Proportional-Integral-Plus Control Strategy of an Intelligent Excavator

This article considers the application of Proportional-Integral-Plus (PIP) control to the Lancaster University Computerised Intelligent Excavator (LUCIE), which is being developed to dig foundation trenches on a building site. Previous work using LUCIE was based on the ubiquitous PI/PID control algorithm, tuned on-line, and implemented in a rather ad hoc manner. By contrast, the present research utilizes new hardware and advanced model-based control system design methods to improve the joint control and so provide smoother, more accurate movement of the excavator arm. In this article, a novel nonlinear simulation model of the system is developed for MATLAB/SIMULINK, allowing for straightforward refinement of the control algorithm and initial evaluation. The PIP controller is compared with a conventionally tuned PID algorithm, with the final designs implemented on-line for the control of dipper angle. The simulated responses and preliminary implementation results demonstrate the feasibility of the approach

One-parameter extension of the Doi-Peliti formalism and relation with orthogonal polynomials

An extension of the Doi-Peliti formalism for stochastic chemical kinetics is proposed. Using the extension, path-integral expressions consistent with previous studies are obtained. In addition, the extended formalism is naturally connected to orthogonal polynomials. We show that two different orthogonal polynomials, i.e., Charlier polynomials and Hermite polynomials, can be used to express the Doi-Peliti formalism explicitly.Comment: 10 page

Radio Variability of Sagittarius A* - A 106 Day Cycle

We report the presence of a 106-day cycle in the radio variability of Sgr A* based on an analysis of data observed with the Very Large Array (VLA) over the past 20 years. The pulsed signal is most clearly seen at 1.3 cm with a ratio of cycle frequency to frequency width f/Delta_f= 2.2+/-0.3. The periodic signal is also clearly observed at 2 cm. At 3.6 cm the detection of a periodic signal is marginal. No significant periodicity is detected at both 6 and 20 cm. Since the sampling function is irregular we performed a number of tests to insure that the observed periodicity is not the result of noise. Similar results were found for a maximum entropy method and periodogram with CLEAN method. The probability of false detection for several different noise distributions is less than 5% based on Monte Carlo tests. The radio properties of the pulsed component at 1.3 cm are spectral index alpha ~ 1.0+/- 0.1 (for S nu^alpha), amplitude Delta S=0.42 +/- 0.04 Jy and characteristic time scale Delta t_FWHM ~ 25 +/- 5 days. The lack of VLBI detection of a secondary component suggests that the variability occurs within Sgr A* on a scale of ~5 AU, suggesting an instability of the accretion disk.Comment: 14 Pages, 3 figures. ApJ Lett 2000 accepte

Comparison of Magnetic Flux Distribution between a Coronal Hole and a Quiet Region

Employing Big Bear Solar Observatory (BBSO) deep magnetograms and H${\alpha}$ images in a quiet region and a coronal hole, observed on September 14 and 16, 2004, respectively, we have explored the magnetic flux emergence, disappearance and distribution in the two regions. The following results are obtained: (1) The evolution of magnetic flux in the quiet region is much faster than that in the coronal hole, as the flux appeared in the form of ephemeral regions in the quiet region is 4.3 times as large as that in the coronal hole, and the flux disappeared in the form of flux cancellation, 2.9 times as fast as in the coronal hole. (2) More magnetic elements with opposite polarities in the quiet region are connected by arch filaments, estimating from magnetograms and H${\alpha}$ images. (3) We measured the magnetic flux of about 1000 magnetic elements in each observing region. The flux distribution of network and intranetwork (IN) elements is similar in both polarities in the quiet region. For network fields in the coronal hole, the number of negative elements is much more than that of positive elements. However for the IN fields, the number of positive elements is much more than that of negative elements. (4) In the coronal hole, the fraction of negative flux change obviously with different threshold flux density. 73% of the magnetic fields with flux density larger than 2 Gauss is negative polarity, and 95% of the magnetic fields is negative, if we only measure the fields with their flux density larger than 20 Gauss. Our results display that in a coronal hole, stronger fields is occupied by one predominant polarity; however the majority of weaker fields, occupied by the other polarity

Dynamical control of two-level system's decay and long time freezing

We investigate with exact numerical calculation coherent control of a two-level quantum system's decay by subjecting the two-level system to many periodic ideal $2\pi$ phase modulation pulses. For three spectrum intensities (Gaussian, Lorentzian, and exponential), we find both suppression and acceleration of the decay of the two-level system, depending on difference between the spectrum peak position and the eigen frequency of the two-level system. Most interestingly, the decay of the two-level system freezes after many control pulses if the pulse delay is short. The decay freezing value is half of the decay in the first pulse delay.Comment: 6 pages, 6 figures, published in Phys. Rev.

Pairing and superconductivity driven by strong quasiparticle renormalization in two-dimensional organic charge transfer salts

We introduce and analyze a variational wave function for quasi two-dimensional kappa-ET organic salts containing strong local and nonlocal correlation effects. We find an unconventional superconducting ground state for intermediate charge carrier interaction, sandwiched between a conventional metal at weak coupling and a spin liquid at larger coupling. Most remarkably, the excitation spectrum is dramatically renormalized and is found to be the driving force for the formation of the unusual superconducting state.Comment: 4 pages, 4 figure

Warped flavor symmetry predictions for neutrino physics

A realistic five-dimensional warped scenario with all standard model fields propagating in the bulk is proposed. Mass hierarchies would in principle be accounted for by judicious choices of the bulk mass parameters, while fermion mixing angles are restricted by a $\Delta(27)$ flavor symmetry broken on the branes by flavon fields. The latter gives stringent predictions for the neutrino mixing parameters, and the Dirac CP violation phase, all described in terms of only two independent parameters at leading order. The scheme also gives an adequate CKM fit and should be testable within upcoming oscillation experiments.Comment: 19 pages, 2 figue

Soot formation and radiation in turbulent jet diffusion flames under normal and reduced gravity conditions

Most practical combustion processes, as well as fires and explosions, exhibit some characteristics of turbulent diffusion flames. For hydrocarbon fuels, the presence of soot particles significantly increases the level of radiative heat transfer from flames. In some cases, flame radiation can reach up to 75 percent of the heat release by combustion. Laminar diffusion flame results show that radiation becomes stronger under reduced gravity conditions. Therefore, detailed soot formation and radiation must be included in the flame structure analysis. A study of sooting turbulent diffusion flames under reduced-gravity conditions will not only provide necessary information for such practical issues as spacecraft fire safety, but also develop better understanding of fundamentals for diffusion combustion. In this paper, a summary of the work to date and of future plans is reported

Crossover between Levy and Gaussian regimes in first passage processes

We propose a new approach to the problem of the first passage time. Our method is applicable not only to the Wiener process but also to the non--Gaussian L$\acute{\rm e}$vy flights or to more complicated stochastic processes whose distributions are stable. To show the usefulness of the method, we particularly focus on the first passage time problems in the truncated L$\acute{\rm e}$vy flights (the so-called KoBoL processes), in which the arbitrarily large tail of the L$\acute{\rm e}$vy distribution is cut off. We find that the asymptotic scaling law of the first passage time $t$ distribution changes from $t^{-(\alpha +1)/\alpha}$-law (non-Gaussian L$\acute{\rm e}$vy regime) to $t^{-3/2}$-law (Gaussian regime) at the crossover point. This result means that an ultra-slow convergence from the non-Gaussian L$\acute{\rm e}$vy regime to the Gaussian regime is observed not only in the distribution of the real time step for the truncated L$\acute{\rm e}$vy flight but also in the first passage time distribution of the flight. The nature of the crossover in the scaling laws and the scaling relation on the crossover point with respect to the effective cut-off length of the L$\acute{\rm e}$vy distribution are discussed.Comment: 18pages, 7figures, using revtex4, to appear in Phys.Rev.

Two Langevin equations in the Doi-Peliti formalism

A system-size expansion method is incorporated into the Doi-Peliti formalism for stochastic chemical kinetics. The basic idea of the incorporation is to introduce a new decomposition of unity associated with a so-called Cole-Hopf transformation. This approach elucidates a relationship between two different Langevin equations; one is associated with a coherent-state path-integral expression and the other describes density fluctuations. A simple reaction scheme $X \rightleftarrows X+X$ is investigated as an illustrative example.Comment: 14page