarily heavy-tailed. For this case, we show that when the file size distribution is regularly varying, then under independent or bounded fragmentation, the completion time tail distribution function is asymptotically upper bounded by that of the original file size stretched by a constant factor. We then prove that if the failure distribution has non-decreasing failure rate, the expected completion time is minimized by dividing the file into equal sized fragments; this optimal fragment size is unique but depends on the file size. We also present a simple blind fragmentation policy where the fragment sizes are constant and independent of the file size and prove that it is asymptotically optimal. Finally, we bound the error in expected completion time due to error in modeling of the failure process

Microfluidic systems for in situ formation of nylon 6,6 membranes.

A microfluidics based, localised formation of nylon 6,6 membranes has been undertaken. The study demonstrates the feasibility of maintaining stable aqueous/organic interfaces for xylene within simple linear flow channels. Glass fabricated structures were used with adipoyl chloride and hexamethylenediamine in the organic and aqueous phases, respectively, in order to achieve nylon 6,6 interfacial polymerisation. Localised membrane formation was investigated in flow channels of different geometries over a wide range of flow rates (500–4000 μl/min), with Reynolds numbers ranging from 8.4 to 67.2. The results demonstrate that interfacial polymerisation occurs consistently over a wide range of flow rates and of flow entry angles for dual aqueous/organic solvent input. However, creation of uniform planar film structures required careful optimisation, and these were best achieved at 2000 μl/min with a flow entry angle of 45°. The resulting membranes had thicknesses in the range between 100 and 300 μm. Computational modelling of the aqueous/organic flow was performed in order to characterise flow stability and wall shear-stress patterns. The flow arrangement establishes a principle for the fabrication of micromembrane structures designed for low sample volume separation, where the forming reaction is a facile and rapid interfacial process

On Level Quantization for the Noncommutative Chern-Simons Theory

We show that the coefficient of the three-dimensional Chern-Simons action on the noncommutative plane must be quantized. Similar considerations apply in other dimensions as well.Comment: 6 pages, Latex, no figure

A Stable Higher Order Space-Time Galerkin Scheme for Time Domain Integral Equations

Stability of time domain integral equation (TDIE) solvers has remained an elusive goal for many years. Advancement of this research has largely progressed on four fronts: (1) Exact integration, (2) Lubich quadrature, (3) smooth temporal basis functions, and (4) Space-time separation of convolutions with the retarded potential. The latter method was explored in [Pray et al. IEEE TAP 2012]. This method's efficacy in stabilizing solutions to the time domain electric field integral equation (TD-EFIE) was demonstrated on first order surface descriptions (flat elements) in tandem with 0th order functions as the temporal basis. In this work, we develop the methodology necessary to extend to higher order surface descriptions as well as to enable its use with higher order temporal basis functions. These higher order temporal basis functions are used in a Galerkin framework. A number of results that demonstrate convergence, stability, and applicability are presented.Comment: 8 pages, 12 figure

Discriminating quantum-optical beam-splitter channels with number-diagonal signal states: Applications to quantum reading and target detection

We consider the problem of distinguishing, with minimum probability of error, two optical beam-splitter channels with unequal complex-valued reflectivities using general quantum probe states entangled over M signal and M' idler mode pairs of which the signal modes are bounced off the beam splitter while the idler modes are retained losslessly. We obtain a lower bound on the output state fidelity valid for any pure input state. We define number-diagonal signal (NDS) states to be input states whose density operator in the signal modes is diagonal in the multimode number basis. For such input states, we derive series formulas for the optimal error probability, the output state fidelity, and the Chernoff-type upper bounds on the error probability. For the special cases of quantum reading of a classical digital memory and target detection (for which the reflectivities are real valued), we show that for a given input signal photon probability distribution, the fidelity is minimized by the NDS states with that distribution and that for a given average total signal energy N_s, the fidelity is minimized by any multimode Fock state with N_s total signal photons. For reading of an ideal memory, it is shown that Fock state inputs minimize the Chernoff bound. For target detection under high-loss conditions, a no-go result showing the lack of appreciable quantum advantage over coherent state transmitters is derived. A comparison of the error probability performance for quantum reading of number state and two-mode squeezed vacuum state (or EPR state) transmitters relative to coherent state transmitters is presented for various values of the reflectances. While the nonclassical states in general perform better than the coherent state, the quantitative performance gains differ depending on the values of the reflectances.Comment: 12 pages, 7 figures. This closely approximates the published version. The major change from v2 is that Section IV has been re-organized, with a no-go result for target detection under high loss conditions highlighted. The last sentence of the abstract has been deleted to conform to the arXiv word limit. Please see the PDF for the full abstrac