Novel Design of a Model Reference Adaptive Controller for Soft Tissue Operations

Model Reference Adaptive Controllers (MRAC) have dual functionality: besides guaranteeing precise trajectory track- ing of the controlled system, they have to provide an “external control loop” with the illusion that it controls a physical system of prescribed dynamic properties, i.e., the “reference system”. The MRACs are designed traditionally by Lyapunov’s 2 nd method that is mathematically complicated, requiring strong skills from the designer. Adaptive controllers alternatively designed by the use of Robust Fixed Point Transformations (RFPT) operate according to Banach’s Fixed Point Theorem , and are normally simple iterative constructions that also have a standard variant for MRAC design. This controller assumes a single actuator that is driven adaptively. Master–Slave Systems form a distinct class of practical applications, in which two arms—the master and the slave—operate simultaneously. The movement of the master must be tracked precisely by the slave in spite of the quite different forces exerted by them. In the present paper, a soft tissue-cutting operation by a master–slave structure is simulated. The master arm has a simple torque–reference friction model, and is driven by the surgeon. The obtained master arm trajectory has to be precisely tracked by the electric DC motor driven slave system, which is in dynamic interaction with the actual tissue under operation. It is shown via simulations that the RFPT-based design can efficiently solve such tasks without considerable mathematical complexity

Compilation of isomeric ratios of light particle induced nuclear reactions

Experimental isomeric ratios of light (A$\le$4) particle-induced nuclear reactions were compiled for the product nuclides having metastable states with half-lives longer than 0.1 sec. The experimental isomeric ratio data were taken from the EXFOR library and reviewed. When an experiment reports isomer production cross sections instead of isomeric ratios, the cross sections taken from the EXFOR library were converted to the isomeric ratios by us. During compilation, questionable data (e.g.,preliminary data compiled in EXFOR in parallel with their final data, sum of isomer production cross sections larger than the total production cross sections) were excluded. As an application of the new compilation, goodness-of-fit was studied for the isomeric ratios predicted by the reaction model code TALYS-1.96

Asymptotic scattering and duality in the one-dimensional three-state quantum Potts model on a lattice

We determine numerically the single-particle and the two- particle spectrum of the three-state quantum Potts model on a lattice by using the density matrix renormalization group method, and extract information on the asymptotic (small momentum) S-matrix of the quasiparticles. The low energy part of the finite size spectrum can be understood in terms of a simple effective model introduced in a previous work, and is consistent with an asymptotic S-matrix of an exchange form below a momentum scale p*. This scale appears to vanish faster than the Compton scale, mc, as one approaches the critical point, suggesting that a dangerously irrelevant operator may be responsible for the behaviour observed on the lattice