Experimental investigations of the effects of cutting angle on chattering of a flexible manipulator

When a machine tool is mounted at the tip of a robotic manipulator, the manipulator becomes more flexible (the natural frequencies are lowered). Moreover, for a given flexible manipulator, its compliance will be different depending on feedback gains, configurations, and direction of interest. Here, the compliance of a manipulator is derived analytically, and its magnitude is represented as a compliance ellipsoid. Then, using a two-link flexible manipulator with an abrasive cut off saw, the experimental investigation shows that the chattering varies with the saw cutting angle due to different compliance. The main work is devoted to finding a desirable cutting angle which reduces the chattering

High speed precision motion strategies for lightweight structures

Work during the recording period proceeded along the lines of the proposal, i.e., three aspects of high speed motion planning and control of flexible structures were explored: fine motion control, gross motion planning and control, and automation using light weight arms. In addition, modeling the large manipulator arm to be used in experiments and theory has lead to some contributions in that area. These aspects are reported below. Conference, workshop and journal submissions, and presentations related to this work were seven in number, and are listed. Copies of written papers and abstracts are included

High speed, precision motion strategies for lightweight structures

Research on space telerobotics is summarized. Adaptive control experiments on the Robotic Arm, Large and Flexible (RALF) were preformed and are documented, along with a joint controller design for the Small Articulated Manipulator (SAM), which is mounted on the RALF. A control algorithm is described as a robust decentralized adaptive control based on a bounded uncertainty approach. Dynamic interactions between SAM and RALF are examined. Unstability of the manipulator is studied from the perspective that the inertial forces generated could actually be used to more rapidly damp out the flexible manipulator's vibration. Currently being studied is the modeling of the constrained dynamics of flexible arms

Knuth-Bendix algorithm and the conjugacy problems in monoids

We present an algorithmic approach to the conjugacy problems in monoids, using rewriting systems. We extend the classical theory of rewriting developed by Knuth and Bendix to a rewriting that takes into account the cyclic conjugates.Comment: This is a new version of the paper 'The conjugacy problems in monoids and semigroups'. This version will appear in the journal 'Semigroup forum

Tradeoffs in manipulator structure and control. Part 1: Summary

The study of various aspects of manipulator design and control is summarized, focusing on the interaction of the structure's flexible dynamics and the dynamics of the joint control system, including specific information on modeling and design, modal analysis and control, and the flexible manipulator analysis computer program, FMAP

The Role of Ram Pressure Stripping in the Quenching of Cluster Star Formation

Recent observations of galaxy clusters have shown that environmental effects apparently associated with the cluster begin to lower the star formation rates of galaxies at distances as great as three times the cluster virial radius. These observations may indicate preprocessing of cluster galaxies in groups or in the cluster core for galaxies on highly elliptical orbits, but may also imply that the environmental effects due to the cluster are directly affecting galaxies on their first infall. To explore these issues, we investigate different models of ram pressure stripping as it acts on satellite galaxies in clusters, and compare to observations of the radial star formation gradient in clusters. We calculate the location of the accretion shock around model clusters, and use this as the radius of onset of ram pressure stripping in the GALFORM semi-analytic model of galaxy formation. Comparison of the results of our model, and previously considered, simpler ram pressure models, with recent observations indicates that current data is unable to strongly discriminate between models of ram pressure stripping due to the complex interplay of preprocessing effects at work. However, future observations of a larger sample of clusters will likely be able to place stronger constraints on the process of ram pressure stripping and its role in shaping radial trends in and around clusters.Comment: 10 pages, 4 figures, published in the Astrophysical Journa

Vertical structure of bottom Ekman tidal flows: Observations, theory, and modeling from the northern Adriatic

From September 2002 to May 2003, fifteen bottom‐ mounted, acoustic Doppler current profilers measured currents of the northern Adriatic basin. Tidal fluctuations at all seven of the major Adriatic frequencies were synthesized from a response tidal analysis of these measurements. Most observed tidal current ellipses were nearly reversing, but near the bottom, tidal current ellipses all shortened and broadened, semidiurnal currents led upper water column currents, and diurnal tidal current ellipse orientations rotated counterclockwise toward the bottom. Theoretical solutions for a tidally forced, bottom Ekman layer with vertical eddy viscosity of the form A z = β z + k were least squares fit to the observations. Average values were β = 3 · 10− 4 m/s and k = 5 · 10− 4 m2/s. The value of k was important in matching tidal orientation and phase changes, and a nonzero β was important in matching tidal amplitude changes. The Navy Coastal Ocean Model (NCOM) and the Quoddy model were also compared to the observations. The average RMS errors for the bottom Ekman layer were 0.22 cm/s for the best fit theory, 0.35 cm/s for NCOM, and 0.36 cm/s for Quoddy. A z structures from NCOM and Quoddy show that time variation in A z is relatively unimportant for Adriatic tides. The bottom shear stresses from theory were larger in magnitude than those from the bottom drag formulations in NCOM and Quoddy

Angular momentum evolution in dark-matter haloes

We have analysed high-resolution N-body simulations of dark-matter (DM) haloes, focusing specifically on the evolution of angular momentum. We find that not only is individual particle angular momentum not conserved, but the angular momentum of radial shells also varies over the age of the Universe by up to factors of a few. We find that torques from external structure are the most likely cause for this distribution shift. Since the model of adiabatic contraction that is often applied to model the effects of galaxy evolution on the DM density profile in a halo assumes angular momentum conservation, this variation implies that there is a fundamental limit on the possible accuracy of the adiabatic contraction model in modelling the response of DM haloes to the growth of galaxies