Effect of control sampling rates on model-based manipulator control schemes

The effect of changing the control sampling period on the performance of the computed-torque and independent joint control schemes is discussed. While the former utilizes the complete dynamics model of the manipulator, the latter assumes a decoupled and linear model of the manipulator dynamics. Researchers discuss the design of controller gains for both the computed-torque and the independent joint control schemes and establish a framework for comparing their trajectory tracking performance. Experiments show that within each scheme the trajectory tracking accuracy varies slightly with the change of the sampling rate. However, at low sampling rates the computed-torque scheme outperforms the independent joint control scheme. Based on experimental results, researchers also conclusively establish the importance of high sampling rates as they result in an increased stiffness of the system

Navier-Stokes calculations with a coupled strongly implicit method. Part 2: Spline solutions

A coupled strongly implicit method is combined with a deferred-corrector spline solver for the vorticity-stream function form of the Navier-Stokes equation. Solutions for cavity, channel and cylinder flows are obtained with the fourth-order spline 4 procedure. The strongly coupled spline corrector method converges as rapidly as the finite difference calculations and also allows for arbitrary large time increments for the Reynolds numbers considered. In some cases fourth-order smoothing or filtering is required in order to suppress high frequency oscillations

High-order numerical solutions using cubic splines

The cubic spline collocation procedure for the numerical solution of partial differential equations was reformulated so that the accuracy of the second-derivative approximation is improved and parallels that previously obtained for lower derivative terms. The final result is a numerical procedure having overall third-order accuracy for a nonuniform mesh and overall fourth-order accuracy for a uniform mesh. Application of the technique was made to the Burger's equation, to the flow around a linear corner, to the potential flow over a circular cylinder, and to boundary layer problems. The results confirmed the higher-order accuracy of the spline method and suggest that accurate solutions for more practical flow problems can be obtained with relatively coarse nonuniform meshes

A pressure flux-split technique for computation of inlet flow behavior

A method for calculating the flow field in aircraft engine inlets is presented. The phenomena of inlet unstart and restart are investigated. Solutions of the reduced Navier-Stokes (RNS) equations are obtained with a time consistent direct sparse matrix solver that computes the transient flow field both internal and external to the inlet. Time varying shocks and time varying recirculation regions can be efficiently analyzed. The code is quite general and is suitable for the computation of flow for a wide variety of geometries and over a wide range of Mach and Reynolds numbers

Quantum optomechanics beyond the quantum coherent oscillation regime

Interaction with a thermal environment decoheres the quantum state of a mechanical oscillator. When the interaction is sufficiently strong, such that more than one thermal phonon is introduced within a period of oscillation, quantum coherent oscillations are prevented. This is generally thought to preclude a wide range of quantum protocols. Here, we introduce a pulsed optomechanical protocol that allows ground state cooling, general linear quantum non-demolition measurements, optomechanical state swaps, and quantum state preparation and tomography without requiring quantum coherent oscillations. Finally we show how the protocol can break the usual thermal limit for sensing of impulse forces.Comment: 6 pages, 3 figure

Solution of three-dimensional afterbody flow using reduced Navier-Stokes equations

The flow over afterbody geometries was investigated using the reduced Navier-Stokes (RNS) approximation. Both pressure velocity flux-split and composites velocity primitive variable formulations were considered. Pressure or pseudopotential relaxation procedures are combined with sparse matrix or coupled strongly implicit algorithms to form a three-dimensional solver for general non-orthogonal coordinates. Three-dimensional subsonic and transonic viscous/inviscid interacting flows were evaluated. Solutions with and without regions of recirculation were obtained

Analysis of Magneto-inductive System for Rocket Sled Velocity Measurement Beyond Mach 1.5

The rail track rocket sled (RTRS) national test facility at Terminal Ballistics Research Laboratory (TBRL) has been established to provide simulated flight environment for carrying out aero dynamic studies, terminal studies and kinematic studies of variety of test articles. The sled velocity is a critical parameter in evaluation trials.  This velocity is also used to ensure that the maximum speed and allowable g loading does not exceed the value which the test article will experience under free flight in air1. Overseas, the facilities have been set up to attain velocities ranging from sub-sonic to hypersonic2. The rocket sled at TBRL can be presently accelerated to travel along the rail track at velocities up to 500 m/s and capability is being built to increase velocity beyond 500 m/s. Signals acquired from existing magneto-inductive arrangement have been analysed in the present work. The experiments indicate that with increase in velocity the rate of change of flux increases, the amplitude of induced emf also increases but terminal voltage decreases and shape of the acquired pulse gets distorted. The parameters of magneto-inductive pick up have been modified in such a way that there is improvement in amplitude and shape of the received pulse with increase in velocity. The improved signals have been analysed and simulation results validated with feasible experiments. This paper also discusses issues, challenges and proposes recommendations in improving the sensor for measurement of velocity beyond Mach 1.5. It has been found that it is prudent to reduce the inductance by reducing the number of turns and changing the core from soft iron core to air core which will improve the response of inductive pick up coil at high velocity.Defence Science Journal, 2014, 64(2), pp. 143-151. DOI: http://dx.doi.org/10.14429/dsj.64.503

Work Function Engineered Charge Plasma-Germanium Double Gate Tunnel Field Effect Transistor for Low-Power Switching Applications

Here, we propose a Charge Plasma (CP)-based Germanium Double Gate Tunnel Field-Effect Transistor (Ge-DGTFET) device structure, where a CP is induced in the heavily doped source region using the work function engineering of source electrode. The CP enables creation of electrical metallurgical junction and converts n-p-n to p-n-p-n structure of TFET and enhances the drain current, reliability, eliminate additional pocket ion-implantation. The proposed CP-Ge-DGTFET device structure revealed excellent electrical DC performance as compared to the conventional Ge-DGTFET device structure such as high ON current (ION), excellent ION/IOFF ratio, and low sub-threshold swing of ~4.7E-4 A/um, ~1.8E9, and ~5.23 mV/dec, respectively. Furthermore, analog/RF analyses revealed high transconductance, upright cut-off frequency, low overall capacitance, transit time, and power delay product. Therefore, the proposed CP-Ge-DGTFET device structure with alternate channel material Ge, High-\k{appa} Al2O3, and work function engineered CP in source region furnishes high performance and cost-effective solution for next-generation energy-efficient switching applications.Comment: 7 pages, 10 figure

On-orbit assembly using superquadric potential fields

The autonomous on-orbit assembly of a large space structure is presented using a method based on superquadric artificial potential fields. The final configuration of the elements which form the structure is represented as the minimum of some attractive potential field. Each element of the structure is then considered as presenting an obstacle to the others using a superquadric potential field attached to the body axes of the element. A controller is developed which ensures that the global potential field decreases monotonically during the assembly process. An error quaternion representation is used to define both the attractive and superquadric obstacle potentials allowing the final configuration of the elements to be defined through both relative position and orientation. Through the use of superquadric potentials, a wide range of geometric objects can be represented using a common formalism, while collision avoidance can make use of both translational and rotation maneuvers to reduce total maneuver cost for the assembly process