Experimental study of contact transition control incorporating joint acceleration feedback

Joint acceleration and velocity feedbacks are incorporated into a classical internal force control of a robot in contact with the environment. This is intended to achieve a robust contact transition and force tracking performance for varying unknown environments, without any need of adjusting the controller parameters, A unified control structure is proposed for free motion, contact transition, and constrained motion in view of the consumption of the initial kinetic energy generated by a nonzero impact velocity. The influence of the velocity and acceleration feedbacks, which are introduced especially for suppressing the transition oscillation, on the postcontact tracking performance is discussed. Extensive experiments are conducted on the third joint of a three-link direct-drive robot to verify the proposed scheme for environments of various stiffnesses, including elastic (sponge), less elastic (cardboard), and hard (steel plate) surfaces. Results are compared with those obtained by the transition control scheme without the acceleration feedback. The ability of the proposed control scheme in resisting the force disturbance during the postcontact period is also experimentally investigated

Supersonic Crossflow Transition Control in Ground and Flight Tests

This paper describes the use of distributed-roughness-element (DRE) patterns along a Mach 2 design swept-wing leading edge to increase the laminar flow extent and thereby reduce drag. One swept-wing model was tested in a supersonic wind tunnel as well as beneath a supersonic flight vehicle. Wing model surface data acquired during these tests included pressures, temperatures, and boundary-layer transition locations. Similarities and differences in experimental results are discussed. While wind tunnel and flight results show some differences, the wind tunnel results still provide key insights necessary for understanding how to design effective DRE patterns for use in flight applications. Experimental results demonstrate a DRE flow control effect observed in flight similar to that observed in the wind tunnel. Finally, a different perspective is discussed concerning what flow control role RE patterns might perform in any future swept-wing laminar flow control applications

A numerical study of transition control by periodic suction-blowing

The applicability of active control of transition by periodic suction-blowing is investigated via direct numerical simulations of the Navier-Stokes equations. The time-evolution of finite-amplitude disturbances in plane channel flow is compared in detail with and without control. The analysis indicates that, for relatively small three dimensional amplitudes, a two dimensional control effectively reduces disturbance growth rates even for linearly unstable Reynolds numbers. After the flow goes through secondary instability, three dimensional control seems necessary to stabilize the flow. An investigation of the temperature field suggests that passive temperature contamination is operative to reflect the flow dynamics during transition

Transition control based on grey, neural states

+hlm.;c

Roughness Based Crossflow Transition Control: A Computational Assessment

A combination of parabolized stability equations and secondary instability theory has been applied to a low-speed swept airfoil model with a chord Reynolds number of 7.15 million, with the goals of (i) evaluating this methodology in the context of transition prediction for a known configuration for which roughness based crossflow transition control has been demonstrated under flight conditions and (ii) of analyzing the mechanism of transition delay via the introduction of discrete roughness elements (DRE). Roughness based transition control involves controlled seeding of suitable, subdominant crossflow modes, so as to weaken the growth of naturally occurring, linearly more unstable crossflow modes. Therefore, a synthesis of receptivity, linear and nonlinear growth of stationary crossflow disturbances, and the ensuing development of high frequency secondary instabilities is desirable to understand the experimentally observed transition behavior. With further validation, such higher fidelity prediction methodology could be utilized to assess the potential for crossflow transition control at even higher Reynolds numbers, where experimental data is currently unavailable

Dynamic Arrest in Polymer Melts: Competition between Packing and Intramolecular Barriers

We present molecular dynamics simulations of a simple model for polymer melts with intramolecular barriers. We investigate structural relaxation as a function of the barrier strength. Dynamic correlators can be consistently analyzed within the framework of the Mode Coupling Theory (MCT) of the glass transition. Control parameters are tuned in order to induce a competition between general packing effects and polymer-specific intramolecular barriers as mechanisms for dynamic arrest. This competition yields unusually large values of the so-called MCT exponent parameter and rationalize qualitatively different observations for simple bead-spring and realistic polymers. The systematic study of the effect of intramolecular barriers presented here also establishes a fundamental difference between the nature of the glass transition in polymers and in simple glass-formers.Comment: 4 pages, 3 figures, 2 table

Protein accumulation in the endoplasmic reticulum as a non-equilibrium phase transition

Several neurological disorders are associated with the aggregation of aberrant proteins, often localized in intracellular organelles such as the endoplasmic reticulum. Here we study protein aggregation kinetics by mean-field reactions and three dimensional Monte carlo simulations of diffusion-limited aggregation of linear polymers in a confined space, representing the endoplasmic reticulum. By tuning the rates of protein production and degradation, we show that the system undergoes a non-equilibrium phase transition from a physiological phase with little or no polymer accumulation to a pathological phase characterized by persistent polymerization. A combination of external factors accumulating during the lifetime of a patient can thus slightly modify the phase transition control parameters, tipping the balance from a long symptomless lag phase to an accelerated pathological development. The model can be successfully used to interpret experimental data on amyloid-\b{eta} clearance from the central nervous system

An algorithm for minimum-cost set-point ordering in a cryogenic wind tunnel

An algorithm for minimum cost ordering of set points in a cryogenic wind tunnel is developed. The procedure generates a matrix of dynamic state transition costs, which is evaluated by means of a single-volume lumped model of the cryogenic wind tunnel and the use of some idealized minimum-costs, which is evaluated by means of a single-volume lumped model of the cryogenic wind tunnel and the use of some idealized minimum-cost state-transition control strategies. A branch and bound algorithm is employed to determine the least costly sequence of state transitions from the transition-cost matrix. Some numerical results based on data for the National Transonic Facility are presented which show a strong preference for state transitions that consume to coolant. Results also show that the choice of the terminal set point in an open odering can produce a wide variation in total cost