Distributed control of a fault tolerant modular multilevel inverter for direct-drive wind turbine grid interfacing

Modular generator and converter topologies are being pursued for large offshore wind turbines to achieve fault tolerance and high reliability. A centralized controller presents a single critical point of failure which has prevented a truly modular and fault tolerant system from being obtained. This study analyses the inverter circuit control requirements during normal operation and grid fault ride-through, and proposes a distributed controller design to allow inverter modules to operate independently of each other. All the modules independently estimate the grid voltage magnitude and position, and the modules are synchronised together over a CAN bus. The CAN bus is also used to interleave the PWM switching of the modules and synchronise the ADC sampling. The controller structure and algorithms are tested by laboratory experiments with respect to normal operation, initial synchronization to the grid, module fault tolerance and grid fault ride-through

Hubble Space Telescope Observations of 3200 Phaethon At Closest Approach

We present Hubble Space Telescope observations of the active asteroid (and Geminid stream parent) 3200 Phaethon when at its closest approach to Earth (separation 0.07 AU) in 2017 December. Images were recorded within $\sim$1\degr~of the orbital plane, providing extra sensitivity to low surface brightness caused by scattering from a large-particle trail. We placed an upper limit to the apparent surface brightness of such a trail at 27.2 magnitudes arcsecond$^{-2}$, corresponding to an in-plane optical depth $\le 3\times10^{-9}$. No co-moving sources brighter than absolute magnitude 26.3, corresponding to circular equivalent radius $\sim$12 m (albedo 0.12 assumed), were detected. Phaethon is too hot for near-surface ice to survive. We briefly consider the thermodynamic stability of deeply-buried ice, finding that its survival would require either a very small (regolith-like) thermal diffusivity ($< 10^{-8}$ m$^2$ s$^{-1}$), or the unexpectedly recent injection of Phaethon (timescale $\lesssim$ 10$^6$ yr) into its present orbit, or both.Comment: Improved the discussion of optical depth calculation and corrected an error in the previous version. 28 pages, 5 figures, Astronomical Journal, in pres

Dexterity analysis and robot hand design

Understanding about a dexterous robot hand's motion ranges is important to the precision grasping and precision manipulation. A planar robot hand is studied for object orientation, including ranges of motion, measures with respect to the palm, position reaching of a point in the grasped object, and rotation of the object about the reference point. The rotational dexterity index and dexterity chart are introduced and an analysis procedure is developed for calculating these quantities. A design procedure for determining the hand kinematic parameters based on a desired partial or complete dexterity chart is also developed. These procedures have been tested in detail for a planar robot hand with two 2- or 3-link fingers. The derived results are shown to be useful to performance evaluation, kinematic parameter design, and grasping motion planning for a planar robot hand

Disintegrating Asteroid P/2013 R3

Splitting of the nuclei of comets into multiple components has been frequently observed but, to date, no main-belt asteroid has been observed to break-up. Using the Hubble Space Telescope, we find that main-belt asteroid P/2013 R3 consists of 10 or more distinct components, the largest up to 200 m in radius (assumed geometric albedo of 0.05) each of which produces a coma and comet-like dust tail. A diffuse debris cloud with total mass roughly 2x10^8 kg further envelopes the entire system. The velocity dispersion among the components is about V = 0.2 to 0.5 m/s, is comparable to the gravitational escape speeds of the largest members, while their extrapolated plane-of-sky motions suggest break-up between February and September 2013. The broadband optical colors are those of a C-type asteroid. We find no spectral evidence for gaseous emission, placing model-dependent upper limits to the water production rate near 1 kg/s. Breakup may be due to a rotationally induced structural failure of the precursor body.Comment: 16 pages, 3 figures; accepted by ApJ

Nucleus and Mass Loss from Active Asteroid 313P/Gibbs

We present Hubble Space Telescope observations of active asteroid 313P/Gibbs (formerly P/2014 S4) taken over the five month interval from 2014 October to 2015 March. This object has been recurrently active near perihelion (at 2.4 AU) in two different orbits, a property that is naturally explained by the sublimation of near surface ice but which is difficult to reconcile with other activity mechanisms. We find that the mass loss peaks near 1 kg s$^{-1}$ in October and then declines over the subsequent months by about a factor of five, at nearly constant heliocentric distance. This decrease is too large to be caused by the change in heliocentric distance during the period of observation. However, it is consistent with sublimation from an ice patch shadowed by local topography, for example in a pit like those observed on the nuclei of short-period comet 67P/Churyumov-Gerasimenko. While no unique interpretation is possible, a simple self shadowing model shows that sublimation from a pit with depth to diameter ratio near 1/2 matches the observed rate of decline of the activity, while deeper and shallower pits do not. We estimate the nucleus radius to be 700$\pm$100 m (geometric albedo 0.05 assumed). Measurements of the spatial distribution of the dust were obtained from different viewing geometries. They show that dust was ejected continuously not impulsively, that the effective particle size is large, $\sim$50 $\mu m$, and that the ejection speed is $\sim$2.5 m s$^{-1}$. The total dust mass ejected is $\sim$10$^7$ kg, corresponding to $\sim$10$^{-5}$ of the nucleus mass. The observations are consistent with partially shadowed sublimation from $\sim$10$^4$ m$^2$ of ice, corresponding to $\sim$0.2\% of the nucleus surface. For ice to survive in 313P for billion-year timescales requires that the duty cycle for sublimation be $\lesssim$10$^{-3}$.Comment: 34 pages, 11 figures, 4 tables; Astronomical Journal: in pres