Design of helicopter rotors to noise constraints

Results of the initial phase of a research project to study the design constraints on helicopter noise are presented. These include the calculation of nonimpulsive rotor harmonic and broadband hover noise spectra, over a wide range of rotor design variables and the sensitivity of perceived noise level (PNL) to changes in rotor design parameters. The prediction methodology used correlated well with measured whirl tower data. Application of the predictions to variations in rotor design showed tip speed and thrust as having the most effect on changing PNL

Random trees between two walls: Exact partition function

We derive the exact partition function for a discrete model of random trees embedded in a one-dimensional space. These trees have vertices labeled by integers representing their position in the target space, with the SOS constraint that adjacent vertices have labels differing by +1 or -1. A non-trivial partition function is obtained whenever the target space is bounded by walls. We concentrate on the two cases where the target space is (i) the half-line bounded by a wall at the origin or (ii) a segment bounded by two walls at a finite distance. The general solution has a soliton-like structure involving elliptic functions. We derive the corresponding continuum scaling limit which takes the remarkable form of the Weierstrass p-function with constrained periods. These results are used to analyze the probability for an evolving population spreading in one dimension to attain the boundary of a given domain with the geometry of the target (i) or (ii). They also translate, via suitable bijections, into generating functions for bounded planar graphs.Comment: 25 pages, 7 figures, tex, harvmac, epsf; accepted version; main modifications in Sect. 5-6 and conclusio

Directed force chain networks and stress response in static granular materials

A theory of stress fields in two-dimensional granular materials based on directed force chain networks is presented. A general equation for the densities of force chains in different directions is proposed and a complete solution is obtained for a special case in which chains lie along a discrete set of directions. The analysis and results demonstrate the necessity of including nonlinear terms in the equation. A line of nontrivial fixed point solutions is shown to govern the properties of large systems. In the vicinity of a generic fixed point, the response to a localized load shows a crossover from a single, centered peak at intermediate depths to two propagating peaks at large depths that broaden diffusively.Comment: 18 pages, 12 figures. Minor corrections to one figur

Integrability of graph combinatorics via random walks and heaps of dimers

We investigate the integrability of the discrete non-linear equation governing the dependence on geodesic distance of planar graphs with inner vertices of even valences. This equation follows from a bijection between graphs and blossom trees and is expressed in terms of generating functions for random walks. We construct explicitly an infinite set of conserved quantities for this equation, also involving suitable combinations of random walk generating functions. The proof of their conservation, i.e. their eventual independence on the geodesic distance, relies on the connection between random walks and heaps of dimers. The values of the conserved quantities are identified with generating functions for graphs with fixed numbers of external legs. Alternative equivalent choices for the set of conserved quantities are also discussed and some applications are presented.Comment: 38 pages, 15 figures, uses epsf, lanlmac and hyperbasic

Human Like Adaptation of Force and Impedance in Stable and Unstable Tasks

Abstract—This paper presents a novel human-like learning con-troller to interact with unknown environments. Strictly derived from the minimization of instability, motion error, and effort, the controller compensates for the disturbance in the environment in interaction tasks by adapting feedforward force and impedance. In contrast with conventional learning controllers, the new controller can deal with unstable situations that are typical of tool use and gradually acquire a desired stability margin. Simulations show that this controller is a good model of human motor adaptation. Robotic implementations further demonstrate its capabilities to optimally adapt interaction with dynamic environments and humans in joint torque controlled robots and variable impedance actuators, with-out requiring interaction force sensing. Index Terms—Feedforward force, human motor control, impedance, robotic control. I

Confluence of geodesic paths and separating loops in large planar quadrangulations

We consider planar quadrangulations with three marked vertices and discuss the geometry of triangles made of three geodesic paths joining them. We also study the geometry of minimal separating loops, i.e. paths of minimal length among all closed paths passing by one of the three vertices and separating the two others in the quadrangulation. We concentrate on the universal scaling limit of large quadrangulations, also known as the Brownian map, where pairs of geodesic paths or minimal separating loops have common parts of non-zero macroscopic length. This is the phenomenon of confluence, which distinguishes the geometry of random quadrangulations from that of smooth surfaces. We characterize the universal probability distribution for the lengths of these common parts.Comment: 48 pages, 33 color figures. Final version, with one concluding paragraph and one reference added, and several other small correction

Distance statistics in quadrangulations with a boundary, or with a self-avoiding loop

We consider quadrangulations with a boundary and derive explicit expressions for the generating functions of these maps with either a marked vertex at a prescribed distance from the boundary, or two boundary vertices at a prescribed mutual distance in the map. For large maps, this yields explicit formulas for the bulk-boundary and boundary-boundary correlators in the various encountered scaling regimes: a small boundary, a dense boundary and a critical boundary regime. The critical boundary regime is characterized by a one-parameter family of scaling functions interpolating between the Brownian map and the Brownian Continuum Random Tree. We discuss the cases of both generic and self-avoiding boundaries, which are shown to share the same universal scaling limit. We finally address the question of the bulk-loop distance statistics in the context of planar quadrangulations equipped with a self-avoiding loop. Here again, a new family of scaling functions describing critical loops is discovered.Comment: 55 pages, 14 figures, final version with minor correction

Distance statistics in large toroidal maps

We compute a number of distance-dependent universal scaling functions characterizing the distance statistics of large maps of genus one. In particular, we obtain explicitly the probability distribution for the length of the shortest non-contractible loop passing via a random point in the map, and that for the distance between two random points. Our results are derived in the context of bipartite toroidal quadrangulations, using their coding by well-labeled 1-trees, which are maps of genus one with a single face and appropriate integer vertex labels. Within this framework, the distributions above are simply obtained as scaling limits of appropriate generating functions for well-labeled 1-trees, all expressible in terms of a small number of basic scaling functions for well-labeled plane trees.Comment: 24 pages, 9 figures, minor corrections, new added reference

Numerical Simulations of Dynamos Generated in Spherical Couette Flows

We numerically investigate the efficiency of a spherical Couette flow at generating a self-sustained magnetic field. No dynamo action occurs for axisymmetric flow while we always found a dynamo when non-axisymmetric hydrodynamical instabilities are excited. Without rotation of the outer sphere, typical critical magnetic Reynolds numbers $Rm_c$ are of the order of a few thousands. They increase as the mechanical forcing imposed by the inner core on the flow increases (Reynolds number $Re$). Namely, no dynamo is found if the magnetic Prandtl number $Pm=Rm/Re$ is less than a critical value $Pm_c\sim 1$. Oscillating quadrupolar dynamos are present in the vicinity of the dynamo onset. Saturated magnetic fields obtained in supercritical regimes (either $Re>2 Re_c$ or $Pm>2Pm_c$) correspond to the equipartition between magnetic and kinetic energies. A global rotation of the system (Ekman numbers $E=10^{-3}, 10^{-4}$) yields to a slight decrease (factor 2) of the critical magnetic Prandtl number, but we find a peculiar regime where dynamo action may be obtained for relatively low magnetic Reynolds numbers ($Rm_c\sim 300$). In this dynamical regime (Rossby number $Ro\sim -1$, spheres in opposite direction) at a moderate Ekman number ($E=10^{-3}$), a enhanced shear layer around the inner core might explain the decrease of the dynamo threshold. For lower $E$ ($E=10^{-4}$) this internal shear layer becomes unstable, leading to small scales fluctuations, and the favorable dynamo regime is lost. We also model the effect of ferromagnetic boundary conditions. Their presence have only a small impact on the dynamo onset but clearly enhance the saturated magnetic field in the ferromagnetic parts. Implications for experimental studies are discussed

Combinatorics of bicubic maps with hard particles

We present a purely combinatorial solution of the problem of enumerating planar bicubic maps with hard particles. This is done by use of a bijection with a particular class of blossom trees with particles, obtained by an appropriate cutting of the maps. Although these trees have no simple local characterization, we prove that their enumeration may be performed upon introducing a larger class of "admissible" trees with possibly doubly-occupied edges and summing them with appropriate signed weights. The proof relies on an extension of the cutting procedure allowing for the presence on the maps of special non-sectile edges. The admissible trees are characterized by simple local rules, allowing eventually for an exact enumeration of planar bicubic maps with hard particles. We also discuss generalizations for maps with particles subject to more general exclusion rules and show how to re-derive the enumeration of quartic maps with Ising spins in the present framework of admissible trees. We finally comment on a possible interpretation in terms of branching processes.Comment: 41 pages, 19 figures, tex, lanlmac, hyperbasics, epsf. Introduction and discussion/conclusion extended, minor corrections, references adde