Control strategy for a dual-arm maneuverable space robot

A simple strategy for the attitude control and arm coordination of a maneuverable space robot with dual arms is proposed. The basic task for the robot consists of the placement of marked rigid solid objects with specified pairs of gripping points and a specified direction of approach for gripping. The strategy consists of three phases each of which involves only elementary rotational and translational collision-free maneuvers of the robot body. Control laws for these elementary maneuvers are derived by using a body-referenced dynamic model of the dual-arm robot

Bose-Einstein condensation in an optical lattice

In this paper we develop an analytic expression for the critical temperature for a gas of ideal bosons in a combined harmonic lattice potential, relevant to current experiments using optical lattices. We give corrections to the critical temperature arising from effective mass modifications of the low energy spectrum, finite size effects and excited band states. We compute the critical temperature using numerical methods and compare to our analytic result. We study condensation in an optical lattice over a wide parameter regime and demonstrate that the critical temperature can be increased or reduced relative to the purely harmonic case by adjusting the harmonic trap frequency. We show that a simple numerical procedure based on a piecewise analytic density of states provides an accurate prediction for the critical temperature.Comment: 10 pages, 5 figure

The possible role of stellar mergers for the formation of multiple stellar populations in globular clusters

Many possible scenarios for the formation of multiple stellar populations (MSP) in globular clusters (GCs) have been discussed so far, including the involvement of asymptotic giant branch stars, fast rotating main sequence stars, very massive main sequence stars and mass-transferring massive binaries based on stellar evolution modelling. But self-consistent, dynamical simulations of very young GCs are usually not considered. In this work, we perform direct $N$-body modelling such systems with total masses up to $3.2\times10^5$ M$_\odot$, taking into account the observationally constrained primordial binary properties, and discuss the stellar-mergers driven both by binary stellar evolution and dynamical evolution of GCs. The occurrence of stellar mergers is enhanced significantly in binary-rich clusters such that stars forming from the gas polluted by mergers-driven ejection/winds would appears as MSPs. We thus emphasize that stellar mergers can be an important process that connects MSP formation with star cluster dynamics, and that multiple MSP formation channels can naturally work together. The scenario studied here, also in view of a possible top-heavy IMF, may be particularly relevant for explaining the high mass fraction of MSPs (the mass budget problem) and the absence of MSPs in young and low-mass star clusters

Electromagnetic field application to underground power cable detection

Before commencing excavation or other work where power or other cables may be buried, it is important to determine the location of cables to ensure that they are not damaged. This paper describes a method of power-cable detection and location that uses measurements of the magnetic field produced by the currents in the cable, and presents the results of tests performed to evaluate the method. The cable detection and location program works by comparing the measured magnetic field signal with values predicted using a simple numerical model of the cable. Search coils are used as magnetic field sensors, and a measurement system is setup to measure the magnetic field of an underground power cable at a number of points above the ground so that it can detect the presence of an underground power cable and estimate its position. Experimental investigations were carried out using a model and under real site test conditions. The results show that the measurement system and cable location method give a reasonable prediction for the position of the target cable

Liquid-gas phase transition in nuclear matter including strangeness

We apply the chiral SU(3) quark mean field model to study the properties of strange hadronic matter at finite temperature. The liquid-gas phase transition is studied as a function of the strangeness fraction. The pressure of the system cannot remain constant during the phase transition, since there are two independent conserved charges (baryon and strangeness number). In a range of temperatures around 15 MeV (precise values depending on the model used) the equation of state exhibits multiple bifurcates. The difference in the strangeness fraction $f_s$ between the liquid and gas phases is small when they coexist. The critical temperature of strange matter turns out to be a non-trivial function of the strangeness fraction.Comment: 15 pages, 7 figure

Propagation of high amplitude higher order sounds in slightly soft rectangular ducts, carrying mean flow

The resonance expansion method, developed to study the propagation of sound in rigid rectangular ducts is applied to the case of slightly soft ducts. Expressions for the generation and decay of various harmonics are obtained. The effect of wall admittance is seen through a dissipation function in the system of nonlinear differential equations, governing the generation of harmonics. As the wall admittance increases, the resonance is reduced. For a given wall admittance this phenomenon is stronger at higher input intensities. Both the first and second order solutions are obtained and the results are extended to the case of ducts having mean flow

Detection and Location of Underground Power Cable using Magnetic Field Technologies

The location of buried underground electricity cables is becoming a major engineering and social issue worldwide. Records of utility locations are relatively scant, and even when records are available, they almost always refer to positions relative to ground-level physical features that may no longer exist or that may have been moved or altered. The lack of accurate positioning records of existing services can cause engineering and construction delays and safety hazards when new construction, repairs, or upgrades are necessary. Hitting unknown underground obstructions has the potential to cause property damage, injuries and, even deaths. Thus, before commencing excavation or other work where power or other cables may be buried, it is important to determine the location of the cables to ensure that they are not damaged during the work. This paper describes the use of an array of passive magnetic sensors (induction coils) together with signal processing techniques to detect and locate underground power cables. The array consists of seven identical coils mounted on a support frame; one of these coils was previously tested under laboratory conditions, and relevant results have been published in [1]. A measurement system was constructed that uses a battery powered data acquisition system with two NI 9239 modules connected to the coil array, and controlled by a laptop. The system is designed to measure the magnetic field of an underground power cable at a number of points above the ground. A 3 by 3 m test area was chosen in one of our campus car parks. This area was chosen because the university’s utility map shows an isolated power cable there. Measurements were taken with the array in 16 different test positions, and compared with the values predicted for a long straight horizontal cable at various positions. Finally, error maps were plotted for different Z-coordinate values, showing the minimum fitting error for each position in this plane. One such map is shown in Figure 1; the low error values of 4-5% give a high degree of confidence that most of the measured signal is due to a cable near to these positions. This view is supported by the fact that the university’s utility map shows the cable at X = 1.4 m, and by amplitude measurements taken with a hand-held magnetic field meter