Manipulators with flexible links: A simple model and experiments

A simple dynamic model proposed for flexible links is briefly reviewed and experimental control results are presented for different flexible systems. A simple dynamic model is useful for rapid prototyping of manipulators and their control systems, for possible application to manipulator design decisions, and for real time computation as might be applied in model based or feedforward control. Such a model is proposed, with the further advantage that clear physical arguments and explanations can be associated with its simplifying features and with its resulting analytical properties. The model is mathematically equivalent to Rayleigh's method. Taking the example of planar bending, the approach originates in its choice of two amplitude variables, typically chosen as the link end rotations referenced to the chord (or the tangent) motion of the link. This particular choice is key in establishing the advantageous features of the model, and it was used to support the series of experiments reported

Universal relationship between crystallinity and irreversibility field of MgB2

The relationship between irreversibility field, Hirr, and crystallinity of MgB2 bulks including carbon substituted samples was studied. The Hirr was found to increase with an increase of FWHM of MgB2 (110) peak, which corresponds to distortion of honeycomb boron sheet, and their universal correlation was discovered even including carbon substituted samples. Excellent Jc characteristics under high magnetic fields were observed in samples with large FWHM of (110) due to the enhanced intraband scattering and strengthened grain boundary flux pinning. The relationship between crystallinity and Hirr can explain the large variation of Hirr for MgB2 bulks, tapes, single crystals and thin films.Comment: 3 pages, 4 figures, to be published in Appl. Phys. Lett. (in press

Lyapunov exponent and natural invariant density determination of chaotic maps: An iterative maximum entropy ansatz

We apply the maximum entropy principle to construct the natural invariant density and Lyapunov exponent of one-dimensional chaotic maps. Using a novel function reconstruction technique that is based on the solution of Hausdorff moment problem via maximizing Shannon entropy, we estimate the invariant density and the Lyapunov exponent of nonlinear maps in one-dimension from a knowledge of finite number of moments. The accuracy and the stability of the algorithm are illustrated by comparing our results to a number of nonlinear maps for which the exact analytical results are available. Furthermore, we also consider a very complex example for which no exact analytical result for invariant density is available. A comparison of our results to those available in the literature is also discussed.Comment: 16 pages including 6 figure

Self-organization in systems of self-propelled particles

We investigate a discrete model consisting of self-propelled particles that obey simple interaction rules. We show that this model can self-organize and exhibit coherent localized solutions in one- and in two-dimensions.In one-dimension, the self-organized solution is a localized flock of finite extent in which the density abruptly drops to zero at the edges.In two-dimensions, we focus on the vortex solution in which the particles rotate around a common center and show that this solution can be obtained from random initial conditions, even in the absence of a confining boundary. Furthermore, we develop a continuum version of our discrete model and demonstrate that the agreement between the discrete and the continuum model is excellent.Comment: 4 pages, 5 figure

Structural Features of Layered Iron Pnictide Oxides (Fe2As2)(Sr4M2O6)

Structural features of newly found perovskite-based iron pnictide oxide system have been systematically studied. Compared to REFePnO system, perovskite-based system tend to have lower Pn-Fe-Pn angle and higher pnictogen height owing to low electronegativity of alkaline earth metal and small repulsive force between pnictogen and oxygen atoms. As-Fe-As angles of (Fe2As2)(Sr4Cr2O6), (Fe2As2)(Sr4V2O6) and (Fe2Pn2)(Sr4MgTiO6) are close to ideal tetrahedron and those pnictogen heights of about 1.40 A are close to NdFeAsO with optimized carrier concentration. These structural features of this system may leads to realization of high Tc superconductivity.Comment: 3pages, 2figures, 1table, proceedings of M2S 200

Successive transition from superconducting to antiferromagnetic phase in (Ca_6(Al, Ti)_4O_y)Fe_2As_2 studied via ^{75}As and ^{27}Al NMR

An unusual successive phase transition from superconducting (SC) to antiferromagnetic (AF) phases was discovered via ^{75}As and ^{27}Al nuclear magnetic resonance (NMR) in (Fe_2As_2)(Ca_6(Al, Ti)_4O_y) with four (Al, Ti)O layers intercalated between FeAs planes. Although the spatially-uniform AF ordering is clearly visible from ^{27}Al spectra, the ordered moments are very small and the low-frequency fluctuation is much suppressed, contrary to existing pnictides with localized magnetic elements. Furthermore, the temperature (T) dependence of the fluctuation at both nuclei is very similar throughout the entire temperature range. These facts suggest that some hybridization between Ti and Fe orbitals induces a uniform electronic state within FeAs and (Al, Ti)O layers accompanied by the SC and AF transitions. The iron-based pnictide with Ti-doped blocking layers is the first high-T_c compound having metallic blocking layers

Role of magnetic dopants in the phase diagram of Sm1111 pnictides: The Mn case

The deliberate insertion of magnetic Mn dopants in the Fe sites of the optimally-doped SmFeAsO0.88-F0.12 iron-based superconductor can modify in a controlled way its electronic properties. The resulting phase diagram was investigated across a wide range of manganese contents (x) by means of muon-spin spectroscopy (muSR), both in zero- and in transverse fields, respectively, to probe the magnetic and the superconducting order. The pure superconducting phase (at x < 0.03) is replaced by a crossover region at intermediate Mn values (0.03 =< x < 0.08), where superconductivity coexists with static magnetic order. After completely suppressing superconductivity for x = 0.08, a further increase in Mn content reinforces the natural tendency towards antiferromagnetic correlations among the magnetic Mn ions. The sharp drop of Tc and the induced magnetic order in the presence of magnetic disorder/dopants, such as Mn, are both consistent with a recent theoretical model of unconventional superconductors [M. Gastiasoro et al., ArXiv 1606.09495], which includes correlation-enhanced RKKY-couplings between the impurity moments.Comment: 10 pages, 13 figures. Accepted on Physical Review