Capture of free-flying payloads with flexible space manipulators

A recently developed control system for capturing free-flying payloads with flexible manipulators is discussed. Three essential points in this control system are, calculating optimal path, using a vision sensor for an external sensor, and controlling active vibration. Experimental results are shown using a planar flexible manipulator

DIRECT NUMERICAL SIMULATION OF FLUIDIZED BED WITH IMMERSED BOUNDARY METHOD

The applicability of the immersed boundary (IB) method, which is one of direct numerical simulations (DNS) for multiphase flow analyses, has been examined to simulate a fluidized bed. The volumetric-force type IB method developed by Kajishima et al. (2001) has been applied in the present work. While particle-fluid interaction force is calculated with the surface integral of fluid stress at the interface between particle and fluid in the standard IB method, the volume integral of interaction force is used in the volumetric-force type IB method. In order to validate the present simulation code, drag force and lift force firstly were calculated with IB method. Then calculated drag coefficients were compared with values estimated with Schiller-Nauman and Ergun equations, while calculated lift coefficients were compared with the previous simulated results. The difference of drag was within approximately 1% except in the range of low Reynolds number. Thus, the accuracy of the present simulation code was confirmed. Next, simulation of fluidized bed was carried out. Since DNS requires a large computer capacity, only 400 particles were used. The particle is 1.0mm in diameter and 2650kg/m3 in density. From the simulated results, concentrated upward stream lines from the bottom wall were observed in some regions. This inhomogeneous flow would be attributed to particulate structure

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

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

Superconducting order parameter in heavily overdoped Bi2Sr2CaCu2O8+δBi_2 Sr_2 Ca Cu_2 O_{8+\delta}: a global quantitative analysis

A systematic analysis of the complex lineshape at $(\pi,0)$ of heavily overdoped Bi$_2$Sr$_2$CaCu$_2$O$_{8+\delta}$ is presented. We show that a coherent component in the quasi-particle excitation is correlated with the superfluid density throughout the entire doping range and suggest it is a direct measure of the order parameter of high temperature superconductors.Comment: 4 RevTex4 pages, 4 eps figures (Fig. 3 revised after publication on PRB

Magnetic and Transport Properties in CoSr2Y1−xCaxCu2O7CoSr_2Y_{1-x}Ca_xCu_2O_7 (xx=0∼\sim0.4)

Magnetic and transport properties of $Co Sr_2 Y_{1-x} Ca_x Cu_2 O_7$ ($x=0 \sim 0.4$) system have been investigated. A broad maximum in M(T) curve, indicative of low-dimensional antiferromagnetic ordering originated from $CoO_{1+\delta}$ layers, is observed in Ca-free sample. With increasing Ca doping level up to 0.2, the M(T) curve remains almost unchanged, while resistivity is reduced by three orders. Higher Ca doping level leads to a drastic change of magnetic properties. In comparison with the samples with $x=0.0 \sim 0.2$, the temperature corresponding to the maximum of M(T) is much lowered for the sample $x$=0.3. The sample $x$=0.4 shows a small kink instead of a broad maximum and a weak ferromagnetic feature. The electrical transport behavior is found to be closely related to magnetic properties for the sample $x$=0.2, 0.25, 0.3, 0.4. It suggests that $CoO_{1+\delta}$ layers are involved in charge transport in addition to conducting $CuO_2$ planes to interpret the correlation between magnetism and charge transport. X-ray photoelectron spectroscopy studies give an additional evidence of the the transfer of the holes into the $CoO_{1+\delta}$ charge reservoir