Coupling between slow and fast degrees of freedom in systems with complex spectra: Driven systems

International Nuclear Information System (INIS)

Bulgac, A.; Dang, G.D.; Kusnezov, D.

1995-01-01

We consider many-body systems which display slow modes and have complex spectra of intrinsic states, as atomic nuclei, atomic clusters, deformable cavities, and so forth. The effects of the coupling between the intrinsic and the slow degrees of freedom is analyzed, by assuming random matrix properties for the intrinsic degrees of freedom and the fact that the time evolution of the slow degree of freedom modifies the intrinsic configuration of the system. By neglecting the reaction of the intrinsic degrees of freedom on the slow modes, we derive evolution equations for intrinsic state population probabilities, the average excitation energy, and their fluctuations. These evolution equations are characterized by strong memory effects, and only in the long time limit does the dynamics become Markovian. Copyright copyright 1995 Academic Press, Inc

Identification of weak nonlinearities on damping and stiffness by the continuous wavelet transform

Science.gov (United States)

Ta, Minh-Nghi; Lardiès, Joseph

2006-05-01

We consider the free response of a nonlinear vibrating system. Using the ridges and skeletons of the continuous wavelet transform, we identify weak nonlinearities on damping and stiffness and estimate their physical parameters. The crucial choice of the son wavelet function is obtained using an optimization technique based on the entropy of the continuous wavelet transform. The method is applied to simulated single-degree-of-freedom systems and multi-degree-of-freedom systems with nonlinearities on damping and stiffness. Experimental validation of the nonlinear identification and parameter estimation method is presented. The experimental system is a clamped beam with nonlinearities on damping and stiffness and these nonlinearities are identified and quantified from a displacement sensor.

Dynamic Systems with a Finite Degrees of Freedom Number

Directory of Open Access Journals (Sweden)

Ładziński Radosław

2014-06-01

Full Text Available Taking as a starting point the law of conservation of the total energy of the system, and introducing two basic state functions - the Lagrangian and the Rayleigh function, the general form of the equation of motion for any dynamic system with a finite number of degrees of freedom is derived. The theory is illustrated by considering the rotating - type electromechanical energy converter with six degrees of freedom being the model of all essentially important types of DC and AC machines, including rotating power amplifiers, induction - and synchronous type motors - all of them discussed from both, the steady-state and the transient point of view. In the next part of the paper there is described a simple electric circuit with its model characterized by the holonomic constraints of the velocity-type. Finally, there is presented the kinematics and dynamics of the interesting mechanical system - the gyroscope placed on the rotating Earth.

Effect of Various Excitation Conditions on Vibrational Energy in a Multi-Degree-of-Freedom Torsional System with Piecewise-Type Nonlinearities

Directory of Open Access Journals (Sweden)

Jong-Yun Yoon

2015-09-01

Full Text Available Dynamic behaviors in practical driveline systems for wind turbines or vehicles are inherently affected by multiple nonlinearities such as piecewise-type torsional springs. However, various excitation conditions with different levels of magnitudes also show strong relationships to the dynamic behaviors when system responses are examined in both frequency and time domains. This study investigated the nonlinear responses of torsional systems under various excitations by using the harmonic balance method and numerical analysis. In order to understand the effect of piecewise-type nonlinearities on vibrational energy with different excitations, the nonlinear responses were investigated with various comparisons. First, two different jumping phenomena with frequency up- and down-sweeping conditions were determined under severe excitation levels. Second, practical system analysis using the phase plane and Poincaré map was conducted in various ways. When the system responses were composed of quasi-periodic components, Poincaré map analysis clearly revealed the nonlinear dynamic characteristics and thus it is suggested to investigate complicated nonlinear dynamic responses in practical driveline systems.

Analysis of white noise excited elasto-plastic oscillator of several degrees of freedom

DEFF Research Database (Denmark)

Randrup-Thomsen, Søren

1997-01-01

The response of the white noise excited multi-degree-of-freedom (MDOF) oscillator has been analyzed in order to describe the plastic displacements of the relative response. Three different types of structural systems have been considered. The first type is a shear-wall frame having elastic......-ideal plastic stiffness properties of the columns connecting the two top-most floors. The second type is a shear-wall frame having elastic-ideal plastic stiffness properties of all columns, while the third type is a single-degree-of-freedom (SDOF) oscillator excited by horizontal and vertical white noise ground...

Quantitative analysis of trapping probability for quasi-integrable two degree of freedom maps

CERN Document Server

Bazzani, A; Hernalsteens, C; Williams, J

2014-01-01

A key ingredient for the Multi-Turn Extraction (MTE) at the CERN Proton Synchrotron is the beam trapping in stable islands of transverse phase space. In a previous paper a method allowing analytical estimation of the fraction of beam trapped into resonance islands as a function of the Hamiltonian parameters has been presented. Such amethod applies to one-degree of freedom models of betatronic motion. In this paper, the analysis is extended to the more realistic and challenging case of two-degree of freedom systems, in which the interplay between the horizontal and vertical motion is fully included. Numerical simulations are presented and the results are discussed in detail.

Harnessing mode-selective nonlinear optics for on-chip multi-channel all-optical signal processing

Directory of Open Access Journals (Sweden)

Ming Ma

2016-11-01

Full Text Available All-optical signal processing based on nonlinear optical effects allows for the realization of important functions in telecommunications including wavelength conversion, optical multiplexing/demultiplexing, Fourier transformation, and regeneration, amongst others, on ultrafast time scales to support high data rate transmission. In integrated photonic subsystems, the majority of all-optical signal processing systems demonstrated to date typically process only a single channel at a time or perform a single processing function, which imposes a serious limitation on the functionality of integrated solutions. Here, we demonstrate how nonlinear optical effects can be harnessed in a mode-selective manner to perform simultaneous multi-channel (two and multi-functional optical signal processing (i.e., regenerative wavelength conversion in an integrated silicon photonic device. This approach, which can be scaled to a higher number of channels, opens up a new degree of freedom for performing a broad range of multi-channel nonlinear optical signal processing functions using a single integrated photonic device.

Motion systems providing three or four degrees of freedom

Science.gov (United States)

Chou, Richard C. (Inventor)

1982-01-01

A motion system is provided by a platform generally parallel to a base and connected thereto by a column and powered and controlled extensible members, at least three of which are connected between distributed points around the column. In a three degree of freedom device, the column is conical, rigidly supported at its base with a universal joint at its top. The points of attachment define triangles in the base and in the platform surrounding the column with one extensible member connected between each. In the four degree of freedom version, the column is modified by making it effectively a column which is pivoted or guided at the base or contains an extensible member, preferably retains its triangular shape and its universal joint connection to the platform at its apex. For stability four powered and controlled extensible members are provided between points in the base and platform distributed around the column, a preferred pattern of arrangement being a square with the column at the center.

The Volterra's integral equation theory for accelerator single-freedom nonlinear components

International Nuclear Information System (INIS)

Wang Sheng; Xie Xi

1996-01-01

The Volterra's integral equation equivalent to the dynamic equation of accelerator single-freedom nonlinear components is given, starting from which the transport operator of accelerator single-freedom nonlinear components and its inverse transport operator are obtained. Therefore, another algorithm for the expert system of the beam transport operator of accelerator single-freedom nonlinear components is developed

A Generic Guidance and Control Structure for Six-Degree-of-Freedom Conceptual Aircraft Design

Science.gov (United States)

Cotting, M. Christopher; Cox, Timothy H.

2005-01-01

A control system framework is presented for both real-time and batch six-degree-of-freedom simulation. This framework allows stabilization and control with multiple command options, from body rate control to waypoint guidance. Also, pilot commands can be used to operate the simulation in a pilot-in-the-loop environment. This control system framework is created by using direct vehicle state feedback with nonlinear dynamic inversion. A direct control allocation scheme is used to command aircraft effectors. Online B-matrix estimation is used in the control allocation algorithm for maximum algorithm flexibility. Primary uses for this framework include conceptual design and early preliminary design of aircraft, where vehicle models change rapidly and a knowledge of vehicle six-degree-of-freedom performance is required. A simulated airbreathing hypersonic vehicle and a simulated high performance fighter are controlled to demonstrate the flexibility and utility of the control system.

Particle content and degrees of freedom of a gravitational field in 4th order theories of gravity

International Nuclear Information System (INIS)

Moebius, K.; Akademie der Wissenschaften der DDR, Potsdam-Babelsberg. Einstein-Laboratorium fuer Theoretische Physik)

1988-01-01

In gravitational theories of 4-th order, the influence of certain properties of the field equations (tracelessness, conformal invariance, scale invariance respectively their breaking) for the 'particle content' (number of degrees of freedom, mass, spin) is investigated. Using the plane-wave ansatz valid in linearized theory it is possible to determine the mass content of the theory, but one cannot get assertions about the number of degrees of freedom and the spin states corresponding to the field quanta. In the linearized theory, this can be done with a spin projection formalism. Using the Cauchy initial value problem and a counting method first developed by Einstein one can get, however, a useful definition of the concept of the degrees of freedom for the full nonlinear theory. This is due to the fact that this method allows to incorporate the concrete structure of the field equations (and thus their nonlinearities). Analysing different general-relativistic field theories via these approaches the influence of the various structures of nonlinearities is discussed. It is, in particular, shown that those results obtained by the spin projection formalism can be reproduced by 'nonlinear methods'. (author)

Some remarks on integrable Hamiltonian systems with two degrees of freedom

International Nuclear Information System (INIS)

Nguyen Tien Dung.

1993-02-01

In this note, based on examples, we consider some aspects of integrable systems with two degrees of freedom: local and global theory, orbit space, integrable surgery, generalized Delzant spaces, relations with ''pure'' symplectic geometry, etc. (author). 23 refs, 18 figs

Performance analysis of two-degree of freedom fractional order PID controllers for robotic manipulator with payload.

Science.gov (United States)

Sharma, Richa; Gaur, Prerna; Mittal, A P

2015-09-01

The robotic manipulators are multi-input multi-output (MIMO), coupled and highly nonlinear systems. The presence of external disturbances and time-varying parameters adversely affects the performance of these systems. Therefore, the controller designed for these systems should effectively deal with such complexities, and it is an intriguing task for control engineers. This paper presents two-degree of freedom fractional order proportional-integral-derivative (2-DOF FOPID) controller scheme for a two-link planar rigid robotic manipulator with payload for trajectory tracking task. The tuning of all controller parameters is done using cuckoo search algorithm (CSA). The performance of proposed 2-DOF FOPID controllers is compared with those of their integer order designs, i.e., 2-DOF PID controllers, and with the traditional PID controllers. In order to show effectiveness of proposed scheme, the robustness testing is carried out for model uncertainties, payload variations with time, external disturbance and random noise. Numerical simulation results indicate that the 2-DOF FOPID controllers are superior to their integer order counterparts and the traditional PID controllers. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Response of MDOF strongly nonlinear systems to fractional Gaussian noises

Energy Technology Data Exchange (ETDEWEB)

Deng, Mao-Lin; Zhu, Wei-Qiu, E-mail: wqzhu@zju.edu.cn [Department of Mechanics, State Key Laboratory of Fluid Power and Mechatronic Systems, Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province, Zhejiang University, Hangzhou 310027 (China)

2016-08-15

In the present paper, multi-degree-of-freedom strongly nonlinear systems are modeled as quasi-Hamiltonian systems and the stochastic averaging method for quasi-Hamiltonian systems (including quasi-non-integrable, completely integrable and non-resonant, completely integrable and resonant, partially integrable and non-resonant, and partially integrable and resonant Hamiltonian systems) driven by fractional Gaussian noise is introduced. The averaged fractional stochastic differential equations (SDEs) are derived. The simulation results for some examples show that the averaged SDEs can be used to predict the response of the original systems and the simulation time for the averaged SDEs is less than that for the original systems.

Response of MDOF strongly nonlinear systems to fractional Gaussian noises.

Science.gov (United States)

Deng, Mao-Lin; Zhu, Wei-Qiu

2016-08-01

In the present paper, multi-degree-of-freedom strongly nonlinear systems are modeled as quasi-Hamiltonian systems and the stochastic averaging method for quasi-Hamiltonian systems (including quasi-non-integrable, completely integrable and non-resonant, completely integrable and resonant, partially integrable and non-resonant, and partially integrable and resonant Hamiltonian systems) driven by fractional Gaussian noise is introduced. The averaged fractional stochastic differential equations (SDEs) are derived. The simulation results for some examples show that the averaged SDEs can be used to predict the response of the original systems and the simulation time for the averaged SDEs is less than that for the original systems.

Response of MDOF strongly nonlinear systems to fractional Gaussian noises

International Nuclear Information System (INIS)

Deng, Mao-Lin; Zhu, Wei-Qiu

2016-01-01

In the present paper, multi-degree-of-freedom strongly nonlinear systems are modeled as quasi-Hamiltonian systems and the stochastic averaging method for quasi-Hamiltonian systems (including quasi-non-integrable, completely integrable and non-resonant, completely integrable and resonant, partially integrable and non-resonant, and partially integrable and resonant Hamiltonian systems) driven by fractional Gaussian noise is introduced. The averaged fractional stochastic differential equations (SDEs) are derived. The simulation results for some examples show that the averaged SDEs can be used to predict the response of the original systems and the simulation time for the averaged SDEs is less than that for the original systems.

Comparing interferometry techniques for multi-degree of freedom test mass readout

International Nuclear Information System (INIS)

Isleif, Katharina-Sophie; Gerberding, Oliver; Mehmet, Moritz; Schwarze, Thomas S; Heinzel, Gerhard; Danzmann, Karsten

2016-01-01

Laser interferometric readout systems with 1pm/Hz precision over long time scales have successfully been developed for LISA and LISA Pathfinder. Future gravitational physics experiments, for example in the fields of gravitational wave detection and geodesy, will potentially require similar levels of displacement and tilt readouts of multiple test masses in multiple degrees of freedom. In this article we compare currently available classic interferometry schemes with new techniques using phase modulations and complex readout algorithms. Based on a simple example we show that the new techniques have great potential to simplify interferometric readouts. (paper)

Approximate Forward Difference Equations for the Lower Order Non-Stationary Statistics of Geometrically Non-Linear Systems subject to Random Excitation

DEFF Research Database (Denmark)

Köylüoglu, H. U.; Nielsen, Søren R. K.; Cakmak, A. S.

Geometrically non-linear multi-degree-of-freedom (MDOF) systems subject to random excitation are considered. New semi-analytical approximate forward difference equations for the lower order non-stationary statistical moments of the response are derived from the stochastic differential equations...... of motion, and, the accuracy of these equations is numerically investigated. For stationary excitations, the proposed method computes the stationary statistical moments of the response from the solution of non-linear algebraic equations....

Experimental studies of the effects of buffered particle dampers attached to a multi-degree-of-freedom system under dynamic loads

Science.gov (United States)

Lu, Zheng; Lu, Xilin; Lu, Wensheng; Masri, Sami F.

2012-04-01

This paper presents a systematic experimental investigation of the effects of buffered particle dampers attached to a multi-degree-of-freedom (mdof) system under different dynamic loads (free vibration, random excitation as well as real onsite earthquake excitations), and analytical/computational study of such a system. A series of shaking table tests of a three-storey steel frame with the buffered particle damper system are carried out to evaluate the performance and to verify the analysis method. It is shown that buffered particle dampers have good performance in reducing the response of structures under dynamic loads, especially under random excitation case. It can effectively control the fundamental mode of the mdof primary system; however, the control effect for higher modes is variable. It is also shown that, for a specific container geometry, a certain mass ratio leads to more efficient momentum transfer from the primary system to the particles with a better vibration attenuation effect, and that buffered particle dampers have better control effect than the conventional rigid ones. An analytical solution based on the discrete element method is also presented. Comparison between the experimental and computational results shows that reasonably accurate estimates of the response of a primary system can be obtained. Properly designed buffered particle dampers can effectively reduce the response of lightly damped mdof primary system with a small weight penalty, under different dynamic loads.

Meson degrees of freedom in nuclei

International Nuclear Information System (INIS)

Delorme, J.

1982-01-01

A review is presented of the successes and shortcomings of the theory of meson degrees of freedom in nuclei with special emphasis on recent progress and on the necessity to bridge the gap with the degrees of freedom of QCD theory. (orig.)

Integrable systems for particles with internal degrees of freedom

CERN Document Server

Minahan, J A; Minahan, Joseph A.; Polychronakos, Alexios P.

1993-01-01

We show that a class of models for particles with internal degrees of freedom are integrable. These systems are basically generalizations of the models of Calogero and Sutherland. The proofs of integrability are based on a recently developed exchange operator formalism. We calculate the wave-functions for the Calogero-like models and find the ground-state wave-function for a Calogero-like model in a position dependent magnetic field. This last model might have some relevance for matrix models of open strings.

Nonlinear oscillations

CERN Document Server

Nayfeh, Ali Hasan

1995-01-01

Nonlinear Oscillations is a self-contained and thorough treatment of the vigorous research that has occurred in nonlinear mechanics since 1970. The book begins with fundamental concepts and techniques of analysis and progresses through recent developments and provides an overview that abstracts and introduces main nonlinear phenomena. It treats systems having a single degree of freedom, introducing basic concepts and analytical methods, and extends concepts and methods to systems having degrees of freedom. Most of this material cannot be found in any other text. Nonlinear Oscillations uses sim

The True Gravitational Degrees Of Freedom

International Nuclear Information System (INIS)

Murchadha, N. o

2011-01-01

More than 50 years ago it was realized that General Relativity could be expressed in Hamiltonian form. Unfortunately, just like electromagnetism and Yang-Mills theory, the Einstein equations split into evolution equations and constraints which complicates matters. The 4 constraints are expressions of the gauge freedom of the theory, general covariance. One can cleanly pose initial data for the gravitational field, but this data has to satisfy the constraints. To find the independent degrees of freedom, one needs to factor the initial data by the constraints. There are many ways of doing this. I can do so in such a way as to implement the model suggested by Poincare for a well-posed dynamical system: Pick a configuration space and give the free initial data as a point of the configuration space and a tangent vector at the same point. Now, the evolution equations should give a unique curve in the same configuration space. This gives a natural definition of what I call the true gravitational degrees of freedom. (author)

Mesonic and isobar degrees of freedom in nuclei

International Nuclear Information System (INIS)

Muether, H.

1978-01-01

A study is made in 16 O of the effects of mesonic and isobar degrees of freedom. Taking these degrees of freedom explicitly into account causes a change of the bare nucleon-nucleon (NN) interaction going from the description of the two-nucleon system (NN-scattering, deuteron) to the many-body system of complex nuclei. Three main effects are discussed: First, the mesonic degrees of freedom, taken into account in a noncovariant perturbation theory, introduce and additional density dependence into the NN interaction. In a Brueckner-Hartree-Fock calculation for 16 O this leads to an improvement of the radius with a small change of the energy. Second, fourth-order iterative diagrams involving NΔ-and ΔΔ-intermediate states give less medium range attraction in complex nuclei than a NN-potential which is also fitted to the NN-data but does not treat these terms explicitly. Third, effective three-N forces, caused by excitation of isobars, give rise to a small amount of attraction only. For 16 O the additional binding energy is only about 0.5 MeV per particle. (author)

Nonlinear behavior: One degree of freedom

International Nuclear Information System (INIS)

Greene, J.M.

1987-01-01

There has been very considerable progress in the past few years on the theory of two conservative, coupled, nonlinear oscillators. This is a very general theory, and applies to many equivalent systems including approximate models of particle accelerators. A typical problem of this class has a solution that is so complicated that it is impossible to find an expression for the state of the system that is valid for all time. However, recent results are making it possible to determine the next most useful type of information. This is the asymptotic behavior of individual orbits in the limit of very long times. It is just the information that is desired in many situations. For example, it determines the stability of the motion. They key to our present understanding is renormalization. The present state of the art has been described in Robert MacKay's thesis, for which this is an advertisement

Classical analog for electronic degrees of freedom in nonadiabatic collision processes

International Nuclear Information System (INIS)

Meyer, H.; Miller, W.H.

1979-01-01

It is shown how a formally exact classical analog can be defined for a finite dimensional (in Hilbert space) quantum mechanical system. This approach is then used to obtain a classical model for the electronic degrees of freedom in a molecular collision system, and the combination of this with the usual classical description of the heavy particle (i.e., nuclear) motion provides a completely classical model for the electronic and heavy particle degrees of freedom. The resulting equations of motion are shown to be equivalent to describing the electronic degrees of freedom by the time-dependent Schroedinger equation, the time dependence arising from the classical motion of the nuclei, the trajectory of which is determined by the quantum mechanical average (i.e., Ehrenfest) force on the nuclei. Quantizing the system via classical S-matrix theory is shown to provide a dynamically consistent description of nonadiabatic collision processes; i.e., different electronic transitions have different heavy particle trajectories and, for example, the total energy of the electronic and heavy particle degrees of freedom is conserved. Application of this classical model for the electronic degrees of freedom (plus classical S-matrix theory) to the two-state model problem shows that the approach provides a good description of the electronic dynamics

On the orthogonalised reverse path method for nonlinear system identification

Science.gov (United States)

Muhamad, P.; Sims, N. D.; Worden, K.

2012-09-01

The problem of obtaining the underlying linear dynamic compliance matrix in the presence of nonlinearities in a general multi-degree-of-freedom (MDOF) system can be solved using the conditioned reverse path (CRP) method introduced by Richards and Singh (1998 Journal of Sound and Vibration, 213(4): pp. 673-708). The CRP method also provides a means of identifying the coefficients of any nonlinear terms which can be specified a priori in the candidate equations of motion. Although the CRP has proved extremely useful in the context of nonlinear system identification, it has a number of small issues associated with it. One of these issues is the fact that the nonlinear coefficients are actually returned in the form of spectra which need to be averaged over frequency in order to generate parameter estimates. The parameter spectra are typically polluted by artefacts from the identification of the underlying linear system which manifest themselves at the resonance and anti-resonance frequencies. A further problem is associated with the fact that the parameter estimates are extracted in a recursive fashion which leads to an accumulation of errors. The first minor objective of this paper is to suggest ways to alleviate these problems without major modification to the algorithm. The results are demonstrated on numerically-simulated responses from MDOF systems. In the second part of the paper, a more radical suggestion is made, to replace the conditioned spectral analysis (which is the basis of the CRP method) with an alternative time domain decorrelation method. The suggested approach - the orthogonalised reverse path (ORP) method - is illustrated here using data from simulated single-degree-of-freedom (SDOF) and MDOF systems.

Development of a compact, fiber-coupled, six degree-of-freedom measurement system for precision linear stage metrology

International Nuclear Information System (INIS)

Yu, Xiangzhi; Gillmer, Steven R.; Woody, Shane C.; Ellis, Jonathan D.

2016-01-01

A compact, fiber-coupled, six degree-of-freedom measurement system which enables fast, accurate calibration, and error mapping of precision linear stages is presented. The novel design has the advantages of simplicity, compactness, and relatively low cost. This proposed sensor can simultaneously measure displacement, two straightness errors, and changes in pitch, yaw, and roll using a single optical beam traveling between the measurement system and a small target. The optical configuration of the system and the working principle for all degrees-of-freedom are presented along with the influence and compensation of crosstalk motions in roll and straightness measurements. Several comparison experiments are conducted to investigate the feasibility and performance of the proposed system in each degree-of-freedom independently. Comparison experiments to a commercial interferometer demonstrate error standard deviations of 0.33 μm in straightness, 0.14 μrad in pitch, 0.44 μradin yaw, and 45.8 μrad in roll.

Development of a compact, fiber-coupled, six degree-of-freedom measurement system for precision linear stage metrology

Energy Technology Data Exchange (ETDEWEB)

Yu, Xiangzhi, E-mail: xiangzhi.yu@rochester.edu; Gillmer, Steven R. [Department of Mechanical Engineering, University of Rochester, Rochester, New York 14627 (United States); Woody, Shane C. [InSituTec Incorporated, 7140 Weddington Road, Concord, North Carolina 28027 (United States); Ellis, Jonathan D. [Department of Mechanical Engineering, University of Rochester, Rochester, New York 14627 (United States); The Institute of Optics, University of Rochester, Rochester, New York 14627 (United States)

2016-06-15

A compact, fiber-coupled, six degree-of-freedom measurement system which enables fast, accurate calibration, and error mapping of precision linear stages is presented. The novel design has the advantages of simplicity, compactness, and relatively low cost. This proposed sensor can simultaneously measure displacement, two straightness errors, and changes in pitch, yaw, and roll using a single optical beam traveling between the measurement system and a small target. The optical configuration of the system and the working principle for all degrees-of-freedom are presented along with the influence and compensation of crosstalk motions in roll and straightness measurements. Several comparison experiments are conducted to investigate the feasibility and performance of the proposed system in each degree-of-freedom independently. Comparison experiments to a commercial interferometer demonstrate error standard deviations of 0.33 μm in straightness, 0.14 μrad in pitch, 0.44 μradin yaw, and 45.8 μrad in roll.

Isobar degrees of freedom in nuclei

International Nuclear Information System (INIS)

Muether, H.

1979-01-01

A report is given on some recent investigations of the influence of isobar degrees of freedom on the ground state properties of finite nuclei like e.g. 16 O. The nucleon-nucleon (NN) interaction is constructed in the freamework of an extended one-boson-exchange (OBE) model using non-covariant, time-dependent perturbation theory. The explicit consideration of fourth-order iterative diagrams involving NΔ and ΔΔ intermediate states gives an effective NN interaction in the nuclear many-body system which is less attractive than those which are obtained treating these terms phenomenologically. Therefore the binding energy calculated in the Brueckner-Hartree-Fock approximation is smaller if these effects of isobar degrees of freedom are taken into account. This repulsive effect of isobar configurations is partly counterbalanced by the attraction obtained for three-nucleon terms with intermediate NNΔ states. (Auth.)

Lens positioner with five degrees of freedom

International Nuclear Information System (INIS)

Kobierecki, M.W.; Rienecker, F. Jr.

1978-01-01

A device for positioning lenses precisely with five degrees of freedom (three translations and two angular rotations). The unique features of the device are its compact design, large clear aperture, and high degree of positioning accuracy combined with five degrees of freedom in axis motion. Thus, the device provides precision and flexibility in positioning of optical components

Development of non-linear vibration analysis code for CANDU fuelling machine

International Nuclear Information System (INIS)

Murakami, Hajime; Hirai, Takeshi; Horikoshi, Kiyomi; Mizukoshi, Kaoru; Takenaka, Yasuo; Suzuki, Norio.

1988-01-01

This paper describes the development of a non-linear, dynamic analysis code for the CANDU 600 fuelling machine (F-M), which includes a number of non-linearities such as gap with or without Coulomb friction, special multi-linear spring connections, etc. The capabilities and features of the code and the mathematical treatment for the non-linearities are explained. The modeling and numerical methodology for the non-linearities employed in the code are verified experimentally. Finally, the simulation analyses for the full-scale F-M vibration testing are carried out, and the applicability of the code to such multi-degree of freedom systems as F-M is demonstrated. (author)

Floor response spectra for multi-degree-of-freedom systems by Fourier transform

International Nuclear Information System (INIS)

Scanlan, R.H.; Sachs, K.

1975-01-01

A method of generating floor response spectra from a given ground response spectrum is given. This time-saving approach makes use of Fourier spectrum techniques and the randomness of phase angles. In matrix form a structure having many degrees-of-freedom is described by the equation of motion with M, C, K as the mass-, damping-, and stiffness matrices and Z being the acceleration time history of the earthquake and I a direction vector. If the Fourier spectrum FZ of the ground motion is known, then by standard methods the Fourier spectrum of the equipment response can be obtained. The assumption of random phase angles for the synthetic time history Z seems reasonable. The response is then also a superposition of cosine waves. Good agreement with time history methods is obtained. This method is much faster than time history methods, which are being used in most applications

FEATURES OF THE MIXED SENSITIVITY H-OPTIMIZATION FOR THE TWO-DEGREE-OF-FREEDOM CONTROLLER

Directory of Open Access Journals (Sweden)

Olga Sushchenko

2012-09-01

Full Text Available  The paper is devoted to the actual issue of the robust two-degree-of-freedom controller design. The statement of the problem for the robust optimization of the two-degree-of-freedom controller by the method of mixed sensitivity is represented. The expression for the cost function of the mixed sensitivity method for the system with the two-degree-of-freedom controller, taking into consideration the influence of disturbances, is obtained. The components of the generalized system with the two-degree-of-freedom controller and principles of the weighting transfer functions introduction are defined. The transformation of the formulated problem to the - optimization which may be implemented by the MATLAB software is carried out.

Interference alignment for degrees of freedom improvement in 3-relay half-duplex systems

KAUST Repository

Park, Seongho

2011-12-01

In a half-duplex relaying, the capacity pre-log factor is a major drawback in spectral efficiency. This paper proposes a linear precoding scheme and an alternate relaying protocol in a dual-hop half-duplex system where three relays help the communication between the source and the destination. In our proposed scheme, we consider a phase incoherent method in relays in which the source alternately transmits message signals to the different relays. In addition, we propose a linear interference alignment scheme which can eliminate the inter-relay interference resulted from the phase incoherence of relaying. Based on our analysis of degrees of freedom and our simulation results, we show that our proposed scheme achieves additional degrees of freedom compared to the conventional half-duplex relaying. © 2011 IEEE.

Modeling, Simulation and Position Control of 3 Degree of Freedom Articulated Manipulator

Directory of Open Access Journals (Sweden)

Hossein Sadegh Lafmejani

2013-09-01

Full Text Available In this paper, the modeling, simulation and control of 3 degree of freedom articulated robotic manipulator have been studied. First, we extracted kinematics and dynamics equations of the mentioned manipulator by using the Lagrange method. In order to validate the analytical model of the manipulator we compared the model simulated in the simulation environment of Matlab with the model was simulated with the SimMechanics toolbox. A sample path has been designed for analyzing the tracking subject. The system has been linearized with feedback linearization and then a PID controller was applied to track a reference trajectory. Finally, the control results have been compared with a nonlinear PID controller.

Effect of isospin degree of freedom on transverse momentum spectra

International Nuclear Information System (INIS)

Kaur, Sukhjit; Swati

2013-01-01

We study the effect of isospin degree of freedom, incident energy as well as system mass on the behavior of transverse momentum spectra, dN/p t dp t , of neutrons and protons. We find that most of the nucleons suffer soft collisions. The effect of isospin degree of freedom on transverse spectra diminishes with the increase in the incident energy. In Fermi energy region, transverse momentum spectra of both protons and neutrons show sensitivity toward the density dependence of symmetry energy. (author)

Where are the black-hole entropy degrees of freedom?

International Nuclear Information System (INIS)

Das, Saurya; Shankaranarayanan, S

2007-01-01

Understanding the area proportionality of black-hole entropy (the 'area law') from an underlying fundamental theory has been one of the goals of all models of quantum gravity. A key question that one asks is: where are the degrees of freedom giving rise to black-hole entropy located? Taking the point of view that entanglement between field degrees of freedom inside and outside the horizon can be a source of this entropy, we show that when the field is in its ground state, the degrees of freedom near the horizon contribute most to the entropy, and the area law is obeyed. However, when it is in an excited state, degrees of freedom far from the horizon contribute more significantly, and deviations from the area law are observed. In other words, we demonstrate that horizon degrees of freedom are responsible for the area law

Distributed Cooperative Control of Nonlinear and Non-identical Multi-agent Systems

DEFF Research Database (Denmark)

Bidram, Ali; Lewis, Frank; Davoudi, Ali

2013-01-01

This paper exploits input-output feedback linearization technique to implement distributed cooperative control of multi-agent systems with nonlinear and non-identical dynamics. Feedback linearization transforms the synchronization problem for a nonlinear and heterogeneous multi-agent system...... for electric power microgrids. The effectiveness of the proposed control is verified by simulating a microgrid test system....

Nonlinear dynamics analysis of the spur gear system for railway locomotive

Science.gov (United States)

Wang, Junguo; He, Guangyue; Zhang, Jie; Zhao, Yongxiang; Yao, Yuan

2017-02-01

Considering the factors such as the nonlinearity backlash, static transmission error and time-varying meshing stiffness, a three-degree-of-freedom torsional vibration model of spur gear transmission system for a typical locomotive is developed, in which the wheel/rail adhesion torque is considered as uncertain but bounded parameter. Meantime, the Ishikawa method is used for analysis and calculation of the time-varying mesh stiffness of the gear pair in meshing process. With the help of bifurcation diagrams, phase plane diagrams, Poincaré maps, time domain response diagrams and amplitude-frequency spectrums, the effects of the pinion speed and stiffness on the dynamic behavior of gear transmission system for locomotive are investigated in detail by using the numerical integration method. Numerical examples reveal various types of nonlinear phenomena and dynamic evolution mechanism involving one-period responses, multi-periodic responses, bifurcation and chaotic responses. Some research results present useful information to dynamic design and vibration control of the gear transmission system for railway locomotive.

Multi-pulse chaotic motions of a rotor-active magnetic bearing system with time-varying stiffness

International Nuclear Information System (INIS)

Zhang, W.; Yao, M.H.; Zhan, X.P.

2006-01-01

In this paper, we investigate the Shilnikov type multi-pulse chaotic dynamics for a rotor-active magnetic bearings (AMB) system with 8-pole legs and the time-varying stiffness. The stiffness in the AMB is considered as the time-varying in a periodic form. The dimensionless equation of motion for the rotor-AMB system with the time-varying stiffness in the horizontal and vertical directions is a two-degree-of-freedom nonlinear system with quadratic and cubic nonlinearities and parametric excitation. The asymptotic perturbation method is used to obtain the averaged equations in the case of primary parametric resonance and 1/2 subharmonic resonance. It is found from the numerical results that there are the phenomena of the Shilnikov type multi-pulse chaotic motions for the rotor-AMB system. A new jumping phenomenon is discovered in the rotor-AMB system with the time-varying stiffness

Passive impedance-based second-order sliding mode control for non-linear teleoperators

Directory of Open Access Journals (Sweden)

Luis G García-Valdovinos

2017-02-01

Full Text Available Bilateral teleoperation systems have attracted significant attention in the last decade mainly because of technological advancements in both the communication channel and computers performance. In addition, non-linear multi-degree-of-freedom bilateral teleoperators along with state observers have become an open research area. In this article, a model-free exact differentiator is used to estimate the full state along with a chattering-free second-order sliding mode controller to guarantee a robust impedance tracking under both constant and an unknown time delay of non-linear multi-degree-of-freedom robots. The robustness of the proposed controller is improved by introducing a change of coordinates in terms of a new nominal reference similar to that used in adaptive control theory. Experimental results that validate the predicted behaviour are presented and discussed using a Phantom Premium 1.0 as the master robot and a Catalyst-5 virtual model as the slave robot. The dynamics of the Catalyst-5 system is solved online.

Principle Research on a Single Mass Piezoelectric Six-Degrees-of-Freedom Accelerometer

Directory of Open Access Journals (Sweden)

Jingcheng Liu

2013-08-01

Full Text Available A signal mass piezoelectric six-degrees-of-freedom (six-DOF accelerometer is put forward in response to the need for health monitoring of the dynamic vibration characteristics of high grade digitally controlled machine tools. The operating principle of the piezoelectric six-degrees-of-freedom accelerometer is analyzed, and its structure model is constructed. The numerical simulation model (finite element model of the six axis accelerometer is established. Piezoelectric quartz is chosen for the acceleration sensing element and conversion element, and its static sensitivity, static coupling interference and dynamic natural frequency, dynamic cross coupling are analyzed by ANSYS software. Research results show that the piezoelectric six-DOF accelerometer has advantages of simple and rational structure, correct sensing principle and mathematic model, good linearity, high rigidity, and theoretical natural frequency is more than 25 kHz, no nonlinear cross coupling and no complex decoupling work.

PID position regulation in one-degree-of-freedom Euler-Lagrange systems actuated by a PMSM

Science.gov (United States)

Verastegui-Galván, J.; Hernández-Guzmán, V. M.; Orrante-Sakanassi, J.

2018-02-01

This paper is concerned with position regulation in one-degree-of-freedom Euler-Lagrange Systems. We consider that the mechanical subsystem is actuated by a permanent magnet synchronous motor (PMSM). Our proposal consists of a Proportional-Integral-Derivative (PID) controller for the mechanical subsystem and a slight variation of field oriented control for the PMSM. We take into account the motor electric dynamics during the stability analysis. We present, for the first time, a global asymptotic stability proof for such a control scheme without requiring the mechanical subsystem to naturally possess viscous friction. Finally, as a corollary of our main result we prove global asymptotic stability for output feedback PID regulation of one-degree-of-freedom Euler-Lagrange systems when generated torque is considered as the system input, i.e. when the electric dynamics of PMSM's is not taken into account.

Multi-degree of freedom joystick for virtual reality simulation.

Science.gov (United States)

Head, M J; Nelson, C A; Siu, K C

2013-11-01

A modular control interface and simulated virtual reality environment were designed and created in order to determine how the kinematic architecture of a control interface affects minimally invasive surgery training. A user is able to selectively determine the kinematic configuration of an input device (number, type and location of degrees of freedom) for a specific surgical simulation through the use of modular joints and constraint components. Furthermore, passive locking was designed and implemented through the use of inflated latex tubing around rotational joints in order to allow a user to step away from a simulation without unwanted tool motion. It is believed that these features will facilitate improved simulation of a variety of surgical procedures and, thus, improve surgical skills training.

Development of a multi-body nonlinear model for a seat-occupant system

Science.gov (United States)

Azizi, Yousof

of freedom foam-mass model which is also the simplest model of seat-occupant systems. The steady-state response of the system when it is subjected to harmonic base excitation was studied using the incremental harmonic balance method. The incremental harmonic balance method was used to reduce the time required to generate the steady-state response of the system. The incremental harmonic balance method was used to reduce the time required to generate the steady-state response of the system. Experiments are conducted on a single-degree of freedom foam-mass system subjected to harmonic base excitation. Initially, the simulated response predictions were found to deviate from the experimental results. The foam-mass model was then modified to incorporate rate dependency of foam parameters resulting in response predictions that were in good agreement with experimental results. In the second part of this research, the dynamic response of a seat-occupant system was examined through a more realistic planar multi-body seat-occupant model. A constraint Lagrangian formulation was used to derive the governing equations for the seat-occupant model. First, the governing equations were solved numerically to obtain the occupant transient response, the occupant's H-Point location and the interfacial pressure distribution. Variations in the H-Point location and the seat-occupant pressure distribution with changes in the seat-occupant parameters, including the seat geometry and the occupant's characteristics, were studied. The estimated pressure was also investigated experimentally and was found to match with the results obtained using the seat-occupant model. Next, the incremental harmonic balance method was modified and used to obtain the occupant's steady-state response when the seat-occupant system was subjected to harmonic base excitation at different frequencies. The system frequency response and mode shapes at different frequencies were also obtained and compared to the previously

A comparative analysis of modal motions for the gyroscopic and non-gyroscopic two degree-of-freedom conservative systems

Science.gov (United States)

Yang, Xiao-Dong; An, Hua-Zhen; Qian, Ying-Jing; Zhang, Wei; Melnik, Roderick V. N.

2016-12-01

The synchronous in-unison motions in vibrational mechanics and the non-synchronous out-of-unison motions are the most frequently found periodic motions in every fields of science and everywhere in the universe. In contrast to the in-unison normal modes, the out-of-unison complex modes feature a π/2 phase difference. By the complex mode analysis we classify the out-of-unison planar motion into two types, gyroscopic motions and elliptic motions. It is found that the gyroscopic and elliptic motions have different characteristics for a two degree-of-freedom (2DOF) system. The gyroscopic motion involves two distinct frequencies with, respectively, two corresponding complex modes. However, the elliptic motion the nonlinear non-gyroscopic 2DOF system with repeated frequencies involves only single frequency with corresponding two complex modes. The study of the differences and similarities of the gyroscopic and elliptic modes sheds new light on the in-depth mechanism of the planar motions in the universe and the man-made engineering systems.

Decoupling of the reparametrization degree of freedom and a generalized probability in quantum cosmology

Science.gov (United States)

Dimakis, N.; Terzis, Petros A.; Zampeli, Adamantia; Christodoulakis, T.

2016-09-01

The high degree of symmetry renders the dynamics of cosmological as well as some black hole spacetimes describable by a system of finite degrees of freedom. These systems are generally known as minisuperspace models. One of their important key features is the invariance of the corresponding reduced actions under reparametrizations of the independent variable, a fact that can be seen as the remnant of the general covariance of the full theory. In the case of a system of n degrees of freedom, described by a Lagrangian quadratic in velocities, one can use the lapse by either gauge fixing it or letting it be defined by the constraint and subsequently substitute into the rest of the equations. In the first case, the system of the second-order equations of motion is solvable for all n accelerations and the constraint becomes a restriction among constants of integration. In the second case, the system can be solved for only n -1 accelerations and the "gauge" freedom is transferred to the choice of one of the scalar degrees of freedom. In this paper, we take the second path and express all n -1 scalar degrees of freedom in terms of the remaining one, say q . By considering these n -1 degrees of freedom as arbitrary but given functions of q , we manage to extract a two-dimensional pure gauge system consisting of the lapse N and the arbitrary q : in a way, we decouple the reparametrization invariance from the rest of the equations of motion, which are thus describing the "true" dynamics. The solution of the corresponding quantum two-dimensional system is used for the definition of a generalized probability for every configuration fi(q ), be it classical or not. The main result is that, interestingly enough, this probability attains its extrema on the classical solution of the initial n -dimensional system.

Semiclassical spectral quantization: Application to two and four coupled molecular degrees of freedom

International Nuclear Information System (INIS)

De Leon, N.; Heller, E.J.

1984-01-01

Semiclassical quantization of the quasiperiodic vibrational motion of molecules is usually based on Einstein--Brillouin--Keller (EBK) conditions for the quantization of the classical actions. Explicit use of the EBK conditions for molecular systems of K degrees of freedom requires K quantization conditions. Therefore, explicit use of the EBK conditions becomes increasingly difficult if not impossible for polyatomic systems of three or more degrees of freedom. In this paper we propose a semiclassical quantization method which makes explicit use of phase coherence of the de Broglie wave associated with the trajectory rather than the EBK conditions. We show that taking advantage of phase coherence reduces the K quantization conditions to a single quantum condition: regardless of the number of degrees of freedom. For reasons that will become obvious we call this method ''spectral quantization.'' Polyatomic vibrational wave functions and energy eigenvalues are generated from quasiperiodic classical trajectories. The spectral method is applied to an ABA linear triatomic molecule with two degrees of freedom and to an anharmonic model of the molecule cyanoacetylene. The usefulness of the technique is demonstrated in this latter calculation since the cyanoacetylene model will have four coupled vibrational degrees of freedom

A comparison of high and low degree of freedom alignment techniques in functional PET brain activation experiments)

International Nuclear Information System (INIS)

Sonkkila, C.P.; Egan, G.F.; Watson, J.D.G.; Wenderoth, P.

1998-01-01

Full text: Cognitive activation studies in PET commonly utilise intersubject alignment as a preprocessing stage before images are compared. The accepted technique included in statistical parametric mapping (SPM) an analysis package developed by Friston et al, uses a 12 'degree of freedom' (d.o.f.) affine transformation, while a more complicated non-linear approach has recently been developed by Woods et al, but it necessitates the use of higher resolution magnetic resonance images to give sufficient information to use the high degree of freedom nonlinear alignment. This study seeks to show the differences between using the low degree of freedom alignment approach in SPM compared to that of Woods. As an example, a group of 8 normal subjects are asked to perform a complex visual paradigm during a series of PET scans designed to be sensitive to changes in blood flow. Structural MR images are also acquired for each subject. The resulting scans are then analysed with two methods: One where all images are aligned using SPM and the PET images. The second method utilises Woods' algorithm (a 5th order polynomial fit with 168 d.o.f.) and the MR images. SPM is then used to assess regions of significant change in blood flow across the group for both methods, and the results compared. When using the PET images for alignment purposes, the maximal probability for rejecting the null hypothesis of no change in regional blood flow was p = 0.471 (Talairach atlas coordinate 10 -74 -8) while utilising the MR images gives p = 0.913 for the same region. Note that to reach higher statistical significance ( eg p > 0.95 ) more subjects would be included in the study. It was concluded that there is considerable evidence to show that using MR images and Woods' nonlinear alignment gives higher statistical power than using PET images only and a low degree of freedom alignment method for resolving changes in regional blood flow in cognitive activation experiments

Nonparametric identification of nonlinear dynamic systems using a synchronisation-based method

Science.gov (United States)

Kenderi, Gábor; Fidlin, Alexander

2014-12-01

The present study proposes an identification method for highly nonlinear mechanical systems that does not require a priori knowledge of the underlying nonlinearities to reconstruct arbitrary restoring force surfaces between degrees of freedom. This approach is based on the master-slave synchronisation between a dynamic model of the system as the slave and the real system as the master using measurements of the latter. As the model synchronises to the measurements, it becomes an observer of the real system. The optimal observer algorithm in a least-squares sense is given by the Kalman filter. Using the well-known state augmentation technique, the Kalman filter can be turned into a dual state and parameter estimator to identify parameters of a priori characterised nonlinearities. The paper proposes an extension of this technique towards nonparametric identification. A general system model is introduced by describing the restoring forces as bilateral spring-dampers with time-variant coefficients, which are estimated as augmented states. The estimation procedure is followed by an a posteriori statistical analysis to reconstruct noise-free restoring force characteristics using the estimated states and their estimated variances. Observability is provided using only one measured mechanical quantity per degree of freedom, which makes this approach less demanding in the number of necessary measurement signals compared with truly nonparametric solutions, which typically require displacement, velocity and acceleration signals. Additionally, due to the statistical rigour of the procedure, it successfully addresses signals corrupted by significant measurement noise. In the present paper, the method is described in detail, which is followed by numerical examples of one degree of freedom (1DoF) and 2DoF mechanical systems with strong nonlinearities of vibro-impact type to demonstrate the effectiveness of the proposed technique.

Phase Portraits of the Autonomous Duffing Single-Degree-of-Freedom Oscillator with Coulomb Dry Friction

Directory of Open Access Journals (Sweden)

Nikola Jakšić

2014-01-01

Full Text Available The paper presents phase portraits of the autonomous Duffing single-degree-of-freedom system with Coulomb dry friction in its δ-γ-ε parameter space. The considered nonlinearities of the cubic stiffness (ε and Coulomb dry friction (γ are widely used throughout the literature. It has been shown that there can be more than one sticking region in the phase plane. It has also been shown that an equilibrium point occurs at the critical combinations of values of the parameters γ and ε which gives rise to zero eigenvalue of the linearised system. The unstable limit cycle may appear in the case of negative viscous damping (δ; δ<0.

PRESS-based EFOR algorithm for the dynamic parametrical modeling of nonlinear MDOF systems

Science.gov (United States)

Liu, Haopeng; Zhu, Yunpeng; Luo, Zhong; Han, Qingkai

2017-09-01

In response to the identification problem concerning multi-degree of freedom (MDOF) nonlinear systems, this study presents the extended forward orthogonal regression (EFOR) based on predicted residual sums of squares (PRESS) to construct a nonlinear dynamic parametrical model. The proposed parametrical model is based on the non-linear autoregressive with exogenous inputs (NARX) model and aims to explicitly reveal the physical design parameters of the system. The PRESS-based EFOR algorithm is proposed to identify such a model for MDOF systems. By using the algorithm, we built a common-structured model based on the fundamental concept of evaluating its generalization capability through cross-validation. The resulting model aims to prevent over-fitting with poor generalization performance caused by the average error reduction ratio (AERR)-based EFOR algorithm. Then, a functional relationship is established between the coefficients of the terms and the design parameters of the unified model. Moreover, a 5-DOF nonlinear system is taken as a case to illustrate the modeling of the proposed algorithm. Finally, a dynamic parametrical model of a cantilever beam is constructed from experimental data. Results indicate that the dynamic parametrical model of nonlinear systems, which depends on the PRESS-based EFOR, can accurately predict the output response, thus providing a theoretical basis for the optimal design of modeling methods for MDOF nonlinear systems.

On Effective Degrees of Freedom in the Early Universe

Directory of Open Access Journals (Sweden)

Lars Husdal

2016-12-01

Full Text Available We explore the effective degrees of freedom in the early Universe, from before the electroweak scale at a few femtoseconds after the Big Bang until the last positrons disappeared a few minutes later. We look at the established concepts of effective degrees of freedom for energy density, pressure, and entropy density, and introduce effective degrees of freedom for number density as well. We discuss what happens with particle species as their temperature cools down from relativistic to semi- and non-relativistic temperatures, and then annihilates completely. This will affect the pressure and the entropy per particle. We also look at the transition from a quark-gluon plasma to a hadron gas. Using a list a known hadrons, we use a “cross-over” temperature of 214 MeV, where the effective degrees of freedom for a quark-gluon plasma equals that of a hadron gas.

g-boson degree of freedom in vibrational regions

International Nuclear Information System (INIS)

Di Yaomin

1991-01-01

The g-boson degree of freedom in the vibrational regions is discussed in term of the energies and the electromagnetic transitions. Several closed expressions for the rates of M1, E2 transitions and the E2, M1 mixing ratios are obtained. Some survey is made and it reveals it is meaningful to investigate the g-boson degree of freedom in those regions

Six-degree-of-freedom active vibration isolation using a Stewart platform mechanism

Science.gov (United States)

Geng, Zheng; Haynes, Leonard S.

1993-01-01

The design and control problems of a class of multidegree-of-freedom vibration isolation systems (VISs) based on a Stewart platform mechanism are studied. A prototype of a six-degree-of-freedom VIS for precision control of a wide range of space-based structures implemented in Intelligent Automation, Inc. is described. The feasibility of using a Stewart platform to achieve 6-degree-of-freedom vibration control in space applications is shown. A new Terfenol-D actuator characterized by significantly longer stroke than any commercially available Terfenol-D actuator and direct flux and strain sensors integral to the actuator is described.

Quantization of a Hamiltonian system with an infinite number of degrees of freedom

International Nuclear Information System (INIS)

Zhidkov, P.E.

1994-01-01

We propose a method of quantization of a discrete Hamiltonian system with an infinite number of degrees of freedom. Our approach is analogous to the usual finite-dimensional quantum mechanics. We construct an infinite-dimensional Schroedinger equation. We show that it is possible to pass from the finite-dimensional quantum mechanics to our construction in the limit when the number of particles tends to infinity. In the paper rigorous mathematical methods are used. 9 refs. (author)

External Periodic Force Control of a Single-Degree-of-Freedom Vibroimpact System

Directory of Open Access Journals (Sweden)

Jingyue Wang

2013-01-01

Full Text Available A single-degree-of-freedom mechanical model of vibro-impact system is established. Bifurcation and chaos in the system are revealed with the time history diagram, phase trajectory map, and Poincaré map. According to the bifurcation and chaos of the actual vibro-impact system, the paper puts forward external periodic force control strategy. The method of controlling chaos by external periodic force feedback controller is developed to guide chaotic motions towards regular motions. The stability of the control system is also analyzed especially by theory. By selecting appropriate feedback coefficients, the unstable periodic orbits of the original chaotic orbit can be stabilized to the stable periodic orbits. The effectiveness of this control method is verified by numerical simulation.

Brownian dynamics of self-regulated particles with additional degrees of freedom: Symmetry breaking and homochirality

Science.gov (United States)

Bhattacharyya, Debankur; Paul, Shibashis; Ghosh, Shyamolina; Ray, Deb Shankar

2018-04-01

We consider the Brownian motion of a collection of particles each with an additional degree of freedom. The degree of freedom of a particle (or, in general, a molecule) can assume distinct values corresponding to certain states or conformations. The time evolution of the additional degree of freedom of a particle is guided by those of its neighbors as well as the temperature of the system. We show that the local averaging over these degrees of freedom results in emergence of a collective order in the dynamics in the form of selection or dominance of one of the isomers leading to a symmetry-broken state. Our statistical model captures the basic features of homochirality, e.g., autocatalysis and chiral inhibition.

Einstein equations and Fermion degrees of freedom

International Nuclear Information System (INIS)

Luetz, E.F.; Vasconcellos, C.A.Z.

2001-01-01

When Dirac derived the special relativistic quantum equation which brings his name, it became evident that the spin is a consequence of the space-time geometry. However, taking gravity into account (as for, instance, in the study of neutron stars), most authors do not take into account the relation between hyperbolic geometry and spin and derive an Einstein equation which implicitly takes into account only boson degrees of freedom. In this work we introduce a consistent quantum general relativistic formalism which allows us to study the effects of the existence of fermion degrees of freedom. (author)

Einstein equations and Fermion degrees of freedom

Energy Technology Data Exchange (ETDEWEB)

Luetz, E.F.; Vasconcellos, C.A.Z. [Rio Grande do Sul Univ., Porto Alegre, RS (Brazil). Inst. de Fisica

2001-07-01

When Dirac derived the special relativistic quantum equation which brings his name, it became evident that the spin is a consequence of the space-time geometry. However, taking gravity into account (as for, instance, in the study of neutron stars), most authors do not take into account the relation between hyperbolic geometry and spin and derive an Einstein equation which implicitly takes into account only boson degrees of freedom. In this work we introduce a consistent quantum general relativistic formalism which allows us to study the effects of the existence of fermion degrees of freedom. (author)

Deformed GOE for systems with a few degrees of freedom in the chaotic regime

International Nuclear Information System (INIS)

Hussein, M.S.; Pato, M.P.

1990-01-01

New distribution laws for the energy level spacings and the eigenvector amplitudes, appropriate for systems with a few degrees of freedom in the chaotic regime, are derived by conveniently deforming the GOE. The cases of 2X2 and 3X3 matrices are fully worked out. Suggestions concerning the general case of matrices with large dimensions are made. (author)

Deformed GOE for systems with a few degrees of freedom in the chaotic regime

International Nuclear Information System (INIS)

Hussein, M.S.; Pato, M.P.

1990-03-01

New distribution laws for the energy level spacings and the eigenvector amplitudes, approapriate for systems with a few degrees of freedom in the chaotic regime, are derived by conveniently deforming the GOE. The cases of 2x2 and 3x3 matrices are fully worked out. Suggestions concerning the general case of matrices with large dimensions are made. (author) [pt

Sensor fusion and computer vision for context-aware control of a multi degree-of-freedom prosthesis.

Science.gov (United States)

Markovic, Marko; Dosen, Strahinja; Popovic, Dejan; Graimann, Bernhard; Farina, Dario

2015-12-01

Myoelectric activity volitionally generated by the user is often used for controlling hand prostheses in order to replicate the synergistic actions of muscles in healthy humans during grasping. Muscle synergies in healthy humans are based on the integration of visual perception, heuristics and proprioception. Here, we demonstrate how sensor fusion that combines artificial vision and proprioceptive information with the high-level processing characteristics of biological systems can be effectively used in transradial prosthesis control. We developed a novel context- and user-aware prosthesis (CASP) controller integrating computer vision and inertial sensing with myoelectric activity in order to achieve semi-autonomous and reactive control of a prosthetic hand. The presented method semi-automatically provides simultaneous and proportional control of multiple degrees-of-freedom (DOFs), thus decreasing overall physical effort while retaining full user control. The system was compared against the major commercial state-of-the art myoelectric control system in ten able-bodied and one amputee subject. All subjects used transradial prosthesis with an active wrist to grasp objects typically associated with activities of daily living. The CASP significantly outperformed the myoelectric interface when controlling all of the prosthesis DOF. However, when tested with less complex prosthetic system (smaller number of DOF), the CASP was slower but resulted with reaching motions that contained less compensatory movements. Another important finding is that the CASP system required minimal user adaptation and training. The CASP constitutes a substantial improvement for the control of multi-DOF prostheses. The application of the CASP will have a significant impact when translated to real-life scenarious, particularly with respect to improving the usability and acceptance of highly complex systems (e.g., full prosthetic arms) by amputees.

Statistical analysis of two-degree of freedom systems to time history inputs with different durations

International Nuclear Information System (INIS)

Lin, C.W.; Li, D.L.

1987-01-01

A statistical study is conducted to determine the effect of input time history duration on the response of systems supported by the structure. The model used in the study is a one-degree-of-freedom system mass supported by another one degree of freedom structure mass. The input used is generated from a Monte-Carlo simulation procedure with a prescribed power spectrum density such that the input response spectrum matched the Reg. Guide 1.60 response spectrum. The models were analyzed for different combinations of mass ratios and frequency ratios (ratios of the system versus the supporting structure). Time history inputs used vary from 5 to 20 seconds. Only the 20 second time history matched the Reg. Guide 1.60 response spectrum. Time history inputs shorter than 20 seconds were simply truncated at the tail end. The results of the study indicate that it is necessary to increase the response magnitude by about 20% if a 5-second time history is to be used. For a 10-second input, an increase of 10% will suffice. Whereas for a 15-second input, no adjustment is necessary. (orig./HP)

Alternation of regular and chaotic dynamics in a simple two-degree-of-freedom system with nonlinear inertial coupling.

Science.gov (United States)

Sigalov, G; Gendelman, O V; AL-Shudeifat, M A; Manevitch, L I; Vakakis, A F; Bergman, L A

2012-03-01

We show that nonlinear inertial coupling between a linear oscillator and an eccentric rotator can lead to very interesting interchanges between regular and chaotic dynamical behavior. Indeed, we show that this model demonstrates rather unusual behavior from the viewpoint of nonlinear dynamics. Specifically, at a discrete set of values of the total energy, the Hamiltonian system exhibits non-conventional nonlinear normal modes, whose shape is determined by phase locking of rotatory and oscillatory motions of the rotator at integer ratios of characteristic frequencies. Considering the weakly damped system, resonance capture of the dynamics into the vicinity of these modes brings about regular motion of the system. For energy levels far from these discrete values, the motion of the system is chaotic. Thus, the succession of resonance captures and escapes by a discrete set of the normal modes causes a sequence of transitions between regular and chaotic behavior, provided that the damping is sufficiently small. We begin from the Hamiltonian system and present a series of Poincaré sections manifesting the complex structure of the phase space of the considered system with inertial nonlinear coupling. Then an approximate analytical description is presented for the non-conventional nonlinear normal modes. We confirm the analytical results by numerical simulation and demonstrate the alternate transitions between regular and chaotic dynamics mentioned above. The origin of the chaotic behavior is also discussed.

The physical gravitational degrees of freedom

International Nuclear Information System (INIS)

Anderson, E; Barbour, J; Foster, B Z; Kelleher, B; Murchadha, N O

2005-01-01

When constructing general relativity (GR), Einstein required 4D general covariance. In contrast, we derive GR (in the compact, without boundary case) as a theory of evolving three-dimensional conformal Riemannian geometries obtained by imposing two general principles: (1) time is derived from change; (2) motion and size are relative. We write down an explicit action based on them. We obtain not only GR in the CMC gauge, in its Hamiltonian 3 + 1 reformulation, but also all the equations used in York's conformal technique for solving the initial-value problem. This shows that the independent gravitational degrees of freedom obtained by York do not arise from a gauge fixing but from hitherto unrecognized fundamental symmetry principles. They can therefore be identified as the long-sought Hamiltonian physical gravitational degrees of freedom

Competing degrees of freedom in nuclear structure theory. Final Report for 1999-2002

International Nuclear Information System (INIS)

Johnson, Calvin W.

2003-01-01

The central focus of this research was the interplay between three generic classes of degrees of freedom relevant to nuclear structure theory: single-particle degrees of freedom, collective degrees of freedom, and statistical degrees of freedom, which can be thought of as an incoherent mean field or a thermal bath

Monocular-Based 6-Degree of Freedom Pose Estimation Technology for Robotic Intelligent Grasping Systems

Directory of Open Access Journals (Sweden)

Tao Liu

2017-02-01

Full Text Available Industrial robots are expected to undertake ever more advanced tasks in the modern manufacturing industry, such as intelligent grasping, in which robots should be capable of recognizing the position and orientation of a part before grasping it. In this paper, a monocular-based 6-degree of freedom (DOF pose estimation technology to enable robots to grasp large-size parts at informal poses is proposed. A camera was mounted on the robot end-flange and oriented to measure several featured points on the part before the robot moved to grasp it. In order to estimate the part pose, a nonlinear optimization model based on the camera object space collinearity error in different poses is established, and the initial iteration value is estimated with the differential transformation. Measuring poses of the camera are optimized based on uncertainty analysis. Also, the principle of the robotic intelligent grasping system was developed, with which the robot could adjust its pose to grasp the part. In experimental tests, the part poses estimated with the method described in this paper were compared with those produced by a laser tracker, and results show the RMS angle and position error are about 0.0228° and 0.4603 mm. Robotic intelligent grasping tests were also successfully performed in the experiments.

The momentum degree of freedom of elementary particles and the gravitation

International Nuclear Information System (INIS)

Tati, Takao.

1978-01-01

A universal time-like vector has been introduced into the momentum space of elementary particles, in a quantum field theory with a finite degree of freedom, in order to specify the Lorentz-system in which the cutoff function of momentum is given. In this paper, the relationship between quantum field theory and general relativity is considered and it is argued that, when the effect of gravitation on the momentum degree of freedom is taken into account, the universal time-like vector depends on the position of macroscopic space-time and can be considered, in a cosmological model, to coincide, on an average, with the Weyl's cosmic time. (auth.)

Hadronic degrees of freedom in relativistic heavy-ion collisions

International Nuclear Information System (INIS)

Otsuka, Naohiko

2001-01-01

Relativistic heavy-ion collisions at AGS energies are studied by using an new developed hadronic cascade model, HANDEL which includes a few hadronic degrees of freedom. The spectra of hadron-hadron, hadron-nucleus and nucleus-nucleus reactions at AGS energies are well reproduced by HANDEL. It is confirmed that the infinite matter described by HANDEL has particle fractions which are expected from grand canonical ensemble. When we compare the thermal evolution of Au+Au collision from HANDEL with the result from JAM which has larger hadronic degree of freedoms, we find both models give similar evolution of temperature, against naive expectation. We argue that this results can be interpretated if the particles in formation time works as the additional effective hadronic degrees of freedom. (author)

Biomechanical comparison of force levels in spinal instrumentation using monoaxial versus multi degree of freedom postloading pedicle screws.

Science.gov (United States)

Wang, Xiaoyu; Aubin, Carl-Eric; Crandall, Dennis; Labelle, Hubert

2011-01-15

biomechanical analysis and simulations of correction mechanisms and force levels during scoliosis instrumentation using two types of pedicle screws and primary correction maneuvers. to biomechanically analyze implant-vertebra and inter-vertebral forces during scoliosis correction, to address the hypothesis that multi degree of freedom (MDOF) postloading screws with a direct incremental segmental translation (DIST) correction technique significantly reduce the loads as compared with monoaxial (MA) tulip-top design screws with a rod derotation technique (RDT). MA screw is widely used for spinal instrumentation. The MDOF screw was introduced as a refinement of the correction philosophy based on multiaxial screws. The kinematics of the MDOF construct is fundamentally different and offers more degrees of freedom than that of the MA construct; however, a systematic comparison of their biomechanics has not been done so far. a biomechanical model was developed to simulate the instrumentation of six scoliotic patients, first with the MDOF screws and DIST. Then, the instrumentation with MA screws and RDT was simulated using the same cases. Thirty more simulations were done to study the force-level sensitivity to small implant placement variation. there was a small average difference of 7°, 5°, and 4° between the two simulated systems for the computed main thoracic Cobb angle, kyphosis, and apical axial rotation, respectively. On average, the mean, standard deviation (SD), and maximum values of the implant-vertebra forces for MDOF screws were 56%, 59%, and 59%, respectively, lower than those for the MA screws, while the intervertebral forces for the MDOF screws were 31%, 37%, and 36% lower, respectively. Under the same set of random small implant placement changes, the mean, SD, and maximum values of implant-vertebra force magnitude changes for MDOF screws were 93%, 92%, and 95%, respectively, lower than those for MA screws. with MDOF screws and DIST, it is possible for

Resonant x-ray scattering in manganites: study of the orbital degree of freedom

International Nuclear Information System (INIS)

Ishihara, Sumio; Maekawa, Sadamichi

2002-01-01

The orbital degree of freedom of electrons and its interplay with spin, charge and lattice degrees of freedom are some of the central issues in colossal magnetoresistive manganites. The orbital degree of freedom has until recently remained hidden, since it does not couple directly to most experimental probes. Development of synchrotron light sources has changed the situation; by the resonant x-ray scattering (RXS) technique the orbital ordering has successfully been observed. In this article, we review progress in the recent studies of RXS in manganites. We start with a detailed review of the RXS experiments applied to the orbital-ordered manganites and other correlated electron systems. We derive the scattering cross section of RXS, where the tensor character of the atomic scattering factor (ASF) with respect to the x-ray polarization is stressed. Microscopic mechanisms of the anisotropic tensor character of the ASF are introduced and numerical results of the ASF and the scattering intensity are presented. The azimuthal angle scan is a unique experimental method to identify RXS from the orbital degree of freedom. A theory of the azimuthal angle and polarization dependence of the RXS intensity is presented. The theoretical results show good agreement with the experiments in manganites. Apart from the microscopic description of the ASF, a theoretical framework of RXS to relate directly to the 3d orbital is presented. The scattering cross section is represented by the correlation function of the pseudo-spin operator for the orbital degree of freedom. A theory is extended to the resonant inelastic x-ray scattering and methods to observe excitations of the orbital degree of freedom are proposed. (author)

Sensor fusion and computer vision for context-aware control of a multi degree-of-freedom prosthesis

Science.gov (United States)

Markovic, Marko; Dosen, Strahinja; Popovic, Dejan; Graimann, Bernhard; Farina, Dario

2015-12-01

Objective. Myoelectric activity volitionally generated by the user is often used for controlling hand prostheses in order to replicate the synergistic actions of muscles in healthy humans during grasping. Muscle synergies in healthy humans are based on the integration of visual perception, heuristics and proprioception. Here, we demonstrate how sensor fusion that combines artificial vision and proprioceptive information with the high-level processing characteristics of biological systems can be effectively used in transradial prosthesis control. Approach. We developed a novel context- and user-aware prosthesis (CASP) controller integrating computer vision and inertial sensing with myoelectric activity in order to achieve semi-autonomous and reactive control of a prosthetic hand. The presented method semi-automatically provides simultaneous and proportional control of multiple degrees-of-freedom (DOFs), thus decreasing overall physical effort while retaining full user control. The system was compared against the major commercial state-of-the art myoelectric control system in ten able-bodied and one amputee subject. All subjects used transradial prosthesis with an active wrist to grasp objects typically associated with activities of daily living. Main results. The CASP significantly outperformed the myoelectric interface when controlling all of the prosthesis DOF. However, when tested with less complex prosthetic system (smaller number of DOF), the CASP was slower but resulted with reaching motions that contained less compensatory movements. Another important finding is that the CASP system required minimal user adaptation and training. Significance. The CASP constitutes a substantial improvement for the control of multi-DOF prostheses. The application of the CASP will have a significant impact when translated to real-life scenarious, particularly with respect to improving the usability and acceptance of highly complex systems (e.g., full prosthetic arms) by amputees.

Effective hadron degrees of freedom in nuclei

International Nuclear Information System (INIS)

Mulders, P.J.

1988-01-01

This paper discusses several topics. The first one is the importance of a consistent treatment of extended nucleons and the subsequent requirement of accounting for quark antisymmetrization. It will probably be possible to account for these effects through quark exchange currents in much of the same way as meson exchange currents at lower values of Q 2 . In order to obtain more definite answers on intrinsic properties of nucleons and other hadronic degrees of freedom in nuclei it is important to establish to which extent hadronic degrees of freedom behaving like quasi-free nuclear constituents can be used to describe the nuclear response in inclusive and semi-inclusive electron scattering at intermediate energies

Development of a dexterous manipulator system with redundant degrees of freedom

International Nuclear Information System (INIS)

Senoh, M.; Suzuki, M.; Tsuchita, K.; Kamimura, H.; Fujii, M.; Otsu, M.

1987-01-01

To keep plant availability as high as possible, more flexible and higher performance robots are desirable. At the same time, lower radiation exposures to operating personnel can be achieved by employing more sophisticated robotic systems. A new maintenance system has been proposed to realize consecutive disassembling and inspecting tasks by a robotic approach. The maintenance system includes three subsystems: a subsystem for the minor disassembling operations in the field; a transportation subsystem, which carries disassembled machines or components from the place where they were installed to a maintenance shop; and a subsystem for consecutive disassembling and grooming operations. Of these three subsystems, the maintenance robot for the first is the most challenging, and much development work is needed in the area of maneuverability in narrow spaces and obstacle avoidance ability. A master/slave-type manipulator with redundant degrees of freedom, mounted on a vehicle that travels along a spatially located railway, has been developed

Girsanov's transformation based variance reduced Monte Carlo simulation schemes for reliability estimation in nonlinear stochastic dynamics

Science.gov (United States)

Kanjilal, Oindrila; Manohar, C. S.

2017-07-01

The study considers the problem of simulation based time variant reliability analysis of nonlinear randomly excited dynamical systems. Attention is focused on importance sampling strategies based on the application of Girsanov's transformation method. Controls which minimize the distance function, as in the first order reliability method (FORM), are shown to minimize a bound on the sampling variance of the estimator for the probability of failure. Two schemes based on the application of calculus of variations for selecting control signals are proposed: the first obtains the control force as the solution of a two-point nonlinear boundary value problem, and, the second explores the application of the Volterra series in characterizing the controls. The relative merits of these schemes, vis-à-vis the method based on ideas from the FORM, are discussed. Illustrative examples, involving archetypal single degree of freedom (dof) nonlinear oscillators, and a multi-degree of freedom nonlinear dynamical system, are presented. The credentials of the proposed procedures are established by comparing the solutions with pertinent results from direct Monte Carlo simulations.

Dynamic interaction of monowheel inclined vehicle-vibration platform coupled system with quadratic and cubic nonlinearities

Science.gov (United States)

Zhou, Shihua; Song, Guiqiu; Sun, Maojun; Ren, Zhaohui; Wen, Bangchun

2018-01-01

In order to analyze the nonlinear dynamics and stability of a novel design for the monowheel inclined vehicle-vibration platform coupled system (MIV-VPCS) with intermediate nonlinearity support subjected to a harmonic excitation, a multi-degree of freedom lumped parameter dynamic model taking into account the dynamic interaction of the MIV-VPCS with quadratic and cubic nonlinearities is presented. The dynamical equations of the coupled system are derived by applying the displacement relationship, interaction force relationship at the contact position and Lagrange's equation, which are further discretized into a set of nonlinear ordinary differential equations with coupled terms by Galerkin's truncation. Based on the mathematical model, the coupled multi-body nonlinear dynamics of the vibration system is investigated by numerical method, and the parameters influences of excitation amplitude, mass ratio and inclined angle on the dynamic characteristics are precisely analyzed and discussed by bifurcation diagram, Largest Lyapunov exponent and 3-D frequency spectrum. Depending on different ranges of system parameters, the results show that the different motions and jump discontinuity appear, and the coupled system enters into chaotic behavior through different routes (period-doubling bifurcation, inverse period-doubling bifurcation, saddle-node bifurcation and Hopf bifurcation), which are strongly attributed to the dynamic interaction of the MIV-VPCS. The decreasing excitation amplitude and inclined angle could reduce the higher order bifurcations, and effectively control the complicated nonlinear dynamic behaviors under the perturbation of low rotational speed. The first bifurcation and chaotic motion occur at lower value of inclined angle, and the chaotic behavior lasts for larger intervals with higher rotational speed. The investigation results could provide a better understanding of the nonlinear dynamic behaviors for the dynamic interaction of the MIV-VPCS.

High degree-of-freedom dynamic manipulation

Science.gov (United States)

Murphy, Michael P.; Stephens, Benjamin; Abe, Yeuhi; Rizzi, Alfred A.

2012-06-01

The creation of high degree of freedom dynamic mobile manipulation techniques and behaviors will allow robots to accomplish difficult tasks in the field. We are investigating the use of the body and legs of legged robots to improve the strength, velocity, and workspace of an integrated manipulator to accomplish dynamic manipulation. This is an especially challenging task, as all of the degrees of freedom are active at all times, the dynamic forces generated are high, and the legged system must maintain robust balance throughout the duration of the tasks. To accomplish this goal, we are utilizing trajectory optimization techniques to generate feasible open-loop behaviors for our 28 dof quadruped robot (BigDog) by planning the trajectories in a 13 dimensional space. Covariance Matrix Adaptation techniques are utilized to optimize for several criteria such as payload capability and task completion speed while also obeying constraints such as torque and velocity limits, kinematic limits, and center of pressure location. These open-loop behaviors are then used to generate feed-forward terms, which are subsequently used online to improve tracking and maintain low controller gains. Some initial results on one of our existing balancing quadruped robots with an additional human-arm-like manipulator are demonstrated on robot hardware, including dynamic lifting and throwing of heavy objects 16.5kg cinder blocks, using motions that resemble a human athlete more than typical robotic motions. Increased payload capacity is accomplished through coordinated body motion.

A Solution Method for Linear and Geometrically Nonlinear MDOF Systems with Random Properties subject to Random Excitation

DEFF Research Database (Denmark)

Micaletti, R. C.; Cakmak, A. S.; Nielsen, Søren R. K.

structural properties. The resulting state-space formulation is a system of ordinary stochastic differential equations with random coefficient and deterministic initial conditions which are subsequently transformed into ordinary stochastic differential equations with deterministic coefficients and random......A method for computing the lower-order moments of randomly-excited multi-degree-of-freedom (MDOF) systems with random structural properties is proposed. The method is grounded in the techniques of stochastic calculus, utilizing a Markov diffusion process to model the structural system with random...... initial conditions. This transformation facilitates the derivation of differential equations which govern the evolution of the unconditional statistical moments of response. Primary consideration is given to linear systems and systems with odd polynomial nonlinearities, for in these cases...

String description of quarks degrees of freedom

International Nuclear Information System (INIS)

Hadasz, L.

1994-01-01

This work presents a simple way of incorporating quark degrees of freedom (spin, charge and colour) into the classical string model. We introduce the model and derive from it the classical equations of motion. (author)

Stationary solutions and self-trapping in discrete quadratic nonlinear systems

DEFF Research Database (Denmark)

Bang, Ole; Christiansen, Peter Leth; Clausen, Carl A. Balslev

1998-01-01

We consider the simplest equations describing coupled quadratic nonlinear (chi((2))) systems, which each consists of a fundamental mode resonantly interacting with its second harmonic. Such discrete equations apply, e.g., to optics, where they can describe arrays of chi((2)) waveguides...... the nonintegrable dimer reduce to the discrete nonlinear Schrodinger (DNLS) equation with two degrees of freedom, which is integrable. We show how the stationary solutions to the two systems correspond to each other and how the self-trapped DNLS solutions gradually develop chaotic dynamics in the chi((2)) system...

Non-dipolar degrees of freedom in neptunium dioxide

International Nuclear Information System (INIS)

Santini, Paolo; Amoretti, Giuseppe

2002-01-01

We discuss the role of degrees of freedom different from the magnetic dipole in NpO 2 . Electric-quadrupole degrees of freedom appear to produce a large splitting of the main crystal-field (CEF) transition, due to the formation of mixed CEF-phonon states. A phase transition occurs at 25 K, and its phenomenology is inconsistent with a magnetic-dipole or an electric-quadrupole order parameter (OP). A magnetic-octupole of Γ 2 symmetry appears to be the best candidate OP. Such quantity can be detected in principle in a neutron diffraction experiment. The corresponding form factor is discussed. (author)

String description of quarks degrees of freedom

Energy Technology Data Exchange (ETDEWEB)

Hadasz, L. [Jagiellonian Univ., Inst. of Physics, Cracow (Poland)

1994-10-01

This work presents a simple way of incorporating quark degrees of freedom (spin, charge and colour) into the classical string model. We introduce the model and derive from it the classical equations of motion. (author). 7 refs.

Semiclassical description of scattering with internal degrees of freedom

International Nuclear Information System (INIS)

Cruz-Barrios, S.; Gomez-Camacho, J.

1998-01-01

The scattering of systems with internal degrees of freedom is studied in the semi-classical approximation. It is found that a special set of states, named coherent internal states, are specially relevant for the semi-classical treatment. A classical trajectory is defined for each coherent internal state. The semi-classical expressions obtained satisfy the superposition principle and are valid for arbitrary coupling strength. (orig.)

Subnuclear degrees of freedom in the nucleus

International Nuclear Information System (INIS)

Krewald, S.

1985-03-01

The aim of the present thesis is to study the possible influence of subnuclear degrees of freedom as the Δ 33 -resonance and relativistic effects on the structure of nuclear excited states. (orig./HSI) [de

Random-lattice models and simulation algorithms for the phase equilibria in two-dimensional condensed systems of particles with coupled internal and translational degrees of freedom

DEFF Research Database (Denmark)

Nielsen, Morten; Miao, Ling; Ipsen, John Hjorth

1996-01-01

In this work we concentrate on phase equilibria in two-dimensional condensed systems of particles where both translational and internal degrees of freedom are present and coupled through microscopic interactions, with a focus on the manner of the macroscopic coupling between the two types...... where the spin degrees of freedom are slaved by the translational degrees of freedom and develop a first-order singularity in the order-disorder transition that accompanies the lattice-melting transition. The internal degeneracy of the spin states in model III implies that the spin order...

Scattering of particles with internal degrees of freedom

International Nuclear Information System (INIS)

Slipushenko, S. V.; Tur, A. V.; Yanovsky, V. V.

2013-01-01

The scattering of particles with a small number of internal degrees of freedom is considered. Billiard formalism is used to study the scattering of two such structurally complex particles. The main scattering characteristics are found. Various types of scattering modes are revealed. In particular, a mode is detected when the velocity of motion of such particles away from each other is higher than their approach velocity before the collision. The scattering of such particles is shown to occur after a finite number of collisions. A generalized Newton law is proposed for the collision of particles with a small number of degrees of freedom, and the form of the effective coefficient of restitution is found

Holographic cosmology and its relevant degrees of freedom

International Nuclear Information System (INIS)

Dawid, Richard

1999-01-01

We reconsider the options for cosmological holography. We suggest that a global and time-symmetric version of the Fischler-Susskind bound is the most natural generalization of the holographic bound encountered in AdS and De Sitter space. A consistent discussion of cosmological holography seems to imply an understanding of the notion of ''number of degrees of freedom'' that deviates from its simple definition as the entropy of the current state. The introduction of a more adequate notion of degree of freedom makes the suggested variation of the Fischler-Susskind bound look like a stringent and viable bound in all 4-dimensional cosmologies without a cosmological constant

Quark degrees of freedom in nuclei

International Nuclear Information System (INIS)

Lovas, I.

1986-03-01

Experimental facts which can not be interpreted in terms of nucleonic degrees of freedom are reviewed. Attempts to explain these observations by the help of the notions of quark physics are indicated. Some predicted exotic states are enumerated. The most promising models of the nucleon-nucleon interactions in terms of quarks are briefly discussed. (author)

Degrees-of-Freedom of the MIMO Three-Way Channel with Node-Intermittency

KAUST Repository

Neu, Joachim

2017-08-28

The characterization of fundamental performance bounds of many-to-many communication systems in which participating nodes are active in an intermittent way is one of the major challenges in communication theory. In order to address this issue, we introduce the multiple-input multiple-output (MIMO) three-way channel (3WC) with an intermittent node and study its degrees-of-freedom (DoF) region and sum-DoF. We devise a non-adaptive encoding scheme based on zero-forcing, interference alignment and erasure coding, and show its DoF region (and thus sum-DoF) optimality for non-intermittent 3WCs and its sum-DoF optimality for (node-)intermittent 3WCs. However, we show by example that in general some DoF tuples in the intermittent 3WC can only be achieved by adaptive schemes, such as multi-hop or decode-forward relaying. This shows that non-adaptive encoding is sufficient for the non-intermittent 3WC and for the sum-DoF of intermittent 3WCs, but adaptive encoding is necessary for the DoF region of intermittent 3WCs. Our work contributes to a better understanding of the fundamental limits of multi-way communication systems with intermittency and the impact of adaptation therein.

Charge degree of freedom as a sensitive probe for fission mechanism

International Nuclear Information System (INIS)

Yokoyama, A.; Baba, H.; Takahashi, N.; Duh, M.C.; Saito, T.

1997-01-01

The role of the charge degree of freedom in the heavy-ion-induced fission was investigated by carrying out a systematic analysis of radiochemically observed charge distribution in the fission of 238 U with 12 C ions of the incident energy between 85 and 140 MeV, particularly in connection with the energy given to the compound system. The charge distribution was found to follow essentially identical systematics as those which govern the light-ion fission except for the extremely weak energy dependence of the most probable charge Z p . That is, values of the derivative of Z p with respect to the energy were found to be quite small, or nearly zero, in the heavy-ion fission as compared to those of the light-ion fission. According to an analysis combining the derivatives of Z p and fission neutron data, it was deduced that the excess energy given to the fused system was spent completely in the form of pre-scission neutrons and hence the number of post-scission neutrons remained constant as in the case of light-ion fission. The observed charge distribution was reproduced under the conditions that the relaxation of the charge degree of freedom be very fast and that the separation between the two potential fragments at the moment when the charge degree of freedom has been frozen is determined by using Viola's systematics on the fragment kinetic energy. (author)

Optimal control of dissipative nonlinear dynamical systems with triggers of coupled singularities

International Nuclear Information System (INIS)

Hedrih, K

2008-01-01

This paper analyses the controllability of motion of nonconservative nonlinear dynamical systems in which triggers of coupled singularities exist or appear. It is shown that the phase plane method is useful for the analysis of nonlinear dynamics of nonconservative systems with one degree of freedom of control strategies and also shows the way it can be used for controlling the relative motion in rheonomic systems having equivalent scleronomic conservative or nonconservative system For the system with one generalized coordinate described by nonlinear differential equation of nonlinear dynamics with trigger of coupled singularities, the functions of system potential energy and conservative force must satisfy some conditions defined by a Theorem on the existence of a trigger of coupled singularities and the separatrix in the form of 'an open a spiral form' of number eight. Task of the defined dynamical nonconservative system optimal control is: by using controlling force acting to the system, transfer initial state of the nonlinear dynamics of the system into the final state of the nonlinear dynamics in the minimal time for that optimal control task

Optimal control of dissipative nonlinear dynamical systems with triggers of coupled singularities

Science.gov (United States)

Stevanović Hedrih, K.

2008-02-01

This paper analyses the controllability of motion of nonconservative nonlinear dynamical systems in which triggers of coupled singularities exist or appear. It is shown that the phase plane method is useful for the analysis of nonlinear dynamics of nonconservative systems with one degree of freedom of control strategies and also shows the way it can be used for controlling the relative motion in rheonomic systems having equivalent scleronomic conservative or nonconservative system For the system with one generalized coordinate described by nonlinear differential equation of nonlinear dynamics with trigger of coupled singularities, the functions of system potential energy and conservative force must satisfy some conditions defined by a Theorem on the existence of a trigger of coupled singularities and the separatrix in the form of "an open a spiral form" of number eight. Task of the defined dynamical nonconservative system optimal control is: by using controlling force acting to the system, transfer initial state of the nonlinear dynamics of the system into the final state of the nonlinear dynamics in the minimal time for that optimal control task

Hybrid Strategies for Link Adaptation Exploiting Several Degrees of Freedom in OFDM Based Broadband Wireless Systems

DEFF Research Database (Denmark)

Das, Suvra S.; Rahman, Muhammad Imadur; Wang, Yuanye

2007-01-01

In orthogonal frequency division multiplexing (OFDM) systems, there are several degrees of freedom in time and frequency domain, such as, sub-band size, forward error control coding (FEC) rate, modulation order, power level, modulation adaptation interval, coding rate adaptation interval and powe...... of the link parameters based on the channel conditions would lead to highly complex systems with high overhead. Hybrid strategies to vary the adaptation rates to tradeoff achievable efficiency and complexity are presented in this work....

Nuclear diffuseness as a degree of freedom

Science.gov (United States)

Myers, W. D.; ŚwiaŢecki, W. J.

1998-12-01

The response of the nuclear energy to changes in neutron and proton surface diffusenesses is investigated using the Thomas-Fermi model. Algebraic expressions are provided for the energy cost of changing the two diffusenesses away from their equilibrium values. This will make it possible to generalize the macroscopic-microscopic calculations of nuclear masses and deformation energies by the inclusion of the neutron and proton diffusenesses as degrees of freedom (to be varied along with the shape degrees of freedom). One result, which is suggested by the relatively low cost in macroscopic energy of increasing the diffuseness of a heavy nucleus by 10% (about 4 MeV), is that superheavy nuclei near Z=126, N=184 may have a fair chance of becoming stabilized by shell effects. An appendix introduces an improved measure of surface diffuseness, with certain advantages over the conventional Süssmann width b.

Nuclear diffuseness as a degree of freedom

International Nuclear Information System (INIS)

Myers, W.D.; Swiatecki, W.J.

1998-01-01

The response of the nuclear energy to changes in neutron and proton surface diffusenesses is investigated using the Thomas-Fermi model. Algebraic expressions are provided for the energy cost of changing the two diffusenesses away from their equilibrium values. This will make it possible to generalize the macroscopic-microscopic calculations of nuclear masses and deformation energies by the inclusion of the neutron and proton diffusenesses as degrees of freedom (to be varied along with the shape degrees of freedom). One result, which is suggested by the relatively low cost in macroscopic energy of increasing the diffuseness of a heavy nucleus by 10% (about 4 MeV), is that superheavy nuclei near Z=126, N=184 may have a fair chance of becoming stabilized by shell effects. An appendix introduces an improved measure of surface diffuseness, with certain advantages over the conventional Suessmann width b. copyright 1998 The American Physical Society

Method and system for training dynamic nonlinear adaptive filters which have embedded memory

Science.gov (United States)

Rabinowitz, Matthew (Inventor)

2002-01-01

Described herein is a method and system for training nonlinear adaptive filters (or neural networks) which have embedded memory. Such memory can arise in a multi-layer finite impulse response (FIR) architecture, or an infinite impulse response (IIR) architecture. We focus on filter architectures with separate linear dynamic components and static nonlinear components. Such filters can be structured so as to restrict their degrees of computational freedom based on a priori knowledge about the dynamic operation to be emulated. The method is detailed for an FIR architecture which consists of linear FIR filters together with nonlinear generalized single layer subnets. For the IIR case, we extend the methodology to a general nonlinear architecture which uses feedback. For these dynamic architectures, we describe how one can apply optimization techniques which make updates closer to the Newton direction than those of a steepest descent method, such as backpropagation. We detail a novel adaptive modified Gauss-Newton optimization technique, which uses an adaptive learning rate to determine both the magnitude and direction of update steps. For a wide range of adaptive filtering applications, the new training algorithm converges faster and to a smaller value of cost than both steepest-descent methods such as backpropagation-through-time, and standard quasi-Newton methods. We apply the algorithm to modeling the inverse of a nonlinear dynamic tracking system 5, as well as a nonlinear amplifier 6.

Vibration Analysis and Parameter Design of Two Degree of Freedom System Using Modelica

Energy Technology Data Exchange (ETDEWEB)

Yoo, Yeongmin; Lee, Jongsoo [Yonsei Univ., Seoul (Korea, Republic of)

2017-08-15

Today, we are using computer simulations in various engineering disciplines to reduce the time and cost of product development. The scope of simulations is increasingly complex and diverse for different fields such as mechanical, electrical, thermal, and fluid. Thus, it is necessary to use integrated simulations. In order to overcome these problems, a language has been developed to effectively describe and implement simulations is Modelica. To model and simulate a system, physical models can be broadly divided into causal and acausal models. The most important feature of Modelica is acausal programming. In this study, we will introduce simple concepts and explain about the usage of Modelica. Furthermore, we will explain the vibration analysis of a two degree-of-freedom system and the design of appropriate parameters by using Modelica.

A six degrees of freedom mems manipulator

NARCIS (Netherlands)

de Jong, B.R.

2006-01-01

This thesis reports about a six degrees of freedom (DOF) precision manipulator in MEMS, concerning concept generation for the manipulator followed by design and fabrication (of parts) of the proposed manipulation concept in MEMS. Researching the abilities of 6 DOF precision manipulation in MEMS is

Secure Degrees of Freedom of the Gaussian Z Channel with Single Antenna

Directory of Open Access Journals (Sweden)

Xianzhong XIE

2014-03-01

Full Text Available This paper presents the secrecy capacity and the secure degrees of freedom of Gaussian Z channel with single antenna and confidential information. Firstly, we analysis the secrecy capacity and the upper bound of secure degrees of freedom of this channel in theory. Then, we respectively discuss the security pre-coding scheme for real Gaussian channel model and frequency selection channel model. Under the first model, through real interference alignment and cooperative jamming, we obtain the secrecy capacity and secure degrees of freedom, proving that it can reach the upper bound of secure degrees of freedom in theory. While, under the second one, a strong security pre-coding algorithm is proposed, which is based on the fact that sparse matrix has strong hash property. Next, we arrange interference with interference alignment and the receivers process their received signal through zero forcing algorithm. At last, the messages are reconstructed with maximum likelihood decoding, where it shows that the algorithm can asymptotically achieve the optimal secrecy capacity.

Nonlinear Preconditioning and its Application in Multicomponent Problems

KAUST Repository

Liu, Lulu

2015-01-01

the convergence of systems with unbalanced nonlinearities; however, they have natural complementarity in practice. MSPIN is naturally based on partitioning of degrees of freedom in a nonlinear PDE system by field type rather than by subdomain, where a modest

Optimal control predicts human performance on objects with internal degrees of freedom.

Directory of Open Access Journals (Sweden)

Arne J Nagengast

2009-06-01

Full Text Available On a daily basis, humans interact with a vast range of objects and tools. A class of tasks, which can pose a serious challenge to our motor skills, are those that involve manipulating objects with internal degrees of freedom, such as when folding laundry or using a lasso. Here, we use the framework of optimal feedback control to make predictions of how humans should interact with such objects. We confirm the predictions experimentally in a two-dimensional object manipulation task, in which subjects learned to control six different objects with complex dynamics. We show that the non-intuitive behavior observed when controlling objects with internal degrees of freedom can be accounted for by a simple cost function representing a trade-off between effort and accuracy. In addition to using a simple linear, point-mass optimal control model, we also used an optimal control model, which considers the non-linear dynamics of the human arm. We find that the more realistic optimal control model captures aspects of the data that cannot be accounted for by the linear model or other previous theories of motor control. The results suggest that our everyday interactions with objects can be understood by optimality principles and advocate the use of more realistic optimal control models for the study of human motor neuroscience.

f(R) gravity cosmology in scalar degree of freedom

International Nuclear Information System (INIS)

Goswami, Umananda Dev; Deka, Kabita

2014-01-01

The models of f(R) gravity belong to an important class of modified gravity models where the late time cosmic accelerated expansion is considered as the manifestation of the large scale modification of the force of gravity. f(R) gravity models can be expressed in terms of a scalar degree of freedom by explicit redefinition of model's variable. Here we report about the study of the features of cosmological parameters and hence the cosmological evolution using the scalar degree of freedom of the f(R) = ξR n gravity model in the Friedmann-Lemaître-Robertson-Walker (FLRW) background

Towards holonomic electro-elastomer actuators with six degrees of freedom

International Nuclear Information System (INIS)

Conn, A T; Rossiter, J

2012-01-01

Functionally efficient six degree of freedom (DOF) actuators have not yet been developed in a scale-invariant and inherently compliant unified form. This has primarily been due to the use of conventional serial or parallel kinematical configurations and electromagnetic motors, pneumatics and hydraulics. Contrary to traditional technologies, utilizing electro-active elastomers enables multi-DOF actuation and holonomic operation with minimal structural complexity. Conical dielectric elastomer actuators (DEAs) are compact multi-DOF actuator–sensors that are scalable and can be entirely polymeric, making them suitable for a variety of applications including minimally invasive medical devices. In this paper, cone DEAs are developed towards integrated 6-DOF actuation with muscle-like performance from a single structure. This is achieved by demonstrating the feasibility of holonomic 6-DOF actuation and through experimental characterization of a 5-DOF prototype. The 5-DOF prototype (50 mm length, 60 mm diameter) produced rotational actuation outputs of ±21.7° and ±9.42 mN m and linear actuation outputs of ±4.45 mm (±9.1%) and ±0.55 N. Finally, combined multi-DOF actuation is demonstrated as part of development towards scalable holonomic electro-active elastomer actuators. (paper)

Towards holonomic electro-elastomer actuators with six degrees of freedom

Science.gov (United States)

Conn, A. T.; Rossiter, J.

2012-03-01

Functionally efficient six degree of freedom (DOF) actuators have not yet been developed in a scale-invariant and inherently compliant unified form. This has primarily been due to the use of conventional serial or parallel kinematical configurations and electromagnetic motors, pneumatics and hydraulics. Contrary to traditional technologies, utilizing electro-active elastomers enables multi-DOF actuation and holonomic operation with minimal structural complexity. Conical dielectric elastomer actuators (DEAs) are compact multi-DOF actuator-sensors that are scalable and can be entirely polymeric, making them suitable for a variety of applications including minimally invasive medical devices. In this paper, cone DEAs are developed towards integrated 6-DOF actuation with muscle-like performance from a single structure. This is achieved by demonstrating the feasibility of holonomic 6-DOF actuation and through experimental characterization of a 5-DOF prototype. The 5-DOF prototype (50 mm length, 60 mm diameter) produced rotational actuation outputs of ±21.7° and ±9.42 mN m and linear actuation outputs of ±4.45 mm (±9.1%) and ±0.55 N. Finally, combined multi-DOF actuation is demonstrated as part of development towards scalable holonomic electro-active elastomer actuators.

Coupling dynamic modeling and simulation of three-degree-of-freedom micromanipulator based on piezoelectric ceramic of fuzzy PID

Science.gov (United States)

Li, Dongjie; Fu, Yu; Yang, Liu

2017-08-01

For further research on the microparticles trajectory in the process of micromanipulation, the paper modeled on the coupling dynamic of three-degree-of-freedom micromanipulator which is based on piezoelectric ceramic. In the micromanipulation, the transformation of certain movement direction can generate a corresponding change in the coupling in three-degree-of-freedom micromanipulator movement, the fuzzy PID method was adopted by the control system of this study, and the modeling analysis was performed on the control system. After completing the above modeling, the simulation model is built by the MATLAB Simulink software. The simulation output results are basically in accordance with the actual trajectory, which achieve the successful research purposes of coupling dynamics model for three-degree-of-freedom micromanipulator and application of fuzzy PID method.

A Novel Pitch Control System of a Large Wind Turbine Using Two-Degree-of-Freedom Motion Control with Feedback Linearization Control

Directory of Open Access Journals (Sweden)

Ching-Sung Wang

2016-09-01

Full Text Available Pitch Control plays a significant role for a large wind turbine. This study investigates a novel robust hydraulic pitch control system of a large wind turbine. The novel hydraulic pitch control system is driven by a novel high efficiency and high response hydraulic servo system. The pitch controller, designed by two degree-of-freedom (2-DOF motion control with feedback linearization, is developed to enhance the controllability and stability of the pitch control system. Furthermore, the full-scale testbed of the hydraulic pitch control system of a large wind turbine is developed for practically experimental verification. Besides, the wind turbine simulation software FAST is used to analyze the motion of the blade which results are given to the testbed as the disturbance load command. The 2-DOF pitch controller contains a feedforward controller with feedback linearization theory to overcome the nonlinearities of the system and a feedback controller to improve the system robustness for achieving the disturbance rejection. Consequently, the novel hydraulic pitch control system shows excellent path tracking performance in the experiments. Moreover, the robustness test with a simulated disturbance load generated by FAST is performed to validate the reliability of the proposed pitch control system.

Quantum master equation for collisional dynamics of massive particles with internal degrees of freedom

International Nuclear Information System (INIS)

Smirne, Andrea; Vacchini, Bassano

2010-01-01

We address the microscopic derivation of a quantum master equation in Lindblad form for the dynamics of a massive test particle with internal degrees of freedom, interacting through collisions with a background ideal gas. When either internal or center-of-mass degrees of freedom can be treated classically, previously established equations are obtained as special cases. If in an interferometric setup the internal degrees of freedom are not detected at the output, the equation can be recast in the form of a generalized Lindblad structure, which describes non-Markovian effects. The effect of internal degrees of freedom on center-of-mass decoherence is considered in this framework.

Analysis of Nonlinear Dynamic Structures

African Journals Online (AJOL)

Bheema

work a two degrees of freedom nonlinear system with zero memory was ... FRF is the most widely used method in structural dynamics which gives information about the ..... 3.6, which is the waterfall diagram of the same response, as well.

Classification of constraints and degrees of freedom for quadratic discrete actions

International Nuclear Information System (INIS)

Höhn, Philipp A.

2014-01-01

We provide a comprehensive classification of constraints and degrees of freedom for variational discrete systems governed by quadratic actions. This classification is based on the different types of null vectors of the Lagrangian two-form and employs the canonical formalism developed in Dittrich and Höhn [“Constraint analysis for variational discrete systems,” J. Math. Phys. 54, 093505 (2013); e-print http://arxiv.org/abs/arXiv:1303.4294 [math-ph

Anticommuting variables, internal degrees of freedom, and the Wilson loop

International Nuclear Information System (INIS)

Barducci, A.; Casalbuoni, R.; Lusanna, L.

1981-01-01

In this paper we show that is possible to give a real physical meaning to theories in which internal degrees of freedom are described by Grassmann variables. The physical theory is defined by means of an averaging procedure in terms of a distribution function in the Grassmann restricted space satisfying all the physical requirements. If we use this result for a scalar particle with inner degrees of freedom (electric charge, colour, ...) interacting with Yang-Mills gauge fields, it turns out that we can define two different classical theories. Taking the average of the coupled particle-field equations of motion, we recover the usual classical theory. Taking instead the average of the solution of such equations we get a theory which is free from all the classical infinities (and so of the causal defects, like runaway solution or pre-acceleration) but also of all the effects of the same order in the charges (like radiation). The main point is that the processes of averaging and integrating the equations of motion do not commute. Then for the case of colour degrees of freedom we study the quantization of the theory by the path-integral method and we show that the functional integration can be done for an arbitrary gluon field simply by using the classical solution. As a result we obtain an expression for the Wilson loop as a functional integral for the internal fermionic degrees of freedom. (orig.)

Excited-state quantum phase transitions in systems with two degrees of freedom: Level density, level dynamics, thermal properties

International Nuclear Information System (INIS)

Stránský, Pavel; Macek, Michal; Cejnar, Pavel

2014-01-01

Quantum systems with a finite number of freedom degrees f develop robust singularities in the energy spectrum of excited states as the system’s size increases to infinity. We analyze the general form of these singularities for low f, particularly f=2, clarifying the relation to classical stationary points of the corresponding potential. Signatures in the smoothed energy dependence of the quantum state density and in the flow of energy levels with an arbitrary control parameter are described along with the relevant thermodynamical consequences. The general analysis is illustrated with specific examples of excited-state singularities accompanying the first-order quantum phase transition. -- Highlights: •ESQPTs found in infinite-size limit of systems with low numbers of freedom degrees f. •ESQPTs related to non-analytical evolutions of classical phase–space properties. •ESQPT signatures analyzed for general f, particularly f=2, extending known case f=1. •ESQPT signatures identified in smoothened density and flow of energy spectrum. •ESQPTs shown to induce a new type of thermodynamic anomalies

Validation of CLIC Re-Adjustment System Based on Eccentric Cam Movers One Degree of Freedom Mock-Up

CERN Document Server

Kemppinen, J; Lackner, F

2011-01-01

Compact Linear Collider (CLIC) is a 48 km long linear accelerator currently studied at CERN. It is a high luminosity electron-positron collider with an energy range of 0.5-3 TeV. CLIC is based on a two-beam technology in which a high current drive beam transfers RF power to the main beam accelerating structures. The main beam is steered with quadrupole magnets. To reach CLIC target luminosity, the main beam quadrupoles have to be actively pre-aligned within 17 µm in 5 degrees of freedom and actively stabilised at 1 nm in vertical above 1 Hz. To reach the pre-alignment requirement as well as the rigidity required by nano-stabilisation, a system based on eccentric cam movers is proposed for the re-adjustment of the main beam quadrupoles. Validation of the technique to the stringent CLIC requirements was started with tests in one degree of freedom on an eccentric cam mover. This paper describes the dedicated mock-up as well as the tests and measurements carried out with it. Finally, the test results are present...

N=4 supersymmetric mechanics with nonlinear chiral supermultiplet

International Nuclear Information System (INIS)

Bellucci, S.; Beylin, A.; Krivonos, S.; Nersessian, A.; Orazi, E.

2005-01-01

We construct N=4 supersymmetric mechanics using the N=4 nonlinear chiral supermultiplet. The two bosonic degrees of freedom of this supermultiplet parameterize the sphere S 2 and go into the bosonic components of the standard chiral multiplet when the radius of the sphere goes to infinity. We construct the most general action and demonstrate that the nonlinearity of the supermultiplet results in the deformation of the connection, which couples the fermionic degrees of freedom with the background, and of the bosonic potential. Also a non-zero magnetic field could appear in the system

Gauge invariance and degree of freedom count

International Nuclear Information System (INIS)

Henneaux, M.; Universite Libre de Bruxelles; Teitelboim, C.; Texas Univ., Austin; Zanelli, J.; Chile Univ., Santiago. Dept. de Fisica)

1990-01-01

The precise relation between the gauge transformations in lagrangian and hamiltonian form is derived for any gauge theory. It is found that in order to define a lagrangian gauge symmetry, the coefficients of the first class constraints in the hamiltonian generator of gauge transformations must obey a set of differential equations. Those equations involve, in general, the Lagrange multipliers. Their solution contains as many arbitrary functions of time as there are primary first class constraints. If n is the number of generations of constraints (primary, secondary, tertiary...), the arbitrary functions appear in the general solution together with their successive time derivatives up to order n-1. The analysis yields as by-products: (i) a systematic way to derive all the gauge symmetries of a given lagrangian; (ii) a precise criterion for counting the physical degrees of freedom of a gauge theory directly from the form of gauge transformations in lagrangian form. This last part is illustrated by means of examples. The BRST analog of the counting of physical degrees of freedom is also discussed. (orig.)

Generalized projective chaos synchronization of gyroscope systems subjected to dead-zone nonlinear inputs

International Nuclear Information System (INIS)

Yau, H.-T.

2008-01-01

This Letter presents a robust control scheme to generalized projective synchronization between two identical two-degrees-of-freedom heavy symmetric gyroscopes with dead zone nonlinear inputs. Because of the nonlinear terms of the gyroscope system, the system exhibits complex and chaotic motions. By the Lyapunov stability theory with control terms, two suitable sliding surfaces are proposed to ensure the stability of the controlled closed-loop system in sliding mode. Then, two sliding mode controllers (SMC) are designed to guarantee the hitting of the sliding surfaces even when the control inputs contain dead-zone nonlinearity. This method allows us to arbitrarily direct the scaling factor onto a desired value. Numerical simulations show that this method works very well for the proposed controller

A NEW FRACTIONAL MODEL OF SINGLE DEGREE OF FREEDOM SYSTEM, BY USING GENERALIZED DIFFERENTIAL TRANSFORM METHOD

Directory of Open Access Journals (Sweden)

HASHEM SABERI NAJAFI

2016-07-01

Full Text Available Generalized differential transform method (GDTM is a powerful method to solve the fractional differential equations. In this paper, a new fractional model for systems with single degree of freedom (SDOF is presented, by using the GDTM. The advantage of this method compared with some other numerical methods has been shown. The analysis of new approximations, damping and acceleration of systems are also described. Finally, by reducing damping and analysis of the errors, in one of the fractional cases, we have shown that in addition to having a suitable solution for the displacement close to the exact one, the system enjoys acceleration once crossing the equilibrium point.

Issues and Feasibility Demonstration of Positioning Closed Loop Control for the CLIC Supporting System Using a Test Mock-up with Five Degrees of Freedom

CERN Document Server

Sosin, M; Chritin, N; Griffet, S; Kemppinen, J; Mainaud Durand, H; Rude, V; Sterbini, G

2012-01-01

Since several years, CERN is studying the feasibility of building a high energy e+ e- linear collider: the CLIC (Compact LInear Collider). One of the challenges of such a collider is the pre-alignment precision and accuracy requirement on the transverse positions of the linac components, which is typically 14 μm over a window of 200 m. To ensure the possibility of positioning within such tight constraints, CERN Beams Department’s Survey team has worked intensively at developing the methods and technology needed to achieve that objective. This paper describes activities which were performed on a test bench (mock-up) with five degrees of freedom (DOF) for the qualification of control algorithms for the CLIC supporting system active-pre-alignment. Present understanding, lessons learned (“know how”), issues of sensors noise and mechanical components nonlinearities are presented.

Optimum design of a Lanchester damper for a viscously damped single degree of freedom system subjected to inertial excitation

Science.gov (United States)

Bapat, V. A.; Prabhu, P.

1980-11-01

The problem of designing an optimum Lanchester damper for a viscously damped single degree of freedom system subjected to inertial harmonic excitation is investigated. Two criteria are used for optimizing the performance of the damper: (i) minimum motion transmissibility; (ii) minimum force transmissibility. Explicit expressions are developed for determining the absorber parameters.

Task-oriented control of Single-Master Multi-Slave Manipulator System

International Nuclear Information System (INIS)

Kosuge, Kazuhiro; Ishikawa, Jun; Furuta, Katsuhisa; Hariki, Kazuo; Sakai, Masaru.

1994-01-01

A master-slave manipulator system, in general, consists of a master arm manipulated by a human and a slave arm used for real tasks. Some tasks, such as manipulation of a heavy object, etc., require two or more slave arms operated simultaneously. A Single-Master Multi-Slave Manipulator System consists of a master arm with six degrees of freedom and two or more slave arms, each of which has six or more degrees of freedom. In this system, a master arm controls the task-oriented variables using Virtual Internal Model (VIM) based on the concept of 'Task-Oriented Control'. VIM is a reference model driven by sensory information and used to describe the desired relation between the motion of a master arm and task-oriented variables. The motion of slave arms are controlled based on the task oriented variables generated by VIM and tailors the system to meet specific tasks. A single-master multi-slave manipulator system, having two slave arms, is experimentally developed and illustrates the concept. (author)

Exact and Direct Modeling Technique for Rotor-Bearing Systems with Arbitrary Selected Degrees-of-Freedom

Directory of Open Access Journals (Sweden)

Shilin Chen

1994-01-01

Full Text Available An exact and direct modeling technique is proposed for modeling of rotor-bearing systems with arbitrary selected degrees-of-freedom. This technique is based on the combination of the transfer and dynamic stiffness matrices. The technique differs from the usual combination methods in that the global dynamic stiffness matrix for the system or the subsystem is obtained directly by rearranging the corresponding global transfer matrix. Therefore, the dimension of the global dynamic stiffness matrix is independent of the number of the elements or the substructures. In order to show the simplicity and efficiency of the method, two numerical examples are given.

Nonlinear Predictive Sliding Mode Control for Active Suspension System

Directory of Open Access Journals (Sweden)

Dazhuang Wang

2018-01-01

Full Text Available An active suspension system is important in meeting the requirements of the ride comfort and handling stability for vehicles. In this work, a nonlinear model of active suspension system and a corresponding nonlinear robust predictive sliding mode control are established for the control problem of active suspension. Firstly, a seven-degree-of-freedom active suspension model is established considering the nonlinear effects of springs and dampers; and secondly, the dynamic model is expanded in the time domain, and the corresponding predictive sliding mode control is established. The uncertainties in the controller are approximated by the fuzzy logic system, and the adaptive controller reduces the approximation error to increase the robustness of the control system. Finally, the simulation results show that the ride comfort and handling stability performance of the active suspension system is better than that of the passive suspension system and the Skyhook active suspension. Thus, the system can obviously improve the shock absorption performance of vehicles.

Evaluation of ground motion scaling methods for analysis of structural systems

Science.gov (United States)

O'Donnell, A. P.; Beltsar, O.A.; Kurama, Y.C.; Kalkan, E.; Taflanidis, A.A.

2011-01-01

Ground motion selection and scaling comprises undoubtedly the most important component of any seismic risk assessment study that involves time-history analysis. Ironically, this is also the single parameter with the least guidance provided in current building codes, resulting in the use of mostly subjective choices in design. The relevant research to date has been primarily on single-degree-of-freedom systems, with only a few studies using multi-degree-of-freedom systems. Furthermore, the previous research is based solely on numerical simulations with no experimental data available for the validation of the results. By contrast, the research effort described in this paper focuses on an experimental evaluation of selected ground motion scaling methods based on small-scale shake-table experiments of re-configurable linearelastic and nonlinear multi-story building frame structure models. Ultimately, the experimental results will lead to the development of guidelines and procedures to achieve reliable demand estimates from nonlinear response history analysis in seismic design. In this paper, an overview of this research effort is discussed and preliminary results based on linear-elastic dynamic response are presented. ?? ASCE 2011.

Poisson structure of dynamical systems with three degrees of freedom

Science.gov (United States)

Gümral, Hasan; Nutku, Yavuz

1993-12-01

It is shown that the Poisson structure of dynamical systems with three degrees of freedom can be defined in terms of an integrable one-form in three dimensions. Advantage is taken of this fact and the theory of foliations is used in discussing the geometrical structure underlying complete and partial integrability. Techniques for finding Poisson structures are presented and applied to various examples such as the Halphen system which has been studied as the two-monopole problem by Atiyah and Hitchin. It is shown that the Halphen system can be formulated in terms of a flat SL(2,R)-valued connection and belongs to a nontrivial Godbillon-Vey class. On the other hand, for the Euler top and a special case of three-species Lotka-Volterra equations which are contained in the Halphen system as limiting cases, this structure degenerates into the form of globally integrable bi-Hamiltonian structures. The globally integrable bi-Hamiltonian case is a linear and the SL(2,R) structure is a quadratic unfolding of an integrable one-form in 3+1 dimensions. It is shown that the existence of a vector field compatible with the flow is a powerful tool in the investigation of Poisson structure and some new techniques for incorporating arbitrary constants into the Poisson one-form are presented herein. This leads to some extensions, analogous to q extensions, of Poisson structure. The Kermack-McKendrick model and some of its generalizations describing the spread of epidemics, as well as the integrable cases of the Lorenz, Lotka-Volterra, May-Leonard, and Maxwell-Bloch systems admit globally integrable bi-Hamiltonian structure.

Parametric Identification of Nonlinear Dynamical Systems

Science.gov (United States)

Feeny, Brian

2002-01-01

In this project, we looked at the application of harmonic balancing as a tool for identifying parameters (HBID) in a nonlinear dynamical systems with chaotic responses. The main idea is to balance the harmonics of periodic orbits extracted from measurements of each coordinate during a chaotic response. The periodic orbits are taken to be approximate solutions to the differential equations that model the system, the form of the differential equations being known, but with unknown parameters to be identified. Below we summarize the main points addressed in this work. The details of the work are attached as drafts of papers, and a thesis, in the appendix. Our study involved the following three parts: (1) Application of the harmonic balance to a simulation case in which the differential equation model has known form for its nonlinear terms, in contrast to a differential equation model which has either power series or interpolating functions to represent the nonlinear terms. We chose a pendulum, which has sinusoidal nonlinearities; (2) Application of the harmonic balance to an experimental system with known nonlinear forms. We chose a double pendulum, for which chaotic response were easily generated. Thus we confronted a two-degree-of-freedom system, which brought forth challenging issues; (3) A study of alternative reconstruction methods. The reconstruction of the phase space is necessary for the extraction of periodic orbits from the chaotic responses, which is needed in this work. Also, characterization of a nonlinear system is done in the reconstructed phase space. Such characterizations are needed to compare models with experiments. Finally, some nonlinear prediction methods can be applied in the reconstructed phase space. We developed two reconstruction methods that may be considered if the common method (method of delays) is not applicable.

Subnucleon freedom degrees

International Nuclear Information System (INIS)

Frois, B.

1985-03-01

The nucleon is nothing but the fundamental state of a complex object, the Baryon. It has a great number of excited states which are significative of its quark structure. The aim of nuclear physics today is to understand the interaction dynamics in nuclei of particles whose existence is known by high energy physics. This lecture aims at defining the frontier of current comprehension in this field by some examples. First quarks and gluons are presented. Proofs of existence of pinpoint particles inside the nucleus are given. Then a direct proof of the concept validity of the nucleon orbit in the nucleus is given. Mesonic freedom degrees are also studied. Some experience examples in which meson exchange exist clearly are shown. At last, the role of subnucleonic effects in the nuclear reactions is shown [fr

Modification of Method for Solution of Direct Kinematic Problem for the Type of Platform Manipulators with Six Degrees of Freedom

Directory of Open Access Journals (Sweden)

A. L. Lapikov

2014-01-01

Full Text Available This paper considers creation of methods for research of multi-section manipulators of parallel structure. To solve this task it is necessary, firstly, to carry out generalization, systematization, and enhancement of existing models of platform manipulators with six degrees of freedom; secondly, it is necessary to modify previously suggested methods for solving the kinematic tasks for the specified type of manipulation mechanisms. The paper presents detailed domain analysis, describes major issues appearing in the course of research, and suggests basic methods of their solution. The paper demonstrates the necessity for modification of existing models through supplementing new parameters. Modification and generalization of the previously suggested method for solution of direct kinematic problem for the specified type of manipulators were carried out. Method for solution of this problem consists in establishing the dependence of functional relationship of Cartesian coordinates and orientation of the moving platform center on the values of generalized coordinates of manipulator (in case of platform manipulators, these are the lengths of telescopic legs connecting the base and the moving platform of the manipulator. The method is created in such a way that solution of direct kinematic problem results in finding of the analytical equation of the plane where the moving platform lies. The equation of the required plane is described through three points (attachment points of the moving platform joints. To define coordinate values of the joints, the system of nine non-linear equations is generated. It should be noted that the system of equations is composed of one-type equations with the same type of nonlinearity. The physical meaning of all the nine equations of the system is Euclidean distance between the points of the manipulator. The location and orientation of the manipulator are depicted as a homogenous transformation matrix. Vectors of translation

Chaos and routes to chaos in coupled Duffing oscillators with multiple degrees of freedom

International Nuclear Information System (INIS)

Musielak, D.E.; Musielak, Z.E.; Benner, J.W.

2005-01-01

New results are reported on the routes to chaos in increasingly complex Duffing oscillator systems, which are formed by coupling several oscillators, thereby increasing the number of degrees of freedom. Other forms of increasing system complexity through distributed excitation, different forcing function phasing, different excitation frequency ratios, and higher order coupling are also studied. Changes in the quantitative aspects of the chaotic regions and in the routes to chaos of complex Duffing systems are investigated by performing numerical simulations. It is shown that the number of chaotic regions in these systems is significantly reduced when compared to the original Duffing system, and that crisis replaces period doubling as the dominant route to chaos when the number of degrees of freedom is increased. A new discovered phenomenon is that chaos emerges in the symmetrically and asymmetrically coupled Duffing oscillators only after the quasi-periodic torus breaks down through a 3-periodic and 2-periodic window, respectively

A six degree of freedom nanomanipulator design based on carbon nanotube bundles

International Nuclear Information System (INIS)

Artyukhov, Vasilii I

2010-01-01

Scanning probe imaging and manipulation of matter is of crucial importance for nanoscale science and technology. However, its resolution and ability to manipulate matter at the atomic scale is limited by rather poor control over the fine structure of the probe. In the present paper, a strategy is proposed to construct a molecular nanomanipulator from ultrathin single-walled carbon nanotubes. Covalent modification of a nanotube cap at predetermined atomic sites makes the nanotube act as a support for a functional 'tooltip' molecule. Then, a small bundle of nanotubes (three or four) with aligned ends can act as an extremely high aspect ratio parallel nanomanipulator for a suspended molecule, where protraction or retraction of individual nanotubes results in controlled tilting of the tooltip in two dimensions. Together with the usual scanning probe microscopy three degrees of freedom and augmented with rotation of the system as a whole, the design offers six degrees of freedom for imaging and manipulation of matter with the precision and freedom so much needed for advanced nanotechnology. A similar design might be possible to implement with other high aspect ratio nanostructures, such as oxide nanowires.

Secure Degrees of Freedom Regions of Multiple Access and Interference Channels: The Polytope Structure

OpenAIRE

Xie, Jianwei; Ulukus, Sennur

2014-01-01

The sum secure degrees of freedom (s.d.o.f.) of two fundamental multi-user network structures, the K-user Gaussian multiple access (MAC) wiretap channel and the K-user interference channel (IC) with secrecy constraints, have been determined recently as K(K-1)/(K(K-1)+1) [1,2] and K(K-1)/(2K-1) [3,4], respectively. In this paper, we determine the entire s.d.o.f. regions of these two channel models. The converse for the MAC follows from a middle step in the converse of [1,2]. The converse for t...

Girsanov's transformation based variance reduced Monte Carlo simulation schemes for reliability estimation in nonlinear stochastic dynamics

Energy Technology Data Exchange (ETDEWEB)

Kanjilal, Oindrila, E-mail: oindrila@civil.iisc.ernet.in; Manohar, C.S., E-mail: manohar@civil.iisc.ernet.in

2017-07-15

The study considers the problem of simulation based time variant reliability analysis of nonlinear randomly excited dynamical systems. Attention is focused on importance sampling strategies based on the application of Girsanov's transformation method. Controls which minimize the distance function, as in the first order reliability method (FORM), are shown to minimize a bound on the sampling variance of the estimator for the probability of failure. Two schemes based on the application of calculus of variations for selecting control signals are proposed: the first obtains the control force as the solution of a two-point nonlinear boundary value problem, and, the second explores the application of the Volterra series in characterizing the controls. The relative merits of these schemes, vis-à-vis the method based on ideas from the FORM, are discussed. Illustrative examples, involving archetypal single degree of freedom (dof) nonlinear oscillators, and a multi-degree of freedom nonlinear dynamical system, are presented. The credentials of the proposed procedures are established by comparing the solutions with pertinent results from direct Monte Carlo simulations. - Highlights: • The distance minimizing control forces minimize a bound on the sampling variance. • Establishing Girsanov controls via solution of a two-point boundary value problem. • Girsanov controls via Volterra's series representation for the transfer functions.

Forced vibration of nonlinear system with symmetrical piecewise-linear characteristics

International Nuclear Information System (INIS)

Watanabe, Takeshi

1983-01-01

It is fairly difficult to treat exactly the analysis of a vibrating system including some play because it is accompanied by a strong nonlinear phenomenon of collision. The author attempted the theoretical analysis by the exact solution using series solution and the approximate solution, treating the forced vibration of a system having some play as the forced vibration of a continuous system with nonlinear boundary condition or the colliding vibration of a continuum. In this report, the problem of such system with play is treated as a nonlinear system having the symmetrical, piecewise linear characteristics of one degree of freedom. That is, it is considered that at the time of collision due to play, the collided body causes the deformation accompanied by triangular hystersis elastically and plastically, and the spring characteristics of restitution force change piecewise by the collision. The exact solution using series solution and the approximate solution are performed, and the effectiveness of these theoretical solutions is confirmed by comparing with the solution using an analog computer. The relation between the accuracy of two analysis methods and nonlinear parameters is shown by the examples of numerical calculation. (Kako, I.)

Method for Measurement of Multi-Degrees-of-Freedom Motion Parameters Based on Polydimethylsiloxane Cross-Coupling Diffraction Gratings

Science.gov (United States)

Duan, Junping; Zhu, Qiang; Qian, Kun; Guo, Hao; Zhang, Binzhen

2017-08-01

This work presents a multi-degrees-of-freedom motion parameter measurement method based on the use of cross-coupling diffraction gratings that were prepared on the two sides of a polydimethylsiloxane (PDMS) substrate using oxygen plasma processing technology. The laser beam that travels pass the cross-coupling optical grating would be diffracted into a two-dimensional spot array. The displacement and the gap size of the spot-array were functions of the movement of the laser source, as explained by the Fraunhofer diffraction effect. A 480 × 640 pixel charge-coupled device (CCD) was used to acquire images of the two-dimensional spot-array in real time. A proposed algorithm was then used to obtain the motion parameters. Using this method and the CCD described above, the resolutions of the displacement and the deflection angle were 0.18 μm and 0.0075 rad, respectively. Additionally, a CCD with a higher pixel count could improve the resolutions of the displacement and the deflection angle to sub-nanometer and micro-radian scales, respectively. Finally, the dynamic positions of hovering rotorcraft have been tracked and checked using the proposed method, which can be used to correct the craft's position and provide a method for aircraft stabilization in the sky.

Jacobian projection reduced-order models for dynamic systems with contact nonlinearities

Science.gov (United States)

Gastaldi, Chiara; Zucca, Stefano; Epureanu, Bogdan I.

2018-02-01

In structural dynamics, the prediction of the response of systems with localized nonlinearities, such as friction dampers, is of particular interest. This task becomes especially cumbersome when high-resolution finite element models are used. While state-of-the-art techniques such as Craig-Bampton component mode synthesis are employed to generate reduced order models, the interface (nonlinear) degrees of freedom must still be solved in-full. For this reason, a new generation of specialized techniques capable of reducing linear and nonlinear degrees of freedom alike is emerging. This paper proposes a new technique that exploits spatial correlations in the dynamics to compute a reduction basis. The basis is composed of a set of vectors obtained using the Jacobian of partial derivatives of the contact forces with respect to nodal displacements. These basis vectors correspond to specifically chosen boundary conditions at the contacts over one cycle of vibration. The technique is shown to be effective in the reduction of several models studied using multiple harmonics with a coupled static solution. In addition, this paper addresses another challenge common to all reduction techniques: it presents and validates a novel a posteriori error estimate capable of evaluating the quality of the reduced-order solution without involving a comparison with the full-order solution.

Combining on-hardware prototyping and high-level simulation for DSE of multi-ASIP systems

NARCIS (Netherlands)

Meloni, P.; Pomata, S.; Raffo, L.; Piscitelli, R.; Pimentel, A.D.; McAllister, J.; Bhattacharyya, S.

2012-01-01

Modern heterogeneous multi-processor embedded systems very often expose to the designer a large number of degrees of freedom, related to the application partitioning/mapping and to the component- and system-level architecture composition. The number is even larger when the designer targets systems

An Optimal Design of Driving Mechanism in a 1 Degree of Freedom (d.o.f. Anthropomorphic Finger

Directory of Open Access Journals (Sweden)

M. Ceccarelli

2005-01-01

Full Text Available Mechanisms can be used in finger design to obtain suitable actuation systems and to give stiff robust behavior in grasping tasks. The design of driving mechanisms for fingers has been attached at LARM in Cassino with the aim to obtain one degree of freedom actuation for an anthropomorphic finger. The dimensional design of a finger-driving mechanism has been formulated as a multi-objective optimization problem by using evaluation criteria for fundamental characteristics regarding with finger motion, grasping equilibrium and force transmission. The feasibility of the herein proposed optimum design procedure for a finger-driving mechanism has been tested by numerical examples that have been also used to enhance a prototype previously built at LARM in Cassino.

Pions and other hadronic degrees of freedom in nuclei

International Nuclear Information System (INIS)

Brockmann, B.; Weise, W.

1985-01-01

As ≥E and or ≥q is increased up to several hundreds of MeV, the explicit mesonic degrees of freedom become directly visible. The pion, in particular, is of fundamental importance. With its small mass of m/sub π/ = 140 MeV it is by far the lightest of all mesons. It is the generator of the long range nucleon-nucleon interaction. The pion Compton wavelength psi/sub π/ = Κm/sub π/c = 1.4 fm, defines the length scale of nuclear physics. As mesons become important, nucleons begin to reveal their intrinsic structure. Inseparably connected with pionic degrees of freedom is the role of the Δ(1232), the spin 3/2-isopin 3/2 isobar reached from the nucleon by a strong spin-isopin transition at an excitation energy ΔE = M/sub Δ/ - M ≅ 300 MeV, the Δ-nucleon mass difference. This paper, the position is taken that the nucleus consists of nucleons and their excited states (primarily the ≥ (1232)) which communicate by exchange of mesons (in particular: the pion). Such a description has turned out to be quite successful in correlating various phenomena and data at intermediate energies, remarkably though without the need, so far, for explicit reference to underlying quark degrees of freedom. This progress has gone parallel with the similarly successful meson exchange phenomenology of nucleon-nucleon forces at long and intermediate distances (r ≥ 0.8 fm)

The magnetic monopole and the separation between fast and slow magnetic degrees of freedom.

Science.gov (United States)

Wegrowe, J-E; Olive, E

2016-03-16

The Landau-Lifshitz-Gilbert (LLG) equation that describes the dynamics of a macroscopic magnetic moment finds its limit of validity at very short times. The reason for this limit is well understood in terms of separation of the characteristic time scales between slow degrees of freedom (the magnetization) and fast degrees of freedom. The fast degrees of freedom are introduced as the variation of the angular momentum responsible for the inertia. In order to study the effect of the fast degrees of freedom on the precession, we calculate the geometric phase of the magnetization (i.e. the Hannay angle) and the corresponding magnetic monopole. In the case of the pure precession (the slow manifold), a simple expression of the magnetic monopole is given as a function of the slowness parameter, i.e. as a function of the ratio of the slow over the fast characteristic times.

The magnetic monopole and the separation between fast and slow magnetic degrees of freedom

International Nuclear Information System (INIS)

Wegrowe, J-E; Olive, E

2016-01-01

The Landau–Lifshitz–Gilbert (LLG) equation that describes the dynamics of a macroscopic magnetic moment finds its limit of validity at very short times. The reason for this limit is well understood in terms of separation of the characteristic time scales between slow degrees of freedom (the magnetization) and fast degrees of freedom. The fast degrees of freedom are introduced as the variation of the angular momentum responsible for the inertia. In order to study the effect of the fast degrees of freedom on the precession, we calculate the geometric phase of the magnetization (i.e. the Hannay angle) and the corresponding magnetic monopole. In the case of the pure precession (the slow manifold), a simple expression of the magnetic monopole is given as a function of the slowness parameter, i.e. as a function of the ratio of the slow over the fast characteristic times. (paper)

A measure for isotropy-equilibrium degree of a multi-particle system

International Nuclear Information System (INIS)

Liu Zhiqing; Li Runze; Xu Mingmei; Liu Lianshou

2008-01-01

Aiming at using sphericity as a tool to study the isotropy-equilibrium property of a multi-particle system, in particular the hadronic final state IFS produced in instanton-induced DIS events, we discuss in detail the dependence is sphericity on multiplicity and the multiplicity distribution, as well as on the isotropy degree of the system. A rotational symmetric model with a fluctuating isotropy-degree is constructed, which can fit the mean and width of sphericity of the Monte Carlo IFS-results simultaneously. The IFS from the Monte Carlo simulation is found to be not ideally isotropic but has a probability of 4.7% to be isotropic within error of 5%. The results provide us a description of how far the IFS departs from equilibrium. The method developed is applicable to any Monte Carlo generated multi-particle system, for which the isotropy-equilibrium property is significant. (authors)

The d*(2380) in Neutron Stars - A New Degree of Freedom?

Science.gov (United States)

Vidaña, I.; Bashkanov, M.; Watts, D. P.; Pastore, A.

2018-06-01

Elucidating the appropriate microscopic degrees of freedom within neutron stars remains an open question which impacts nuclear physics, particle physics and astrophysics. The recent discovery of the first non-trivial dibaryon, the d* (2380), provides a new candidate for an exotic degree of freedom in the nuclear equation of state at high matter densities. In this paper a first calculation of the role of the d* (2380) in neutron stars is performed based on a relativistic mean field description of the nucleonic degrees of freedom supplemented by a free boson gas of d* (2380). The calculations indicate that the d* (2380) would appear at densities around three times normal nuclear matter saturation density and comprise around 20% of the matter in the centre of heavy stars with higher fractions possible in the higher densities of merger processes. The d* (2380) would also reduce the maximum star mass by around 15% and have significant influence on the fractional proton/neutron composition. New possibilities for neutron star cooling mechanisms arising from the d* (2380) are also predicted.

Surface density of spacetime degrees of freedom from equipartition law in theories of gravity

International Nuclear Information System (INIS)

Padmanabhan, T.

2010-01-01

I show that the principle of equipartition, applied to area elements of a surface ∂V which are in equilibrium at the local Davies-Unruh temperature, allows one to determine the surface number density of the microscopic spacetime degrees of freedom in any diffeomorphism invariant theory of gravity. The entropy associated with these degrees of freedom matches with the Wald entropy for the theory. This result also allows one to attribute an entropy density to the spacetime in a natural manner. The field equations of the theory can then be obtained by extremizing this entropy. Moreover, when the microscopic degrees of freedom are in local thermal equilibrium, the spacetime entropy of a bulk region resides on its boundary.

Meson and isobar degrees of freedom in nuclear forces

International Nuclear Information System (INIS)

Vinh Mau, R.

1983-10-01

The current status of the low energy theory of the NN and NantiN interactions is reviewed, with special attention given to the role of the meson and isobar degrees of freedom. Phenomenology and fits to recent data are also described

Control-Oriented Modeling and System Identification for Nonlinear Trajectory Tracking Control of a Small-Scale Unmanned Helicopter

Science.gov (United States)

Pourrezaei Khaligh, Sepehr

Model-based control design of small-scale helicopters involves considerable challenges due to their nonlinear and underactuated dynamics with strong couplings between the different degrees-of-freedom (DOFs). Most nonlinear model-based multi-input multi-output (MIMO) control approaches require the dynamic model of the system to be affine-in-control and fully actuated. Since the existing formulations for helicopter nonlinear dynamic model do not meet these requirements, these MIMO approaches cannot be applied for control of helicopters and control designs in the literature mostly use the linearized model of the helicopter dynamics around different trim conditions instead of directly using the nonlinear model. The purpose of this thesis is to derive the 6-DOF nonlinear model of the helicopter in an affine-in-control, non-iterative and square input-output formulation to enable many nonlinear control approaches, that require a control-affine and square model such as the sliding mode control (SMC), to be used for control design of small-scale helicopters. A combination of the first-principles approach and system identification is used to derive this model. To complete the nonlinear model of the helicopter required for the control design, the inverse kinematics of the actuating mechanisms of the main and tail rotors are also derived using an approach suitable for the real-time control applications. The parameters of the new control-oriented formulation are identified using a time-domain system identification strategy and the model is validated using flight test data. A robust sliding mode control (SMC) is then designed using the new formulation of the helicopter dynamics and its robustness to parameter uncertainties and wind disturbances is tested in simulations. Next, a hardware-in-the-loop (HIL) testbed is designed to allow for the control implementation and gain tuning as well as testing the robustness of the controller to external disturbances in a controlled

Constrained GOE for systems with few degrees of freedom in the intermediate regime between chaos and order

International Nuclear Information System (INIS)

Carneiro, C.E.; Hussein, M.S.; Pato, M.P.

1990-05-01

New distribution laws for the energy level spacings and the eigenvector amplitudes, appropriate for systems with a few degrees of freedom in the intermediate regime between chaos and order, are derived by conveniently deforming the Gaussian Orthogonal Ensemble. The cases of 2X2 and 3X3 matrices are fully worked out. The general case of matrices with large dimensions is discussed. The Hubbard-Stratonowich transformation in conjunction with the Method of Integration over Alternate Variables are employed for the purpose. (author)

Existence of local degrees of freedom for higher dimensional pure Chern-Simons theories

International Nuclear Information System (INIS)

Banados, M.; Garay, L.J.; Henneaux, M.

1996-01-01

The canonical structure of higher dimensional pure Chern-Simons theories is analyzed. It is shown that these theories have generically a nonvanishing number of local degrees of freedom, even though they are obtained by means of a topological construction. This number of local degrees of freedom is computed as a function of the spacetime dimension and the dimension of the gauge group. copyright 1996 The American Physical Society

Isospin-breaking nuclear forces with delta degrees of freedom

International Nuclear Information System (INIS)

Epelbaum, E.

2008-01-01

The leading contributions to the isospin-violating (IV) two- and three-nucleon forces in effective field theory with explicit delta degrees of freedom are discussed. Presented at the 20th Few-Body Conference, Pisa, Italy, 10-14 September 2007. (author)

Probing non nucleonic degrees of freedom with strong and electromagnetic interactions

International Nuclear Information System (INIS)

Frois, B.

1985-10-01

In this talk, I would like to examine our present view on non-nucleonic degrees of freedom with a few typical experimental results obtained recently both with hadronic and electromagnetic probes at intermediate energies. It is the first generation of experimental data which has probed mesonic degrees of freedom with a spatial resolution of the order of 0.5 fm. This has made possible for example the measurement of the size of the pion-nucleon interaction region. This is very stimulating progress and we begin to have a coherent overview on the various reaction mechanisms which are induced by hadronic and electromagnetic probes

An embedded controller for a 7-degree of freedom prosthetic arm.

Science.gov (United States)

Tenore, Francesco; Armiger, Robert S; Vogelstein, R Jacob; Wenstrand, Douglas S; Harshbarger, Stuart D; Englehart, Kevin

2008-01-01

We present results from an embedded real-time hardware system capable of decoding surface myoelectric signals (sMES) to control a seven degree of freedom upper limb prosthesis. This is one of the first hardware implementations of sMES decoding algorithms and the most advanced controller to-date. We compare decoding results from the device to simulation results from a real-time PC-based operating system. Performance of both systems is shown to be similar, with decoding accuracy greater than 90% for the floating point software simulation and 80% for fixed point hardware and software implementations.

A spatial mechanism for pilot laser alignment with four independently controlled degrees of freedom

NARCIS (Netherlands)

Kreutz, Ernst-Wolfgang; Meijer, J.; Quenzer, A.; Schuöcker, Dieter

1987-01-01

Alignment mechanism for optical components, such as mirrors for manipulating laser beams, frequently require four degrees of freedom: two translations and two rotations, i.e. a four axis system. When the adjustment of one axis influences the others, as often will be the case, alignment procedures

Study of subnuclear degrees of freedom in electromagnetic break-up of the deuteron

International Nuclear Information System (INIS)

Arenhoevel, H.

1991-01-01

The role of subnuclear degrees of freedom in terms of meson and isobar degrees of freedom is discussed for the simplest process in nuclear physics, i.e., the electromagnetic break-up of the deuteron. The various theoretical schemes for incorporating such degrees of freedom either explicitly or as effective operators are briefly reviewed. The principle of minimal substitution as a means to construct effective two-body exchange current operators is illustrated and explicit expressions for pion exchange are given. The cross sections for photo- and electrodisintegration of the deuteron are expressed in terms of the t-matrix elements. The different theoretical methods for the calculation of the t-matrix are described and the essential ingredients for the non-relativistic evaluation including the most important relativistic corrections of lowest order are outlined. For specific experiments in photo- and electrodisintegration theoretical results are compared to experimental data and the present status of our understanding of these processes in assessed. (author). Refs, figs

Elastic Cube Actuator with Six Degrees of Freedom Output

Directory of Open Access Journals (Sweden)

Pengchuan Wang

2015-09-01

Full Text Available Unlike conventional rigid actuators, soft robotic technologies possess inherent compliance, so they can stretch and twist along every axis without the need for articulated joints. This compliance is exploited here using dielectric elastomer membranes to develop a novel six degrees of freedom (6-DOF polymer actuator that unifies ordinarily separate components into a simple cubic structure. This cube actuator design incorporates elastic dielectric elastomer membranes on four faces which are coupled by a cross-shaped end effector. The inherent elasticity of each membrane greatly reduces kinematic constraint and enables a 6-DOF actuation output to be produced via the end effector. An electro-mechanical model of the cube actuator is presented that captures the non-linear hyperelastic behaviour of the active membranes. It is demonstrated that the model accurately predicts actuator displacement and blocking moment for a range of input voltages. Experimental testing of a prototype 60 mm device demonstrates 6-DOF operation. The prototype produces maximum linear and rotational displacements of ±2.6 mm (±4.3% and ±4.8° respectively and a maximum blocking moment of ±76 mNm. The capacity for full 6-DOF actuation from a compact, readily scalable and easily fabricated polymeric package enables implementation in a range of mechatronics and robotics applications.

On the Secrecy Degrees of Freedom with Full-Duplex Communication

DEFF Research Database (Denmark)

Mahmood, Nurul Huda; Mogensen, Preben Elgaard

2017-01-01

of such an application. The potential of full duplex nodes in improving the physical layer security of a communication link is investigated in this contribution. We specifically derive the information theoretic secrecy degrees of freedom measure for a pair of nodes communicating in full duplex mode. Moreover, closed...... and the delay reduction of full duplex communication are somewhat limited in realistic network settings, leading researchers to study other possible applications of full duplex communication which can provide significantly higher gains over half duplex communication. Physical layer security is an example...... form expressions for the instantaneous and ergodic throughput gain of full duplex communication over conventional half duplex is derived. The secrecy degrees of freedom with full duplex is shown to be two as opposed to that of zero in half duplex mode....

A fast high-precision six-degree-of-freedom relative position sensor

Science.gov (United States)

Hughes, Gary B.; Macasaet, Van P.; Griswold, Janelle; Sison, Claudia A.; Lubin, Philip; Meinhold, Peter; Suen, Jonathan; Brashears, Travis; Zhang, Qicheng; Madajian, Jonathan

2016-03-01

Lasers are commonly used in high-precision measurement and profiling systems. Some laser measurement systems are based on interferometry principles, and others are based on active triangulation, depending on requirements of the application. This paper describes an active triangulation laser measurement system for a specific application wherein the relative position of two fixed, rigid mechanical components is to be measured dynamically with high precision in six degrees of freedom (DOF). Potential applications include optical systems with feedback to control for mechanical vibration, such as target acquisition devices with multiple focal planes. The method uses an array of several laser emitters mounted on one component. The lasers are directed at a reflective surface on the second component. The reflective surface consists of a piecewise-planar pattern such as a pyramid, or more generally a curved reflective surface such as a hyperbolic paraboloid. The reflected spots are sensed at 2-dimensional photodiode arrays on the emitter component. Changes in the relative position of the emitter component and reflective surface will shift the location of the reflected spots within photodiode arrays. Relative motion in any degree of freedom produces independent shifts in the reflected spot locations, allowing full six-DOF relative position determination between the two component positions. Response time of the sensor is limited by the read-out rate of the photodiode arrays. Algorithms are given for position determination with limits on uncertainty and sensitivity, based on laser and spot-sensor characteristics, and assuming regular surfaces. Additional uncertainty analysis is achievable for surface irregularities based on calibration data.

A multi-harmonic generalized energy balance method for studying autonomous oscillations of nonlinear conservative systems

Science.gov (United States)

Balaji, Nidish Narayanaa; Krishna, I. R. Praveen; Padmanabhan, C.

2018-05-01

The Harmonic Balance Method (HBM) is a frequency-domain based approximation approach used for obtaining the steady state periodic behavior of forced dynamical systems. Intrinsically these systems are non-autonomous and the method offers many computational advantages over time-domain methods when the fundamental period of oscillation is known (generally fixed as the forcing period itself or a corresponding sub-harmonic if such behavior is expected). In the current study, a modified approach, based on He's Energy Balance Method (EBM), is applied to obtain the periodic solutions of conservative systems. It is shown that by this approach, periodic solutions of conservative systems on iso-energy manifolds in the phase space can be obtained very efficiently. The energy level provides the additional constraint on the HBM formulation, which enables the determination of the period of the solutions. The method is applied to the linear harmonic oscillator, a couple of nonlinear oscillators, the elastic pendulum and the Henon-Heiles system. The approach is used to trace the bifurcations of the periodic solutions of the last two, being 2 degree-of-freedom systems demonstrating very rich dynamical behavior. In the process, the advantages offered by the current formulation of the energy balance is brought out. A harmonic perturbation approach is used to evaluate the stability of the solutions for the bifurcation diagram.

Experimental observation of the quantum behavior of a macroscopic degree of freedom

International Nuclear Information System (INIS)

Devoret, M.H.; Martinis, J.M.; Esteve, D.

1986-08-01

At Berkeley a series of experiments have been performed, that demonstrates the quantum behavior of one macroscopic degree of freedom, namely the phase difference across a current biased Josephson junction. Here we will focus on the praticalities involved in such a demonstration. The emphasis is put on the particular procedures used to solve the two problems of noise shielding and parameter determination. To begin, a short description of the macroscopic system investigated, the current biased Josephson junction is given

Non-parametric system identification from non-linear stochastic response

DEFF Research Database (Denmark)

Rüdinger, Finn; Krenk, Steen

2001-01-01

An estimation method is proposed for identification of non-linear stiffness and damping of single-degree-of-freedom systems under stationary white noise excitation. Non-parametric estimates of the stiffness and damping along with an estimate of the white noise intensity are obtained by suitable...... of the energy at mean-level crossings, which yields the damping relative to white noise intensity. Finally, an estimate of the noise intensity is extracted by estimating the absolute damping from the autocovariance functions of a set of modified phase plane variables at different energy levels. The method...

Analysis of single-degree-of-freedom piezoelectric energy harvester with stopper by incremental harmonic balance method

Science.gov (United States)

Zhao, Dan; Wang, Xiaoman; Cheng, Yuan; Liu, Shaogang; Wu, Yanhong; Chai, Liqin; Liu, Yang; Cheng, Qianju

2018-05-01

Piecewise-linear structure can effectively broaden the working frequency band of the piezoelectric energy harvester, and improvement of its research can promote the practical process of energy collection device to meet the requirements for powering microelectronic components. In this paper, the incremental harmonic balance (IHB) method is introduced for the complicated and difficult analysis process of the piezoelectric energy harvester to solve these problems. After obtaining the nonlinear dynamic equation of the single-degree-of-freedom piecewise-linear energy harvester by mathematical modeling and the equation is solved based on the IHB method, the theoretical amplitude-frequency curve of open-circuit voltage is achieved. Under 0.2 g harmonic excitation, a piecewise-linear energy harvester is experimentally tested by unidirectional frequency-increasing scanning. The results demonstrate that the theoretical and experimental amplitudes have the same trend, and the width of the working band with high voltage output are 4.9 Hz and 4.7 Hz, respectively, and the relative error is 4.08%. The open-output peak voltage are 21.53 V and 18.25 V, respectively, and the relative error is 15.23%. Since the theoretical value is consistent with the experimental results, the theoretical model and the incremental harmonic balance method used in this paper are suitable for solving single-degree-of-freedom piecewise-linear piezoelectric energy harvester and can be applied to further parameter optimized design.

Extension of a nonlinear systems theory to general-frequency unsteady transonic aerodynamic responses

Science.gov (United States)

Silva, Walter A.

1993-01-01

A methodology for modeling nonlinear unsteady aerodynamic responses, for subsequent use in aeroservoelastic analysis and design, using the Volterra-Wiener theory of nonlinear systems is presented. The methodology is extended to predict nonlinear unsteady aerodynamic responses of arbitrary frequency. The Volterra-Wiener theory uses multidimensional convolution integrals to predict the response of nonlinear systems to arbitrary inputs. The CAP-TSD (Computational Aeroelasticity Program - Transonic Small Disturbance) code is used to generate linear and nonlinear unit impulse responses that correspond to each of the integrals for a rectangular wing with a NACA 0012 section with pitch and plunge degrees of freedom. The computed kernels then are used to predict linear and nonlinear unsteady aerodynamic responses via convolution and compared to responses obtained using the CAP-TSD code directly. The results indicate that the approach can be used to predict linear unsteady aerodynamic responses exactly for any input amplitude or frequency at a significant cost savings. Convolution of the nonlinear terms results in nonlinear unsteady aerodynamic responses that compare reasonably well with those computed using the CAP-TSD code directly but at significant computational cost savings.

Dynamic assessment of nonlinear typical section aeroviscoelastic systems using fractional derivative-based viscoelastic model

Science.gov (United States)

Sales, T. P.; Marques, Flávio D.; Pereira, Daniel A.; Rade, Domingos A.

2018-06-01

Nonlinear aeroelastic systems are prone to the appearance of limit cycle oscillations, bifurcations, and chaos. Such problems are of increasing concern in aircraft design since there is the need to control nonlinear instabilities and improve safety margins, at the same time as aircraft are subjected to increasingly critical operational conditions. On the other hand, in spite of the fact that viscoelastic materials have already been successfully used for the attenuation of undesired vibrations in several types of mechanical systems, a small number of research works have addressed the feasibility of exploring the viscoelastic effect to improve the behavior of nonlinear aeroelastic systems. In this context, the objective of this work is to assess the influence of viscoelastic materials on the aeroelastic features of a three-degrees-of-freedom typical section with hardening structural nonlinearities. The equations of motion are derived accounting for the presence of viscoelastic materials introduced in the resilient elements associated to each degree-of-freedom. A constitutive law based on fractional derivatives is adopted, which allows the modeling of temperature-dependent viscoelastic behavior in time and frequency domains. The unsteady aerodynamic loading is calculated based on the classical linear potential theory for arbitrary airfoil motion. The aeroelastic behavior is investigated through time domain simulations, and subsequent frequency transformations, from which bifurcations are identified from diagrams of limit cycle oscillations amplitudes versus airspeed. The influence of the viscoelastic effect on the aeroelastic behavior, for different values of temperature, is also investigated. The numerical simulations show that viscoelastic damping can increase the flutter speed and reduce the amplitudes of limit cycle oscillations. These results prove the potential that viscoelastic materials have to increase aircraft components safety margins regarding aeroelastic

Vector Control System Design for Four Degree-of-Freedom Dynamic Flexible Simulation of the Variable-Frequency Drive

Directory of Open Access Journals (Sweden)

Kladiev Sergey N.

2017-01-01

Full Text Available In the present work we investigate the control system development of the drive simulators to train driver/operator driving skills, taking into account the ever-changing terrain. In order to meet the required response of the four degree-of-freedom motion platform servomotor current studies have been focused on the vector control of the resistance motor angular velocity from the sensor being incremental encoder. In proposed system the standard security of the frequency converter is realized. It leads to overload capacity of two times within minutes determined by servomotor inertia. Further, we represent the algorithms: positional limitation, reliable acceleration and restraint, frequency break. As well as we demonstrate the position switches implement in software. As a result, the control system commands the control of the angular position of the platform in coordinates.

Euler-Lagrange modeling for a seven degree of freedom Manipulator

NARCIS (Netherlands)

Muñoz Arias, Mauricio; Scherpen, Jacquelien M.A.

2011-01-01

The Philips experimental robot arm is a kinematically redundant manipulator which is mainly aimed at increasing dexterity. The robot manipulator, developed by Philips Applied Technologies for domotic applications, has seven degrees of freedom and includes humanoid characteristics of a upper limb

Design of articulated mechanisms with a degree of freedom constraint using global optimization

DEFF Research Database (Denmark)

Kawamoto, Atsushi; Stolpe, Mathias

2004-01-01

This paper deals with design of articulated mechanisms using a truss ground structure representation. The considered mechanism design problem is to maximize the output displacement for a given input force by choosing a prescribed number of truss elements out of all the available elements, so...... that the resultant mechanism has one mechanical degree of freedom when supported in a statically determinate manner. The mechanical degree of freedom constraint is included since it is essential for obtaining a proper articulated mechanism design. The Green-Lagrange strain measure is used to accommodate for large...

Model reduction of systems with localized nonlinearities.

Energy Technology Data Exchange (ETDEWEB)

Segalman, Daniel Joseph

2006-03-01

An LDRD funded approach to development of reduced order models for systems with local nonlinearities is presented. This method is particularly useful for problems of structural dynamics, but has potential application in other fields. The key elements of this approach are (1) employment of eigen modes of a reference linear system, (2) incorporation of basis functions with an appropriate discontinuity at the location of the nonlinearity. Galerkin solution using the above combination of basis functions appears to capture the dynamics of the system with a small basis set. For problems involving small amplitude dynamics, the addition of discontinuous (joint) modes appears to capture the nonlinear mechanics correctly while preserving the modal form of the predictions. For problems involving large amplitude dynamics of realistic joint models (macro-slip), the use of appropriate joint modes along with sufficient basis eigen modes to capture the frequencies of the system greatly enhances convergence, though the modal nature the result is lost. Also observed is that when joint modes are used in conjunction with a small number of elastic eigen modes in problems of macro-slip of realistic joint models, the resulting predictions are very similar to those of the full solution when seen through a low pass filter. This has significance both in terms of greatly reducing the number of degrees of freedom of the problem and in terms of facilitating the use of much larger time steps.

Robust tracking control of two-degrees-of-freedom mobile robots

NARCIS (Netherlands)

Oelen, W.; Oelen, W.; van Amerongen, J.

1994-01-01

A robust tracking controller for a mobile robot with two degrees of freedom has been developed. It is implemented and tested on a real mobile robot. Where other controllers show decreasing performance for low reference velocities, the performance of this controller depends only on the geometry of

On modulated complex non-linear dynamical systems

International Nuclear Information System (INIS)

Mahmoud, G.M.; Mohamed, A.A.; Rauh, A.

1999-01-01

This paper is concerned with the development of an approximate analytical method to investigate periodic solutions and their stability in the case of modulated non-linear dynamical systems whose equation of motion is describe. Such differential equations appear, for example, in problems of colliding particle beams in high-energy accelerators or one-mass systems with two or more degrees of freedom, e.g. rotors. The significance of periodic solutions lies on the fact that all non-periodic responses, if convergent, would approach to periodic solutions at the steady-state conditions. The example shows a good agreement between numerical and analytical results for small values of ε. The effect of the periodic modulation on the stability of the 2π-periodic solutions is discussed

Dynamics and Thermodynamics with Nuclear Degrees of Freedom

CERN Document Server

Chomaz, Philippe; Trautmann, Wolfgang; Yennello, Sherry J

2006-01-01

The study of nuclear reaction dynamics and thermodynamics with nuclear degrees of freedom has progressed dramatically in the past 20 years, from inclusive charge distributions to exclusive isotopically resolved fragment observables and from schematic phenomenological break-up models to sophisticated quantum many-body transport theories. A coherent and quantitative understanding of reaction mechanisms and of the underlying nuclear matter equation of state is emerging from the analysis of experimental data and from the theoretical modeling of heavy ion reactions. In addition, the accumulated evidence for phenomena related to the liquid-gas phase transition of nuclear matter has triggered interdisciplinary activities and the transfer of useful methods. In the near future, the availability of radioactive beam facilities is expected to provide unique opportunities for extending our knowledge of the dynamic properties and the nuclear phase diagram towards exotic nuclear systems with important astrophysical implicat...

Five degree-of-freedom control of an ultra-precision magnetically-suspended linear bearing. Ph.D. Thesis - MIT

Science.gov (United States)

Trumper, David L.; Slocum, A. H.

1991-01-01

The authors constructed a high precision linear bearing. A 10.7 kg platen measuring 125 mm by 125 mm by 350 mm is suspended and controlled in five degrees of freedom by seven electromagnets. The position of the platen is measured by five capacitive probes which have nanometer resolution. The suspension acts as a linear bearing, allowing linear travel of 50 mm in the sixth degree of freedom. In the laboratory, this bearing system has demonstrated position stability of 5 nm peak-to-peak. This is believed to be the highest position stability yet demonstrated in a magnetic suspension system. Performance at this level confirms that magnetic suspensions can address motion control requirements at the nanometer level. The experimental effort associated with this linear bearing system is described. Major topics are the development of models for the suspension, implementation of control algorithms, and measurement of the actual bearing performance. Suggestions for the future improvement of the bearing system are given.

Two degree of freedom internal model control-PID design for LFC of power systems via logarithmic approximations.

Science.gov (United States)

Singh, Jay; Chattterjee, Kalyan; Vishwakarma, C B

2018-01-01

Load frequency controller has been designed for reduced order model of single area and two-area reheat hydro-thermal power system through internal model control - proportional integral derivative (IMC-PID) control techniques. The controller design method is based on two degree of freedom (2DOF) internal model control which combines with model order reduction technique. Here, in spite of taking full order system model a reduced order model has been considered for 2DOF-IMC-PID design and the designed controller is directly applied to full order system model. The Logarithmic based model order reduction technique is proposed to reduce the single and two-area high order power systems for the application of controller design.The proposed IMC-PID design of reduced order model achieves good dynamic response and robustness against load disturbance with the original high order system. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

A Generic Inner-Loop Control Law Structure for Six-Degree-of-Freedom Conceptual Aircraft Design

Science.gov (United States)

Cox, Timothy H.; Cotting, M. Christopher

2005-01-01

A generic control system framework for both real-time and batch six-degree-of-freedom simulations is presented. This framework uses a simplified dynamic inversion technique to allow for stabilization and control of any type of aircraft at the pilot interface level. The simulation, designed primarily for the real-time simulation environment, also can be run in a batch mode through a simple guidance interface. Direct vehicle-state acceleration feedback is required with the simplified dynamic inversion technique. The estimation of surface effectiveness within real-time simulation timing constraints also is required. The generic framework provides easily modifiable control variables, allowing flexibility in the variables that the pilot commands. A direct control allocation scheme is used to command aircraft effectors. Primary uses for this system include conceptual and preliminary design of aircraft, when vehicle models are rapidly changing and knowledge of vehicle six-degree-of-freedom performance is required. A simulated airbreathing hypersonic vehicle and simulated high-performance fighter aircraft are used to demonstrate the flexibility and utility of the control system.

Bidirectional electrostatic linear shuffle motor with two degrees of freedom

NARCIS (Netherlands)

Sarajlic, Edin; Berenschot, Johan W.; Fujita, H.; Krijnen, Gijsbertus J.M.; Elwenspoek, Michael Curt

2005-01-01

We report on an electrostatic linear inchworm micromotor with two translational degrees-of-freedom. The motor employs built-in mechanical leverage to convert normal deflection of a flexible cross-plate into a small in-plane step and four electrostatic clamps to enable bidirectional inchworm motion

Axisymmetric solid-of-revolution finite elements with rotational degrees of freedom

CSIR Research Space (South Africa)

Long, CS

2009-01-01

Full Text Available , based on a Hellinger–Reissner like formulation, possesses an additional assumed stress field. Furthermore, an element correction, often employed in membrane elements with drilling degrees of freedom to alleviate membrane-bending locking, is adapted...

Crossing the phantom divide: Dark energy internal degrees of freedom

International Nuclear Information System (INIS)

Hu, Wayne

2005-01-01

Dark energy constraints have forced viable alternatives that differ substantially from a cosmological constant Λ to have an equation of state w that evolves across the phantom divide set by Λ. Naively, crossing this divide makes the dark energy gravitationally unstable, a problem that is typically finessed by unphysically ignoring the perturbations. While this procedure does not affect constraints near the favored cosmological constant model it can artificially enhance the confidence with which alternative models are rejected. Similar to the general problem of stability for w<0, the solution lies in the internal degrees of freedom in the dark energy sector. We explicitly show how to construct a two scalar field model that crosses the phantom divide and mimics the single field behavior on either side to substantially better than 1% in all observables. It is representative of models where the internal degrees of freedom keep the dark energy smooth out to the horizon scale independently of the equation of state

Dependence of balance energy on isospin degrees of freedom

International Nuclear Information System (INIS)

Gautam, S.; Sood, Aman D.; Puri, Rajeev K.; Hartnack, Ch.; Aichelin, J.

2009-01-01

Collective transverse in-plane flow in heavy ion collisions has been a subject of intensive theoretical and experimental studies, as it can provide information about the nuclear matter equation of state (EOS) as well as in medium nucleon-nucleon (nn) cross section. The study of dependence of collective transverse flow on various entrance channel parameters as beam energy and impact parameter has revealed much interesting physics about the origin and properties of the collective flow. From these studies, it has been found that the transverse in plane flow disappears at an incident energy termed as balance energy (E bal ), where attractive part of the nuclear interactions balances the repulsive part. Presently, due to availability of the radioactive beams, role of isospin degrees of freedom in EOS can be studied. The collective transverse in-plane flow has been found to depend on isospin of the colliding system. Here, we aim to study the dependence of E bal on N/Z ratio of the colliding system using IQMD model

Adaptive Fault-Tolerant Tracking Control of Nonaffine Nonlinear Systems with Actuator Failure

Directory of Open Access Journals (Sweden)

Hongcheng Zhou

2014-01-01

Full Text Available This paper proposes an adaptive fault-tolerant control scheme for nonaffine nonlinear systems. A model approximation method which is a solution that bridges the gap between affine and nonaffine control systems is developed firstly. A joint estimation approach is based on unscented Kalman filter, in which both failure parameters and states are simultaneously estimated by means of the argument state vector composed of the unknown faults and states. Then, stability analysis is given for the closed-loop system. Finally, the proposed approach is verified using a three-degree-of-freedom simulation of a typical fighter aircraft and the significantly improved system response demonstrates the practical potential of the theoretic results obtained.

A stochastic six-degree-of-freedom flight simulator for passively controlled high power rockets

OpenAIRE

Box, Simon; Bishop, Christopher M.; Hunt, Hugh

2011-01-01

This paper presents a method for simulating the flight of a passively controlled rocket in six degrees of freedom, and the descent under parachute in three degrees of freedom, Also presented is a method for modelling the uncertainty in both the rocket dynamics and the atmospheric conditions using stochastic parameters and the Monte-Carlo method. Included within this we present a method for quantifying the uncertainty in the atmospheric conditions using historical atmospheric data. The core si...

A versatile ultra high vacuum sample stage with six degrees of freedom

Energy Technology Data Exchange (ETDEWEB)

Ellis, A. W.; Tromp, R. M. [IBM T.J. Watson Research Center, 1101 Kitchawan Road, P.O. Box 218, Yorktown Heights, New York 10598 (United States)

2013-07-15

We describe the design and practical realization of a versatile sample stage with six degrees of freedom. The stage was designed for use in a Low Energy Electron Microscope, but its basic design features will be useful for numerous other applications. The degrees of freedom are X, Y, and Z, two tilts, and azimuth. All motions are actuated in an ultrahigh vacuum base pressure environment by piezoelectric transducers with integrated position sensors. The sample can be load-locked. During observation, the sample is held at a potential of −15 kV, at temperatures between room temperature and 1500 °C, and in background gas pressures up to 1 × 10{sup −4} Torr.

An analytical study of non-linear behaviour of coupled 2+2x0.5 DOF electro-magneto-mechanical system by a method of multiple scales

DEFF Research Database (Denmark)

Darula, Radoslav; Sorokin, Sergey

2013-01-01

An electro-magneto-mechanical system combines three physical domains - a mechanical structure, a magnetic field and an electric circuit. The interaction between these domains is analysed for a structure with two degrees of freedom (translational and rotational) and two electrical circuits. Each...... electrical circuit is described by a differential equation of the 1st order, which is considered to contribute to the coupled system by 0.5 DOF. The electrical and mechanical systems are coupled via a magnetic circuit, which is inherently non-linear, due to a non-linear nature of the electro-magnetic force...

A Monocular Vision Measurement System of Three-Degree-of-Freedom Air-Bearing Test-Bed Based on FCCSP

Science.gov (United States)

Gao, Zhanyu; Gu, Yingying; Lv, Yaoyu; Xu, Zhenbang; Wu, Qingwen

2018-06-01

A monocular vision-based pose measurement system is provided for real-time measurement of a three-degree-of-freedom (3-DOF) air-bearing test-bed. Firstly, a circular plane cooperative target is designed. An image of a target fixed on the test-bed is then acquired. Blob analysis-based image processing is used to detect the object circles on the target. A fast algorithm (FCCSP) based on pixel statistics is proposed to extract the centers of object circles. Finally, pose measurements can be obtained when combined with the centers and the coordinate transformation relation. Experiments show that the proposed method is fast, accurate, and robust enough to satisfy the requirement of the pose measurement.

Learning to play the violin: motor control by freezing, not freeing degrees of freedom.

Science.gov (United States)

Konczak, Jürgen; Vander Velden, Heidi; Jaeger, Lukas

2009-05-01

Playing a violin requires precise patterns of limb coordination that are acquired over years of practice. In the present study, the authors investigated how motion at proximal arm joints influenced the precision of bow movements in novice learners and experts. The authors evaluated the performances of 11 children (4-12 years old), 3 beginning-to-advanced level adult players, and 2 adult concert violinists, using a musical work that all had mastered as their first violin piece. The authors found that learning to play the violin was not associated with a release or freeing of joint degrees of freedom. Instead, learning was characterized by an experience-dependent suppression of sagittal shoulder motion, as documented by an observed reduction in joint angular amplitude. This reduction in the amplitude of shoulder flexion-extension correlated highly with a decrease of bow-movement variability. The remaining mechanical degrees of freedom at the elbow and shoulder showed patterns of neither suppression nor freeing. Only violinists with more than 700 practice hr achieved sagittal shoulder range of motion comparable to experts. The findings imply that restricting joint amplitude at selected joint degrees of freedom, while leaving other degrees of freedom unconstrained, constitutes an appropriate strategy for learning complex, high-precision motor patterns in children and adults. The findings also highlight that mastering even seemingly simple bowing movements constitutes a prolonged learning process.

Nonlinear dynamics aspects of modern storage rings

International Nuclear Information System (INIS)

Helleman, R.H.G.; Kheifets, S.A.

1986-01-01

It is argued that the nonlinearity of storage rings becomes an essential problem as the design parameters of each new machine are pushed further and further. Yet the familiar methods of classical mechanics do not allow determination of single particle orbits over reasonable lengths of time. It is also argued that the single particle dynamics of a storage ring is possibly one of the cleanest and simplest nonlinear dynamical systems available with very few degrees of freedom. Hence, reasons are found for accelerator physicists to be interested in nonlinear dynamics and for researchers in nonlinear dynamics to be interested in modern storage rings. The more familiar methods of treating nonlinear systems routinely used in acclerator theory are discussed, pointing out some of their limitations and pitfalls. 39 refs., 1 fig

Contribution of nucleonic degrees of freedom to the EMC effect

International Nuclear Information System (INIS)

Anisovich, V.V.; Sarantsev, A.V.; Starodubskii, V.E.

1987-01-01

The dispersion-integration method has been used to calculate the contribution of nucleonic degrees of freedom to the EMC effect. The structure of the amplitude of deep inelastic scattering is discussed for a nucleus with spin one half. The question of the functional form of the structure function of a nucleon off the mass shell is discussed

Degree-of-Freedom Strengthened Cascade Array for DOD-DOA Estimation in MIMO Array Systems.

Science.gov (United States)

Yao, Bobin; Dong, Zhi; Zhang, Weile; Wang, Wei; Wu, Qisheng

2018-05-14

In spatial spectrum estimation, difference co-array can provide extra degrees-of-freedom (DOFs) for promoting parameter identifiability and parameter estimation accuracy. For the sake of acquiring as more DOFs as possible with a given number of physical sensors, we herein design a novel sensor array geometry named cascade array. This structure is generated by systematically connecting a uniform linear array (ULA) and a non-uniform linear array, and can provide more DOFs than some exist array structures but less than the upper-bound indicated by minimum redundant array (MRA). We further apply this cascade array into multiple input multiple output (MIMO) array systems, and propose a novel joint direction of departure (DOD) and direction of arrival (DOA) estimation algorithm, which is based on a reduced-dimensional weighted subspace fitting technique. The algorithm is angle auto-paired and computationally efficient. Theoretical analysis and numerical simulations prove the advantages and effectiveness of the proposed array structure and the related algorithm.

Spatial Domain Adaptive Control of Nonlinear Rotary Systems Subject to Spatially Periodic Disturbances

Directory of Open Access Journals (Sweden)

Yen-Hsiu Yang

2012-01-01

Full Text Available We propose a generic spatial domain control scheme for a class of nonlinear rotary systems of variable speeds and subject to spatially periodic disturbances. The nonlinear model of the rotary system in time domain is transformed into one in spatial domain employing a coordinate transformation with respect to angular displacement. Under the circumstances that measurement of the system states is not available, a nonlinear state observer is established for providing the estimated states. A two-degree-of-freedom spatial domain control configuration is then proposed to stabilize the system and improve the tracking performance. The first control module applies adaptive backstepping with projected parametric update and concentrates on robust stabilization of the closed-loop system. The second control module introduces an internal model of the periodic disturbances cascaded with a loop-shaping filter, which not only further reduces the tracking error but also improves parametric adaptation. The overall spatial domain output feedback adaptive control system is robust to model uncertainties and state estimated error and capable of rejecting spatially periodic disturbances under varying system speeds. Stability proof of the overall system is given. A design example with simulation demonstrates the applicability of the proposed design.

Introduction to nonlinear science

CERN Document Server

Nicolis, G

1995-01-01

One of the most unexpected results in science in recent years is that quite ordinary systems obeying simple laws can give rise to complex, nonlinear or chaotic, behavior. In this book, the author presents a unified treatment of the concepts and tools needed to analyze nonlinear phenomena and to outline some representative applications drawn from the physical, engineering, and biological sciences. Some of the interesting topics covered include: dynamical systems with a finite number of degrees of freedom, linear stability analysis of fixed points, nonlinear behavior of fixed points, bifurcation analysis, spatially distributed systems, broken symmetries, pattern formation, and chaotic dynamics. The author makes a special effort to provide a logical connection between ordinary dynamical systems and spatially extended systems, and to balance the emphasis on chaotic behavior and more classical nonlinear behavior. He also develops a statistical approach to complex systems and compares it to traditional deterministi...

Nonlinear dynamics near resonances of a rotor-active magnetic bearings system with 16-pole legs and time varying stiffness

Science.gov (United States)

Wu, R. Q.; Zhang, W.; Yao, M. H.

2018-02-01

In this paper, we analyze the complicated nonlinear dynamics of rotor-active magnetic bearings (rotor-AMB) with 16-pole legs and the time varying stiffness. The magnetic force with 16-pole legs is obtained by applying the electromagnetic theory. The governing equation of motion for rotor-active magnetic bearings is derived by using the Newton's second law. The resulting dimensionless equation of motion for the rotor-AMB system is expressed as a two-degree-of-freedom nonlinear system including the parametric excitation, quadratic and cubic nonlinearities. The averaged equation of the rotor-AMB system is obtained by using the method of multiple scales when the primary parametric resonance and 1/2 subharmonic resonance are taken into account. From the frequency-response curves, it is found that there exist the phenomena of the soft-spring type nonlinearity and the hardening-spring type nonlinearity in the rotor-AMB system. The effects of different parameters on the nonlinear dynamic behaviors of the rotor-AMB system are investigated. The numerical results indicate that the periodic, quasi-periodic and chaotic motions occur alternately in the rotor-AMB system.

Control of objects with a high degree of freedom

OpenAIRE

Wang, He

2012-01-01

In this thesis, I present novel strategies for controlling objects with high degrees of freedom for the purpose of robotic control and computer animation, including articulated objects such as human bodies or robots and deformable objects such as ropes and cloth. Such control is required for common daily movements such as folding arms, tying ropes, wrapping objects and putting on clothes. Although there is demand in computer graphics and animation for generating such scenes, li...

A physical control interface with proprioceptive feedback and multiple degrees of freedom

Science.gov (United States)

Creasey, G. H.; Gow, D.; Sloan, Y.; Meadows, B.

1991-01-01

The use of the drug thalidomide by pregnant mothers in Britain resulted in a variety of deformities including the birth of children having no arms. Such children were provided with powered artificial arms with up to five degrees of freedom simultaneously controlled in real time by shoulder movement. The physiological sense of proprioception was extended from the user into the device, reducing the need for visual feedback and conscious control. With the banning of thalidomide, this technique fell into disuse but it is now being re-examined as a control mechanism for other artificial limbs and it may have other medical applications to allow patients to control formerly paralyzed limbs moved by electrical stimulation. It may also have commercial applications in robotic manipulation or physical interaction with virtual environments. To allow it to be investigated further, the original pneumatic control system has recently been converted to an electrical analogue to allow interfacing to electronic and computer-assisted systems. A harness incorporates force-sensitive resistors and linear potentiomenters for sensing position and force at the interface with the skin, and miniature electric motors and lead screws for feeding back to the user the position of the robotic arm and the forces applied to it. In the present system, control is applied to four degrees of freedom using elevation/depression and protraction/reaction of each shoulder so that each collar bone emulates a joystick. However, both electrical and mechanical components have been built in modular form to allow rapid replication and testing of a variety of force and position control strategies.

Development and calibration of an accurate 6-degree-of-freedom measurement system with total station

International Nuclear Information System (INIS)

Gao, Yang; Lin, Jiarui; Yang, Linghui; Zhu, Jigui

2016-01-01

To meet the demand of high-accuracy, long-range and portable use in large-scale metrology for pose measurement, this paper develops a 6-degree-of-freedom (6-DOF) measurement system based on total station by utilizing its advantages of long range and relative high accuracy. The cooperative target sensor, which is mainly composed of a pinhole prism, an industrial lens, a camera and a biaxial inclinometer, is designed to be portable in use. Subsequently, a precise mathematical model is proposed from the input variables observed by total station, imaging system and inclinometer to the output six pose variables. The model must be calibrated in two levels: the intrinsic parameters of imaging system, and the rotation matrix between coordinate systems of the camera and the inclinometer. Then corresponding approaches are presented. For the first level, we introduce a precise two-axis rotary table as a calibration reference. And for the second level, we propose a calibration method by varying the pose of a rigid body with the target sensor and a reference prism on it. Finally, through simulations and various experiments, the feasibilities of the measurement model and calibration methods are validated, and the measurement accuracy of the system is evaluated. (paper)

Modal bifurcation in a high-Tc superconducting levitation system

International Nuclear Information System (INIS)

Taguchi, D; Fujiwara, S; Sugiura, T

2011-01-01

This paper deals with modal bifurcation of a multi-degree-of-freedom high-T c superconducting levitation system. As modeling of large-scale high-T c superconducting levitation applications, where plural superconducting bulks are often used, it can be helpful to consider a system constituting of multiple oscillators magnetically coupled with each other. This paper investigates nonlinear dynamics of two permanent magnets levitated above high-T c superconducting bulks and placed between two fixed permanent magnets without contact. First, the nonlinear equations of motion of the levitated magnets were derived. Then the method of averaging was applied to them. It can be found from the obtained solutions that this nonlinear two degree-of-freedom system can have two asymmetric modes, in addition to a symmetric mode and an antisymmetric mode both of which also exist in the linearized system. One of the backbone curves in the frequency response shows a modal bifurcation where the two stable asymmetric modes mentioned above appear with destabilization of the antisymmetric mode, thus leading to modal localization. These analytical predictions have been confirmed in our numerical analysis and experiments of free vibration and forced vibration. These results, never predicted by linear analysis, can be important for application of high-T c superconducting levitation systems.

Asynchronous partial contact motion due to internal resonance in multiple degree-of-freedom rotordynamics.

Science.gov (United States)

Shaw, A D; Champneys, A R; Friswell, M I

2016-08-01

Sudden onset of violent chattering or whirling rotor-stator contact motion in rotational machines can cause significant damage in many industrial applications. It is shown that internal resonance can lead to the onset of bouncing-type partial contact motion away from primary resonances. These partial contact limit cycles can involve any two modes of an arbitrarily high degree-of-freedom system, and can be seen as an extension of a synchronization condition previously reported for a single disc system. The synchronization formula predicts multiple drivespeeds, corresponding to different forms of mode-locked bouncing orbits. These results are backed up by a brute-force bifurcation analysis which reveals numerical existence of the corresponding family of bouncing orbits at supercritical drivespeeds, provided the damping is sufficiently low. The numerics reveal many overlapping families of solutions, which leads to significant multi-stability of the response at given drive speeds. Further, secondary bifurcations can also occur within each family, altering the nature of the response and ultimately leading to chaos. It is illustrated how stiffness and damping of the stator have a large effect on the number and nature of the partial contact solutions, illustrating the extreme sensitivity that would be observed in practice.

Modelling and Control of the Multi-Stage Cable Pulley-Driven Flexible-Joint Robot

Directory of Open Access Journals (Sweden)

Phongsaen Pitakwatchara

2014-07-01

Full Text Available This work is concerned with the task space impedance control of a robot driven through a multi-stage nonlinear flexible transmission system. Specifically, a two degrees-of-freedom cable pulley-driven flexible-joint robot is considered. Realistic modelling of the system is developed within the bond graph modelling framework. The model captures the nonlinear compliance behaviour of the multi-stage cable pulley transmission system, the spring effect of the augmented counterbalancing mechanism, the major loss throughout the system elements, and the typical inertial dynamics of the robot. Next, a task space impedance controller based on limited information about the angle and the current of the motors is designed. The motor current is used to infer the transmitted torque, by which the motor inertia may be modulated. The motor angle is employed to estimate the stationary distal robot link angle and the robot joint velocity. They are used in the controller to generate the desired damping force and to shape the potential energy of the flexible joint robot system to the desired configuration. Simulation and experimental results of the controlled system signify the competency of the proposed control law.

Low-energy coupling of individual and collective degrees of freedom: a general microscopic approach

International Nuclear Information System (INIS)

Quentin, P.; Meyer, M.

1988-01-01

A general microscopic approach of low energy coupling of individual and collective degrees of freedom is presented. The ingredients of a Bohr-Mottelson unified model description are determined consistently from the Skyrme SIII effective interaction, through the adiabatic limit of the time-dependent Hartree-Fock-Bogoliubov approximation. Three specific aspects will be mostly developed: i) the effect of pairing correlations on adiabatic mass parameters and collective dynamics; ii) a consistent coupling of collective and individual degrees of freedom to describe odd nuclei; iii) a study of spectroscopic data in odd-odd nuclei as a test of effective nucleon-nucleon interactions. (author)

Adaptive fuzzy wavelet network control of second order multi-agent systems with unknown nonlinear dynamics.

Science.gov (United States)

Taheri, Mehdi; Sheikholeslam, Farid; Najafi, Majddedin; Zekri, Maryam

2017-07-01

In this paper, consensus problem is considered for second order multi-agent systems with unknown nonlinear dynamics under undirected graphs. A novel distributed control strategy is suggested for leaderless systems based on adaptive fuzzy wavelet networks. Adaptive fuzzy wavelet networks are employed to compensate for the effect of unknown nonlinear dynamics. Moreover, the proposed method is developed for leader following systems and leader following systems with state time delays. Lyapunov functions are applied to prove uniformly ultimately bounded stability of closed loop systems and to obtain adaptive laws. Three simulation examples are presented to illustrate the effectiveness of the proposed control algorithms. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

SHOCK, Nonlinear Dynamic Structure Analysis, Spring and Mass Model, Runge-Kutta-Gill Method

International Nuclear Information System (INIS)

Gabrielson, V. K.

1981-01-01

1 - Description of problem or function: SHOCK calculates the dynamic response of a structure modeled as a spring-mass system having one or two degrees of freedom for each mass when subjected to specified environments. The code determines the behavior of each lumped mass (displacement, velocity, and acceleration for each degree of freedom) and the behavior of each spring or coupling (force, shear, moment, and displacement) as a function of time. Two types of models, axial, having one degree of freedom, and lateral, having two degrees of freedom at each mass can be processed. Damping can be included in all models and shock spectrums of responses can be obtained. 2 - Method of solution: Two methods of numerical integration of the second-order dynamic equations are provided: the Runge-Kutta-Gill method with variable step-size is recommended for highly nonlinear problems, and a variation of the Newmark-Beta method is available for use with large linear problems. 3 - Restrictions on the complexity of the problem: Maxima of: 100 masses, 200 springs or couplings. Complex arrangements of nonlinear options must be carefully checked by the user

Modular Circuitry for Combining and Controlling Degrees of Freedom in the Limb

National Research Council Canada - National Science Library

Giszter, Simon

2001-01-01

Work in the frog spinal cord, and more recently in mammals, suggests that the degrees of freedom problem in motor planning may be simplified by building motor actions from combinations of motor primitives...

Torsional vibration of crankshaft in an engine propeller nonlinear dynamical system

Science.gov (United States)

Zhang, X.; Yu, S. D.

2009-01-01

Theoretical and experimental studies on torsional vibration of an aircraft engine-propeller system are presented in this paper. Two system models—a rigid body model and a flexible body model, are developed for predicting torsional vibrations of the crankshaft under different engine powers and propeller pitch settings. In the flexible body model, the distributed torsional flexibility and mass moment of inertia of the crankshaft are considered using the finite element method. The nonlinear autonomous equations of motion for the engine-propeller dynamical system are established using the augmented Lagrange equations, and solved using the Runge-Kutta method after a degrees of freedom reduction scheme is applied. Experiments are carried out on a three-cylinder four-stroke engine. Both theoretical and experimental studies reveal that the crankshaft flexibility has significant influence on the system dynamical behavior.

Space Station Freedom assembly and operation at a 51.6 degree inclination orbit

Science.gov (United States)

Troutman, Patrick A.; Brewer, Laura M.; Heck, Michael L.; Kumar, Renjith R.

1993-01-01

This study examines the implications of assembling and operating Space Station Freedom at a 51.6 degree inclination orbit utilizing an enhanced lift Space Shuttle. Freedom assembly is currently baselined at a 220 nautical mile high, 28.5 degree inclination orbit. Some of the reasons for increasing the orbital inclination are (1) increased ground coverage for Earth observations, (2) greater accessibility from Russian and other international launch sites, and (3) increased number of Assured Crew Return Vehicle (ACRV) landing sites. Previous studies have looked at assembling Freedom at a higher inclination using both medium and heavy lift expendable launch vehicles (such as Shuttle-C and Energia). The study assumes that the shuttle is used exclusively for delivering the station to orbit and that it can gain additional payload capability from design changes such as a lighter external tank that somewhat offsets the performance decrease that occurs when the shuttle is launched to a 51.6 degree inclination orbit.

Design considerations for multi component molecular-polymeric nonlinear optical materials

Energy Technology Data Exchange (ETDEWEB)

Singer, K.D. (Case Western Reserve Univ., Cleveland, OH (USA). Dept. of Physics); Kuzyk, M.G. (Washington State Univ., Pullman, WA (USA). Dept. of Physics); Fang, T.; Holland, W.R. (AT and T Bell Labs., Princeton, NJ (USA)); Cahill, P.A. (Sandia National Labs., Albuquerque, NM (USA))

1990-01-01

We review our work on multi component polymeric nonlinear optical materials. These materials consist of nonlinear optical molecules incorporated in a polymeric host. A cross-linked triazine polymer incorporating a dicyanovinyl terminated azo dye was found to be relatively stable at 85{degree} and posses an electro-optic coefficient of 11pm/V. We have also observed the zero dispersion condition in a new anomalous dispersion dye for phase matched second harmonic generation, and expect efficient conversion to the blue. A squarylium dye, ISQ, has been found to posses a large third order nonlinearity, and may display two-level behavior. 24 refs., 11 figs.

Dynamic Model of Platform Manipulator with Six Degrees of Freedom

Directory of Open Access Journals (Sweden)

A. L. Lapikov

2015-01-01

Full Text Available The paper considers a solution of the relevant tasks related to deriving dynamic equations for the platform manipulators with 6 degrees of freedom. It presents a detailed analysis of the subject area, describes key problems arising in the course of research, and suggests their solution methods. The equations describing dynamics of the mechanical system under discussion were derived using Lagrange equation of the second kind. For this purpose Cartesian coordinates and three Euler angles (angles of precession, nutation and intrinsic rotation describing the orientation of moving frame of reference connected with the platform towards the base were chosen as generalized coordinates of the model. Such choice allowed us to simplify the derivation of the model considerably, because it was possible to represent a dependence of kinetic energy of the mechanical system on the generalized coordinates in an explicit form. In addition, formulation of kinetic energy was supplemented with correlations describing kinetic energy of the mechanism legs. During the derivation of equations for the legs velocities the part of the component defining a rotation movement of the leg against the joint of the base was ignored because of it was small in comparison with the component of linear separation. Besides, during the derivation of equations for kinetic energy of the legs, modified correlations for kinematics of platform manipulators with 6 degrees of freedom suggested in the previous papers of the authors were used.he paper examines a numerical example to solve a reverse dynamic problem in the case of equal harmonic changes of controlling forces. It was found out that under controlling forces described above the platform carries out harmonic advancing movements along the vertical axis.Further planning research concerns the extended capabilities of the model to consider the influence of the working load and to create algorithms for deriving dynamic models of a

Hierarchical Robot Control System and Method for Controlling Select Degrees of Freedom of an Object Using Multiple Manipulators

Science.gov (United States)

Abdallah, Muhammad E. (Inventor); Platt, Robert (Inventor); Wampler, II, Charles W. (Inventor)

2013-01-01

A robotic system includes a robot having manipulators for grasping an object using one of a plurality of grasp types during a primary task, and a controller. The controller controls the manipulators during the primary task using a multiple-task control hierarchy, and automatically parameterizes the internal forces of the system for each grasp type in response to an input signal. The primary task is defined at an object-level of control, e.g., using a closed-chain transformation, such that only select degrees of freedom are commanded for the object. A control system for the robotic system has a host machine and algorithm for controlling the manipulators using the above hierarchy. A method for controlling the system includes receiving and processing the input signal using the host machine, including defining the primary task at the object-level of control, e.g., using a closed-chain definition, and parameterizing the internal forces for each of grasp type.

Cerebellar supervised learning revisited: biophysical modeling and degrees-of-freedom control.

Science.gov (United States)

Kawato, Mitsuo; Kuroda, Shinya; Schweighofer, Nicolas

2011-10-01

The biophysical models of spike-timing-dependent plasticity have explored dynamics with molecular basis for such computational concepts as coincidence detection, synaptic eligibility trace, and Hebbian learning. They overall support different learning algorithms in different brain areas, especially supervised learning in the cerebellum. Because a single spine is physically very small, chemical reactions at it are essentially stochastic, and thus sensitivity-longevity dilemma exists in the synaptic memory. Here, the cascade of excitable and bistable dynamics is proposed to overcome this difficulty. All kinds of learning algorithms in different brain regions confront with difficult generalization problems. For resolution of this issue, the control of the degrees-of-freedom can be realized by changing synchronicity of neural firing. Especially, for cerebellar supervised learning, the triangle closed-loop circuit consisting of Purkinje cells, the inferior olive nucleus, and the cerebellar nucleus is proposed as a circuit to optimally control synchronous firing and degrees-of-freedom in learning. Copyright © 2011 Elsevier Ltd. All rights reserved.

Analysis and design of robust decentralized controllers for nonlinear systems

Energy Technology Data Exchange (ETDEWEB)

Schoenwald, D.A.

1993-07-01

Decentralized control strategies for nonlinear systems are achieved via feedback linearization techniques. New results on optimization and parameter robustness of non-linear systems are also developed. In addition, parametric uncertainty in large-scale systems is handled by sensitivity analysis and optimal control methods in a completely decentralized framework. This idea is applied to alleviate uncertainty in friction parameters for the gimbal joints on Space Station Freedom. As an example of decentralized nonlinear control, singular perturbation methods and distributed vibration damping are merged into a control strategy for a two-link flexible manipulator.

Method of taking into account meson and quark-gluon degrees of freedom in hadron-hadron interactions at low and intermediate energies. Application to NN scattering

International Nuclear Information System (INIS)

Safronov, A.N.

1983-01-01

A system of nonsingular integral equations is formulated for the calculation of hadron-hadron partial amplitudes in the low-and intermediate-energy range taking into account meson and quark-gluon degrees of freedom. The quark-gluon degrees of freedom are included in the framework of the composite-quark-bag model, and the meson degrees of freedom are treated by the methods of the relativistic quantum field theory. It is shown that including the quark-gluon degrees of freedom leads to suppression of meson exchange effects, mostly of heavy meson (rho, ω) exchanges. The method has been applied to the calculation of the 3 S 1 , 1 S 0 , 3 P 0 , 3 P 1 , and 1 P 1 phase shifts for the nucleon-nucleon scattering at the incident nucleon energies T=0-1050 MeV, as well as to the S-wave scattering lengths and effective radii

Modal bifurcation in a high-T{sub c} superconducting levitation system

Energy Technology Data Exchange (ETDEWEB)

Taguchi, D; Fujiwara, S; Sugiura, T, E-mail: sugiura@mech.keio.ac.jp [Department of Mechanical Engineering, Faculty of Science and Technology, Keio University, 3-14-1 Hiyoshi, kohoku-ku, Yokohama 223-8522 (Japan)

2011-05-15

This paper deals with modal bifurcation of a multi-degree-of-freedom high-T{sub c} superconducting levitation system. As modeling of large-scale high-T{sub c} superconducting levitation applications, where plural superconducting bulks are often used, it can be helpful to consider a system constituting of multiple oscillators magnetically coupled with each other. This paper investigates nonlinear dynamics of two permanent magnets levitated above high-T{sub c} superconducting bulks and placed between two fixed permanent magnets without contact. First, the nonlinear equations of motion of the levitated magnets were derived. Then the method of averaging was applied to them. It can be found from the obtained solutions that this nonlinear two degree-of-freedom system can have two asymmetric modes, in addition to a symmetric mode and an antisymmetric mode both of which also exist in the linearized system. One of the backbone curves in the frequency response shows a modal bifurcation where the two stable asymmetric modes mentioned above appear with destabilization of the antisymmetric mode, thus leading to modal localization. These analytical predictions have been confirmed in our numerical analysis and experiments of free vibration and forced vibration. These results, never predicted by linear analysis, can be important for application of high-T{sub c} superconducting levitation systems.

Simulations of ferrofluid dynamics: Rigid dipoles model versus particles with internal degrees of freedom

International Nuclear Information System (INIS)

Berkov, D.V.; Gorn, N.L.; Stock, D.

2007-01-01

For numerical studies of a ferrofluid dynamics we have developed a model which includes internal magnetic degrees of freedom of ferrofluid particles. Contrary to standard models, we take into account that the magnetocrystalline anisotropy of a ferrofluid particle material is finite, so that the particle moment is allowed to rotate with respect to the particle itself. Simulating magnetization relaxation of a ferrofluid after switching off the external field and comparing results with those obtained for rigid dipoles model, we demonstrate that for anisotropy typical for commonly used ferrofluid materials inclusion of 'magnetic' degrees of freedom is essential for a correct description of ferrofluid dynamics

A case study in nonlinear dynamics and control of articulated spacecraft: The Space Station Freedom with a mobile remote manipulator system

Science.gov (United States)

Bennett, William H.; Kwatny, Harry G.; Lavigna, Chris; Blankenship, Gilmer

1994-01-01

The following topics are discussed: (1) modeling of articulated spacecraft as multi-flex-body systems; (2) nonlinear attitude control by adaptive partial feedback linearizing (PFL) control; (3) attitude dynamics and control for SSF/MRMS; and (4) performance analysis results for attitude control of SSF/MRMS.

Dibaryonic degrees of freedom in Hadronic and nuclear physics

International Nuclear Information System (INIS)

Kukulin, V.I.; Shikhalev, M.A.

2005-01-01

The basic aim of the talk is to show that the dibaryons (independently upon the fact of existence or nonexistence of narrow dibaryons) may become one of the main ingredients and degrees of freedom in hadronic and nuclear physics. It follows straightforwardly from the new model for nuclear force, in which the intermediate-state dibaryons play the role of main carriers of strong interaction of nucleons at intermediate and short ranges in 2N, 3N and other nuclear systems. These intermediate-state dibaryons, or dressed six-quark bags in NN-scattering are strongly coupled to the initial and final NN-channels and thus they have large widths which prevent their direct experimental evidence. However the new model predicts a lot of new effects of dibaryons, which should be seen experimentally in hadronic and nuclear processes. Some of these new predictions have been already confirmed in numerous calculations made jointly in Moscow and Tuebingen university groups. We enumerate shortly here only the most interesting effects of dibaryons in hadronic and nuclear physics: (i) partial restoration of chiral symmetry in multiquark (i.e. 6q, 9q etc.) systems with the respective reduction of the scalar sigma-meson mass; (ii) enhancement of the near-threshold π 0 and π + π − , π 0 π 0 – production in pp, pd etc. collisions; explanation of the long-term ABC-puzzle; (iii) enhancement of the vector-meson and (e + e − ) production in the GeV region in pp, pd etc. collisions; (iv) large yield of cumulative mesons and other hadrons (studied experimentally by Baldin with coworkers) in p-A, d-A etc. high-energy collisions; (v) new electro-magnetic currents related intimately to the dibaryon degrees of freedom, which contribute to the all deuteron e.-m. observables, like deuteron magnetic and quadrupole moments, cross sections of photo-disintegration etc.; (vi) some novel contribution to the Coulomb energies of all nuclei (∼ 15%), which is able to explain the long-standing Nollen�

On the degrees of freedom of reduced-rank estimators in multivariate regression.

Science.gov (United States)

Mukherjee, A; Chen, K; Wang, N; Zhu, J

We study the effective degrees of freedom of a general class of reduced-rank estimators for multivariate regression in the framework of Stein's unbiased risk estimation. A finite-sample exact unbiased estimator is derived that admits a closed-form expression in terms of the thresholded singular values of the least-squares solution and hence is readily computable. The results continue to hold in the high-dimensional setting where both the predictor and the response dimensions may be larger than the sample size. The derived analytical form facilitates the investigation of theoretical properties and provides new insights into the empirical behaviour of the degrees of freedom. In particular, we examine the differences and connections between the proposed estimator and a commonly-used naive estimator. The use of the proposed estimator leads to efficient and accurate prediction risk estimation and model selection, as demonstrated by simulation studies and a data example.

Six-degree-of-freedom Sensor Fish design - Governing equations and motion modeling

Energy Technology Data Exchange (ETDEWEB)

Zeng, D. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Richmond, M. C. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Simmons, C. S. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Carlson, T. J. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States)

2004-07-01

The Sensor Fish device is being used at Northwest hydropower projects to better understand the conditions fish experience during passage through hydro turbines and other dam bypass alternatives. Since its initial development in 1997, the Sensor Fish has undergone numerous design changes to improve its function and extend the range of its use. The most recent Sensor Fish design, the three degree of freedom (3DOF) device, has been used successfully to characterize the environment fish experience when passing through turbines, in spill, or in engineered fish bypass facilities at dams. Pacific Northwest National Laboratory (PNNL) is in the process of redesigning the current 3DOF Sensor Fish device package to improve its field performance. Rate gyros will be added to the new six degree of freedom (6DOF) device so that it will be possible to observe the six linear and angular accelerations of the Sensor Fish as it passes the dam. Before the 6DOF Sensor Fish device can be developed and deployed, governing equations of motion must be developed in order to understand the design implications of instrument selection and placement within the body of the device. The report describes a fairly general formulation for the coordinate systems, equations of motion, force and moment relationships necessary to simulate the 6DOF movement of an underwater body.

Distributed robust adaptive control of high order nonlinear multi agent systems.

Science.gov (United States)

Hashemi, Mahnaz; Shahgholian, Ghazanfar

2018-03-01

In this paper, a robust adaptive neural network based controller is presented for multi agent high order nonlinear systems with unknown nonlinear functions, unknown control gains and unknown actuator failures. At first, Neural Network (NN) is used to approximate the nonlinear uncertainty terms derived from the controller design procedure for the followers. Then, a novel distributed robust adaptive controller is developed by combining the backstepping method and the Dynamic Surface Control (DSC) approach. The proposed controllers are distributed in the sense that the designed controller for each follower agent only requires relative state information between itself and its neighbors. By using the Young's inequality, only few parameters need to be tuned regardless of NN nodes number. Accordingly, the problems of dimensionality curse and explosion of complexity are counteracted, simultaneously. New adaptive laws are designed by choosing the appropriate Lyapunov-Krasovskii functionals. The proposed approach proves the boundedness of all the closed-loop signals in addition to the convergence of the distributed tracking errors to a small neighborhood of the origin. Simulation results indicate that the proposed controller is effective and robust. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

An improved energy conserving implicit time integration algorithm for nonlinear dynamic structural analysis

International Nuclear Information System (INIS)

Haug, E.; Rouvray, A.L. de; Nguyen, Q.S.

1977-01-01

This study proposes a general nonlinear algorithm stability criterion; it introduces a nonlinear algorithm, easily implemented in existing incremental/iterative codes, and it applies the new scheme beneficially to problems of linear elastic dynamic snap buckling. Based on the concept of energy conservation, the paper outlines an algorithm which degenerates into the trapezoidal rule, if applied to linear systems. The new algorithm conserves energy in systems having elastic potentials up to the fourth order in the displacements. This is true in the important case of nonlinear total Lagrange formulations where linear elastic material properties are substituted. The scheme is easily implemented in existing incremental-iterative codes with provisions for stiffness reformation and containing the basic Newmark scheme. Numerical analyses of dynamic stability can be dramatically sensitive to amplitude errors, because damping algorithms may mask, and overestimating schemes may numerically trigger, the physical instability. The newly proposed scheme has been applied with larger time steps and less cost to the dynamic snap buckling of simple one and multi degree-of-freedom structures for various initial conditions

Extending the performance of single-degree-of-freedom rate integrating gyros in strapdown applications

Science.gov (United States)

Baker, G. N.

This paper examines the constraints upon a typical manufacturer of gyros and strapdown systems. It describes that while being responsive to exchange and keeping abreast of 'state of the art' technology, there are many reasons why the manufacturer must satisfy the market using existing technology and production equipment. The Single-Degree-of-Freedom Rate Integrating Gyro is a well established product, yet is capable of achieving far higher performances than originally envisaged due to modelling and characterization within digital strapdown systems. The parameters involved are discussed, and a description given of the calibration process undertaken on a strapdown system being manufactured in a production environment in batch quantities.

Nonlinear decentralized robust governor control for hydroturbine-generator sets in multi-machine power systems

Energy Technology Data Exchange (ETDEWEB)

Qiang Lu; Yusong Sun; Yuanzhang Sun [Tsinghua University, Beijing (China). Dept. of Electrical Engineering; Felix F Wu; Yixin Ni [University of Hong Kong (China). Dept. of Electrical and Electronic Engineering; Yokoyama, Akihiko [University of Tokyo (Japan). Dept. of Electrical Engineering; Goto, Masuo; Konishi, Hiroo [Hitachi Ltd., Tokyo (Japan). Power System Div.

2004-06-01

A novel nonlinear decentralized robust governor control for hydroturbine-generator sets in multi-machine power systems is suggested in this paper. The nonelastic water hammer effect and disturbances are considered in the modeling. The advanced differential geometry theory, nonlinear robust control theory and the dynamic feedback method are combined to solve the problem. The nonlinear decentralized robust control law for the speed governor of hydroturbine-generators has been derived. The input signals to the proposed controller are all local measurements and independent to the system parameters. The derived control law guarantees the integrated system stability with disturbance attenuation, which is significant to the real power system application. Computer tests on an 8-machine, 36-bus power system show clearly the effectiveness of the new control strategy in transient stability enhancement and disturbance attenuation. The computer test results based on the suggested controller are compared favorably with those based on the conventional linear governor control. (author)

Geometric Lagrangian approach to the physical degree of freedom count in field theory

Science.gov (United States)

Díaz, Bogar; Montesinos, Merced

2018-05-01

To circumvent some technical difficulties faced by the geometric Lagrangian approach to the physical degree of freedom count presented in the work of Díaz, Higuita, and Montesinos [J. Math. Phys. 55, 122901 (2014)] that prevent its direct implementation to field theory, in this paper, we slightly modify the geometric Lagrangian approach in such a way that its resulting version works perfectly for field theory (and for particle systems, of course). As in previous work, the current approach also allows us to directly get the Lagrangian constraints, a new Lagrangian formula for the counting of the number of physical degrees of freedom, the gauge transformations, and the number of first- and second-class constraints for any action principle based on a Lagrangian depending on the fields and their first derivatives without performing any Dirac's canonical analysis. An advantage of this approach over the previous work is that it also allows us to handle the reducibility of the constraints and to get the off-shell gauge transformations. The theoretical framework is illustrated in 3-dimensional generalized general relativity (Palatini and Witten's exotic actions), Chern-Simons theory, 4-dimensional BF theory, and 4-dimensional general relativity given by Palatini's action with a cosmological constant.

Spin-orbit-path hybrid Greenberger-Horne-Zeilinger entanglement and open-destination teleportation with multiple degrees of freedom

International Nuclear Information System (INIS)

Chen Lixiang; She Weilong

2011-01-01

We propose a scheme to generate hybrid Greenberger-Horne-Zeilinger (GHZ) entanglement where multiple photons are entangled in different degrees of freedom of spin, orbital angular momentum (OAM), and path (linear momentum). The generation involves mapping the preliminary OAM entanglement of photon pairs onto their spin-orbit and spin-path degrees of freedom, respectively. Based on the hybrid GHZ entanglement, we demonstrate an open-destination teleportation with multiples degrees of freedom, via which a spin state of a single photon is teleported onto a superposition of multiple photons with the postselection technique and the original information could be read out at any photon in individual spin, OAM, or the linear-momentum state. Our scheme holds promise for asymmetric optical quantum network.

The Role of Mesonic Degrees of Freedom in Scattering of Hardrons on Nuclei

DEFF Research Database (Denmark)

Kofoed-Hansen, O.

1978-01-01

The Glauber multiple scattering is reviewed, its experimental success described and its essential approximations enumerated. A simple harmonic oscillator model of mesonic degrees of freedom is constructed and Glauber scattering evaluated. The difficulties in fitting experimental amplitude data va...

An iterated cubature unscented Kalman filter for large-DoF systems identification with noisy data

Science.gov (United States)

Ghorbani, Esmaeil; Cha, Young-Jin

2018-04-01

Structural and mechanical system identification under dynamic loading has been an important research topic over the last three or four decades. Many Kalman-filtering-based approaches have been developed for linear and nonlinear systems. For example, to predict nonlinear systems, an unscented Kalman filter was applied. However, from extensive literature reviews, the unscented Kalman filter still showed weak performance on systems with large degrees of freedom. In this research, a modified unscented Kalman filter is proposed by integration of a cubature Kalman filter to improve the system identification performance of systems with large degrees of freedom. The novelty of this work lies on conjugating the unscented transform with the cubature integration concept to find a more accurate output from the transformation of the state vector and its related covariance matrix. To evaluate the proposed method, three different numerical models (i.e., the single degree-of-freedom Bouc-Wen model, the linear 3-degrees-of-freedom system, and the 10-degrees-of-freedom system) are investigated. To evaluate the robustness of the proposed method, high levels of noise in the measured response data are considered. The results show that the proposed method is significantly superior to the traditional UKF for noisy measured data in systems with large degrees of freedom.

Operant conditioning of a multiple degree-of-freedom brain-machine interface in a primate model of amputation.

Science.gov (United States)

Balasubramanian, Karthikeyan; Southerland, Joshua; Vaidya, Mukta; Qian, Kai; Eleryan, Ahmed; Fagg, Andrew H; Sluzky, Marc; Oweiss, Karim; Hatsopoulos, Nicholas

2013-01-01

Operant conditioning with biofeedback has been shown to be an effective method to modify neural activity to generate goal-directed actions in a brain-machine interface. It is particularly useful when neural activity cannot be mathematically mapped to motor actions of the actual body such as in the case of amputation. Here, we implement an operant conditioning approach with visual feedback in which an amputated monkey is trained to control a multiple degree-of-freedom robot to perform a reach-to-grasp behavior. A key innovation is that each controlled dimension represents a behaviorally relevant synergy among a set of joint degrees-of-freedom. We present a number of behavioral metrics by which to assess improvements in BMI control with exposure to the system. The use of non-human primates with chronic amputation is arguably the most clinically-relevant model of human amputation that could have direct implications for developing a neural prosthesis to treat humans with missing upper limbs.

Three degree-of-freedom piezoelectric ultrasonic micro-motor with a major diameter of 350 µm

International Nuclear Information System (INIS)

Rogers, G

2010-01-01

A three degree-of-freedom (DOF) micro-motor comprising a hollow cylindrical transducer with slots novelly inserted, mounted to a lead zirconium titanate (PZT) piezoelectric element, was developed. Reversible rotation about three orthogonal axes was obtained at frequencies above 190 kHz. The peak torque about the transverse (x and y) and longitudinal (z) axes was 1.33, 1.23 and 2.38 nNm, respectively, at 21.2 V RMS . An electrical control scheme was employed to demonstrate the ability to operate these micro-motors at the low speeds necessary for many applications, including minimally invasive surgery (MIS). This micro-motor represents a significant step towards the development of true microscopic multi-DOF actuators, which can be integrated with MIS equipment, for example, in order to provide surgeons with better operability, dexterity and control deep within a patient's body

Structural Dynamics

International Nuclear Information System (INIS)

Kim, Du Gi

2005-08-01

This book introduces summary of structural dynamics, the reason of learning of structural dynamics, single-degree of freedom system, simple harmonic vibration and application, numerical analysis method, such as time domain and frequency domain and nonlinear system, multi-degree of freedom system random vibration over discrete distribution, continuous distribution and extreme value distribution, circumstance vibration, earth quake vibration, including input earthquake, and earthquake-resistant design and capacity spectrum method, wind oscillation wave vibration, vibration control and maintenance control.

Method of taking into account the meson and quark-gluon degrees of freedom in hadron-hadron interactions at low and intermediate energies. Application to NN scattering

International Nuclear Information System (INIS)

Safronov, A.N.

1983-01-01

A system of nonsingular integral equations is formulated for calculation of the partial-wave amplitudes of hadron-hadron scattering in the region of low and intermediate energies with allowance for the meson and quark-gluon degrees of freedom. The quark-gluon degrees of freedom are taken into account in the framework of the model of composite quark bags, and the meson degrees of freedom by the methods of relativistic quantum field theory. It is shown that inclusion of the quark-gluon degrees of freedom leads to suppression of meson exchange effects, for the most part exchanges of heavy mesons (rho,ω). The method is applied to the calculation of the 3 S 1 , 1 S 0 , 3 P 0 , 3 P 1 , and 1 P 1 phase shifts of nucleon-nucleon scattering in the range of incident-nucleon energies T = 0--1050 MeV, as well as the S-wave scattering lengths and effective ranges

LDRD report nonlinear model reduction

Energy Technology Data Exchange (ETDEWEB)

Segalman, D.; Heinstein, M.

1997-09-01

The very general problem of model reduction of nonlinear systems was made tractable by focusing on the very large subclass consisting of linear subsystems connected by nonlinear interfaces. Such problems constitute a large part of the nonlinear structural problems encountered in addressing the Sandia missions. A synthesis approach to this class of problems was developed consisting of: detailed modeling of the interface mechanics; collapsing the interface simulation results into simple nonlinear interface models; constructing system models by assembling model approximations of the linear subsystems and the nonlinear interface models. These system models, though nonlinear, would have very few degrees of freedom. A paradigm problem, that of machine tool vibration, was selected for application of the reduction approach outlined above. Research results achieved along the way as well as the overall modeling of a specific machine tool have been very encouraging. In order to confirm the interface models resulting from simulation, it was necessary to develop techniques to deduce interface mechanics from experimental data collected from the overall nonlinear structure. A program to develop such techniques was also pursued with good success.

The nonlinear response of the complex structural system in nuclear reactors using dynamic substructure method

International Nuclear Information System (INIS)

Zheng, Z.C.; Xie, G.; Du, Q.H.

1987-01-01

Because of the existence of nonlinear characteristics in practical engineering structures, such as large steam turbine-foundation system and offshore platform, it is necessary to predict nonlinear dynamic responses for these very large and complex structural systems subjected extreme load. Due to the limited storage and high executing cost of computers, there are still some difficulties in the analysis for such systems although the traditional finite element methods provide basic available methods to the problems. The dynamic substructure methods, which were developed as a branch of general structural dynamics in the past more than 20 years and have been widely used from aircraft, space vehicles to other mechanical and civil engineering structures, present a powerful method to the analysis of very large structural systems. The key to success is due to the considerable reduction in the number of degrees of freedom while not changing the physical essence of the problems investigated. The dynamic substructure method has been extended to nonlinear system and applicated to the analysis of nonlinear dynamic response of an offshore platform by Z.C. Zheng, et al. (1983, 1985a, b, c). In this paper, the method is presented to analyze dynamic responses of the systems contained intrinsic nonlinearities and with nonlinear attachments and nonlinear supports of nuclear structural systems. The efficiency of the method becomes more clear for nonlinear dynamic problems due to the adoption of iterating processes. For simplicity, the analysis procedure is demonstrated briefly. The generalized substructure method of nonlinear systems is similar to linear systems, only the nonlinear terms are treated as pseudo-forces. Interface coordinates are classified into two categories, the connecting interface coordinates which connect with each other directly in the global system and the linking interface coordinates which link to each other through attachments. (orig./GL)

Hadronic degrees of freedom in relativistic heavy ion collisions

International Nuclear Information System (INIS)

Otuka, Naohiko; Ohnishi, Akira

2001-01-01

The observation of temperature and transverse expansion velocity between BNL-AGS and CERN-SPS suggests the change of property of hadronic matter. In order to study the origin of the fact, it is important to check whether or not pure hadronic scenarios are excluded. We have discussed the temperature and transverse expansion in relativistic heavy-ion collisions using pure hadronic cascade model, HANDEL. We conclude the hadronic matter in AGS energies are understandable in the frame of the hadronic cascade model if we care how much hadronic degrees of freedom are counted. (author)

On the degrees-of-freedom of the MIMO three-way channel with intermittent connectivity

KAUST Repository

Chaaban, Anas

2017-08-29

The degrees-of-freedom (DoF) of the multi-antenna three-way channel (3WC) with an intermittent node is studied. Special attention is given to the impact of adaptation when the intermittent node has the largest number of antennas. A non-adaptive transmission scheme based on interference alignment, zero-forcing, and erasure-channel treatment is proposed, and its corresponding DoF region is derived. Then, it is shown that this scheme achieves the sum-DoF of the intermittent channel, in addition to the DoF region of the nonintermittent one. Thus, adaptation is not necessary from those perspectives. To the contrary, it is shown that adaptation is necessary for achieving the DoF region of the intermittent case. This is shown by deriving an outer bound for the intermittent channel with nonadaptive encoding, and proposing an adaptive scheme which achieves DoF tuples outside this bound. This highlights the importance of cooperation in this intermittent network.

Stochastic optimal control of non-stationary response of a single-degree-of-freedom vehicle model

Science.gov (United States)

Narayanan, S.; Raju, G. V.

1990-09-01

An active suspension system to control the non-stationary response of a single-degree-of-freedom (sdf) vehicle model with variable velocity traverse over a rough road is investigated. The suspension is optimized with respect to ride comfort and road holding, using stochastic optimal control theory. The ground excitation is modelled as a spatial homogeneous random process, being the output of a linear shaping filter to white noise. The effect of the rolling contact of the tyre is considered by an additional filter in cascade. The non-stationary response with active suspension is compared with that of a passive system.

Users manual for Aerospace Nuclear Safety Program six-degree-of-freedom reentry simulation (TMAGRA6C)

International Nuclear Information System (INIS)

Sharbaugh, R.C.

1990-02-01

This report documents the updated six-degree-of-freedom reentry simulation TMAGRA6C used in the Aerospace Nuclear Safety Program, ANSP. The simulation provides for the inclusion of the effects of ablation on the aerodynamic stability and drag of reentry bodies, specifically the General Purpose Heat Source, GPHS. The existing six-degree-of-freedom reentry body simulations (TMAGRA6A and TMAGRA6B) used in the JHU/APL Nuclear Safety Program do not include aerodynamic effects resulting from geometric changes to the configuration due to ablation from reentry flights. A wind tunnel test was conducted in 1989 to obtain the effects of ablation on the hypersonic aerodynamics of the GPHS module. The analyzed data were used to form data sets which are included herein in tabular form. These are used as incremental aerodynamic inputs in the new TMAGRA6C six-degree-of-freedom reentry simulation. 20 refs., 13 figs., 2 tabs

Analytical determination of bifurcations of periodic solution in three-degree-of-freedom vibro-impact systems with clearance

International Nuclear Information System (INIS)

Liu, Yongbao; Wang, Qiang; Xu, Huidong

2017-01-01

The smooth bifurcation and non-smooth grazing bifurcation of periodic solution of three-degree-of-freedom vibro-impact systems with clearance are studied in this paper. Firstly, six-dimensional Poincaré maps are established through choosing suitable Poincaré section and solving periodic solutions of vibro-impact system. Then, as the analytic expressions of all eigenvalues of Jacobi matrix of six-dimensional map are unavailable, the numerical calculations to search for the critical bifurcation values point by point is a laborious job based on the classical critical criterion described by the properties of eigenvalues. To overcome the difficulty from the classical bifurcation criteria, the explicit critical criterion without using eigenvalues calculation of high-dimensional map is applied to determine bifurcation points of Co-dimension-one bifurcations and Co-dimension-two bifurcations, and then local dynamical behaviors of these bifurcations are further analyzed. Finally, the existence of the grazing periodic solution of the vibro-impact system and grazing bifurcation point are analyzed, the discontinuous grazing bifurcation behavior is studied based on the compound normal form map near the grazing point, the discontinuous jumping phenomenon and the co-existing multiple solutions near the grazing bifurcation point are revealed.

The design concept of the 6-degree-of-freedom hydraulic shaker at ESTEC

Science.gov (United States)

Brinkman, P. W.; Kretz, D.

1992-01-01

The European Space Agency (ESA) has decided to extend its test facilities at the European Space and Technology Center (ESTEC) at Noordwijk, The Netherlands, by implementing a 6-degree-of-freedom hydraulic shaker. This shaker will permit vibration testing of large payloads in the frequency range from 0.1 Hz to 100 Hz. Conventional single axis sine and random vibration modes can be applied without the need for a configuration change of the test set-up for vertical and lateral excitations. Transients occurring during launch and/or landing of space vehicles can be accurately simulated in 6-degrees-of-freedom. The performance requirements of the shaker are outlined and the results of the various trade-offs, which are investigated during the initial phase of the design and engineering program are provided. Finally, the resulting baseline concept and the anticipated implementation plan of the new test facility are presented.

Scram and nonlinear reactor system seismic analysis for the Fast Flux Test Facility

International Nuclear Information System (INIS)

Morrone, A.

1975-01-01

A description is given of the analysis and results for the Fast Flux Test Facility (FFTF) reactor system which was analyzed for both scram times and seismic responses such as bending moments and impact forces. The reactor system was represented with a one-dimensional nonlinear mathematical model with two degrees of freedom per node. The results give time history plots of various seismic responses and plots of scram times as a function of control rod travel distance for the most critical scram initiation times. The total scram time considering the effects of the earthquake was still acceptable but about 4 times longer than that calculated without the earthquake. (U.S.)

Feasibility of motion laws for planar one degree of freedom linkage mechanisms at dead point configurations

Science.gov (United States)

Lores García, E.; Veciana Fontanet, J. M.; Jordi Nebot, L.

2018-01-01

This paper proposes an analytical solution of the Inverse Kinematics (IK) problem at dead point configurations for any planar one degree of freedom linkage mechanism, with regard to the continuity Cn of the motion law. The systems analyzed are those whose elements are linked with lower pairs and do not present redundancies. The study aims to provide the user with some rules to facilitate the design of feasible motion profiles to be reproduced by conventional electrical actuators at these configurations. During the last decades, several methods and techniques have been developed to study this specific configuration. However, these techniques are mainly focused on solving numerically the IK indeterminacy, rather than analyzing the motion laws that the mechanisms are able to perform at these particular configurations. The analysis presented in this paper has been carried out differentiating and applying l'Hôpital's rule to the system of constraint equations ϕ (q) of the mechanism. The study also considers the feasibility of the time-domain profiles to be reproduced with conventional electrical actuators (i.e. AC/DC motors, linear actuators, etc.). To show the usefulness and effectiveness of the method, the development includes the analytical application and numerical simulations for two common one degree of freedom systems: a slider-crank and a four linkage mechanisms. Finally, experimental results are presented on a four linkage mechanism test bed.

Entanglement between degrees of freedom of single neutrons

Energy Technology Data Exchange (ETDEWEB)

Hasegawa, Y., E-mail: Hasegawa@ati.ac.a [Atominstitut der Osterreichischen Universitaeten, TU-Wien, Stadionalle 2, A-1020 Wien (Austria); Badurek, G.; Filipp, S.; Klepp, J.; Loidl, R.; Sponar, S.; Rauch, H. [Atominstitut der Osterreichischen Universitaeten, TU-Wien, Stadionalle 2, A-1020 Wien (Austria)

2009-12-11

Non-local correlations between subsystems sufficiently separated in spacetime have been extensively discussed in the light of the Einstein, Podolsky and Rosen (EPR) paradox, together with Bell's inequality. Within quantum terminology, such a non-locality can be interpreted as a consequence of the entanglement of subsystems. A more general concept, i.e., quantum contextuality, compared to non-locality, can be introduced to describe other striking phenomena predicted by quantum theory. As examples of quantum contextuality, we report several neutron interferometer experiments: a violation of a Bell-like inequality, a Kochen-Specker-like phenomenon, a quantum state tomography. Entanglement is achieved not between the particles, but between the degrees of freedom of a single-particle. Furthermore, an experiment dealing with triple entanglement is presented.

Entanglement between degrees of freedom of single neutrons

International Nuclear Information System (INIS)

Hasegawa, Y.; Badurek, G.; Filipp, S.; Klepp, J.; Loidl, R.; Sponar, S.; Rauch, H.

2009-01-01

Non-local correlations between subsystems sufficiently separated in spacetime have been extensively discussed in the light of the Einstein, Podolsky and Rosen (EPR) paradox, together with Bell's inequality. Within quantum terminology, such a non-locality can be interpreted as a consequence of the entanglement of subsystems. A more general concept, i.e., quantum contextuality, compared to non-locality, can be introduced to describe other striking phenomena predicted by quantum theory. As examples of quantum contextuality, we report several neutron interferometer experiments: a violation of a Bell-like inequality, a Kochen-Specker-like phenomenon, a quantum state tomography. Entanglement is achieved not between the particles, but between the degrees of freedom of a single-particle. Furthermore, an experiment dealing with triple entanglement is presented.

Entanglement between degrees of freedom of single neutrons

Science.gov (United States)

Hasegawa, Y.; Badurek, G.; Filipp, S.; Klepp, J.; Loidl, R.; Sponar, S.; Rauch, H.

2009-12-01

Non-local correlations between subsystems sufficiently separated in spacetime have been extensively discussed in the light of the Einstein, Podolsky and Rosen (EPR) paradox, together with Bell's inequality. Within quantum terminology, such a non-locality can be interpreted as a consequence of the entanglement of subsystems. A more general concept, i.e., quantum contextuality, compared to non-locality, can be introduced to describe other striking phenomena predicted by quantum theory. As examples of quantum contextuality, we report several neutron interferometer experiments: a violation of a Bell-like inequality, a Kochen-Specker-like phenomenon, a quantum state tomography. Entanglement is achieved not between the particles, but between the degrees of freedom of a single-particle. Furthermore, an experiment dealing with triple entanglement is presented.

On the nucleon renormalization in many nucleon problems due to pionic degrees of freedom

International Nuclear Information System (INIS)

Sauer, P.U.; Sawicki, M.; Furui, Sadataka.

1985-01-01

Conceptual problems of unified two-nucleon force models are discussed. The force models are based on the pion-nucleon vertex and attempt a description of the nucleon-nucleon interaction below and above pion threshold. The conceptual problems arise from the nucleon renormalization due to pionic degrees of freedom. Keeping channels with a single pion only no renormalization procedure can be given which is consistent in the one-nucleon and in the many-nucleon systems. The medium dependence of the one-pion exchange potential is illustrated. (author)

Multi-piecewise quadratic nonlinearity memristor and its 2N-scroll and 2N + 1-scroll chaotic attractors system.

Science.gov (United States)

Wang, Chunhua; Liu, Xiaoming; Xia, Hu

2017-03-01

In this paper, two kinds of novel ideal active flux-controlled smooth multi-piecewise quadratic nonlinearity memristors with multi-piecewise continuous memductance function are presented. The pinched hysteresis loop characteristics of the two memristor models are verified by building a memristor emulator circuit. Using the two memristor models establish a new memristive multi-scroll Chua's circuit, which can generate 2N-scroll and 2N+1-scroll chaotic attractors without any other ordinary nonlinear function. Furthermore, coexisting multi-scroll chaotic attractors are found in the proposed memristive multi-scroll Chua's circuit. Phase portraits, Lyapunov exponents, bifurcation diagrams, and equilibrium point analysis have been used to research the basic dynamics of the memristive multi-scroll Chua's circuit. The consistency of circuit implementation and numerical simulation verifies the effectiveness of the system design.

Design of a New MR Compatible Haptic Interface with Six Actuated Degrees of Freedom

DEFF Research Database (Denmark)

Ergin, Mehmet Alper; Kühne, Markus; Thielscher, Axel

2014-01-01

Functional magnetic resonance imaging is an often adopted tool to study human motor control mechanisms. Highly controlled experiments as required by this form of analysis can be realized with haptic interfaces. Their design is challenging because of strong safety and MR compatibility requirements....... Existing MR-compatible haptic interfaces are restricted to maximum three actuated degrees of freedom. We propose an MR-compatible haptic interface with six actuated degrees of freedom to be able to study human brain mechanisms of natural pick-and-place movements including arm transport. In this work, we...... present its mechanical design, kinematic and dynamic model, as well as report on its model-based characterization. A novel hybrid control scheme for the employed ultrasonic motors is introduced. Preliminary MR compatibility tests based on one complete actuator-sensor module are performed. No measurable...

MEMS 6 degrees of freedom parallel micro manipulator for TEM sample manipulation

NARCIS (Netherlands)

Brouwer, Dannis Michel; de Jong, B.R.; Soemers, Herman

2005-01-01

Up till now MEMS actuators acted either only in-plane or only out-of plane restricting to 3 DOF manipulation. A design for a millimeter-sized manipulator with 6 degrees of freedom to manipulate a micron-sized substrate at nanometer resolution over strokes of 10 microns with a position stability

Understanding the Degrees of Freedom of Sample Variance by Using Microsoft Excel

Science.gov (United States)

Ding, Jian-Hua; Jin, Xian-Wen; Shuai, Ling-Ying

2017-01-01

In this article, the degrees of freedom of the sample variance are simulated by using the Visual Basic for Applications of Microsoft Excel 2010. The simulation file dynamically displays why the sample variance should be calculated by dividing the sum of squared deviations by n-1 rather than n, which is helpful for students to grasp the meaning of…

Experimental investigation of a flow-induced oscillating cylinder with two degrees-of-freedom

International Nuclear Information System (INIS)

Someya, Satoshi; Kuwabara, Joji; Li, YanRong; Okamoto, Koji

2010-01-01

The phenomenon of flow-induced vibration of bluff bodies has been studied extensively. The vast majority of these studies have concentrated solely on one degree-of-freedom oscillation in the inline or cross-flow directions. Herein, experiments were carried out with a cylinder in a water channel with two degrees-of-freedom. The cylinder was cantilever mounted with a low natural frequency (typically 65 Hz) in the inline and cross-flow directions. The Reynolds number fell in the range 1.17 x 10 3 4 . The oscillating frequency of the cylinder and the surrounding flow were measured simultaneously using high temporal resolution particle image velocimetry (PIV), which is non-intrusive with respect to the flow and has high spatial and temporal resolutions. The vibration of the cylinder was found to be anisotropic. There was a discrepancy between the vibration frequencies in the inline and cross-flow directions, the difference being a function of reduced velocity.

Analysis of the power flow in nonlinear oscillators driven by random excitation using the first Wiener kernel

Science.gov (United States)

Hawes, D. H.; Langley, R. S.

2018-01-01

Random excitation of mechanical systems occurs in a wide variety of structures and, in some applications, calculation of the power dissipated by such a system will be of interest. In this paper, using the Wiener series, a general methodology is developed for calculating the power dissipated by a general nonlinear multi-degree-of freedom oscillatory system excited by random Gaussian base motion of any spectrum. The Wiener series method is most commonly applied to systems with white noise inputs, but can be extended to encompass a general non-white input. From the extended series a simple expression for the power dissipated can be derived in terms of the first term, or kernel, of the series and the spectrum of the input. Calculation of the first kernel can be performed either via numerical simulations or from experimental data and a useful property of the kernel, namely that the integral over its frequency domain representation is proportional to the oscillating mass, is derived. The resulting equations offer a simple conceptual analysis of the power flow in nonlinear randomly excited systems and hence assist the design of any system where power dissipation is a consideration. The results are validated both numerically and experimentally using a base-excited cantilever beam with a nonlinear restoring force produced by magnets.

Model-on-Demand Predictive Control for Nonlinear Hybrid Systems With Application to Adaptive Behavioral Interventions

Science.gov (United States)

Nandola, Naresh N.; Rivera, Daniel E.

2011-01-01

This paper presents a data-centric modeling and predictive control approach for nonlinear hybrid systems. System identification of hybrid systems represents a challenging problem because model parameters depend on the mode or operating point of the system. The proposed algorithm applies Model-on-Demand (MoD) estimation to generate a local linear approximation of the nonlinear hybrid system at each time step, using a small subset of data selected by an adaptive bandwidth selector. The appeal of the MoD approach lies in the fact that model parameters are estimated based on a current operating point; hence estimation of locations or modes governed by autonomous discrete events is achieved automatically. The local MoD model is then converted into a mixed logical dynamical (MLD) system representation which can be used directly in a model predictive control (MPC) law for hybrid systems using multiple-degree-of-freedom tuning. The effectiveness of the proposed MoD predictive control algorithm for nonlinear hybrid systems is demonstrated on a hypothetical adaptive behavioral intervention problem inspired by Fast Track, a real-life preventive intervention for improving parental function and reducing conduct disorder in at-risk children. Simulation results demonstrate that the proposed algorithm can be useful for adaptive intervention problems exhibiting both nonlinear and hybrid character. PMID:21874087

Development of a Multi-Disciplinary Aerothermostructural Model Applicable to Hypersonic Flight

Science.gov (United States)

Kostyk, Chris; Risch, Tim

2013-01-01

The harsh and complex hypersonic flight environment has driven design and analysis improvements for many years. One of the defining characteristics of hypersonic flight is the coupled, multi-disciplinary nature of the dominant physics. In an effect to examine some of the multi-disciplinary problems associated with hypersonic flight engineers at the NASA Dryden Flight Research Center developed a non-linear 6 degrees-of-freedom, full vehicle simulation that includes the necessary model capabilities: aerothermal heating, ablation, and thermal stress solutions. Development of the tool and results for some investigations will be presented. Requirements and improvements for future work will also be reviewed. The results of the work emphasize the need for a coupled, multi-disciplinary analysis to provide accurate

Special class of nonlinear damping models in flexible space structures

Science.gov (United States)

Hu, Anren; Singh, Ramendra P.; Taylor, Lawrence W.

1991-01-01

A special class of nonlinear damping models is investigated in which the damping force is proportional to the product of positive integer or the fractional power of the absolute values of displacement and velocity. For a one-degree-of-freedom system, the classical Krylov-Bogoliubov 'averaging' method is used, whereas for a distributed system, both an ad hoc perturbation technique and the finite difference method are employed to study the effects of nonlinear damping. The results are compared with linear viscous damping models. The amplitude decrement of free vibration for a single mode system with nonlinear models depends not only on the damping ratio but also on the initial amplitude, the time to measure the response, the frequency of the system, and the powers of displacement and velocity. For the distributed system, the action of nonlinear damping is found to reduce the energy of the system and to pass energy to lower modes.

Characterization of nonlinear effects in a two-dimensional dielectric elastomer actuator

International Nuclear Information System (INIS)

Jhong, Y; Mikolas, D; Fu, C; Yeh, T; Fang, W; Shaw, D; Chen, J

2010-01-01

Dielectric elastomer actuators (DEAs) possess great potential for the realization of lightweight and inexpensive multiple-degrees-of-freedom (multi-DOF) biomimetic robotics. In this study, a two-dimensional DEA was built and tested in order to characterize the issues associated with the use in multi-DOF actuation. The actuator is a single circular DEA film with four, electrically isolated quadrant electrode areas. The actuator was driven in a quasi-circular manner by applying sine and cosine signals to orthogonal pairs of electrodes, and the resultant motion was recorded using image processing techniques. The effects of nonlinear voltage–strain behavior, creep and stress relaxation on the motion were all pronounced and clearly differentiated. A simple six-parameter empirical model was used and showed excellent agreement with the measured data

Model predictive controller-based multi-model control system for longitudinal stability of distributed drive electric vehicle.

Science.gov (United States)

Shi, Ke; Yuan, Xiaofang; Liu, Liang

2018-01-01

Distributed drive electric vehicle(DDEV) has been widely researched recently, its longitudinal stability is a very important research topic. Conventional wheel slip ratio control strategies are usually designed for one special operating mode and the optimal performance cannot be obtained as DDEV works under various operating modes. In this paper, a novel model predictive controller-based multi-model control system (MPC-MMCS) is proposed to solve the longitudinal stability problem of DDEV. Firstly, the operation state of DDEV is summarized as three kinds of typical operating modes. A submodel set is established to accurately represent the state value of the corresponding operating mode. Secondly, the matching degree between the state of actual DDEV and each submodel is analyzed. The matching degree is expressed as the weight coefficient and calculated by a modified recursive Bayes theorem. Thirdly, a nonlinear MPC is designed to achieve the optimal wheel slip ratio for each submodel. The optimal design of MPC is realized by parallel chaos optimization algorithm(PCOA)with computational accuracy and efficiency. Finally, the control output of MPC-MMCS is computed by the weighted output of each MPC to achieve smooth switching between operating modes. The proposed MPC-MMCS is evaluated on eight degrees of freedom(8DOF)DDEV model simulation platform and simulation results of different condition show the benefits of the proposed control system. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

A semi-discrete integrable multi-component coherently coupled nonlinear Schrödinger system

International Nuclear Information System (INIS)

Zhao, Hai-qiong; Yuan, Jinyun

2016-01-01

A new integrable semi-discrete version is proposed for the multi-component coherently coupled nonlinear Schrödinger equation. The integrability of the semi-discrete system is confirmed by existence of Lax pair and infinite number of conservation laws. With the aid of gauge transformations, explicit formulas for N -fold Darboux transformations are derived whereby some physically important solutions of the system are presented. Furthermore, the theory of the semi-discrete system including Lax pair, Darboux transformations, exact solutions and infinite number of conservation laws are shown for their continuous counterparts in the continuous limit. (paper)

Static balancing of a spatial six-degree-of-freedom decoupling parallel mechanism

International Nuclear Information System (INIS)

Gao, Taoran Liu; Zhao, Xianchao; Qi, Chenkun

2014-01-01

The static balancing of a spatial 6-degree-of-freedom (6-DoF) decoupling parallel mechanism is discussed in this paper. Two traditional approaches (using counterweights and the springs) are used to statically balance the mechanism. Due to the existence of their shortcomings, a hybrid approach is proposed based on the static balancing of the mechanism. The main feature of this mechanism is that the 3-DoF rotating part can be static balancing itself, which means that its mass has no effect on the gravity balancing of the system, for any configuration of the mechanism, so the rotating part can be considered as a whole and the calculation is simplified. Finally, examples and dynamic analysis corresponding to the three balancing methods are given to illustrate the results.

Metal-etching-free direct delamination and transfer of single-layer graphene with a high degree of freedom.

Science.gov (United States)

Yang, Sang Yoon; Oh, Joong Gun; Jung, Dae Yool; Choi, HongKyw; Yu, Chan Hak; Shin, Jongwoo; Choi, Choon-Gi; Cho, Byung Jin; Choi, Sung-Yool

2015-01-14

A method of graphene transfer without metal etching is developed to minimize the contamination of graphene in the transfer process and to endow the transfer process with a greater degree of freedom. The method involves direct delamination of single-layer graphene from a growth substrate, resulting in transferred graphene with nearly zero Dirac voltage due to the absence of residues that would originate from metal etching. Several demonstrations are also presented to show the high degree of freedom and the resulting versatility of this transfer method. © 2014 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Vision-based control of robotic arm with 6 degrees of freedom

OpenAIRE

Versleegers, Wim

2014-01-01

This paper studies the procedure to program a vertically articulated robot with six degrees of freedom, the Mitsubishi Melfa RV-2SD, with Matlab. A major drawback of the programming software provided by Mitsubishi is that it barely allows the use of vision-based programming. The amount of useable cameras is limited and moreover, the cameras are very expensive. Using Matlab, these limitations could be overcome. However there is no direct way to control the robot with Matlab. The goal of this p...

Torsion as a dynamic degree of freedom of quantum gravity

International Nuclear Information System (INIS)

Kim, Sang-Woo; Pak, D G

2008-01-01

The gauge approach to gravity based on the local Lorentz group with a general independent affine connection A μcd is developed. We consider SO(1, 3) gauge theory with a Lagrangian quadratic in curvature as a simple model of quantum gravity. The torsion is proposed to represent a dynamic degree of freedom of quantum gravity at scales above the Planckian energy. The Einstein-Hilbert theory is induced as an effective theory due to quantum corrections of torsion via generating a stable gravito-magnetic condensate. We conjecture that torsion possesses an intrinsic quantum nature and can be confined

Nonlinear optomechanical measurement of mechanical motion

DEFF Research Database (Denmark)

Brawley, G.A.; Vanner, M R; Larsen, Peter Emil

2016-01-01

Precision measurement of nonlinear observables is an important goal in all facets of quantum optics. This allows measurement-based non-classical state preparation, which has been applied to great success in various physical systems, and provides a route for quantum information processing with oth......Precision measurement of nonlinear observables is an important goal in all facets of quantum optics. This allows measurement-based non-classical state preparation, which has been applied to great success in various physical systems, and provides a route for quantum information processing...... with otherwise linear interactions. In cavity optomechanics much progress has been made using linear interactions and measurement, but observation of nonlinear mechanical degrees-of-freedom remains outstanding. Here we report the observation of displacement-squared thermal motion of a micro-mechanical resonator...... by exploiting the intrinsic nonlinearity of the radiation-pressure interaction. Using this measurement we generate bimodal mechanical states of motion with separations and feature sizes well below 100 pm. Future improvements to this approach will allow the preparation of quantum superposition states, which can...

International Conference on Intelligent Robots and Systems - IROS 2011

CERN Document Server

Rosen, Jacob; Redundancy in Robot Manipulators and Multi-Robot Systems

2013-01-01

The trend in the evolution of robotic systems is that the number of degrees of freedom increases. This is visible both in robot manipulator design and in the shift of focus from single to multi-robot systems. Following the principles of evolution in nature, one may infer that adding degrees of freedom to robot systems design is beneficial. However, since nature did not select snake-like bodies for all creatures, it is reasonable to expect the presence of a certain selection pressure on the number of degrees of freedom. Thus, understanding costs and benefits of multiple degrees of freedom, especially those that create redundancy, is a fundamental problem in the field of robotics. This volume is mostly based on the works presented at the workshop on Redundancy in Robot Manipulators and Multi-Robot Systems at the IEEE/RSJ International Conference on Intelligent Robots and Systems - IROS 2011. The workshopwas envisioned as a dialog between researchers from two separate, but obviously relatedfields of robotics: on...

Nonlinear Inference in Partially Observed Physical Systems and Deep Neural Networks

Science.gov (United States)

Rozdeba, Paul J.

The problem of model state and parameter estimation is a significant challenge in nonlinear systems. Due to practical considerations of experimental design, it is often the case that physical systems are partially observed, meaning that data is only available for a subset of the degrees of freedom required to fully model the observed system's behaviors and, ultimately, predict future observations. Estimation in this context is highly complicated by the presence of chaos, stochasticity, and measurement noise in dynamical systems. One of the aims of this dissertation is to simultaneously analyze state and parameter estimation in as a regularized inverse problem, where the introduction of a model makes it possible to reverse the forward problem of partial, noisy observation; and as a statistical inference problem using data assimilation to transfer information from measurements to the model states and parameters. Ultimately these two formulations achieve the same goal. Similar aspects that appear in both are highlighted as a means for better understanding the structure of the nonlinear inference problem. An alternative approach to data assimilation that uses model reduction is then examined as a way to eliminate unresolved nonlinear gating variables from neuron models. In this formulation, only measured variables enter into the model, and the resulting errors are themselves modeled by nonlinear stochastic processes with memory. Finally, variational annealing, a data assimilation method previously applied to dynamical systems, is introduced as a potentially useful tool for understanding deep neural network training in machine learning by exploiting similarities between the two problems.

Algorithm for Solution of Direct Kinematic Problem of Multi-sectional Manipulator with Parallel Structure

Directory of Open Access Journals (Sweden)

A. L. Lapikov

2014-01-01

Full Text Available The article is aimed at creating techniques to study multi-sectional manipulators with parallel structure. To solve this task the analysis in the field concerned was carried out to reveal both advantages and drawbacks of such executive mechanisms and main problems to be encountered in the course of research. The work shows that it is inefficient to create complete mathematical models of multisectional manipulators, which in the context of solving a direct kinematic problem are to derive a functional dependence of location and orientation of the end effector on all the generalized coordinates of the mechanism. The structure of multisectional manipulators was considered, where the sections are platform manipulators of parallel kinematics with six degrees of freedom. The paper offers an algorithm to define location and orientation of the end effector of the manipulator by means of iterative solution of analytical equation of the moving platform plane for each section. The equation for the unknown plane is derived using three points, which are attachment points of the moving platform joints. To define the values of joint coordinates a system of nine non-linear equations is completed. It is necessary to mention that for completion of the equation system are used the equations with the same type of non-linearity. The physical sense of all nine equations of the system is Euclidean distance between the points of the manipulator. The result of algorithm execution is a matrix of homogenous transformation for each section. The correlations describing transformations between adjoining sections of the manipulator are given. An example of the mechanism consisting of three sections is examined. The comparison of theoretical calculations with results obtained on a 3D-prototype is made. The next step of the work is to conduct research activities both in the field of dynamics of platform parallel kinematics manipulators with six degrees of freedom and in the

Applications of Nonlinear Dynamics Model and Design of Complex Systems

CERN Document Server

In, Visarath; Palacios, Antonio

2009-01-01

This edited book is aimed at interdisciplinary, device-oriented, applications of nonlinear science theory and methods in complex systems. In particular, applications directed to nonlinear phenomena with space and time characteristics. Examples include: complex networks of magnetic sensor systems, coupled nano-mechanical oscillators, nano-detectors, microscale devices, stochastic resonance in multi-dimensional chaotic systems, biosensors, and stochastic signal quantization. "applications of nonlinear dynamics: model and design of complex systems" brings together the work of scientists and engineers that are applying ideas and methods from nonlinear dynamics to design and fabricate complex systems.

A modified airfoil-based piezoaeroelastic energy harvester with double plunge degrees of freedom

Directory of Open Access Journals (Sweden)

Yining Wu

2016-09-01

Full Text Available In this letter, a piezoaeroelastic energy harvester based on an airfoil with double plunge degrees of freedom is proposed to additionally take advantage of the vibrational energy of the airfoil pitch motion. An analytical model of the proposed energy harvesting system is built and compared with an equivalent model using the well-explored pitch-plunge configuration. The dynamic response and average power output of the harvester are numerically studied as the flow velocity exceeds the cut-in speed (flutter speed. It is found that the harvester with double-plunge configuration generates 4%–10% more power with varying flow velocities while reducing 6% of the cut-in speed than its counterpart.

Probing the degrees of freedom in hot composite nuclei. Systematics of charged particle evaporation

International Nuclear Information System (INIS)

Kaplan, M.; Downer, J.B.; Whitfield, J.P.; Brown, C.M.; Milosevich, Z.; Karol, P.J.; Vardaci, E.; Copi, C.; De Young, P.

1995-01-01

The study of evaporative particle emission offers a number of experimental observables whose measurement can provide insight into the behavior of highly excited composite nuclei. Simultaneous observations of multiple degrees of freedom in such hot systems allows stringent testing of theoretical models by insisting that the calculations reproduce the several measured characteristics with a single set of model input parameters. Such comparisons are presented for two data sets, one involving a relatively light (low Z) system and the other referring to a relatively heavy (high Z) system. In the latter case, reasonably good agreement has been found between statistical model calculations (with empirical barriers) and the experimental data, while for the former situation, the parameters required to reproduce the energy spectra lead to significant inconsistencies in predicted particle multiplicities and angular anisotropies. (authors). 12 refs., 7 figs., 2 tabs