ROBOTS CONTROL BY ADAPTIVE GAIN SMOOTH SLIDING OBSERVER-CONTROLLER AND PARAMETER IDENTIFICATION

An adaptive gain, smooth sliding observer-controller are developed to control uncertain parameters, -degree of freedom rigid robotic manipulators. Furthermore, an on-line, closed loop identification scheme, for time-varying parameters is proposed in order to obtain useful information despite loads, external disturbances and faults detection. In order to reduce the chattering, a smooth switching function (parameterised tangent hyperbolic function) is used instead of pure relay one, into the observer and the controller. The gains of the switching functions are adaptively updated, depending on the estimation error and tracking error, respectively. By using adaptive gains, the transient and tracking responses are improved. Simulation results with a two degree of freedom (DOF) robot manipulator are presented to show the interest of the approach

Flexible Joints Robotic Manipulator Control By Adaptive Gain Smooth Sliding Observer-Controller

An adaptive gain sliding observer for uncertain parameter nonlinear systems together with an adaptive gain sliding controller is proposed in this paper. It considered nonlinear, SISO affine systems, with uncertainties in steady-state functions and parameters. A further parameter term, adaptively updated, has been introduced in steady state space model of the controlled system, in order to obtain useful information despite fault detection and isolation. By using of the sliding observer with adaptive gain, the robustness to uncertainties is increased and the parameters adaptively updated can provide useful information in fault detection. Also, the state estimation error is bounded accordingly with bound limits of the uncertainties. The both of them, the sliding adaptive observer and sliding controller are designed to fulfill the attractiveness condition of its corresponding switching surface. An application to a single arm with flexible joint robot is presented. In order to alleviate chattering, a parameterized tangent hyperbolic has been used as switching function, instead of pure relay one, to the observer and the controller. Also, the gains of the switching functions, to the sliding observer and sliding controller are adaptively updated depending of estimation error and tracking error, respectively. By the using adaptive gains, the transient and tracking response can be improved

Influence of the lattice topography on a three-dimensional, controllable Brownian motor

We study the influence of the lattice topography and the coupling between motion in different directions, for a three-dimensional Brownian motor based on cold atoms in a double optical lattice. Due to controllable relative spatial phases between the lattices, our Brownian motor can induce drifts in arbitrary directions. Since the lattices couple the different directions, the relation between the phase shifts and the directionality of the induced drift is non trivial. Here is therefore this relation investigated experimentally by systematically varying the relative spatial phase in two dimensions, while monitoring the vertically induced drift and the temperature. A relative spatial phase range of 2pi x 2pi is covered. We show that a drift, controllable both in speed and direction, can be achieved, by varying the phase both parallel and perpendicular to the direction of the measured induced drift. The experimental results are qualitatively reproduced by numerical simulations of a simplified, classical model of the system

Compression of klockmannite, CuSe

Copper selenide (CuSe) was compressed in a diamond anvil cell at room temperature up to a pressure of 52 GPa and studied using energy dispersive x-ray diffraction and Raman spectroscopy. CuSe is nearly isostructural with copper sulfide (CuS), and a previous study indicates that copper sulfide undergoes reversible pressure-induced amorphization at 18 GPa. The intensity of the x-ray diffraction peaks for CuSe decrease slowly, however, they never completely disappear up to a pressure of 52 GPa. The third-order Birch–Murnaghan equation of state fit to the data yields K0 = 96.9±5.3 GPaK0=96.9±5.3GPa and K0′ = 4.1±0.5.K0′=4.1±0.5. Vinet’s universal equation of state yields essentially identical parameters. Raman spectroscopy demonstrates that upon compression, the S–S bond in CuS compresses differently than the Se–Se bond in CuSe, possibly accounting for the different high pressure behavior of these two very similar compounds. © 1998 American Institute of Physics.Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/70875/2/JCPSA6-109-2-634-1.pd

Skyrmions from a Born-Infeld Action

We consider a geometrically motivated Skyrme model based on a general covariant kinetic term proposed originally by Born and Infeld. We introduce this new term by generalizing the Born-Infeld action to a non-abelian $SU(2)$ gauge theory and by using the hidden gauge symmetry formalism. The static properties of the Skyrmion are then analyzed and compared with other Skyrme-like models.Comment: 11 pages, 4 figures (not included), revtex v3, LAVAL-PHY-11-9

Diminished conditioned responding to the nicotine stimulus by antidepressant drugs with differing specificity for the serotonin and norepinephrine transporter

People diagnosed with depression also tend to have a co-morbid nicotine addiction. Thus, there is interest in whether medications used to treat depression alter the effects of nicotine. This study assessed whether the antidepressant drugs citalopram, imipramine, and reboxetine, with differing specificity for the serotonin and norepinephrine transporter, altered responding controlled by the conditional stimulus (CS) effects of nicotine. Rats received intermixed 20-min nicotine (0.4 mg base/kg, SC) and saline sessions. On nicotine sessions, rats had intermittent access to sucrose; no sucrose was available on saline sessions. After discrimination performance stabilized and a nicotine generalization curve (0.025–0.4 mg/kg) was established, the antidepressant drugs were assessed. In these tests, rats were pretreated with citalopram (1–17 mg/kg), imipramine (1–17 mg/ kg), or reboxetine (1–30 mg/kg) before the training dose of nicotine and placement in a chamber for a 4-min extinction test. At the higher doses, all three antidepressant drugs blocked responding evoked by the nicotine CS and decreased nicotine-induced hyperactivity. When these higher doses of citalopram, imipramine, and reboxetine were tested alone (no nicotine), they decreased chamber activity and/or dipper entries. Nevertheless, all three drugs produced partial or complete blockade of the CS effects of nicotine at doses that produced no effect on dipper entries or chamber entries. This finding suggests that both neurotransmitters play a role in the CS effects of nicotine and that modifications in these systems by antidepressants may be clinically relevant

Diminished conditioned responding to the nicotine stimulus by antidepressant drugs with differing specificity for the serotonin and norepinephrine transporter

People diagnosed with depression also tend to have a co-morbid nicotine addiction. Thus, there is interest in whether medications used to treat depression alter the effects of nicotine. This study assessed whether the antidepressant drugs citalopram, imipramine, and reboxetine, with differing specificity for the serotonin and norepinephrine transporter, altered responding controlled by the conditional stimulus (CS) effects of nicotine. Rats received intermixed 20-min nicotine (0.4 mg base/kg, SC) and saline sessions. On nicotine sessions, rats had intermittent access to sucrose; no sucrose was available on saline sessions. After discrimination performance stabilized and a nicotine generalization curve (0.025–0.4 mg/kg) was established, the antidepressant drugs were assessed. In these tests, rats were pretreated with citalopram (1–17 mg/kg), imipramine (1–17 mg/ kg), or reboxetine (1–30 mg/kg) before the training dose of nicotine and placement in a chamber for a 4-min extinction test. At the higher doses, all three antidepressant drugs blocked responding evoked by the nicotine CS and decreased nicotine-induced hyperactivity. When these higher doses of citalopram, imipramine, and reboxetine were tested alone (no nicotine), they decreased chamber activity and/or dipper entries. Nevertheless, all three drugs produced partial or complete blockade of the CS effects of nicotine at doses that produced no effect on dipper entries or chamber entries. This finding suggests that both neurotransmitters play a role in the CS effects of nicotine and that modifications in these systems by antidepressants may be clinically relevant

Field-dependent heat transport in the Kondo insulator SmB6 : phonons scattered by magnetic impurities

The thermal conductivity $\kappa$ of the Kondo insulator SmB$_6$ was measured at low temperature, down to 70 mK, in magnetic fields up to 15 T, on single crystals grown using both the floating-zone and the flux methods. The residual linear term $\kappa_0/T$ at $T \to 0$ is found to be zero in all samples, for all magnetic fields, in agreement with previous studies. There is therefore no clear evidence of fermionic heat carriers. In contrast to some prior data, we observe a large enhancement of $\kappa(T)$ with increasing field. The effect of field is anisotropic, depending on the relative orientation of field and heat current (parallel or perpendicular), and with respect to the cubic crystal structure. We interpret our data in terms of heat transport predominantly by phonons, which are scattered by magnetic impurities.Comment: publish versio

Demonstration of a controllable three-dimensional Brownian motor in symmetric potentials

We demonstrate a Brownian motor, based on cold atoms in optical lattices, where isotropic random fluctuations are rectified in order to induce controlled atomic motion in arbitrary directions. In contrast to earlier demonstrations of ratchet effects, our Brownian motor operates in potentials that are spatially and temporally symmetric, but where spatiotemporal symmetry is broken by a phase shift between the potentials and asymmetric transfer rates between them. The Brownian motor is demonstrated in three dimensions and the noise-induced drift is controllable in our system.Comment: 5 pages, 4 figure