Parameter identification for a robotic manipulator arm

The development is described of a nonlinear dynamic model for large oscillations of a robotic manipulator arm about a single joint. Optimization routines are formulated and implemented for the identification of electrical and physical parameters from dynamic data taken from an industrial robot arm. Special attention is given to the role of sensitivity in the formulation of robust models of this motion. The importance of actuator effects in the reduction of sensitivity is established and used to develop an electromechanical model of the manipulator system

Parameter identification and sensitivity analysis for a robotic manipulator arm

The development of a nonlinear dynamic model for large oscillations of a robotic manipulator arm about a single joint is described. Optimization routines are formulated and implemented for the identification of electrical and physical parameters from dynamic data taken from an industrial robot arm. Special attention is given to difficulties caused by the large sensitivity of the model with respect to unknown parameters. Performance of the parameter identification algorithm is improved by choosing a control input that allows actuator emf to be included in an electro-mechanical model of the manipulator system

Single-level resonance parameters fit nuclear cross-sections

Least squares analyses of experimental differential cross-section data for the U-235 nucleus have yielded single level Breit-Wigner resonance parameters that fit, simultaneously, three nuclear cross sections of capture, fission, and total

ROAM: a Radial-basis-function Optimization Approximation Method for diagnosing the three-dimensional coronal magnetic field

The Coronal Multichannel Polarimeter (CoMP) routinely performs coronal polarimetric measurements using the Fe XIII 10747 $\AA$ and 10798 $\AA$ lines, which are sensitive to the coronal magnetic field. However, inverting such polarimetric measurements into magnetic field data is a difficult task because the corona is optically thin at these wavelengths and the observed signal is therefore the integrated emission of all the plasma along the line of sight. To overcome this difficulty, we take on a new approach that combines a parameterized 3D magnetic field model with forward modeling of the polarization signal. For that purpose, we develop a new, fast and efficient, optimization method for model-data fitting: the Radial-basis-functions Optimization Approximation Method (ROAM). Model-data fitting is achieved by optimizing a user-specified log-likelihood function that quantifies the differences between the observed polarization signal and its synthetic/predicted analogue. Speed and efficiency are obtained by combining sparse evaluation of the magnetic model with radial-basis-function (RBF) decomposition of the log-likelihood function. The RBF decomposition provides an analytical expression for the log-likelihood function that is used to inexpensively estimate the set of parameter values optimizing it. We test and validate ROAM on a synthetic test bed of a coronal magnetic flux rope and show that it performs well with a significantly sparse sample of the parameter space. We conclude that our optimization method is well-suited for fast and efficient model-data fitting and can be exploited for converting coronal polarimetric measurements, such as the ones provided by CoMP, into coronal magnetic field data.Comment: 23 pages, 12 figures, accepted in Frontiers in Astronomy and Space Science

X-raying the Winds of Luminous Active Galaxies

We briefly describe some recent observational results, mainly at X-ray wavelengths, on the winds of luminous active galactic nuclei (AGNs). These winds likely play a significant role in galaxy feedback. Topics covered include (1) Relations between X-ray and UV absorption in Broad Absorption Line (BAL) and mini-BAL quasars; (2) X-ray absorption in radio-loud BAL quasars; and (3) Evidence for relativistic iron K BALs in the X-ray spectra of a few bright quasars. We also mention some key outstanding problems and prospects for future advances; e.g., with the International X-ray Observatory (IXO).Comment: 7 pages, 3 figures, to appear in proceedings of the conference "The Monster's Fiery Breath: Feedback in Galaxies, Groups, and Clusters", June 2009, Madison, Wisconsi

CHANDRA observations of the NGC 1550 galaxy group -- implication for the temperature and entropy profiles of 1 keV galaxy groups

We present a detailed \chandra study of the galaxy group NGC 1550. For its temperature (1.37$\pm$0.01 keV) and velocity dispersion ($\sim$ 300 km s$^{-1}$), the NGC 1550 group is one of the most luminous known galaxy groups (L$_{\rm bol}$ = 1.65$\times10^{43}$ erg s$^{-1}$ within 200 kpc, or 0.2 \rv). We find that within $\sim 60$ kpc, where the gas cooling time is less than a Hubble time, the gas temperature decreases continuously toward the center, implying the existence of a cooling core. The temperature also declines beyond $\sim$ 100 kpc (or 0.1 \rv). There is a remarkable similarity of the temperature profile of NGC 1550 with those of two other 1 keV groups with accurate temperature determination. The temperature begins to decline at 0.07 - 0.1 \rv, while in hot clusters the decline begins at or beyond 0.2 \rv. Thus, there are at least some 1 keV groups that have significantly different temperature profiles from those of hot clusters, which may reflect the role of non-gravitational processes in ICM/IGM evolution. NGC 1550 has no isentropic core in its entropy profile, in contrast to the predictions of `entropy-floor' simulations. We compare the scaled entropy profiles of three 1 keV groups (including NGC 1550) and three 2 - 3 keV groups. The scaled entropy profiles of 1 keV groups show much larger scatter than those of hotter systems, which implies varied pre-heating levels. We also discuss the mass content of the NGC 1550 group and the abundance profile of heavy elements.Comment: emulateapj5.sty, 18 pages, 11 figures (including 4 color), to appear in ApJ, v598, n1, 20 Nov 200

A new look at a polar crown cavity as observed by SDO/AIA

Context. The Solar Dynamics Observatory (SDO) was launched in February 2010 and is now providing an unprecedented view of the solar activity at high spatial resolution and high cadence covering a broad range of temperature layers of the atmosphere. Aims. We aim at defining the structure of a polar crown cavity and describing its evolution during the erupting process. Methods. We use the high-cadence time series of SDO/AIA observations at 304 Å (50 000 K) and 171 Å (0.6 MK) to determine the structure of the polar crown cavity and its associated plasma, as well as the evolution of the cavity during the different phases of the eruption. We report on the observations recorded on 13 June 2010 located on the north-west limb. Results. We observe coronal plasma shaped by magnetic field lines with a negative curvature (U-shape) sitting at the bottom of a cavity. The cavity is located just above the polar crown filament material. We thus observe the inner part of the cavity above the filament as depicted in the classical three part coronal mass ejection (CME) model composed of a filament, a cavity, and a CME front. The filament (in this case a polar crown filament) is part of the cavity, and it makes a continuous structuring from the filament to the CME front depicted by concentric ellipses (in a 2D cartoon). Conclusions. We propose to define a polar crown cavity as a density depletion sitting above denser polar crown filament plasma drained down the cavity by gravity. As part of the polar crown filament, plasma at different temperatures (ranging from 50 000 K to 0.6 MK) is observed at the same location on the cavity dips and sustained by a competition between the gravity and the curvature of magnetic field lines. The eruption of the polar crown cavity as a solid body can be decomposed into two phases: a slow rise at a speed of 0.6 km s-1 and an acceleration phase at a mean speed of 25 km s-1

The Evolution of Quasar CIV and SiIV Broad Absorption Lines Over Multi-Year Time Scales

We investigate the variability of CIV 1549A broad absorption line (BAL) troughs over rest-frame time scales of up to ~7 yr in 14 quasars at redshifts z>2.1. For 9 sources at sufficiently high redshift, we also compare CIV and SiIV 1400A absorption variation. We compare shorter- and longer-term variability using spectra from up to four different epochs per source and find complex patterns of variation in the sample overall. The scatter in the change of absorption equivalent width (EW), Delta EW, increases with the time between observations. BALs do not, in general, strengthen or weaken monotonically, and variation observed over shorter (<months) time scales is not predictive of multi-year variation. We find no evidence for asymmetry in the distribution of Delta EW that would indicate that BALs form and decay on different time scales, and we constrain the typical BAL lifetime to be >~30 yr. The BAL absorption for one source, LBQS 0022+0150, has weakened and may now be classified as a mini-BAL. Another source, 1235+1453, shows evidence of variable, blue continuum emission that is relatively unabsorbed by the BAL outflow. CIV and SiIV BAL shape changes are related in at least some sources. Given their high velocities, BAL outflows apparently traverse large spatial regions and may interact with parsec-scale structures such as an obscuring torus. Assuming BAL outflows are launched from a rotating accretion disk, notable azimuthal symmetry is required in the outflow to explain the relatively small changes observed in velocity structure over times up to 7 yr

Symmetry limit properties of a priori mixing amplitudes for non-leptonic and weak radiative decays of hyperons

We show that the so-called parity-conserving amplitudes predicted in the a priori mixing scheme for non-leptonic and weak radiative decays of hyperons vanish in the strong-flavor symmetry limit