Performance constraints and compensation for teleoperation with delay

A classical control perspective is used to characterize performance constraints and evaluate compensation techniques for teleoperation with delay. Use of control concepts such as open and closed loop performance, stability, and bandwidth yield insight to the delay problem. Teleoperator performance constraints are viewed as an open loop time delay lag and as a delay-induced closed loop bandwidth constraint. These constraints are illustrated with a simple analytical tracking example which is corroborated by a real time, 'man-in-the-loop' tracking experiment. The experiment also provides insight to those controller characteristics which are unique to a human operator. Predictive displays and feedforward commands are shown to provide open loop compensation for delay lag. Low pass filtering of telemetry or feedback signals is interpreted as closed loop compensation used to maintain a sufficiently low bandwidth for stability. A new closed loop compensation approach is proposed that uses a reactive (or force feedback) hand controller to restrict system bandwidth by impeding operator inputs

An ab-initio theoretical investigation of the soft-magnetic properties of permalloys

We study Ni80Fe20-based permalloys with the relativistic spin-polarized Korringa-Kohn-Rostoker electronic structure method. Treating the compositional disorder with the coherent potential approximation, we investigate how the magnetocrystalline anisotropy, K, and magnetostriction, lambda, of Ni-rich Ni-Fe alloys vary with the addition of small amounts of non-magnetic transition metals, Cu and Mo. From our calculations we follow the trends in K and lambda and find the compositions of Ni-Fe-Cu and Ni-Fe-Mo where both are near zero. These high permeability compositions of Ni-Fe-Cu and Ni-Fe-Mo match well with those discovered experimentally. We monitor the connection of the magnetic anisotropy with the number of minority spin electrons, Nmin. By raising Nmin via artificially increasing the band-filling of Ni80Fe20, we are able to reproduce the key features that underpin the magnetic softening we find in the ternary alloys. The effect of band-filling on the dependence of magnetocrystalline anisotropy on atomic short-range order in Ni80Fe20 is also studied. Our calculations, based on a static concentration wave theory, indicate that the susceptibility of the high permeability of the Ni-Fe-Cu and Ni-Fe-Mo alloys to their annealing conditions is also strongly dependent on the alloys' compositions. An ideal soft magnet appears from these calculations.Comment: 20 pages, 6 figure

Mangetic properties of Ising thin-films with cubic lattices

We have used Monte Carlo simulations to observe the magnetic behaviour of Ising thin-films with cubic lattice structures as a function of temperature and thickness especially in the critical region. The fourth order Binder cumulant is used to extract critical temperatures, and an extension of finite size scaling theory for reduced geometry is derived to calculate the critical exponents. Magnetisation and magnetic susceptibility per spin in each layer are also investigated. In addition, mean-field calculations are also performed for comparison. We find that the magnetic behaviour changes from two dimensional to three dimensional character with increasing thickness of the film. The crossover of the critical temperature from a two dimensional to a bulk value is also observed with both the Monte Carlo simulations and the mean-field analysis. Nevertheless, the simulations have shown that the critical exponents only vary a little from their two dimensional values. In particular, the results for films with up to eight layers provide a strong indication of two dimensional universality.Comment: 18 pages, 9 figures, 2 table

Fluctuating local moments, itinerant electrons and the magnetocaloric effect: the compositional hypersensitivity of FeRh

We describe an ab-initio Disordered Local Moment Theory for materials with quenched static compositional disorder traversing first order magnetic phase transitions. It accounts quantitatively for metamagnetic changes and the magnetocaloric effect. For perfect stoichiometric B2-ordered FeRh, we calculate the transition temperature of the ferromagnetic-antiferromagnetic transition to be $T_t =$ 495K and a maximum isothermal entropy change in 2 Tesla of $|\Delta S|= 21.1$ J~K$^{-1}$~kg$^{-1}$. A large (40\%) component of $|\Delta S|$ is electronic. The transition results from a fine balance of competing electronic effects which is disturbed by small compositional changes - e.g. swapping just 2\% Fe of `defects' onto the Rh sublattice makes $T_t$ drop by 290K. This hypersensitivity explains the narrow compositional range of the transition and impurity doping effects.Comment: 11 pages, 4 figure