WorldWideScience

Sample records for nonlinear underactuated hovercraft

  1. Course-keeping control of underactuated hovercraft

    Science.gov (United States)

    Han, Bing; Zhao, Guo-Liang

    2004-06-01

    The course-keeping control of underactuated hovercraft with two aft propellers was considered. The control of the heading error and cross-track error was accomplished by the yaw torque merely in this case. The hovercraft dynamic model is nonlinear and underactuated. At first the Controllability of course-keeping control for hovercraft was proved, then a course-keeping control law was derived that keeps hovercraft heading constant as well as minimizes the lateral movement of hovercraft. The proposed law guarantees heading error and sway error all converge to zero exponentially. Simulation tests were carried out to illustrate the effectiveness of the proposed control law. For further research, the disturbance influence would be considered in the dynamic equations.

  2. Coure-keeping control of underactuated hovercraft

    Institute of Scientific and Technical Information of China (English)

    HAN Bing; ZHAO Guo-liang

    2004-01-01

    The course-keeping control of underacted hovercraft with aft propellers was considered.The control of the heading er-ror and cross-track error was accomplished by the yaw torque merely in this case.The hovercraft dynamic model is nonlinear and under-actuated. At first the Controllability of course-keeping control for hovercraft was proved, then a course-keeping control law was derived that keeps hovercraft heading constant as well as minimizes the lateral movement of hovercraft.The proposed law guarantees heading er-ror and sway error all converch to zero exponentially. Simulation tests were carried out to illustate the effectiveness of the proposed con-trol law.For further research,the disturbance influence would be considered in the dynamic equations.

  3. Nonlinear and cooperative control of multiple hovercraft with input constraints

    OpenAIRE

    Dunbar, William B.; Olfati-Saber, Reza; Richard M Murray

    2003-01-01

    In this paper, we introduce an approach for distributed nonlinear control of multiple hovercraft-type underactuated vehicles with bounded and unidirectional inputs. First, a bounded nonlinear controller is given for stabilization and tracking of a single vehicle, using a cascade backstepping method. Then, this controller is combined with a distributed gradient-based control for multi-vehicle formation stabilization using formation potential functions previously constructed. The vehicles are u...

  4. Nonlinear Control for Trajectory Tracking of a Nonholonomic RC-Hovercraft with Discrete Inputs

    OpenAIRE

    Dictino Chaos; David Moreno-Salinas; Rocío Muñoz-Mansilla; Joaquín Aranda

    2013-01-01

    This work studies the problem of trajectory tracking for an underactuated RC-hovercraft, the control of which must be done by means of discrete inputs. Thus, the aim is to control a vehicle with very simple propellers that produce only a discrete set of control commands, and with minimal information about the dynamics of the actuators. The control problem is approached as a cascade control problem, where the outer loop stabilizes the position error, and the inner loop stabilizes the orientat...

  5. Nonlinear Control for Trajectory Tracking of a Nonholonomic RC-Hovercraft with Discrete Inputs

    Directory of Open Access Journals (Sweden)

    Dictino Chaos

    2013-01-01

    Full Text Available This work studies the problem of trajectory tracking for an underactuated RC-hovercraft, the control of which must be done by means of discrete inputs. Thus, the aim is to control a vehicle with very simple propellers that produce only a discrete set of control commands, and with minimal information about the dynamics of the actuators. The control problem is approached as a cascade control problem, where the outer loop stabilizes the position error, and the inner loop stabilizes the orientation of the vehicle. Stability of the controller is theoretically demonstrated and the robustness of the control law against disturbances and noise is established. Simulation examples and experiments on a real setup validate the control law showing the real system to be robust against disturbances, noise, and outdated dynamics.

  6. Block backstepping design of nonlinear state feedback control law for underactuated mechanical systems

    CERN Document Server

    Rudra, Shubhobrata; Maitra, Madhubanti

    2017-01-01

    This book presents a novel, generalized approach to the design of nonlinear state feedback control laws for a large class of underactuated mechanical systems based on application of the block backstepping method. The control law proposed here is robust against the effects of model uncertainty in dynamic and steady-state performance and addresses the issue of asymptotic stabilization for the class of underactuated mechanical systems. An underactuated system is defined as one for which the dimension of space spanned by the configuration vector is greater than that of the space spanned by the control variables. Control problems concerning underactuated systems currently represent an active field of research due to their broad range of applications in robotics, aerospace, and marine contexts. The book derives a generalized theory of block backstepping control design for underactuated mechanical systems, and examines several case studies that cover interesting examples of underactuated mechanical systems. The math...

  7. Nonlinear state feedback controller design for underactuated mechanical system: a modified block backstepping approach.

    Science.gov (United States)

    Rudra, Shubhobrata; Barai, Ranjit Kumar; Maitra, Madhubanti

    2014-03-01

    This paper presents the formulation of a novel block-backstepping based control algorithm to address the stabilization problem for a generalized nonlinear underactuated mechanical system. For the convenience of compact design, first, the state model of the underactuated system has been converted into the block-strict feedback form. Next, we have incorporated backstepping control action to derive the expression of the control input for the generic nonlinear underactuated system. The proposed block backstepping technique has further been enriched by incorporating an integral action additionally for enhancing the steady state performance of the overall system. Asymptotic stability of the overall system has been analyzed using Lyapunov stability criteria. Subsequently, the stability of the zero dynamics has also been analyzed to ensure the global asymptotic stability of the entire nonlinear system at its desired equilibrium point. The proposed control algorithm has been applied for the stabilization of a benchmarked underactuated mechanical system to verify the effectiveness of the proposed control law in real-time environment.

  8. Robust stabilization of underactuated nonlinear systems: A fast terminal sliding mode approach.

    Science.gov (United States)

    Khan, Qudrat; Akmeliawati, Rini; Bhatti, Aamer Iqbal; Khan, Mahmood Ashraf

    2017-01-01

    This paper presents a fast terminal sliding mode based control design strategy for a class of uncertain underactuated nonlinear systems. Strategically, this development encompasses those electro-mechanical underactuated systems which can be transformed into the so-called regular form. The novelty of the proposed technique lies in the hierarchical development of a fast terminal sliding attractor design for the considered class. Having established sliding mode along the designed manifold, the close loop dynamics become finite time stable which, consequently, result in high precision. In addition, the adverse effects of the chattering phenomenon are reduced via strong reachability condition and the robustness of the system against uncertainties is confirmed theoretically. A simulation as well as experimental study of an inverted pendulum is presented to demonstrate the applicability of the proposed technique.

  9. Adaptive Fuzzy Sliding Mode Tracking Control of Uncertain Underactuated Nonlinear Systems: A Comparative Study

    Directory of Open Access Journals (Sweden)

    Faten Baklouti

    2016-01-01

    Full Text Available The trajectory tracking of underactuated nonlinear system with two degrees of freedom is tackled by an adaptive fuzzy hierarchical sliding mode controller. The proposed control law solves the problem of coupling using a hierarchical structure of the sliding surfaces and chattering by adopting different reaching laws. The unknown system functions are approximated by fuzzy logic systems and free parameters can be updated online by adaptive laws based on Lyapunov theory. Two comparative studies are made in this paper. The first comparison is between three different expressions of reaching laws to compare their abilities to reduce the chattering phenomenon. The second comparison is made between the proposed adaptive fuzzy hierarchical sliding mode controller and two other control laws which keep the coupling in the underactuated system. The tracking performances of each control law are evaluated. Simulation examples including different amplitudes of external disturbances are made.

  10. Dynamic modeling and nonlinear control strategy for an underactuated quad rotor rotorcraft

    Institute of Scientific and Technical Information of China (English)

    Ashfaq Ahmad MIAN; Dao-bo WANG

    2008-01-01

    In this paper, a nonlinear dynamic MIMO model of a 6-DOF underactuated quad rotor rotorcraft is derived based on Newton-Euler formalism. The derivation comprises determining equations of motion of the quad rotor in three dimensions and seeking to approximate the actuation forces through modeling of the aerodynamic coefficients and electric motor dynamics. The derived model is dynamically unstable, so a sequential nonlinear control strategy is implemented for the quad rotor. The control strategy includes exact feedback linearization technique, using the geometric methods of nonlinear control. The performance of the nonlinear control algorithm is evaluated using simulation and the results show the effectiveness of the proposed control strategy for the quad rotor rotorcraft near quasi-stationary flight.

  11. Control of underactuated robotic systems with the use of the derivative-free nonlinear Kalman filter

    Science.gov (United States)

    Rigatos, Gerasimos G.; Siano, Pierluigi

    2013-10-01

    The Derivative-free nonlinear Kalman Filter is used for developing a robust controller which can be applied to underactuated MIMO robotic systems. Using differential flatness theory it is shown that the model of a closed-chain 2-DOF robotic manipulator can be transformed to linear canonical form. For the linearized equivalent of the robotic system it is shown that a state feedback controller can be designed. Since certain elements of the state vector of the linearized system can not be measured directly, it is proposed to estimate them with the use of a novel filtering method, the so-called Derivative-free nonlinear Kalman Filter. Moreover, by redesigning the Kalman Filter as a disturbance observer, it is is shown that one can estimate simultaneously external disturbances terms that affect the robotic model or disturbance terms which are associated with parametric uncertainty.

  12. Exponential Stabilization of Underactuated Vehicles

    Energy Technology Data Exchange (ETDEWEB)

    Pettersen, K.Y.

    1996-12-31

    Underactuated vehicles are vehicles with fewer independent control actuators than degrees of freedom to be controlled. Such vehicles may be used in inspection of sub-sea cables, inspection and maintenance of offshore oil drilling platforms, and similar. This doctoral thesis discusses feedback stabilization of underactuated vehicles. The main objective has been to further develop methods from stabilization of nonholonomic systems to arrive at methods that are applicable to underactuated vehicles. A nonlinear model including both dynamics and kinematics is used to describe the vehicles, which may be surface vessels, spacecraft or autonomous underwater vehicles (AUVs). It is shown that for a certain class of underactuated vehicles the stabilization problem is not solvable by linear control theory. A new stability result for a class of homogeneous time-varying systems is derived and shown to be an important tool for developing continuous periodic time-varying feedback laws that stabilize underactuated vehicles without involving cancellation of dynamics. For position and orientation control of a surface vessel without side thruster a new continuous periodic feedback law is proposed that does not cancel any dynamics, and that exponentially stabilizes the origin of the underactuated surface vessel. A further issue considered is the stabilization of the attitude of an AUV. Finally, the thesis discusses stabilization of both position and attitude of an underactuated AUV. 55 refs., 28 figs.

  13. Injuries from hovercraft racing.

    Science.gov (United States)

    Cattermole, H R

    1997-01-01

    A 31-year-old man presented with a potentially serious neck injury following a racing hovercraft accident. Previous reports of hovercrafting injuries could not be found, and a review of the sport's own records was undertaken. This shows there to be a wide range of injuries sustained from the sport, although most of them are minor. However, there are some worrying trends, and further studies are being undertaking in order to improve the sport's safety record.

  14. The hovercraft environment.

    Science.gov (United States)

    Lovesey, E J

    1970-06-01

    In just over a decade the hovercraft has progressed from first prototype to a successful commercial form of transport which also has the ability to penetrate many environments hitherto virtually inaccessible to manned vehicles. Comparison with rival short range vehicles such as the helicopter and hydrofoil show that the hovercraft has become one of the most versatile forms of transport available. This versatility and ability to operate in unusual or extreme environments has been accompanied by the problems of control and of protection of the occupants of the hovercraft from the hazards associated with these environments. Several of these problems are discussed, together with their possible solutions. This article is based on a paper given to the Nederlands Vereniging Voor Ergonomie/Ergonomics Research Society joint conference at Noordwijk in Holland, 11-13 June, 1969.

  15. Hovercraft skirt design and manufacture

    Science.gov (United States)

    Wheeler, R. L.; Key, A. N.

    A development history is presented for the skirt designs of large hovercraft, with attention to the design methodology and verification techniques employed to arrive at performance improvements over several design generations. The air flow and mechanical interactions among the various constituents of the skirt are noted for the spectrum of sea state and maneuvering conditions that are encountered by hovercraft of English Channel ferry type. The constitution of an integrated CAD/CAM design and fabrication process for hovercraft skirts is detailed.

  16. Physical damping in IDA-PBC controlled underactuated mechanical systems : Special issue on Hamiltonian and Lagrangian Methods for Nonlinear Control

    NARCIS (Netherlands)

    Gómez-Estern, F.; Schaft, A.J. van der

    2004-01-01

    Energy shaping and passivity-based control designs have proven to be effective in solving control problems for underactuated mechanical systems. In recent works, Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) has been successfully applied to open loop conservative models, i

  17. Nonlinear Dynamic Analysis of Planar Flexible Underactuated Manipulators%平面柔性欠驱动机械臂的非线性动力学分析

    Institute of Scientific and Technical Information of China (English)

    何广平; 陆震

    2005-01-01

    The influence of passive joint on the dynamics of planar flexible underactuated manipulators is studied. A vibration reduction method based on the internal resonance phenomenon of multi-degree nonlinear dynamic system is proposed. The dynamic simulation results reveal that the harmonic input for the actuated joint will induce the passive joint deviating from its equilibrium position, the excursion speed and direction depend on the amplitude of the input. A passive joint position control scheme making use of the vibration of the flexible structure is suggested, and the numerical simulation results of a model of planar two-link flexible underactuated manipulator is shown.%研究了平面柔性欠驱动机械臂中被动关节对系统动态特性的影响,在动力学分析的基础上,提出了一种基于内共振原理的柔性欠驱动机械臂振动控制方法.在对系统的稳态周期运动进行分析研究的基础上,发现处于自由摆动状态的被动关节的平衡位置随系统结构的振动而发生漂移,并且被动关节平衡位置的漂移速度和方向与周期输入的振幅有关.提出利用结构柔性产生的振动实现被动关节位置控制的方法,通过平面二连杆柔性欠驱动机械臂进行了仿真计算.

  18. Underactuated spacecraft formation reconfiguration with collision avoidance

    Science.gov (United States)

    Huang, Xu; Yan, Ye; Zhou, Yang

    2017-02-01

    Underactuated collision-free controllers are proposed in this paper for multiple spacecraft formation reconfiguration in circular orbits with the loss of either the radial or in-track thrust. A nonlinear dynamical model of underactuated formation flying is introduced, which is then linearized about circular orbits for controllability and feasibility analyses on underactuated formation reconfiguration. By using the inherent dynamics coupling of system states, reduced-order sliding mode controllers are then designed for either case to indirectly stabilize the system trajectories to the desired formations. In consideration of the collision-avoidance requirement, the artificial potential function method is then employed to design novel underactuated collision-avoidance maneuvers. Rigorous proof substantiates the capabilities of such maneuvers in preventing collisions even in the absence of radial or in-track thrust. Furthermore, a Lyapunov-based analysis ensures the asymptotic stability of the overall closed-loop system. Numerical simulations are performed in a J2-perturbed environment to verify the validity of the proposed underactuated control schemes for collision-free reconfiguration.

  19. Evolution of a heave control system for an amphibious hovercraft

    Science.gov (United States)

    Christopher, P. A. T.; Man, K. F.; Cheng, Y. N.; Osbourn, E. W.

    1984-01-01

    A heave control system for amphibious hovercraft was designed and tested. The central element in the system being an axial flow, lift fan whose blade angles are continuously varied by means of feedback signals from a pressure transducer located in the front end of the hovercraft cushion and from an accelerometer measuring the heave acceleration are discussed. Results from experiments, conducted on the Cranfield Whirling-Arm facility, have shown that the system provides a rapid and effective means of controlling the heave acceleration, and, in addition, produces a valuable reduction in craft drag whilst traversing waves. An extensive parameter identification program, using a nonlinear optimization algorithm, was constructed and applied to the control subsystem, such that a full mathematical model of the controlled craft was obtained. This was then used to design an optimum control with particular reference to passenger ride comfort.

  20. Stokes Equation in a Toy CD Hovercraft

    Science.gov (United States)

    de Izarra, Charles; de Izarra, Gregoire

    2011-01-01

    This paper deals with the study of a toy CD hovercraft used in the fluid mechanics course for undergraduate students to illustrate the lubrication theory described by the Stokes equation. An experimental characterization of the toy hovercraft (measurements of the air flow value, of the pressure in the balloon and of the thickness of the air film…

  1. Hovercraft Project Teaches Design and Testing Processes

    Science.gov (United States)

    Keesling, Daryl

    2011-01-01

    Building hovercraft has proven very popular with the author's engineering students at Knightstown Community High School. The activity uses inexpensive, readily available materials: foam board, a pop-up water bottle cap, a balloon, and hot glue. In this article, the author describes the hovercraft project and how the project provides excellent…

  2. Stokes Equation in a Toy CD Hovercraft

    Science.gov (United States)

    de Izarra, Charles; de Izarra, Gregoire

    2011-01-01

    This paper deals with the study of a toy CD hovercraft used in the fluid mechanics course for undergraduate students to illustrate the lubrication theory described by the Stokes equation. An experimental characterization of the toy hovercraft (measurements of the air flow value, of the pressure in the balloon and of the thickness of the air film…

  3. Hovercraft Project Gives Learning a Lift

    Science.gov (United States)

    Benini, Jim

    2010-01-01

    This article describes an activity for the author's Principles of Technology class in which students bring together the concepts of force, work, and rate, and show how they apply to mechanical, fluid, electrical, and thermal systems by building and flying a hovercraft. Building, testing, flying, and racing hovercrafts isn't something very many…

  4. Hovercraft auxiliary power units (APUs)

    Energy Technology Data Exchange (ETDEWEB)

    Russell, B.J.

    1983-08-01

    Auxiliary power units (APU) manufactured by British firms for use in hovercraft are characterized. Both diesel and gas-turbine APUs are found to be well suited to the demands of this application. The design features, dimensions, performance data, and installation requirements are discussed for the SS 90, SS 923, DA-1, BA-1, HM 5, and Gevaudan 9 APUs, as well as the TRS 18 gas-turbine smoke generator. The progress made in improving the fuel efficiency of gas turbines and reducing the weight of diesel engines is considered significant.

  5. Maneuver simulation model of an experimental hovercraft for the Antarctic

    Science.gov (United States)

    Murao, Rinichi

    Results of an investigation of a hovercraft model designed for Antarctic conditions are presented. The buoyancy characteristics, the propellant control system, and simulation model control are examined. An ACV (air cushion vehicle) model of the hovercraft is used to examine the flexibility and friction of the skirt. Simulation results are presented which show the performance of the hovercraft.

  6. GA-based stable control for a class of underactuated mechanical systems

    Science.gov (United States)

    Liu, Diantong; Guo, Weiping; Yi, Jianqiang

    2005-12-01

    A nonlinear dynamic model of a class of underactuated mechanical systems was built using the Lagrangian method. Some system properties such as the system passivity were analyzed. A GA(Genetic Algorithms)-based stable control algorithm was proposed for the class of underactuated mechanical systems. The Lyapunov stability theory and system properties were utilized to guarantee the system's asymptotic stability to its equilibrium. A real-valued GA was used to adjust the parameters of a stable controller to improve the system performance. An underactuated double-pendulum-type overhead crane system is used to validate the proposed control algorithm. Simulation results illustrate the validity of proposed control algorithm under different conditions.

  7. Path-following controller for under-actuated AUV of nonlinear iterative sliding mode%非线性迭代滑模的欠驱动AUV路径跟踪控制

    Institute of Scientific and Technical Information of China (English)

    王璐; 张利军; 王红滨; 贾鹤鸣; 杨立新

    2011-01-01

    For the realization of under-actuated Autonomous Underwater Vehicle(AUV) in unknown disturbance currents under the control of path following, an increment feedback control method based on nonlinear iterative sliding mode control is presented.Using common curve parameters and the serret-frenet coordinate system describes the path tracking error, the equation of AUV horizontal tracking error is established.Incremental sliding mode feedback controller is designed by iterative method without uncertainty parameter of AUV model and current disturbance estimation.The results of simulation experiments show that the controller is easy to be adjusted, can be used in the actual under-actuated AUV to track the desired horizontal path precisely.%为实现欠驱动自治水下机器人(AUV)在未知海流干扰作用下的路径跟踪控制,提出一种基于非线性迭代滑模增量反馈的路径跟踪控制器.选用一般曲线参数和Serret-Frenet坐标系描述路径跟踪误差,建立AUV水平面路径跟踪误差方程.采用迭代方法,设计滑模增量反馈控制器,无需对AUV模型参数不确定部分和海流干扰进行估计.仿真实验表明,设计的控制器参数易于调节,可用于实际欠驱动水下机器人来实现对水平面路径的精确跟踪.

  8. Development of a working Hovercraft model

    Science.gov (United States)

    Noor, S. H. Mohamed; Syam, K.; Jaafar, A. A.; Mohamad Sharif, M. F.; Ghazali, M. R.; Ibrahim, W. I.; Atan, M. F.

    2016-02-01

    This paper presents the development process to fabricate a working hovercraft model. The purpose of this study is to design and investigate of a fully functional hovercraft, based on the studies that had been done. The different designs of hovercraft model had been made and tested but only one of the models is presented in this paper. In this thesis, the weight, the thrust, the lift and the drag force of the model had been measured and the electrical and mechanical parts are also presented. The processing unit of this model is Arduino Uno by using the PSP2 (Playstation 2) as the controller. Since our prototype should be functioning on all kind of earth surface, our model also had been tested in different floor condition. They include water, grass, cement and tile. The Speed of the model is measured in every case as the respond variable, Current (I) as the manipulated variable and Voltage (V) as the constant variable.

  9. On hovercraft overwater heave stability

    Science.gov (United States)

    Hinchey, M. J.; Sullivan, P. A.

    1993-05-01

    The dynamic heave stability of an air cushion vehicle or hovercraft hovering over deep water without forward motion is investigated analytically. The principal feature of the analysis is the modeling of the motion of the water surface beneath the cushion caused by fluctuations in the pressure of the cushion or cavity air. This surface motion interacts with the vehicle dynamics by modulating both the volume and exit flow area of the cushion. For analytical simplicity, the geometry chosen for study is a 2D section of a rigid wall plenum chamber; this enables exploitation of classical linear wave formulas developed by Lamb for the surface motion generated by a spatially uniform surface pressure oscillating sinusoidally in time. To assess stability characteristics, the Nyquist criterion is applied to the linearized equations. Results are presented for two cases: one is representative of a small test vehicle, and the other of a large ice-breaking platform. They show that the water surface motion significantly affects stability through both of the proposed mechanisms, with cushion exit flow area modulation usually being more important. A feature of the results is that as the weight of a vehicle decreases many stability transitions occur. This suggests that simple guidelines for avoiding instability may not exist, so that stability augmentation devices may be required for vehicles designed to hover for extended periods over water.

  10. Evaluation of hovercraft for dispersant application

    Energy Technology Data Exchange (ETDEWEB)

    Dickens, D.; Belore, R.; Buist, I.; Humphrey, B.

    1988-01-01

    A series of field trials were carried out in Vancouver, Canada in July and August 1986 to determine whether or not hovercraft should be considered for dispersant application. Questions are: the ability of the hovercraft to ''fly'' over an oil slick at high speed without displacing the oil out of the path, the potential for using the hovercraft to impart vertical mixing energy into the water column to aid in the dispersant process and, the ability to mount a suitable spray boom and obtain a uniform spray pattern across the swath width. The field trials and subsequent interpretation of results provide positive answers to the first and second question. The question of mixing energy requires some qualification. The hovercraft contributes considerable mixing energy to the immediate water surface through air entrainment but this effect is short lived and there does not appear to be significant long term vertical mixing in the hovercraft wake. Recommendations are made for operating procedures and boom mounting which should ensure a uniform drop size and dose rate across a swath up to 18 m. The cushion air escaping from around the craft perimeter is not an important factor in adversly affecting the dispersant spray pattern. Depending on the type of machine available, hovcercraft have the capability of treating up to a 1km/sup 2/ slick between loads, at average speeds in the 15 to 25 knot range. The inherent advantages of high transit speed to the site (up to 45 Knots), amphibious operation (i.e. not draft limited) and lack of ceiling or visibility restrictions provide hovercarft with unique capabilities in the dispersant application role. Two patents relating to the process have been abstracted. Appendix B gives the sprecifications of two different models of hovercrafts. 14 refs., 29 figs., 6 tabs.

  11. PWM整流器的欠驱动特性与非线性控制%Underactuated Property and Nonlinear Control for PWM Rectifier

    Institute of Scientific and Technical Information of China (English)

    张晓华; 郭源博; 周鑫; 陈宏钧

    2011-01-01

    针对三相电压型脉宽调制(pulsewidthmodulation,PWM)整流器级联式双闭环控制系统结构的选择成因尚缺乏理论阐释的问题,基于欠驱动系统理论对此结构进行理论研究。建立PWM整流器在砌同步旋转坐标系下的数学模型,并对其欠驱动特性进行分析。给出PWM整流器驱动变量与欠驱动变量的选择方法,利用零动态分析理论与部分反馈线性化控制策略,设计电流内环控制器。为增强PWM整流器抵抗电网电压和负载扰动的能力,提出白抗扰比例积分电压外环非线性控制方案。所设计的PWM整流器控制系统具有较好的稳态和动态性能,特别是对电网电压/负载扰动具有很强的鲁棒性。仿真与实物实验结果证明了所提理论的正确性和控制策略的有效性。%Based on the underactuated system theory, the cascaded double-closed-loop control system structure of the three-phase voltage-type pulse width modulation (PWM) rectifier was studied theoretically for lack of effective interpretation for choosing this specific structure. The underactuated property of PWM rectifier was analyzed with its model in the dq synchronous reference frame. The choosing method for actuated and underactuated variables was given. Consequently, the current inner-loop controller was designed, based on the zero dynamics theory and partial feedback linearization control method. Moreover, auto-disturbance- rejection proportional integral (ADR-PI) voltage outer-loop controller was presented to reinforce the rejection ability for the AC voltage and DC load disturbances. The proposed PWM rectifier control system has better steady and dynamic performances, as well as strong robustness for the disturbances especially. Simulation and practical experiment results validate the correctness of the proposed theory and the effectiveness of the control strategy.

  12. Dynamic response of Hovercraft lift fans

    Science.gov (United States)

    Moran, D. D.

    1981-08-01

    Hovercraft lift fans are subjected to varying back pressure due to wave action and craft motions when these vehicles are operating in a seaway. The oscillatory back pressure causes the fans to perform dynamically, exhibiting a hysteresis type of response and a corresponding degradation in mean performance. Since Hovercraft motions are influenced by variations in lift fan pressure and discharge, it is important to understand completely the nature of the dynamic performance of lift fans in order to completely solve the Hovercraft seakeeping problem. The present study was performed to determine and classify the instabilities encountered in a centrifugal fan operating against time-varying back pressure. A model-scale experiment was developed in which the fan discharge was directed into a flow-measuring device, terminating in a rotating valve which produced an oscillatory back pressure superimposed upon a mean aerodynamic resistance. Pressure and local velocity were measured as functions of time at several locations in the fan volute. The measurements permitted the identification of rotating (or propagating) stall in the impeller. One cell and two cell configurations were classified and the transient condition connecting these two configurations was observed. The mechanisms which lead to rotating stall in a centrifugal compressor are presented and discussed with specific reference to Hovercraft applications.

  13. Mathematical simulation of hovercraft lift system aerodynamics

    OpenAIRE

    Kalyasov, P.; Lyubimov, A

    2008-01-01

    A procedure to calculate numerically the pressure-discharge characteristic of the hovercraft blowing system has been presented. The procedure has been realized on a multiprocessor cluster using the ANSYS CFX fluid dynamics software system. By the calculation results, some recommendations have been given to change the geometry of the air duct and fan wheel blades.

  14. SELF-RECONFIGURATION OF UNDERACTUATED REDUNDANT MANIPULATORS WITH OPTIMIZING THE FLEXIBILITY ELLIPSOID

    Institute of Scientific and Technical Information of China (English)

    He Guangping; Lu Zhen

    2005-01-01

    The multi-modes feature, the measure of the manipulating flexibility, and self-reconfiguration control method of the underactuated redundant manipulators are investigated based on the optimizing technology. The relationship between the configuration of the joint space and the manipulating flexibility of the underactuated redundant manipulator is analyzed, a new measure of manipulating flexibility ellipsoid for the underactuated redundant manipulator with passive joints in locked mode is proposed, which can be used to get the optimal configuration for the realization of the self-reconfiguration control. Furthermore, a time-varying nonlinear control method based on harmonic inputs is suggested for fulfilling the self-reconfiguration. A simulation example of a three-DOFs underactuated manipulator with one passive joint features some aspects of the investigations.

  15. Dynamics and control of underactuated multibody spacecraft

    Science.gov (United States)

    Cho, Sangbum

    In this dissertation, we develop equations of motion for a class of multibody spacecraft consisting of a rigid base body and multiple rigid appendages connected to the base body. There has been much prior research on this topic; however, much of this research is not appropriate for nonlinear control design purposes. The motion of a multibody spacecraft is described by the position and attitude of a base body in an inertial frame and by the relative position and attitude of the attached bodies with respect to the base body; these latter quantities define the shape of the multibody spacecraft. Our aim is to develop equations of motion that reveal important nonlinear coupling effects between the translation, rotation and shape dynamics, but are simple enough for control design purposes. A rotation matrix is used to represent the attitude of the spacecraft. This allows us to avoid complexity related to the use of parameter representations such as Euler angles. Hamilton's variational principle gives three sets of nonlinear equations of motion. The latter part of this dissertation presents results of control problems for several underactuated multibody spacecraft examples. These include spacecraft with an unactuated internal sliding mass, spacecraft with unactuated fuel slosh dynamics, tethered spacecraft with attachment point actuation and the triaxial attitude control testbed with two proof mass actuation devices. These examples illustrate important features related to the dynamics and control of various underactuated multibody spacecraft. Differences in geometries of the spacecraft and gravitational assumptions require adoption of different types of control schemes. We use the multibody equations in this dissertation to formulate control equations for the models and to construct feedback controllers that achieves asymptotic stability (or convergence) to the desired (relative) equilibrium manifolds. Computer simulations demonstrate the effectiveness of the controllers.

  16. Hovercraft telemanipulation virtual models and interface design

    OpenAIRE

    Noronha, Hildegardo José Quintal

    2013-01-01

    A control system was designed to allow humans to manually drive an, usually automatic, two wheeled hovercraft. The size, the mass and the way of driving this vehicle proves to be an issue for the everyday, untrained person to achieve. During this thesis several control layouts were designed with the objective of creating an intuitive and easy way of driving such a vehicle. At the end two where usertested using a simulation (also developed during this thesis) of the said hovercr...

  17. Hovercraft telemanipulation virtual models and interface design

    OpenAIRE

    Noronha, Hildegardo José Quintal

    2013-01-01

    A control system was designed to allow humans to manually drive an, usually automatic, two wheeled hovercraft. The size, the mass and the way of driving this vehicle proves to be an issue for the everyday, untrained person to achieve. During this thesis several control layouts were designed with the objective of creating an intuitive and easy way of driving such a vehicle. At the end two where usertested using a simulation (also developed during this thesis) of the said hovercr...

  18. Heave control of amphibious hovercraft by means of an active-fan system

    Science.gov (United States)

    Christopher, P. A. T.; Man, K. F.; Osbourn, E. W.; Cheng, Y. N.

    This paper describes the development of a heave control system for amphibious hovercraft, the central element in the system being an axial flow, lift-fan whose blade angles are continuously varied by means of feedback signals from a pressure transducer located in the front end of the hovercraft cushion and from an accelerometer measuring the heave acceleration. Transfer functions associated with the cushion dynamics were obtained by means of parameter identification using coefficient-plane models in which the coefficients were estimated by means of a nonlinear optimization algorithm. Results from experiments, conducted on the Cranfield, Whirling-Arm facility, have shown that the system provides a rapid and effective means of controlling the heave acceleration and, in addition, produces a valuable reduction in craft drag whilst traversing waves.

  19. Switching control of an R/C hovercraft: stabilization and smooth switching.

    Science.gov (United States)

    Tanaka, K; Iwasaki, M; Wang, H O

    2001-01-01

    This paper presents stable switching control of an radio-controlled (R/C) hovercraft that is a nonholonomic (nonlinear) system. To exactly represent its nonlinear dynamics, more importantly, to maintain controllability of the system, we newly propose a switching fuzzy model that has locally Takagi-Sugeno (T-S) fuzzy models and switches them according to states, external variables, and/or time. A switching fuzzy controller is constructed by mirroring the rule structure of the switching fuzzy model of an R/C hovercraft. We derive linear matrix inequality (LMI) conditions for ensuring the stability of the closed-loop system consisting of a switching fuzzy model and controller. Furthermore, to guarantee smooth switching of control input at switching boundaries, we also derive a smooth switching condition represented in terms of LMIs. A stable switching fuzzy controller satisfying the smooth switching condition is designed by simultaneously solving both of the LMIs. The simulation and experimental results for the trajectory control of an R/C hovercraft show the validity of the switching fuzzy model and controller design, particularly, the smooth switching condition.

  20. Dynamics of underactuated multibody systems modeling, control and optimal design

    CERN Document Server

    Seifried, Robert

    2014-01-01

    Underactuated multibody systems are intriguing mechatronic systems, as they possess fewer control inputs than degrees of freedom. Some examples are modern light-weight flexible robots and articulated manipulators with passive joints. This book investigates such underactuated multibody systems from an integrated perspective. This includes all major steps from the modeling of rigid and flexible multibody systems, through nonlinear control theory, to optimal system design. The underlying theories and techniques from these different fields are presented using a self-contained and unified approach and notation system. Subsequently, the book focuses on applications to large multibody systems with multiple degrees of freedom, which require a combination of symbolical and numerical procedures. Finally, an integrated, optimization-based design procedure is proposed, whereby both structural and control design are considered concurrently. Each chapter is supplemented by illustrated examples.

  1. Continuum robots and underactuated grasping

    Directory of Open Access Journals (Sweden)

    N. Giri

    2011-02-01

    Full Text Available We discuss the capabilities of continuum (continuous backbone robot structures in the performance of under-actuated grasping. Continuum robots offer the potential of robust grasps over a wide variety of object classes, due to their ability to adapt their shape to interact with the environment via non-local continuum contact conditions. Furthermore, this capability can be achieved with simple, low degree of freedom hardware. However, there are practical issues which currently limit the application of continuum robots to grasping. We discuss these issues and illustrate via an experimental continuum grasping case study.

    This paper was presented at the IFToMM/ASME International Workshop on Underactuated Grasping (UG2010, 19 August 2010, Montréal, Canada.

  2. Hovercraft drill probes Saraji tailings dam

    Energy Technology Data Exchange (ETDEWEB)

    1991-09-01

    In early operations at BHP-Utah's Saraji Mine in central Queensland, quantities of coking coal were pumped into the tailings dam because the preparation plant's flotation circuit was unable to handle ultra-fines. A reverse circulating drilling rig mounted on a hovercraft was used to recover 22 samples (representing 9 metres of tailings from 11 x 8 x 0.09 metre cores) in an investigation into whether the tailings can now be treated economically. 1 fig.

  3. Optimal Motion Planning for Differentially Flat Underactuated Mechanical Systems

    Institute of Scientific and Technical Information of China (English)

    HE Guangping; GENG Zhiyong

    2009-01-01

    Underactuated mechanical system has less independent inputs than the degrees of freedom(DOF) of the mechanism. The energy efficiency of this class of mechanical systems is an essential problem in practice. On the basis of the sufficient and necessary condition that concludes a single input nonlinear system is differentially flat, it is shown that the flat output of the single input tmderactuated mechanical system can be obtained by finding a smooth output function such that the relative degree of the system equals to the dimension of the state space. If the fiat output of the underactuated system can be solved explicitly, and by constructing a smooth curve with satisfying given boundary conditions in flat output space, an energy efficiency optimization method is proposed for the motion planning of the differentially fiat underactuated mechanical systems. The inertia wheel pendulum is used to verify the proposed optimization method, and some numerical simulations show that the presented optimal motion planning method can efficaciously reduce the energy cost for given control tasks.

  4. Three-dimensional Path Following Control for an Underactuated UUV Based on Nonlinear Iterative Sliding Mode%基于非线性迭代滑模的欠驱动UUV三维航迹跟踪控制

    Institute of Scientific and Technical Information of China (English)

    贾鹤鸣; 张利军; 程相勤; 边信黔; 严浙平; 周佳加

    2012-01-01

    In order to realize the three-dimensional path following control for underactuated (Unmanned underwater vehicle, UUV) under unknown ocean current, a nonlinear iterative sliding mode controller based on engineering decoupling is presented. The path following error equations in three-dimensions are established based on the virtual guide method. Then, a nonlinear feedback controller is designed based on iterative sliding modes, without estimating uncertainties of UUV model and ocean current disturbances. The problem of chattering of the hydroplane is circumvented, and the static error and overshoot are decreased. The results of simulation experiments indicate that the controller is robust against the systemic variations and time-varying current disturbances. Moreover, the parameters are easy to adjust, and the tracking control with high tracking precision can be achieved by the proposed control method.%为实现欠驱动无人水下航行器(Unmanned underwater vehicle,UUV)在末知海流干扰作用下的二维航迹跟踪控制,提出一种基于工程解耦思想设计的非线性迭代滑模航迹跟踪控制器.基于虚拟向导的方法,建立UUV空间航迹跟踪误差方程;采用迭代方法设计非线性滑模控制器,无需对UUV模型参数不确定部分和海流干扰进行估计,避免了舵的抖振现象以及减小了稳态设差与超调问题.仿真实验表明,设计的控制器对欠驱动UUV系统的模型参数摄动及海流干扰变化不敏感、且设计参数易于调节,可以实现三维航迹的精确跟踪.

  5. Adaptive Terminal Sliding Mode NDO-Based Control of Underactuated AUV in Vertical Plane

    Directory of Open Access Journals (Sweden)

    Wei Chen

    2016-01-01

    Full Text Available The depth tracking issue of underactuated autonomous underwater vehicle (AUV in vertical plane is addressed in this paper. Considering the complicated dynamics and kinematics model for underactuated AUV, a more simplified model is obtained based on assumptions. Then a nonlinear disturbance observer (NDO is presented to estimate the external disturbance acting on AUV, and an adaptive terminal sliding mode control (ATSMC based on NDO is applied to enhance the depth tracking performance of underactuated AUV considering both internal and external disturbance. Compared with the traditional sliding mode controller, the static error and chattering problem of the depth tracking process have been clearly improved by adopting NDO-based ATSMC. The stability of control system is proven to be guaranteed according to Lyapunov theory. In the end, simulation results imply that the proposed controller owns strong robustness and satisfied control effectiveness in comparison with the traditional controller.

  6. Kelvin-Helmholtz wave generation beneath hovercraft skirts

    Science.gov (United States)

    Sullivan, P. A.; Walsh, C.; Hinchey, M. J.

    1993-05-01

    When a hovercraft is hovering over water, the air flow beneath its skirts can interact with the water surface and generate waves. These, in turn, can cause the hovercraft to undergo violent self-excited heave motions. This note shows that the wave generation is due to the classical Kelvin-Helmholtz mechanism where, beyond a certain air flow rate, small waves at the air water interface extract energy from the air stream and grow.

  7. Travelling waves and fold localization in hovercraft seals

    Science.gov (United States)

    Wiggins, Andrew; Zalek, Steve; Perlin, Marc; Ceccio, Steve

    2013-11-01

    The seal system on hovercraft consists of a series of open-ended fabric cylinders that contact the free surface and, when inflated, form a compliant pressure barrier. Due to a shortening constraint imposed by neighboring seals, bow seals operate in a post-buckled state. We present results from large-scale experiments on these structures. These experiment show the hydroelastic response of seals to be characterized by striking stable and unstable post-buckling behavior. Using detailed 3-d measurements of the deformed seal shape, dominant response regimes are identified. These indicate that mode number decreases with wetted length, and that the form of the buckling packet becomes localized with increased velocity and decreased bending stiffness. Eventually, at a critical pressure, travelling waves emerge. To interpret the wide range of observed behavior, a 2-d nonlinear post-buckling model is developed and compared with the experimental studies. The model shows the importance of seal shortening and the buckling length, which is driven by the balance of hydrodynamic and bending energies. Preliminary scaling laws for the fold amplitude and mode number are presented. The experiments may ultimately provide insight into the bedeviling problem of seal wear. Sponsored by the Office of Naval Research under grant N00014-10-1-0302, Ms. Kelly B. Cooper, program manager.

  8. Exponential Stabilization of an Underactuated Surface Vessel

    Directory of Open Access Journals (Sweden)

    Kristin Y. Pettersen

    1997-07-01

    Full Text Available The paper shows that a large class of underactuated vehicles cannot be asymptotically stabilized by either continuous or discontinuous state feedback. Furthermore, stabilization of an underactuated surface vessel is considered. Controllability properties of the surface vessels is presented, and a continuous periodic time-varying feedback law is proposed. It is shown that this feedback law exponentially stabilizes the surface vessel to the origin, and this is illustrated by simulations.

  9. Design, modelling, implementation, and intelligent fuzzy control of a hovercraft

    Science.gov (United States)

    El-khatib, M. M.; Hussein, W. M.

    2011-05-01

    A Hovercraft is an amphibious vehicle that hovers just above the ground or water by air cushion. The concept of air cushion vehicle can be traced back to 1719. However, the practical form of hovercraft nowadays is traced back to 1955. The objective of the paper is to design, simulate and implement an autonomous model of a small hovercraft equipped with a mine detector that can travel over any terrains. A real time layered fuzzy navigator for a hovercraft in a dynamic environment is proposed. The system consists of a Takagi-Sugenotype fuzzy motion planner and a modified proportional navigation based fuzzy controller. The system philosophy is inspired by human routing when moving between obstacles based on visual information including the right and left views from which he makes his next step towards the goal in the free space. It intelligently combines two behaviours to cope with obstacle avoidance as well as approaching a goal using a proportional navigation path accounting for hovercraft kinematics. MATLAB/Simulink software tool is used to design and verify the proposed algorithm.

  10. Dynamics and Control of a Class of Underactuated Mechanical Systems

    OpenAIRE

    Reyhanoglu, Mahmut; van der Schaft, Arjan; McClamroch, N. Harris; Kolmanovsky, Ilya

    1999-01-01

    This paper presents a theoretical framework for the dynamics and control of underactuated mechanical systems, defined as systems with fewer inputs than degrees of freedom. Control system formulation of underactuated mechanical systems is addressed and a class of underactuated systems characterized by nonintegrable dynamics relations is identified. Controllability and stabilizability results are derived for this class of underactuated systems. Examples are included to illustrate the results; t...

  11. Dynamics and control of a class of underactuated mechanical systems

    NARCIS (Netherlands)

    Reyhanoglu, Mahmut; Schaft, van der Arjan; McClamroch, N. Harris; Kolmanovsky, Ilya

    1999-01-01

    This paper presents a theoretical framework for the dynamics and control of underactuated mechanical systems, defined as systems with fewer inputs than degrees of freedom. Control system formulation of underactuated mechanical systems is addressed and a class of underactuated systems characterized b

  12. Dynamics and Control of a Class of Underactuated Mechanical Systems

    NARCIS (Netherlands)

    Reyhanoglu, Mahmut; Schaft, Arjan van der; McClamroch, N. Harris; Kolmanovsky, Ilya

    1999-01-01

    This paper presents a theoretical framework for the dynamics and control of underactuated mechanical systems, defined as systems with fewer inputs than degrees of freedom. Control system formulation of underactuated mechanical systems is addressed and a class of underactuated systems characterized b

  13. Self-Propelled Hovercraft Based on Cold Leidenfrost Phenomenon

    Science.gov (United States)

    Shi, Meng; Ji, Xing; Feng, Shangsheng; Yang, Qingzhen; Lu, Tian Jian; Xu, Feng

    2016-06-01

    The Leidenfrost phenomenon of liquid droplets levitating and dancing when placed upon a hot plate due to propulsion of evaporative vapor has been extended to many self-propelled circumstances. However, such self-propelled Leidenfrost devices commonly need a high temperature for evaporation and a structured solid substrate for directional movements. Here we observed a “cold Leidenfrost phenomenon” when placing a dry ice device on the surface of room temperature water, based on which we developed a controllable self-propelled dry ice hovercraft. Due to the sublimated vapor, the hovercraft could float on water and move in a programmable manner through designed structures. As demonstrations, we showed that the hovercraft could be used as a cargo ship or a petroleum contamination collector without consuming external power. This phenomenon enables a novel way to utilize programmable self-propelled devices on top of room temperature water, holding great potential for applications in energy, chemical engineering and biology.

  14. Attitude control of an underactuated spacecraft using quaternion feedback regulator and tube-based MPC

    Science.gov (United States)

    Mirshams, M.; Khosrojerdi, M.

    2017-03-01

    Feasibility of achieving 3-axis stabilization of an asymmetric spacecraft for cases where there is no control available in one axis (underactuated spacecraft) is explored in this paper. A novel control design methodology is presented which can stabilize the underactuated spacecraft and steer it to the origin. A passive fault tolerant control (FTC) is defined which controls and maintains the attitude of the spacecraft near the desired point in presence of uncertainties, disturbances, control constraints and actuator faults. Considering the general conditions of the underactuated spacecraft, a hybrid controller combining a quaternion feedback regulator (QFR) with a tube-based model predictive controller (MPC) is developed based on the nonlinear kinematic and dynamic equations of the spacecraft motion. The hybrid controller is composed of two control stages. At the first stage, QFR decreases the angular velocities and brings the state vector to an acceptable region for the next stage. Then, tube-based MPC solves two optimal control problems, a standard problem for the nominal system to define a central guide path, and an ancillary problem to steer the state vector towards the central path with semi-optimal control effort. Numerical simulation results obtained for the underactuated spacecraft merely indicate effectiveness of the proposed attitude control method.

  15. Analysis and control of underactuated mechanical systems

    CERN Document Server

    Choukchou-Braham, Amal; Djemaï, Mohamed; Busawon, Krishna

    2014-01-01

    This monograph provides readers with tools for the analysis, and control of systems with fewer control inputs than degrees of freedom to be controlled, i.e., underactuated systems. The text deals with the consequences of a lack of a general theory that would allow methodical treatment of such systems and the ad hoc approach to control design that often results, imposing a level of organization whenever the latter is lacking. The authors take as their starting point the construction of a graphical characterization or control flow diagram reflecting the transmission of generalized forces through the degrees of freedom. Underactuated systems are classified according to the three main structures by which this is found to happen—chain, tree, and isolated vertex—and control design procedures proposed. The procedure is applied to several well-known examples of underactuated systems: acrobot; pendubot; Tora system; ball and beam; inertia wheel; and robotic arm with elastic joint. The text is illustrated with MATL...

  16. Building Ramps and Hovercrafts and Improving Math Skills.

    Science.gov (United States)

    Bottge, Brian A.

    2001-01-01

    This article describes a video- and computer-based program used to motivate and develop mathematics skills in middle school students with disabilities. The program emphasizes real-life problems such as building a cage for a pet, a skate boarding ramp, and a "hovercraft" frame. Case studies illustrate the program's effectiveness with individual…

  17. Underactuated Spacecraft Control with Disturbance Compensation

    Science.gov (United States)

    2015-08-31

    ASSIGNED DISTRIBUTION STATEMENT. //SIGNED// //SIGNED// FREDERICK LEVE PAUL HAUSGEN, Ph.D. Program Manager Technical Advisor, Space Based...ABSTRACT This research focuses on the development and application of three methods for the underactuated spacecraft attitude problem . The first method...achieved by conventional control schemes. A Linear Quadratic (LQ) approach was first applied due to its robustness, its optimal control properties

  18. Global path following control for underactuated stratospheric airship

    Science.gov (United States)

    Zheng, Zewei; Wu, Zhe

    2013-10-01

    This paper develops a nonlinear path following control method that drives an underactuated stratospheric airship onto a predefined planar path with a given speed profile. The dynamic model of the airship used for controller design is first introduced with kinematics and dynamics equations. In order to render good pilot behavior for the control action, a guidance controller by referring to the guidance-based path following principle is derived. Then the controller is extended to cope with the airship attitude and velocity by resorting to the backstepping and Lyapunov-based techniques. The designed control system finally possesses a cascaded structure which consists of guidance loop, attitude control loop and velocity control loop. Stability analysis shows that the controlled closed-loop system is globally asymptotically stable, and the sway velocity which cannot be directly controlled is bounded. Simulation results for the airship following typical paths are illustrated to verify effectiveness of the proposed approach.

  19. Path tracking of underactuated ships with general form of dynamics

    Science.gov (United States)

    Li, Ji-Hong

    2016-03-01

    This article considers the path tracking problem for underactuated ships with general form of dynamics including uncertainties. By introducing certain two polar coordinate transformations, the ship's tracking kinematics and dynamics can be transformed into certain two-inputs-two-outputs nonlinear strict-feedback form. To avoid possible singularity problem in the backstepping control design, we introduce an asymptotic modification of orientation concept. Presented tracking scheme can guarantee the uniformly ultimately boundedness of closed-loop system in terms of polar coordinates. For the convenience of comparison with previous related works, where all tracking schemes were discussed in the Cartesian frame, we carry out some case studies to investigate the conditions under which the proposed tracking method can guarantee the same stability and convergence properties of tracking errors in the Cartesian frame. Numerical simulation studies are also carried out to demonstrate the effectiveness of presented tracking scheme.

  20. Trajectory tracking control of underactuated USV based on modified backstepping approach

    Directory of Open Access Journals (Sweden)

    Dong Zaopeng

    2015-09-01

    Full Text Available This paper presents a state feedback based backstepping control algorithm to address the trajectory tracking problem of an underactuated Unmanned Surface Vessel (USV in the horizontal plane. A nonlinear three Degree of Freedom (DOF underactuated dynamic model for USV is considered, and trajectory tracking controller that can track both curve trajectory and straight line trajectory with high accuracy is designed as the well known Persistent Exciting (PE conditions of yaw velocity is completely relaxed in our study. The proposed controller has further been enriched by incorporating an integral action additionally for enhancing the steady state performance and control precision of the USV trajectory tracking control system. Global stability of the overall system is proved by Lyapunov theory and Barbalat’s Lemma, and then simulation experiments are carried out to demonstrate the effectiveness of the controller designed.

  1. Underwater and in-air sounds from a small hovercraft

    Science.gov (United States)

    Blackwell, Susanna B.; Greene, Charles R.

    2005-12-01

    Underwater and in-air recordings were made from a boat anchored near Prudhoe Bay, Alaska, while a Griffon 2000TD hovercraft drove by at or near full power on four passes. At the closest point of approach (CPA, 6.5 m), underwater broadband (10-10 000 Hz) levels reached 133 and 131 dB re: 1 μPa at depths of 1 and 7 m, respectively. In-air unweighted and A-weighted broadband (10-10 000 Hz) levels reached 104 and 97 dB re: 20 μPa, respectively. The hovercraft produced sound at a wide range of frequencies. Both underwater and in air, the largest spectral peak was near 87 Hz, which corresponded to the blade rate of the thrust propeller. In addition, the spectral composition included several harmonics of this frequency. The shaft or blade rate of the lift fan was barely detectable underwater despite its proximity to the water. The hovercraft was considerably quieter underwater than similar-sized conventional vessels and may be an attractive alternative when there is concern over underwater sounds.

  2. Point Stabilization for an Underactuated AUV in the Presence of Ocean Currents

    Directory of Open Access Journals (Sweden)

    Zaopeng Dong

    2015-07-01

    Full Text Available This paper presents a state-feedback-based backstepping control algorithm to address the point stabilization (or set-point regulation control problem for an underactuated autonomous underwater vehicle (AUV in the presence of constant and irrotational ocean current disturbance. A nonlinear three degree of freedom dynamic model in the horizontal plane for an AUV without symmetry fore/aft is considered. The expression of the relationship between the desired heading angle of the AUV and direction angle of the ocean current, which is a necessary condition for precise point stabilization control of an underactuated AUV in the presence of ocean current disturbance is firstly discussed in this paper. The proposed backstepping control law for point stabilization has further been enriched by incorporating an additional integral action for enhancing the steady state performance of the AUV control system, while practical asymptotic stability analysis of the system is carried out using Lyapunov theory and Barbalat's Lemma. Simulation experiments of an underactuated AUV verify the theorem proposed and demonstrate the effectiveness of the controller.

  3. Point Stabilization for an Underactuated AUV in the Presence of Ocean Currents

    Directory of Open Access Journals (Sweden)

    Zaopeng Dong

    2015-07-01

    Full Text Available This paper presents a state-feedback-based backstepping control algorithm to address the point stabilization (or set-point regulation control problem for an underactuated autonomous underwater vehicle (AUV in the presence of constant and irrotational ocean current disturbance. A nonlinear three degree of freedom dynamic model in the horizontal plane for an AUV without symmetry fore/aft is considered. The expression of the relationship between the desired heading angle of the AUV and direction angle of the ocean current, which is a necessary condition for precise point stabilization control of an underactuated AUV in the presence of ocean current disturbance is firstly discussed in this paper. The proposed backstepping control law for point stabilization has further been enriched by incorporating an additional integral action for enhancing the steady state performance of the AUV control system, while practical asymptotic stability analysis of the system is carried out using Lyapunov theory and Barbalat’s Lemma. Simulation experiments of an underactuated AUV verify the theorem proposed and demonstrate the effectiveness of the controller.

  4. Nonlinear control for an underactuated quadrotor unmanned aerial vehicle with parametric uncertainties%具有参数不确定性的欠驱动四旋翼无人飞行器的非线性控制器设计

    Institute of Scientific and Technical Information of China (English)

    刁琛; 鲜斌; 古训; 赵勃; 郭建川

    2012-01-01

    A new nonlinear tracking controller is presented for an underactuated quadrotor unmanned aerial vehicle(UAV)subjected to parametric uncertainties.A continuous nonlinear robust control design is combined with an on-line parameter estimation scheme to develop the control law.A Lyapunov based stability analysis is used to prove that asymptotic tracking of the quadrotor UAV's position and regulation of yaw orientation are achieved under parametric uncertainties.Compared with the sliding mode based control approaches,the proposed control design is free of chattering.Numerical simulation results of a 6 DOF quadrotor UAV model show that the proposed control strategy has good tracking performance.%针对具有参数不确定性的欠驱动四旋翼无人飞行器,设计了一种非线性飞行控制器.该控制器主要采用非线性鲁棒以及在线参数估计算法.利用基于李亚普诺夫稳定性分析方法,证明了这种控制器可以使四旋翼无人飞行器的x,y,z方向的位移跟踪参考轨迹,偏航角ψ稳定到任意点,并且达到全局最终稳定的控制效果.同时相对于一般的滑模控制算法,本文提出的控制器消除了颤振现象.数值仿真结果表明,本文提出的控制设计具有良好的控制效果.

  5. Serret-Frenet frame based on path following control for underactuated unmanned surface vehicles with dynamic uncertainties

    Institute of Scientific and Technical Information of China (English)

    廖煜雷; 张铭钧; 万磊

    2015-01-01

    The path following problem for an underactuated unmanned surface vehicle (USV) in the Serret−Frenet frame is addressed. The control system takes account of the uncertain influence induced by model perturbation, external disturbance, etc. By introducing the Serret−Frenet frame and global coordinate transformation, the control problem of underactuated system (a nonlinear system with single-input and ternate-output) is transformed into the control problem of actuated system (a single-input and single-output nonlinear system), which simplifies the controller design. A backstepping adaptive sliding mode controller (BADSMC) is proposed based on backstepping design technique, adaptive method and theory of dynamic slide model control (DSMC). Then, it is proven that the state of closed loop system is globally stabilized to the desired configuration with the proposed controller. Simulation results are presented to illustrate the effectiveness of the proposed controller.

  6. Pitch and roll hydrodynamics of a pericell hovercraft

    Science.gov (United States)

    Moran, David D.

    1986-12-01

    Pitch and roll responses of hovercraft have been extremely difficult to predict due to the complexity of hydrodynamic analyses on one hand and the difficulties of appropriate cushion scale modeling on the other. The paper presents comparisons of pitch and roll stiffness coefficients for overwater and overland operations. Data are presented from model-scale and full-scale trials and analytic-numerical modeling. The effects of model-scale on the cushion dynamics relative to rotational responses are presented and the important characteristics of overwater and overland responses are discussed.

  7. Non-linear Path Following Control of Underactuated Autonomous Surface Vehicles%欠驱动自主水面船的非线性路径跟踪控制

    Institute of Scientific and Technical Information of China (English)

    高剑; 刘富樯; 赵江; 严卫生

    2012-01-01

    The globally K-exponentially stable path following control of an underactuated autonomous surface vehicle (ASV) is proposed based on the cascaded approach. The dynamics model of the ASV path following errors is derived utilizing the Serret-Frenet coordinate originated at the free path reference point, which creates an added control input, I.e., the change rate of the path parameter, to avoid the singularity problem when adopting the coordinate originating at the orthogonal projection point. The path following reference yaw is designed, and Ihe whole path following model is decomposed into two cascaded sub-models, named the position tracking sub-model and the yaw angle and surge velocity tracking sub-model. The global K-exponential stability of the path following errors is proved using the cascaded system theory with the globally exponentially stable yaw angle and surge velocity tracking controllers. The results of the mathematic simulations and the lake trials of a real ASV demonstrate the performance of the proposed path following control algorithm.%基于级联方法提出一种欠驱动自主水面船的全局K指数稳定路径跟踪控制算法.采用以自由路径参考点为原点的Serret-Frenet坐标系建立路径跟踪误差的动态模型,以路径参数的变化率为附加控制输入,克服了以正交投影点为坐标原点时的奇异值问题.设计路径跟踪航向角指令,将路径跟踪模型分解为位置跟踪子系统和航向角、前向速度跟踪子系统两个子系统级联的形式,设计航向角和前向速度的全局指数稳定跟踪控制器,应用级联系统理论证明了路径跟踪误差的全局K指数稳定性.数学仿真和自主水面船湖上实验结果验证了该路径跟踪控制算法的有效性.

  8. An Underactuated Multi-finger Grasping Device

    Directory of Open Access Journals (Sweden)

    Cesare Rossi

    2014-02-01

    Full Text Available In this paper, a mechanical model for an underactuated multi-finger grasping device is presented. The device has single-tendon, three-phalanx fingers, all moved by only one actuator. By means of the model, both the kinematic and dynamical behaviour of the finger itself can be studied. The finger is part of a more complex mechanical system that consists of a four-finger grasping device for robots or a five-finger human hand prosthesis. Some results of both the kinematic and dynamical behaviour are also presented.

  9. The use of underactuation in prosthetic grasping

    Directory of Open Access Journals (Sweden)

    P. J. Kyberd

    2011-02-01

    Full Text Available Underactuation as a method of driving prosthetic hands has a long history. The pragmatic requirements of such a device to be light enough to be worn and used regularly have meant that any multi degree of freedom prosthetic hand must have fewer actuators than the usable degrees of freedom. Aesthetics ensures that while the hand needs five fingers, five actuators have considerable mass, and only in recent years has it even been possible to construct a practical anthropomorphic hand with five motors. Thus there is an important trade off as to which fingers are driven, and which joints on which fingers are actuated, and how the forces are distributed to create a functional device. This paper outlines some of the historical solutions created for this problem and includes those designs of recent years that are now beginning to be used in the commercial environment.

    This paper was presented at the IFToMM/ASME International Workshop on Underactuated Grasping (UG2010, 19 August 2010, Montréal, Canada.

  10. Nonholonomic Motion Planning Strategy for Underactuated Manipulator

    Directory of Open Access Journals (Sweden)

    Liang Li

    2014-01-01

    Full Text Available This paper develops nonholonomic motion planning strategy for three-joint underactuated manipulator, which uses only two actuators and can be converted into chained form. Since the manipulator was designed focusing on the control simplicity, there are several issues for motion planning, mainly including transformation singularity, path estimation, and trajectory robustness in the presence of initial errors, which need to be considered. Although many existing motion planning control laws for chained form system can be directly applied to the manipulator and steer it to desired configuration, coordinate transformation singularities often happen. We propose two mathematical techniques to avoid the transformation singularities. Then, two evaluation indicators are defined and used to estimate control precision and linear approximation capability. In the end, the initial error sensitivity matrix is introduced to describe the interference sensitivity, which is called robustness. The simulation and experimental results show that an efficient and robust resultant path of three-joint underactuated manipulator can be successfully obtained by use of the motion planning strategy we presented.

  11. Mathematical Problems in the Control of Underactuated Systems

    OpenAIRE

    Auckly, David; Kapitanski, Lev

    1999-01-01

    In this paper we will discuss problems and techniques related to underactuated systems. We give a mathematical formulation of several problems arising from applications, review some standard and new techniques, and pose some interesting and challenging open questions.

  12. Controllability of an underactuated spacecraft with one thruster under disturbance

    Institute of Scientific and Technical Information of China (English)

    Dong-Xia Wang; Ying-Hong Jia; Lei Jin; Hai-Chao Gui; Shi-Jie Xu

    2012-01-01

    For an underactuated spacecraft using only one thruster,the attitude controllability with respect to the orbit frame is studied in the presence of periodical oscillation disturbance,which provides a preconditional guide on designing control law for underactuated attitude control system.Firstly,attitude dynamic model was established for an underactuated spacecraft,and attitude motion was described using the special orthogonal group (SO (3)).Secondly,Liouville theorem was used to confirm that the flow generated by the drift vector of the underactuated attitude control system is volume-preserving.Furthermore,according to Poincaré's recurrence theorem,we draw conclusions that this drift field is weakly positively poisson stable (WPPS).Thirdly,the sufficient and necessary condition of controllability was obtained on the basis of lie algebra rank condition (LARC).Finally,the controllable conditions were analyzed and simulated in different cases of inertia matrix with the installed position of thruster.

  13. Gust response and cross wind performance of a hovercraft with vertical wings

    Science.gov (United States)

    Kawahata, Nagakatu; Miura, Yosihiro

    The configurations of a radio-controlled hovercraft model with vertical wings are presented. The flight performance in cross wind is evaluated, and the difference between the target point and visual angular error is addressed.

  14. Stabilization and set-point regulation of underactuated mechanical systems

    Science.gov (United States)

    Loccufier, Mia

    2016-09-01

    Mechanical systems are referred to as underactuated if the number of independent actuators are fewer than the number of degrees of freedom, a general encountered problem in engineering applications. The considered mechanical systems belong to the class of Euler- Lagrange systems where both kinetic energy and potential energy are modeled in their most general form and energy dissipation is modeled according to the dissipation function of Rayleigh, i.e. viscous damping forces are assumed. The control objectives are stabilization and set-point regulation. The structure of the controller is a parallel combination of static output feedback with dynamic output feedback where nonlinear amplifiers are included. An energy based approach with Liapunov functions and the Kalman-Yacubovich-Popov main lemma yields alternative stability theorems. A number of conditions are introduced with respect to the controller's structure in order to guarantee stability. However, sufficient design freedom is left to choose a proper tuning principle and obtain the specified control objectives such as fast convergence to a set-point combined with disturbance rejection. A restriction on the control input energy can be incorporated as well. The applicability of the method will be illustrated with planar manipulators. The main contribution is that a methodology is developed which incorporates many controllers and tuning facilities.

  15. Robust Control of Underactuated Manipulators: Analysis and Implementation

    Science.gov (United States)

    1994-05-01

    Y Control of mechanical systems with second-order nonholonomic constraints: underactuated manipulators. Proc. of the 30th Conference on Decision and...any of a series of controllers fully developed in the literature for mechanical manipulators. Because the control of such a system is fully dependent...robust controller for underactuated manipulators. The control of such systems can be extended to the control problem of fault-tolerant robots, space

  16. On the manoeuvering simulation of an Antarctic hovercraft

    Science.gov (United States)

    Murao, R.; Nojiri, T.

    Since 1981 an experimental hovercraft for the Antarctic has been tested in Japan's Antarctic station Syowa. During tests on the ice field near Syowa station, it was experienced that the yaw response of this craft is very sensitive to certain ice conditions. In this report, we deal with course keeping of the craft in relative crosswinds and with the maneuvering simulation while turning. Maneuvering at large yaw angle is required to generate the effective centripetal force in turning. The trajectories based on pulse steering are obtained. The course stability is very dependent upon the friction between skirts and ground, and generally not good on smooth flat ice. It is shown, however, that the rudder automatic control provides good course stability independent of ice conditions. The trajectories obtained from the simulation show that the use of a combination of rudder control and puff ports produces quick turning.

  17. Propulsive performance of an under-actuated robotic ribbon fin.

    Science.gov (United States)

    Liu, Hanlin; Curet, Oscar M

    2017-06-02

    Many aquatic animals propelled by elongated undulatory fins can perform complex maneuvers and swim with high efficiency at low speeds. In this propulsion, one or multiple waves travel along an elastic fin composed of flexible rays. In this study, we explore the potential benefits or disadvantages of passive fin motion based on the coupling of fluid-structure interactions and elasto-mechanical responses of the undulatory fin. The motivation is to understand how an under-actuated undulating fin can modify its active and passive fin motion to effectively control the hydrodynamic force and propulsive efficiency. We study the kinematics and propulsive performance of an under-actuated ribbon fin using a robotic device. During two experimental sets for fully-actuated fin and under-actuated fin respectively, we measured fin kinematics, surge forces and power consumption. Our results show that under-actuated fin can generate smaller thrust but consume less power comparing to a fully-actuated counterpart. The thrust generated by an under-actuated fin scales similarly to a fully-actuated fin-linear with the enclosed area and quadratic with the relative velocity. Power consumption scales with cube of lateral tangential velocity. Furthermore, we find that the under-actuated fin can keep the same propulsive efficiency as the fully-actuated fin at low relative velocities. This finding has profound implications to both natural swimmers and underwater vehicles using undulating fin-based propulsion, as it suggests that they can potentially exploit passive fin motion without decrementing propulsive efficiency. For underwater vehicles with undulatory fins, an under-actuated design can greatly simplify the mechanical design and control complexity of a versatile propulsion system.

  18. On the development and tests of the experimental hovercraft for the Antarctic. Jikken prime yo nankyoku hovercraft no kaihatsu to shiken ni tsuite

    Energy Technology Data Exchange (ETDEWEB)

    Murao, R. (Aoyama Gakuin University, Tokyo (Japan). School of Science and Engineering); Takeuchi, S. (National Inst. of Polar Research, Tokyo (Japan)); Inaba, M. (Mitsui Engineering and Shipbuilding Co. Ltd., Tokyo (Japan))

    1991-05-05

    For the purpose of obtaining technology data to build a practical hovercraft for the Antarctic, an experimental hovercraft was manufactured. Operation conditions were presupposed as follows: minimum tempreture of {minus} 20 centigrade under operation, and maximum wind speed of 10m/s at the time of running. The target speed was supposed to be 55km/h without wind on ice, and some 30km/h with head wind of 7.5m/s. This experimental hovercraft is a pressure chamber type with flexible skirts of about 0.6m in depth around it. For flotation, it keeps the part of pressurized air from the centrifugal fan under its bottom. It is propelled by air jet which blows the part of pressurized air from the propeller and centrifugal fan in the propeller duct toward its rear. As a result of speed trial at the Antarctic, the hovercraft satisfied the measured value of maximum speed of 55km/h. In the operation tests since 1981 to 1989, the following results were obtained; the control method, travelling performance, environmental applicability in the icy zone, parking method over the winter, and operation, maintenance, and repair in observation supports. 5 refs., 9 figs., 2 tabs.

  19. Control design and analysis for underactuated robotic systems

    CERN Document Server

    Xin, Xin

    2014-01-01

    The last two decades have witnessed considerable progress in the study of underactuated robotic systems (URSs). Control Design and Analysis for Underactuated Robotic Systems presents a unified treatment of control design and analysis for a class of URSs, which include systems with multiple-degree-of-freedom and/or with underactuation degree two. It presents novel notions, features, design techniques, and strictly global motion analysis results for these systems. These new materials are shown to be vital in studying the control design and stability analysis of URSs. Control Design and Analysis for Underactuated Robotic Systems includes the modelling, control design, and analysis presented in a systematic way particularly for the following examples: l  directly and remotely driven  Acrobots l  Pendubot l  rotational pendulum l  counter-weighted Acrobot 2-link underactuated robot with flexible elbow joint l  variable-length pendulum l  3-link gymnastic robot with passive first joint l  n-link planar robo...

  20. Optimal reorientation of asymmetric underactuated spacecraft using differential flatness and receding horizon control

    Science.gov (United States)

    Cai, Wei-wei; Yang, Le-ping; Zhu, Yan-wei

    2015-01-01

    This paper presents a novel method integrating nominal trajectory optimization and tracking for the reorientation control of an underactuated spacecraft with only two available control torque inputs. By employing a pseudo input along the uncontrolled axis, the flatness property of a general underactuated spacecraft is extended explicitly, by which the reorientation trajectory optimization problem is formulated into the flat output space with all the differential constraints eliminated. Ultimately, the flat output optimization problem is transformed into a nonlinear programming problem via the Chebyshev pseudospectral method, which is improved by the conformal map and barycentric rational interpolation techniques to overcome the side effects of the differential matrix's ill-conditions on numerical accuracy. Treating the trajectory tracking control as a state regulation problem, we develop a robust closed-loop tracking control law using the receding-horizon control method, and compute the feedback control at each control cycle rapidly via the differential transformation method. Numerical simulation results show that the proposed control scheme is feasible and effective for the reorientation maneuver.

  1. Robot hand with soft tactile sensors and underactuated control.

    Science.gov (United States)

    Tsutsui, H; Murashima, Y; Honma, N; Akazawa, K

    2013-01-01

    We developed a robot hand with three fingers and controlled them using underactuated control to obtain a more flexible grip. With underactuated control, we can flexibly operate an artificial robot hand and reduce the number of actuators. The robot fingers had three joints to imitate human fingers. One finger was driven by one wire and one servo motor for bending and by three torsion springs for extension. We also developed a soft tactile sensor having three pneumatic sensors and mounted it on front of each robot fingers. We obtained the following information from our experimental examinations of the robot hand. It adaptively grasped an object by underactuated control. The soft tactile sensor deftly touched an object, and the data showed the contact position with. By analyzing the data from tactile sensors, we obtained the rough information of the object's shape.

  2. Simulation results of the grasping analysis of an underactuated finger

    Directory of Open Access Journals (Sweden)

    Niola Vincenzo

    2016-01-01

    Full Text Available The results of a number of simulations concerning the grasping analysis is presented. The grasping device consist in an under-actuated finger driven by un-extendible tendon that is one of the fingers of a mechanical prosthesis that was principally conceived as human prosthesis. The results, however, are useful for any similar finger to be used in grasping devices for industrial and agricultural applications, Aanalysis maps of the grasping were obtained which show the “robustness” of the socket. The method seems to be a suitable tool for the optimum design of such under-actuated fingers for grasping devices.

  3. Static model for a 3-DOF underactuated finger

    Directory of Open Access Journals (Sweden)

    F. Guay

    2011-02-01

    Full Text Available This paper introduces a static model of a three-degree-of-freedom underactuated finger. The model includes all static forces, namely actuation forces, return forces and gravity. All geometric and static parameters can be freely changed (pulley radius, member's mass, etc.. Hence, the model allows complete static simulations to be performed and it can also be used for numerical optimization.

    This paper was presented at the IFToMM/ASME International Workshop on Underactuated Grasping (UG2010, 19 August 2010, Montréal, Canada.

  4. Global Asymptotic Trajectory Tracking and Point Stabilization of Asymmetric Underactuated Ships with Non-Diagonal Inertia/Damping Matrices

    Directory of Open Access Journals (Sweden)

    Ma Bao-Li

    2013-09-01

    Full Text Available In this work, we investigate the trajectory tracking and point stabilization problems of asymmetric underactuated surface ships with non-diagonal inertia and damping matrices. By combining the novel state and input transformations, the direct Lyapunov approach, and the nonlinear time-varying tools, the trajectory tracking controller is derived, guaranteeing global κ-exponential convergence of state trajectory to the reference one satisfying mild persistent exciting conditions. By properly designing the reference trajectory, the proposed tracking scheme is also generalized to achieve global uniform asymptotic point stabilization. Simulation examples are given to illustrate the effectiveness of the proposed control schemes.

  5. Quasivelocities and Optimal Control for Underactuated Mechanical Systems

    CERN Document Server

    Colombo, L

    2010-01-01

    This paper is concerned with the application of the theory of quasivelocities for optimal control for underactuated mechanical systems. Using this theory, we convert the original problem in a variational second-order lagrangian system subjected to constraints. The equations of motion are geometrically derived using an adaptation of the classical Skinner and Rusk formalism.

  6. Quasivelocities and Optimal Control for underactuated Mechanical Systems

    Science.gov (United States)

    Colombo, L.; de Diego, D. Martín

    2010-07-01

    This paper is concerned with the application of the theory of quasivelocities for optimal control for underactuated mechanical systems. Using this theory, we convert the original problem in a variational second-order lagrangian system subjected to constraints. The equations of motion are geometrically derived using an adaptation of the classical Skinner and Rusk formalism.

  7. Morphologically intelligent underactuated robot for underwater hull cleaning

    DEFF Research Database (Denmark)

    Souto, Daniel; Faina, Andres; López-Peña, Fernando

    2015-01-01

    in the use of the chemicals that are usually employed to prevent the growth of marine life on the hull and which are generally harmful to the environment. The robot described in this paper is an underactuated morphologically adapted robot that through an appropriate morphology and making use of the forces...

  8. A proposal for benchmark tests for underactuated or compliant hands

    Directory of Open Access Journals (Sweden)

    G. A. Kragten

    2010-12-01

    Full Text Available There is a lack of agreement in the literature as to what exactly quantifies the performance of underactuated hands. This paper proposes two benchmark tests to measure the ability of underactuated hands to grasp different objects and the ability to hold the objects when force disturbances apply. The first test determines the smallest and largest cylindrical object which can be successfully grasped in an enveloping grasp or in a pinch grasp. The second test provides the maximal allowable force which can be applied to a grasped object without loosing it. A setup was constructed consisting of standard components. Exemplary tests were applied to the Delft Hand 2. The proposed benchmark tests are representative to quantify the performance of pick and place operations with underactuated hands. The results of the tests can be applied to evaluate, compare, and improve the performance of robotic hands.

    This paper was presented at the IFToMM/ASME International Workshop on Underactuated Grasping (UG2010, 19 August 2010, Montréal, Canada.

  9. Compliance Analysis of an Under-Actuated Robotic Finger

    NARCIS (Netherlands)

    Wassink, Martin; Carloni, Raffaella; Stramigioli, Stefano

    2010-01-01

    Under-actuated robotic hands have multiple applications fields, like prosthetics and service robots. They are interesting for their versatility, simple control and minimal component usage. However, when external forces are applied on the finger-tip, the mechanical structure of the finger might not b

  10. Design Considerations for an Underactuated Robotic Finger Mechanism

    Institute of Scientific and Technical Information of China (English)

    YAO Shuangji; CECCARELLI Marco; ZHAN Qiang; ARBONE Giuseppe; LU Zhen

    2009-01-01

    A design approach is presented in this paper for underactuation in robotic finger mechanisms. The characters of underactuated finger mechanisms are introduced as based on linkage and spring systems. The feature of self-adaptive enveloping grasp by underactuated finger mechanisms is discussed with feasible in grasping unknown objects. The design problem of robotic fingers is analyzed by looking at many aspects for an optimal functionality. Design problems and requirements for underactuated mechanisms are formulated as related to human-like robotic fingers. In particular, characteristics of finger mechanisms are analyzed and optimality criteria are summarized with the aim to formulate a general design algorithm. A general multi-objective optimization design approach is applied as based on a suitable optimization problem by using suitable expressions of optimality criteria. An example is illustrated as an improvement of finger mechanism in Laboratory of Robotics and Mechatronics (LARM) Hand. Results of design outputs and grasp simulations are reported with the aim to show the practical feasibility of the proposed concepts and computations.

  11. Active Disturbance Rejection with Sliding Mode Control Based Course and Path Following for Underactuated Ships

    Directory of Open Access Journals (Sweden)

    Ronghui Li

    2013-01-01

    Full Text Available The compound control of active-disturbance-rejection control (ADRC with sliding mode is proposed to improve the performance of the closed-loop system and deal with the constraint condition problem of a surface ship. The advantages of ADRC with sliding mode were verified by ship course control simulations. Meanwhile, to solve the path-following problem of underactuated surface ships with uncertainties of internal dynamic and external disturbances, the ADRC controller with sliding mode is introduced to steer the ship to follow the desired path. In order to overcome the cross-track error caused by wind and current, drift angle is compensated in the controller by designing a coordinate transformation equation. Simulations were performed on a nonlinear kinematics model of a training ship to validate the stability and excellent robustness of the proposed path-following controller.

  12. TRACKING CONTROL OF AN UNDERACTUATED GANTRY CRANE USING AN OPTIMAL FEEDBACK CONTROLLER

    Directory of Open Access Journals (Sweden)

    Firooz Bakhtiari-Nejad

    2013-06-01

    Full Text Available Gantry cranes have attracted a great deal of interest in transportation and industrial applications. To increase the effectiveness of gantry cranes, the control of such systems is considered vital. This paper is concerned with tracking the control of an underactuated gantry crane using an optimal feedback controller. The optimal control strategy takes into account a performance index, including integrated time and absolute error criterion. To do this, nonlinear dynamic equations of the system are derived using Lagrange’s Principle. The minimum tracking error of the trolley and the minimum oscillation of the hoisting line are assumed as design parameters, and the best gains of the feedback controller are achieved. Finally, some tracking simulations are performed which demonstrate the capability of the simple proposed method in the optimal tracking control of a gantry crane.

  13. Global Inverse Optimal Tracking Control of Underactuated Omni-directional Intelligent Navigators (ODINs)

    Institute of Scientific and Technical Information of China (English)

    Khac Duc Do

    2015-01-01

    This paper presents a design of optimal controllers with respect to a meaningful cost function to force an underactuated omni-directional intelligent navigator (ODIN) under unknown constant environmental loads to track a reference trajectory in two-dimensional space. Motivated by the vehicle’s steering practice, the yaw angle regarded as a virtual control plus the surge thrust force are used to force the position of the vehicle to globally track its reference trajectory. The control design is based on several recent results developed for inverse optimal control and stability analysis of nonlinear systems, a new design of bounded disturbance observers, and backstepping and Lyapunov’s direct methods. Both state- and output-feedback control designs are addressed. Simulations are included to illustrate the effectiveness of the proposed results.

  14. Efficient computation of steady, 3D water-wave patterns, application to hovercraft-type flows

    NARCIS (Netherlands)

    M.R. Lewis; B. Koren (Barry)

    2002-01-01

    textabstractNumerical methods for the computation of stationary free surfaces is the subject of much current research in computational engineering. The present report is directed towards free surfaces in maritime engineering. Of interest here are the long steady waves generated by hovercraft and

  15. Efficient computation of steady, 3D water-wave patterns, application to hovercraft-type flows

    NARCIS (Netherlands)

    Lewis, M.R.; Koren, B.

    2002-01-01

    Numerical methods for the computation of stationary free surfaces is the subject of much current research in computational engineering. The present report is directed towards free surfaces in maritime engineering. Of interest here are the long steady waves generated by hovercraft and ships, the grav

  16. FRAM-2012: Norwegians return to the High Arctic with a Hovercraft for Marine Geophysical Research

    Science.gov (United States)

    Hall, J. K.; Kristoffersen, Y.; Brekke, H.; Hope, G.

    2012-12-01

    After four years of testing methods, craft reliability, and innovative equipment, the R/H SABVABAA has embarked on its first FRAM-201x expedition to the highest Arctic. Named after the Inupiaq word for 'flows swiftly over it', the 12m by 6m hovercraft has been home-based in Longyearbyen, Svalbard since June 2008. In this, its fifth summer of work on the ice pack north of 81N, the craft is supported by the Norwegian Petroleum Directorate (NPD) via the Nansen Environmental and Remote Sensing Center (NERSC) in Bergen, and the Norwegian Scientific Academy for Polar Research. FRAM-2012 represents renewed Norwegian interest in returning to the highest Arctic some 116 years after the 1893-96 drift of Fridtjof Nansen's ship FRAM, the first serious scientific investigation of the Arctic. When replenished by air or icebreaker, the hovercraft Sabvabaa offers a hospitable scientific platform with crew of two, capable of marine geophysical, geological and oceanographic observations over long periods with relative mobility on the ice pack. FRAM-2012 is the first step towards this goal, accompanying the Swedish icebreaker ODEN to the Lomonosov Ridge, north of Greenland, as part of the LOMROG III expedition. The science plan called for an initial drive from the ice edge to Gakkel Ridge at 85N where micro-earthquakes would be monitored, and then to continue north to a geological sampling area on the Lomonosov Ridge at about 88N, 65W. The micro-earthquake monitoring is part of Gaute Hope's MSc thesis and entails five hydrophones in a WiFi-connected hydrophone array deployed over the Gakkel Rift Valley, drifting with the ice at up to 0.4 knots. On August 3 the hovercraft was refueled from icebreaker ODEN at 84-21'N and both vessels proceeded north. The progress of the hovercraft was hampered by insufficient visibility for safe driving and time consuming maneuvering in and around larger fields of rubble ice impassable by the hovercraft, but of little concern to the icebreaker. It

  17. Model-based Locomotion Control of Underactuated Snake Robots

    OpenAIRE

    Rezapour, Ehsan

    2015-01-01

    Snake robots are a class of biologically inspired robots which are built to emulate the features of biological snakes. These robots are underactuated, i.e. they have fewer control inputs than degrees of freedom, and are hyper redundant, i.e. they have many degrees of freedom. Furthermore, snake robots utilize complex motion patterns and possess a complicated but highly flexible physical structure. These properties make locomotion control of snake robots a complicated and cha...

  18. Control of a perturbed under-actuated mechanical system

    KAUST Repository

    Zayane, Chadia

    2015-11-05

    In this work, the trajectory tracking problem for an under-actuated mechanical system in presence of unknown input disturbances is addressed. The studied inertia wheel inverted pendulum falls in the class of non minimum phase systems. The proposed high order sliding mode control architecture including a controller and differentiator allows to track accurately the predefined trajectory and to stabilize the internal dynamics. The robustness of the proposed approach is illustrated through different perturbation and output noise configurations.

  19. Torque control of underactuated tendon-driven fingers

    Directory of Open Access Journals (Sweden)

    M. E. Abdallah

    2011-02-01

    Full Text Available Given an underactuated tendon-driven finger, the finger posture is underdetermined and can move freely ("flop" in a region of slack tendons. This work shows that such an underactuated finger can be operated in tendon force control (rather than position control with effective performance. The force control eliminates the indeterminate slack while commanding a parameterized space of desired torques. The torque will either push the finger to the joint limits or wrap around an external object with variable torque – behavior that is sufficient for primarily gripping fingers. In addition, introducing asymmetric joint radii to the design allows the finger to command an expanded range of joint torques and to scan an expanded set of external surfaces. This study is motivated by the design and control of the secondary fingers of the NASA-GM R2 humanoid hand.

    This paper was presented at the IFToMM/ASME International Workshop on Underactuated Grasping (UG2010, 19 August 2010, Montréal, Canada.

  20. Analysis of servo-constraint problems for underactuated multibody systems

    Directory of Open Access Journals (Sweden)

    R. Seifried

    2013-02-01

    Full Text Available Underactuated multibody systems have fewer control inputs than degrees of freedom. In trajectory tracking control of such systems an accurate and efficient feedforward control is often necessary. For multibody systems feedforward control by model inversion can be designed using servo-constraints. So far servo-constraints have been mostly applied to differentially flat underactuated mechanical systems. Differentially flat systems can be inverted purely by algebraic manipulations and using a finite number of differentiations of the desired output trajectory. However, such algebraic solutions are often hard to find and therefore the servo-constraint approach provides an efficient and practical solution method. Recently first results on servo-constraint problems of non-flat underactuated multibody systems have been reported. Hereby additional dynamics arise, so-called internal dynamics, yielding a dynamical system as inverse model. In this paper the servo-constraint problem is analyzed for both, differentially flat and non-flat systems. Different arising important phenomena are demonstrated using two illustrative examples. Also strategies for the numerical solution of servo-constraint problems are discussed.

  1. Towards the design of a prosthetic underactuated hand

    Directory of Open Access Journals (Sweden)

    T. Laliberté

    2010-12-01

    Full Text Available This paper presents recent advances in the design of an underactuated hand for applications in prosthetics. First, the design of the fingers is addressed. Based on previous experiments with prototypes developed in the past, new tendon routings are proposed that lead to a more effective transmission of the forces. A novel elastic tendon routing is also proposed for the passive opening of the hand. A simplified static analysis of the fingers is proposed to support the results. Then, a new kinematic design of the thumb is presented. The thumb is designed to perform out-of-the-plane motions in order to broaden the variety of possible grasps. A mechanism for the implementation of underactuation between the fingers is proposed that alleviates the friction problems encountered in earlier hand designs. Finally, a prototype of the hand is briefly described and typical grasps are shown.

    This paper was presented at the IFToMM/ASME International Workshop on Underactuated Grasping (UG2010, 19 August 2010, Montréal, Canada.

  2. Adaptive fuzzy control of underactuated robotic systems with the use of differential flatness theory

    Science.gov (United States)

    Rigatos, Gerasimos G.

    2013-10-01

    An adaptive fuzzy controller is designed for a class of underactuated nonlinear robotic manipulators, under the constraint that the system's model is unknown. The control algorithm aims at satisfying the H∞ tracking performance criterion, which means that the influence of the modeling errors and the external disturbances on the tracking error is attenuated to an arbitrary desirable level. After transforming the robotic system into the canonical form, the resulting control inputs are shown to contain nonlinear elements which depend on the system's parameters. The nonlinear terms which appear in the control inputs are approximated with the use of neuro-fuzzy networks. It is shown that a suitable learning law can be defined for the aforementioned neuro-fuzzy approximators so as to preserve the closed-loop system stability. With the use of Lyapunov stability analysis it is proven that the proposed adaptive fuzzy control scheme results in H∞ tracking performance. The efficiency of the proposed adaptive fuzzy control scheme is checked in the case of a 2-DOF planar robotic manipulator that has the structure of a closed-chain mechanism.

  3. From flapping wings to underactuated fingers and beyond: a broad look to self-adaptive mechanisms

    Directory of Open Access Journals (Sweden)

    L. Birglen

    2010-12-01

    Full Text Available In this paper, the author first reviews the different terminologies used in underactuated grasping and illustrates the current increase of activity on this topic. Then, the (probably oldest known self-adaptive mechanism is presented and its performance as an underactuated finger is discussed. Its original application, namely a flapping wing, is also shown. Finally, it is proposed that the mechanisms currently used in underactuated grasping have actually other applications similarly to the previously discussed architecture could be used for both an underactuated finger and a flapping wing.

    This paper was presented at the IFToMM/ASME International Workshop on Underactuated Grasping (UG2010, 19 August 2010, Montréal, Canada.

  4. Steered wheel for the support and/or steering of a vehicle, particularly hovercraft

    Energy Technology Data Exchange (ETDEWEB)

    Duell, H.J.; Kirchner, G.

    1977-04-07

    The invention concerns a steered wheel for the support or steering of a hovercraft, whose wheel suspension is provided with an eccentric journal for automatic setting in the direction of travel. So that the vehicle will not leave its track during changes of direction when the wheel is turned around the eccentric axis, according to the invention the wheel is supported on movable bearings at the journal in the direction of the driving axle.

  5. Operation of a Hovercraft Scientific Platform Over Sea Ice in the Arctic Ocean Transpolar Drift (81 - 85N): The FRAM-2012 Experience

    Science.gov (United States)

    Hall, J. K.; Kristoffersen, Y.

    2013-12-01

    We have tested the feasibility of hovercraft travel through predominantly first year ice of the Transpolar Drift between 81°N - 85°N north of Svalbard. With 2-9 ridges per kilometer, our hovercraft (Griffon TD2000 Mark II), with an effective hover height of about 0.5 m, had to travel a distance 1.3 times the great circle distance between the point of origin and the final destination. Instantaneous speeds were mostly 5-7 knots. Two weeks later icebreaker Oden completed the same transit under conditions with no significant pressure in the ice at a speed mostly 1 knot higher than the hovercraft and travelled 1.2 times the great circle distance. The hovercraft spent 25 days monitoring micro-earthquake activity of the Arctic Mid-Ocean Ridge at a section of the spreading center where no seismicity has been recorded by the global seismograph network. More than ten small earthquake events per day were recorded. Visibility appears to be the most critical factor to hovercraft travel in polar pack ice. Improved control of hovercraft motion would substantially increase the potential usefulness of hovercraft in the sea ice environment. University of Bergen graduate student Gaute Hope emplacing one of the hydrophones in the triangular array used to locate small earthquakes over the Gakkel Ridge rift valley around 85N during FRAM-2012. The research hovercraft R/H SABVABAA is in the background.

  6. Optimal control of underactuated mechanical systems: A geometric approach

    Science.gov (United States)

    Colombo, Leonardo; Martín De Diego, David; Zuccalli, Marcela

    2010-08-01

    In this paper, we consider a geometric formalism for optimal control of underactuated mechanical systems. Our techniques are an adaptation of the classical Skinner and Rusk approach for the case of Lagrangian dynamics with higher-order constraints. We study a regular case where it is possible to establish a symplectic framework and, as a consequence, to obtain a unique vector field determining the dynamics of the optimal control problem. These developments will allow us to develop a new class of geometric integrators based on discrete variational calculus.

  7. Optimal Control of Underactuated Mechanical Systems: A Geometric Approach

    CERN Document Server

    Colombo, L; Zuccalli, M

    2009-01-01

    In this paper, we consider a geometric formalism for optimal control of underactuated mechanical systems. Our techniques are an adaptation of the classical Skinner and Rusk approach for the case of Lagrangian dynamics with higher-order constraints. We study a regular case where it is possible to establish a symplectic framework and, as a consequence, to obtain a unique vector field determining the dynamics of the optimal control problem. These developments will allow us to develop a new class of geometric integrators based on discrete variational calculus.

  8. Stabilization of systems with one degree of underactuation with energy shaping, a geometric approach

    CERN Document Server

    Gharesifard, Bahman

    2010-01-01

    A geometric formulation for stabilization of systems with one degree of underactuation which fully solves the energy shaping problem for these system is given. The results show that any linearly controllable simple mechanical system with one degree of underactuation is stabilizable by energy shaping, possibly via a closed-loop metric which is not necessarily positive-definite. An example of a system with one degree of underactuation is provided for which the stabilization by energy shaping method is not achievable using a positive-definite closed-loop metric.

  9. A constrained optimization framework for compliant underactuated grasping

    Directory of Open Access Journals (Sweden)

    M. Ciocarlie

    2011-02-01

    Full Text Available This study focuses on the design and analysis of underactuated robotic hands that use tendons and compliant joints to enable passive mechanical adaptation during grasping tasks. We use a quasistatic equilibrium formulation to predict the stability of a given grasp. This method is then used as the inner loop of an optimization algorithm that can find a set of actuation mechanism parameters that optimize the stability measure for an entire set of grasps. We discuss two possible approaches to design optimization using this framework, one using exhaustive search over the parameter space, and the other using a simplified gripper construction to cast the problem to a form that is directly solvable using well-established optimization methods. Computations are performed in 3-D, allow arbitrary geometry of the grasped objects and take into account frictional constraints.

    This paper was presented at the IFToMM/ASME International Workshop on Underactuated Grasping (UG2010, 19 August 2010, Montréal, Canada.

  10. Task-Based Method for Designing Underactuated Mechanisms

    Directory of Open Access Journals (Sweden)

    Shoichiro Kamada

    2012-03-01

    Full Text Available In this paper we introduce a task‐based method for designing underactuated multi‐joint prosthetic hands for specific grasping tasks. The designed robotic hands or prosthetic hands contain fewer independent actuators than joints. We chose a few specific grasping tasks that are frequently repeated in everyday life and analysed joint motions of the hand during the completion of each task and the level of participation of each joint. The information was used for the synthesis of dedicated underactuated mechanisms that can operate in a low dimensional task coordinate space. We propose two methods for reducing the actuators’ number. The kinematic parameters of the synthesized mechanism are determined by using a numerical approach. In this study the joint angles of the synthesized hand are considered as linearly dependent on the displacements of the actuators. We introduced a special error index that allowed us to compare the original trajectory and the trajectory performed by the synthesized mechanism, and to select the kinematic parameters of the new kinematic structure as a way to reduce the error. The approach allows the design of simple gripper mechanisms with good accuracy for the preliminary defined tasks.

  11. 一类欠驱动系统的频域反步法设计%Frequency-domain backstepping design of a class of underactuated systems

    Institute of Scientific and Technical Information of China (English)

    何朕; 王广雄; 杨文哲

    2012-01-01

    现有的状态空间反步法存在着设计上的问题,如对非线性函数求导的项数过多,且鲁棒性较差.结合一类欠驱动系统的控制设计,提出一种频域反步设计方法.该方法不同于标准的反步法,不是在每一步加一个积分器,而是每一步设计一个输出反馈回路.这样系统将更为紧凑,也更便于实现.每一步的回路都采用H∞设计.为了解决线性化设计可能带来的非线性尖峰现象,控制回路中增加饱和设计.以无动态联系的欠驱动系统为例来进行讨论.因为这类系统是欠驱动系统设计的难点,其相对阶不能定义,且其未建模非线性不能用有界算子来描述,而且还起一种正反馈的作用.%The existing state-space backstepping method suffers from design problems. For example, the increasing of the terms of the required derivatives of nonlinear functions during the recursive design, and less robustness caused by the single loop implementation of the integrator backstepping design. A frequency-domain backstepping technique is proposed in the paper with applications to a class of underactu-ated systems. The new method is not like the standard backstepping design by adding one integrator at each design step. Instead, an output feedback loop was designed at each step. Thus the resulting system was more compact and can be implemented more easily. The H∞ design was used for each loop. A con trol saturation design is added to counteract the nonlinear peaking phenomenon caused by the linearized design. An underactuated system with no dynamic relations between the generalized coordinates was used as an application example. Because for such underactuated system, the relative degree of the system is not well defined, and the unmodeled nonlinearity cannot be described by a bounded-norm operator, and even it acts as a positive feedback.

  12. A General Contact Force Analysis of an Under-actuated Finger in Robot Hand Grasping

    Directory of Open Access Journals (Sweden)

    Xuan Vinh Ha

    2016-02-01

    Full Text Available This paper develops a mathematical analysis of contact forces for the under-actuated finger in a general under-actuated robotic hand during grasping. The concept of under-actuation in robotic grasping with fewer actuators than degrees of freedom (DOF, through the use of springs and mechanical limits, allows the hand to adjust itself to an irregularly shaped object without complex control strategies and sensors. Here the main concern is the contact forces, which are important elements in grasping tasks, based on the proposed mathematical analysis of their distributions of the n-DOF under-actuated finger. The simulation results, along with the 3-DOF finger from the ADAMS model, show the effectiveness of the mathematical analysis method, while comparing them with the measured results. The system can find magnitudes of the contact forces at the contact positions between the phalanges and the object.

  13. Quasi-static modelling of compliant mechanisms: application to a 2-DOF underactuated finger

    Directory of Open Access Journals (Sweden)

    C. Quennouelle

    2011-02-01

    Full Text Available In this paper, the kinematostatic and the quasi-static models of parallel mechanisms are applied to underactuated mechanisms. Both models are extended to the cases for which the actuated joints are not kinematically independent, and for which the external loads are function of the configuration of the mechanism, the grasped object being considered as not perfectly rigid. An application to a 2-DOF underactuated compliant finger is then presented with details about the implementation of the kinematostatic and the quasi-static models. Finally, some numerical results are given that illustrate possible contributions of these models for the analysis and the control of underactuated mechanisms.

    This paper was presented at the IFToMM/ASME International Workshop on Underactuated Grasping (UG2010, 19 August 2010, Montréal, Canada.

  14. A novel anti-windup framework for cascade control systems: an application to underactuated mechanical systems.

    Science.gov (United States)

    Mehdi, Niaz; Rehan, Muhammad; Malik, Fahad Mumtaz; Bhatti, Aamer Iqbal; Tufail, Muhammad

    2014-05-01

    This paper describes the anti-windup compensator (AWC) design methodologies for stable and unstable cascade plants with cascade controllers facing actuator saturation. Two novel full-order decoupling AWC architectures, based on equivalence of the overall closed-loop system, are developed to deal with windup effects. The decoupled architectures have been developed, to formulate the AWC synthesis problem, by assuring equivalence of the coupled and the decoupled architectures, instead of using an analogy, for cascade control systems. A comparison of both AWC architectures from application point of view is provided to consolidate their utilities. Mainly, one of the architecture is better in terms of computational complexity for implementation, while the other is suitable for unstable cascade systems. On the basis of the architectures for cascade systems facing stability and performance degradation problems in the event of actuator saturation, the global AWC design methodologies utilizing linear matrix inequalities (LMIs) are developed. These LMIs are synthesized by application of the Lyapunov theory, the global sector condition and the ℒ2 gain reduction of the uncertain decoupled nonlinear component of the decoupled architecture. Further, an LMI-based local AWC design methodology is derived by utilizing a local sector condition by means of a quadratic Lyapunov function to resolve the windup problem for unstable cascade plants under saturation. To demonstrate effectiveness of the proposed AWC schemes, an underactuated mechanical system, the ball-and-beam system, is considered, and details of the simulation and practical implementation results are described.

  15. Stabilization and trajectory tracking control for underactuated quadrotor helicopter subject to wind-gust disturbance

    Indian Academy of Sciences (India)

    Mohd Ariffanan Mohd Basri; Abdul Rashid Husain; Kumeresan A Danapalasingam

    2015-08-01

    The control of quadrotor helicopter has been a great challenge for control engineers and researchers since quadrotor is an underactuated and a highly unstable nonlinear system. In this paper, the dynamic model of quadrotor has been derived and a so-called robust optimal backstepping control (ROBC) is designed to address its stabilization and trajectory tracking problem in the existence of external disturbances. The robust controller is achieved by incorporating a prior designed optimal backstepping control (OBC) with a switching function. The control law design utilizes the switching function in order to attenuate the effects caused by external disturbances. In order to eliminate the chattering phenomenon, the sign function is replaced by the saturation function. A new heuristic algorithm namely Gravitational Search Algorithm (GSA) has been employed in designing the OBC. The proposed method is evaluated on a quadrotor simulation environment to demonstrate the effectiveness and merits of the theoretical development. Simulation results show that the proposed ROBC scheme can achieve favorable control performances compared to the OBC for autonomous quadrotor helicopter in the presence of external disturbances.

  16. Dynamic Surface and Active Disturbance Rejection Control for Path Following of an Underactuated UUV

    OpenAIRE

    Juan Li; Haitao Gao; Jiajia Zhou; Zheping Yan

    2014-01-01

    This paper addresses the problem of accurate path following control for an underactuated unmanned underwater vehicle (UUV) in the horizontal plane. For an underactuated UUV, the line-of-sight (LOS) guidance method is adopted to map 2D reference trajectory into a desired orientation, and through the tracking of heading to achieve path following, where the sideslip is introduced to modify the desired orientation. In this paper, we propose a method called dynamic surface and active disturbance r...

  17. Control algorithms along relative equilibria of underactuated Lagrangian systems on Lie groups

    DEFF Research Database (Denmark)

    Nordkvist, Nikolaj; Bullo, Francesco

    2007-01-01

    We present novel algorithms to control underactuated mechanical systems. For a class of invariant systems on Lie groups, we design iterative small-amplitude control forces to accelerate along, decelerate along, and stabilize relative equilibria. The technical approach is based upon a perturbation...... analysis and the design of inversion primitives and composition methods. We illustrate the algorithms on an underactuated planar rigid body and on a satellite with two thrusters....

  18. Project Frigonav hovercraft type 140 operating experience, February-March 1987

    Energy Technology Data Exchange (ETDEWEB)

    Jones, D.

    1987-01-01

    The area around Chicoutimi, Quebec is supplied with fuel from storage tanks normally supplied by ships coming up the Saguenay River. However, navigation is limited in winter when the river freezes, due to inability of icebreakers to navigate the shallow river, and fuel must be brought in by truck. A project was instigated to evaluate the possibility of clearing a channel between the oil pier and deep water by hovercraft, thereby providing a less costly alternative to moving fuel by road in the winter. An Airtrek 140 hovercraft, gross weight 7 tonnes, was chosen as a suitable machine for the task. Field trials were conducted to evaluate the performance of this craft at clearing the 30-70 cm ice along the navigation route. Some initial problems were encountered with the craft systems resulting from the extreme cold and contaminated fuel, but the overall test program was successful. A 300-m wide path 1.5 km long was cleared in 3 hours. A modified version of the craft, with additional power and ice impact protection, was recommended for future tests. 4 figs.

  19. Torque Control of Underactuated Tendon-driven Robotic Fingers

    Science.gov (United States)

    Abdallah, Muhammad E. (Inventor); Ihrke, Chris A. (Inventor); Reiland, Matthew J. (Inventor); Wampler, Charles W. (Inventor); Diftler, Myron A. (Inventor); Platt, Robert (Inventor); Bridgwater, Lyndon (Inventor)

    2013-01-01

    A robotic system includes a robot having a total number of degrees of freedom (DOF) equal to at least n, an underactuated tendon-driven finger driven by n tendons and n DOF, the finger having at least two joints, being characterized by an asymmetrical joint radius in one embodiment. A controller is in communication with the robot, and controls actuation of the tendon-driven finger using force control. Operating the finger with force control on the tendons, rather than position control, eliminates the unconstrained slack-space that would have otherwise existed. The controller may utilize the asymmetrical joint radii to independently command joint torques. A method of controlling the finger includes commanding either independent or parameterized joint torques to the controller to actuate the fingers via force control on the tendons.

  20. Development of an underactuated prosthetic hand with the step motor

    Institute of Scientific and Technical Information of China (English)

    Zhao Dawei; Jin Minghe; Jiang Li; Shi Shicai; Liu Hong

    2006-01-01

    We present the development of a novel prosthetic hand based on the underactuated mechanism. The aim is focused on increasing its dexterity while keeping the same dimension and weight of a traditional prosthetic device. The hybrid step motor is used as the actuator, which enables the finger to keep enough high contact torque on the grasped object with less energy consumption provided by the holding torque. The grasping force of the finger is estimated from the base joint torque, and the adoption of impedance control has provided compliance in the grasping. Also a parallel observer is used to switch over between the impedance control and the torque holding mode. The experimental results show the effectiveness of the design and control strategy.

  1. Dynamic Modeling and Simulation of an Underactuated System

    Science.gov (United States)

    Libardo Duarte Madrid, Juan; Ospina Henao, P. A.; González Querubín, E.

    2017-06-01

    In this paper, is used the Lagrangian classical mechanics for modeling the dynamics of an underactuated system, specifically a rotary inverted pendulum that will have two equations of motion. A basic design of the system is proposed in SOLIDWORKS 3D CAD software, which based on the material and dimensions of the model provides some physical variables necessary for modeling. In order to verify the results obtained, a comparison the CAD model simulated in the environment SimMechanics of MATLAB software with the mathematical model who was consisting of Euler-Lagrange’s equations implemented in Simulink MATLAB, solved with the ODE23tb method, included in the MATLAB libraries for the solution of systems of equations of the type and order obtained. This article also has a topological analysis of pendulum trajectories through a phase space diagram, which allows the identification of stable and unstable regions of the system.

  2. 全垫升气垫船控制研究综述%The mat liters hovercraft in control

    Institute of Scientific and Technical Information of China (English)

    于亦凡; 刘军; 周祥龙

    2012-01-01

    This paper introduces the properties, features and the domestic and foreign, the development situation of comparison and analysis on the two types hovercraft ( the cushion of the lateral wall type, rise the hovercraft) of the main properties and its main application range, introduces the mat the hovercraft, wall type/the hovercraft comprehensive control research status, simple introduces the mat liters hovercraft level motion control, rises the heavy motion control method, and looks forward to the application prospect of the mat rise and brought about by the social benefit, analyzing the market to the needs and feasibility of promotion.%介绍了气垫船的性能、特点及国内外的发展概况;对比分析了2种类型气垫船(全垫升式气垫船、侧壁式气垫船)的主要性能及其主要应用范围;介绍了全垫升气垫船、侧壁式气垫船综合控制研究现状;简要介绍了全垫升气垫船水平运动控制、升沉运动控制方法;展望了全垫升气垫船的应用前景及所带来的社会效益;分析了市场对气垫船的需求及其推广的可行性.

  3. A simple design rule for 1st order form-closure of underactuated hands

    Directory of Open Access Journals (Sweden)

    S. Krut

    2011-02-01

    Full Text Available The property of form-closure of a grasp, as generally defined in the literature, is based on the assumption that contact points between the hand and the object are fixed in space. However, this assumption is false when considering a grasp exerted by an underactuated hand, since in this case, it is not possible to control the position of each phalanx independently. In spite of researchers' interest in studying form-closure, none of the available published work on this subject takes into consideration the particular kinematics of underactuated hands. Actually, there are few available tools to qualify or quantify the stability of a grasp exerted by an underactuated hand, thus the design of underactuated hands mostly results from an intuitive approach. This paper aims to reduce this gap.

    A classification of underactuated hands is proposed, based on the expression of contact forces. This highlights the influence of non-backdrivable mechanisms introduced in the transmission of the closing motion of the hand on the stability of the grasp. The way to extend the original definition of form-closure to underactuated grasps is illustrated. A more general definition is formulated, which checks the stability of the set "object + hand". Using this new definition, a simple rule is proposed for designing a hand capable of achieving 1st order form-closed grasps.

    This paper was presented at the IFToMM/ASME International Workshop on Underactuated Grasping (UG2010, 19 August 2010, Montréal, Canada.

  4. Active gesture-changeable underactuated finger for humanoid robot hand based on multiple tendons

    Directory of Open Access Journals (Sweden)

    D. Che

    2010-12-01

    Full Text Available The concept called gesture-changeable under-actuated (GCUA function is utilized to improve the dexterities of traditional under-actuated hands and reduce the control difficulties of dexterous hands. Based on GCUA function, a novel mechanical finger by multiple tendons: GCUA-T finger, is designed. The finger uses tendon mechanisms to achieve GCUA function which includes traditional underactuated (UA grasping motion and special pre-bending (PB, or pre-shaping motion before UA grasping. Operation principles and force analyses of the fingers are given, and the effect of GCUA function on the movements of a hand is discussed. The finger can satisfy the requirements of grasping and operating with low dependence on control system and low cost on manufacturing expenses, which develops a new way between dexterous hand and traditional under-actuated hand.

    This paper was presented at the IFToMM/ASME International Workshop on Underactuated Grasping (UG2010, 19 August 2010, Montréal, Canada.

  5. Diagnosis of Fault Modes Masked by Control Loops with an Application to Autonomous Hovercraft Systems

    Directory of Open Access Journals (Sweden)

    Ioannis A. Raptis

    2013-01-01

    Full Text Available This paper introduces a methodology for the design, testing and assessment of incipient failure detection techniques for failing components/systems of an autonomous vehicle masked or hidden by feedback control loops. It is recognized that the optimum operation of critical assets (aircraft, autonomous systems, etc. may be compromised by feedback control loops by masking severe fault modes while compensating for typical disturbances. Detrimental consequences of such occurrences include the inability to detect expeditiously and accurately incipient failures, loss of control and inefficient operation of assets in the form of fuel overconsumption and adverse environmental impact. We pursue a systems engineering process to design, construct and test an autonomous hovercraft instrumented appropriately for improved autonomy. Hidden fault modes are detected with performance guarantees by invoking a Bayesian estimation approach called particle filtering. Simulation and experimental studies are employed to demonstrate the efficacy of the proposed methods.

  6. Practical problems relating to the hovercraft application of marine gas turbines

    Science.gov (United States)

    Jin-Zhang, Z.

    Design specifications of the marine gas turbine in a hovercraft application are discussed, in addition to the requirements for load distribution of the turbine power in this application. The effective load of the gas turbine is found to be about 57 percent higher than that of the air-cooled diesel engine, and a comparison between the two engines indicates that the effective load of the diesel-driven boat becomes advantageous only when the endurance is more than 26 hours. A multistage filter for air-water separation could reduce the salt content to less than 0.01 ppm where the pressure loss is less than 100 mm water head, and a low profile-resistance ejector without a mixing section could be developed to reduce the engine room pressure to the 45-50 C range.

  7. An extension to backstepping control for a class of underactuated mechanical system in tree structure

    Science.gov (United States)

    Choukchou-Braham, A.; Cherki, B.

    2009-03-01

    We propose in the present paper an extension via the Tora system of the well established systematic backstepping control design for underactuated mechanical systems in chain structure to a subclass in tree structure in order to generalize the systematic dealing with all underactuated systems. Designing control for such systems is a challenging task owing to the underactuation property which poses problem for example in exact linearization and most of time, these systems are dealed case by case. The transformed system verifies all assumption of application of the above backstepping control except one which is verified only on a domain rather than the hole space. This leads to a singularity in the control law that make the stability not global. To make this latter global, we propose a new control law that allows relaxation of one assumption with respect to the initial control. This control design for the Tora system is analysed theoritically and verified using numerical simulations.

  8. Optimal motion planning of an underactuated spacecraft using wavelet approximate method

    Institute of Scientific and Technical Information of China (English)

    GE Xinsheng; CHEN Liqun; LIU Yanzhu

    2006-01-01

    An optimal motion planning scheme using wavelet approximation is proposed for an underactuated spacecraft. The motion planning of an underactuated spacecraft can be formulated as an optimal control of a drift-free system. A cost functional is used to incorporate the control energy and the final state errors. The motion planning is to determine control inputs to minimize the cost functional.Using the method of wavelet, one can transform an infinite-dimensional optimal control problem to a finite-dimensional one and use GaussNewton algorithm to solve it for a feasible trajectory which satisfies nonholonomic constraints. The proposed scheme has been applied to a rigid spacecraft with two momentum wheels. The numerical simulation results indicate that optimal control with wavelet approximation is an effective approach to steering an underactuated spacecraft system from the initial configuration to the final configuration.

  9. Optimal reorientation of underactuated spacecraft using genetic algorithm with wavelet approximation

    Institute of Scientific and Technical Information of China (English)

    Xinsheng Ge; Liqun Chen

    2009-01-01

    The optimal attitude control of an underactuated spacecraft is investigated in this paper. The flywheels of the spacecraft can somehow only provide control inputs in two independent directions. The dynamic equations are formulated for the spacecraft under a nonholonomic constraint resulting from the constant time-rate of the total angular momentum of the system. The reorientation of such underactuated spacecraft is transformed into an optimal control problem. A ggnetic algorithm is proposed to derive the control laws of the two flywheels angle velocity inputs. The control laws are approximated by the discrete orthogonal wavelets.The numerical simulations indicate that the genetic algorithm with the wavelet approximation is an effective approach to deal with the optimal reorientation of underactuated spacecraft.

  10. Sub-Optimal Motion Planner of Wheeled Mobile Manipulators With Under-Actuated Platform

    Science.gov (United States)

    Haddad, M.; Chettibi, T.; Lehtihet, H. E.; Khalil, W.; Boyer, F.

    2008-06-01

    We propose a stochastic optimization scheme for point-to-point trajectory planning of nonholonomic wheeled mobile manipulators with under-actuated platform. The problem is known to be complex, particularly if dynamic constraints are considered. The proposed method consists of extending to under-actuated systems the random-profile approach recently applied to wheeled mobile robots. This versatile method handles constraints on: geometry (obstacle avoidance, bounds on joint positions and path curvature), kinematics (bounded velocities and accelerations), dynamics (bounded torques, stability issues). It may be applied using a cost function involving travel time, efforts and power. A solution is presented for a planar wheeled manipulator with under-actuated platform undertaking a point-to-point generalized task.

  11. Trajectory Tracking Control of Underactuated USV with Model Perturbation and External Interference

    Directory of Open Access Journals (Sweden)

    Liu Jinbiao

    2016-01-01

    Full Text Available This paper presents an improved trajectory tracking controller based backstepping control algorithm to address the trajectory tracking problem of an underactuated Unmanned Surface Vessel (USV. A Three Degree of Freedom (DOF underactuated maneuvering motion model for water-jet-propelled USV is established, and controller can track both straight line trajectory and curve trajectory with relatively high accuracy. The stability of USV system is proved by BIBO (bounded-input-bounded-output stable characteristics, then simulation experiments are carried out to demonstrate the robustness and precise control performance of the controller.

  12. Analysis and optimal design of an underactuated finger mechanism for LARM hand

    Science.gov (United States)

    Yao, Shuangji; Ceccarelli, Marco; Carbone, Giuseppe; Zhan, Qiang; Lu, Zhen

    2011-09-01

    This paper aims to present general design considerations and optimality criteria for underactuated mechanisms in finger designs. Design issues related to grasping task of robotic fingers are discussed. Performance characteristics are outlined as referring to several aspects of finger mechanisms. Optimality criteria of the finger performances are formulated after careful analysis. A general design algorithm is summarized and formulated as a suitable multi-objective optimization problem. A numerical case of an underactuated robot finger design for Laboratory of Robotics and Mechatronics (LARM) hand is illustrated with the aim to show the practical feasibility of the proposed concepts and computations.

  13. Fuzzy/Kalman Hierarchical Horizontal Motion Control of Underactuated ROVs

    Directory of Open Access Journals (Sweden)

    Francesco M. Raimondi

    2010-09-01

    Full Text Available A new closed loop fuzzy motion control system including on-line Kalman's filter (KF for the two dimensional motion of underactuated and underwater Remotely Operated Vehicle (ROV is presented. Since the sway force is unactuated, new continuous and discrete time models are developed using a polar transformation. A new hierarchical control architecture is developed, where the high level fuzzy guidance controller generates the surge speed and the yaw rate needed to achieve the objective of planar motion, while the low level controller gives the thruster surge force and the yaw control signals. The Fuzzy controller ensures robustness with respect to uncertainties due to the marine environment, forward surge speed and saturation of the control signals. Also Lyapunov's stability of the motion errors is proved based on the properties of the fuzzy maps. If Inertial Measurement Unit data (IMU is employed for the feedback directly, aleatory noises due to accelerometers and gyros damage the performances of the motion control. These noises denote a king of non parametric uncertainty which perturbs the model of the ROV. Therefore a KF is inserted in the feedback of the control system to compensate for the above uncertainties and estimate the feedback signals with more precision.

  14. Fuzzy/Kalman Hierarchical Horizontal Motion Control of Underactuated ROVs

    Directory of Open Access Journals (Sweden)

    Francesco M. Raimondi

    2010-06-01

    Full Text Available A new closed loop fuzzy motion control system including on-line Kalman's filter (KF for the two dimensional motion of underactuated and underwater Remotely Operated Vehicle (ROV is presented. Since the sway force is unactuated, new continuous and discrete time models are developed using a polar transformation. A new hierarchical control architecture is developed, where the high level fuzzy guidance controller generates the surge speed and the yaw rate needed to achieve the objective of planar motion, while the low level controller gives the thruster surge force and the yaw torque control signals. The Fuzzy controller ensures robustness with respect to uncertainties due to the marine environment, forward surge speed and saturation of the control signals. Also Lyapunov's stability of the motion errors is proved based on the properties of the fuzzy maps. If Inertial Measurement Unit data (IMU is employed for the feedback directly, aleatory noises due to accelerometers and gyros damage the performances of the motion control. These noises denote a kind of non parametric uncertainty which perturbs the model of the ROV. Therefore a KF is inserted in the feedback of the control system to compensate for the above uncertainties and estimate the feedback signals with more precision.

  15. Arbitrary Symmetric Running Gait Generation for an Underactuated Biped Model

    Science.gov (United States)

    Esmaeili, Mohammad; Macnab, Chris

    2017-01-01

    This paper investigates generating symmetric trajectories for an underactuated biped during the stance phase of running. We use a point mass biped (PMB) model for gait analysis that consists of a prismatic force actuator on a massless leg. The significance of this model is its ability to generate more general and versatile running gaits than the spring-loaded inverted pendulum (SLIP) model, making it more suitable as a template for real robots. The algorithm plans the necessary leg actuator force to cause the robot center of mass to undergo arbitrary trajectories in stance with any arbitrary attack angle and velocity angle. The necessary actuator forces follow from the inverse kinematics and dynamics. Then these calculated forces become the control input to the dynamic model. We compare various center-of-mass trajectories, including a circular arc and polynomials of the degrees 2, 4 and 6. The cost of transport and maximum leg force are calculated for various attack angles and velocity angles. The results show that choosing the velocity angle as small as possible is beneficial, but the angle of attack has an optimum value. We also find a new result: there exist biped running gaits with double-hump ground reaction force profiles which result in less maximum leg force than single-hump profiles. PMID:28118401

  16. Bilateral teleoperation of underactuated unmanned aerial vehicles: The virtual slave concept

    NARCIS (Netherlands)

    Mersha, A.Y.; Stramigioli, Stefano; Carloni, Raffaella

    In this paper, we present haptic teleoperation of underactuated unmanned aerial vehicles by providing a multidimensional generalization of the virtual slave concept. The proposed control architecture is composed of high-level and low-level controllers. The high-level controller commands the vehicle

  17. Control Algorithms Along Relative Equilibria of Underactuated Lagrangian Systems on Lie Groups

    DEFF Research Database (Denmark)

    Nordkvist, Nikolaj; Bullo, F.

    2008-01-01

    We present novel algorithms to control underactuated mechanical systems. For a class of invariant systems on Lie groups, we design iterative small-amplitude control forces to accelerate along, decelerate along, and stabilize relative equilibria. The technical approach is based upon a perturbation...

  18. Bottom-following control for an underactuated unmanned undersea vehicle using integral-terminal sliding mode control

    Institute of Scientific and Technical Information of China (English)

    严浙平; 于浩淼; 李本银

    2015-01-01

    The bottom-following problem of an underactuated unmanned undersea vehicle (UUV) is addressed. A robust nonlinear controller is developed by using integral-terminal sliding mode control (ITSMC), which can exponentially drive an UUV onto a predefined path at a constant forward speed. The kinematic error equations are first derived in the Serret-Frenet frame. Using the line of sight (LOS) method, Lyapunov’s direct technique and tracking differentiator, the guidance law is established. Then, the kinematic controller, the guidance law, is expanded to cope with vehicle dynamics by resorting to introduce two integral-terminal sliding surfaces. Robustness to parameter perturbation is addressed by incorporating the reaching laws associated with the upper bound of the parameter perturbation. The proposed control law can guarantee that all error signals globally exponentially converge to the origin. Finally, a series of numerical simulation results are presented and discussed. In these simulations, wave, constant unknown ocean currents (for the purposes of the controller) and the parameter perturbation are added to illustrate the robustness and effectiveness of the bottom-following control scheme.

  19. Bottom-following control for an underactuated unmanned undersea vehicle using integral-terminal sliding mode control

    Institute of Scientific and Technical Information of China (English)

    严浙平; 于浩淼; 李本银

    2015-01-01

    The bottom-following problem of an underactuated unmanned undersea vehicle(UUV) is addressed. A robust nonlinear controller is developed by using integral-terminal sliding mode control(ITSMC), which can exponentially drive an UUV onto a predefined path at a constant forward speed. The kinematic error equations are first derived in the Serret-Frenet frame. Using the line of sight(LOS) method, Lyapunov’s direct technique and tracking differentiator, the guidance law is established. Then, the kinematic controller, the guidance law, is expanded to cope with vehicle dynamics by resorting to introduce two integral-terminal sliding surfaces. Robustness to parameter perturbation is addressed by incorporating the reaching laws associated with the upper bound of the parameter perturbation. The proposed control law can guarantee that all error signals globally exponentially converge to the origin. Finally, a series of numerical simulation results are presented and discussed. In these simulations, wave, constant unknown ocean currents(for the purposes of the controller) and the parameter perturbation are added to illustrate the robustness and effectiveness of the bottom-following control scheme.

  20. Estudio, diseño y construcción de un hovercraft por control remoto de 0,63 metros de eslora

    OpenAIRE

    Reina Jerez, Kevin; Peiró Vispe, Sergi

    2016-01-01

    El proyecto consistirá en una revisión bibliográfica sobre la historia, funcionamiento, aplicaciones y usos de los hovercraft, así como de los elementos que lo componen, con el objetivo de adquirir los conocimientos necesarios para diseñar y construir una maqueta radio control propia. El hovercraft tendrá una eslora de 0,63 m de longitud y se realizaran pruebas con diferentes materiales para escoger el más adecuado para su funcionamiento. Se buscarán materiales lo más ligeros posibles ya que ...

  1. 带有死区补偿的欠驱动AUV深度控制%Study on the depth control of underactuated AUV with dead-zone compensation

    Institute of Scientific and Technical Information of China (English)

    纪兴; 苏玉民; 张国成

    2016-01-01

    由于舵桨联合操控的水下机器人舵机传动系统死区非线性的存在,严重影响了某水下机器人的深度控制效果。文章以该水下机器人为研究对象,同时考虑了其欠驱动的运动特性及外界有界干扰和模型参数摄动,设计了具有自适应补偿功能的PID控制器,利用Lyapunov稳定性理论,证明在该控制器作用下,该控制系统是全局稳定的。最后进行了仿真实验。实验结果表明该控制器具有很好的控制效果,是行之有效的。%In the underactuated AUV Controlled by thrusters and fins, the dead-zone nonlinearity of steer-ing engine transmission system can direct influence the depth control performance. In this paper, under-ac-tuated motion characteristic external bounded disturbance and model parameter perturbation are consid-ered. A PID with self-adaptive compensation function is proposed. With the help of Lyapunov function, the control system is proved to be globally stable. The simulation results show effectiveness of this method.

  2. A biomimetic vision-based hovercraft accounts for bees' complex behaviour in various corridors.

    Science.gov (United States)

    Roubieu, Frédéric L; Serres, Julien R; Colonnier, Fabien; Franceschini, Nicolas; Viollet, Stéphane; Ruffier, Franck

    2014-09-01

    Here we present the first systematic comparison between the visual guidance behaviour of a biomimetic robot and those of honeybees flying in similar environments. We built a miniature hovercraft which can travel safely along corridors with various configurations. For the first time, we implemented on a real physical robot the 'lateral optic flow regulation autopilot', which we previously studied computer simulations. This autopilot inspired by the results of experiments on various species of hymenoptera consists of two intertwined feedback loops, the speed and lateral control loops, each of which has its own optic flow (OF) set-point. A heading-lock system makes the robot move straight ahead as fast as 69 cm s(-1) with a clearance from one wall as small as 31 cm, giving an unusually high translational OF value (125° s(-1)). Our biomimetic robot was found to navigate safely along straight, tapered and bent corridors, and to react appropriately to perturbations such as the lack of texture on one wall, the presence of a tapering or non-stationary section of the corridor and even a sloping terrain equivalent to a wind disturbance. The front end of the visual system consists of only two local motion sensors (LMS), one on each side. This minimalistic visual system measuring the lateral OF suffices to control both the robot's forward speed and its clearance from the walls without ever measuring any speeds or distances. We added two additional LMSs oriented at +/-45° to improve the robot's performances in stiffly tapered corridors. The simple control system accounts for worker bees' ability to navigate safely in six challenging environments: straight corridors, single walls, tapered corridors, straight corridors with part of one wall moving or missing, as well as in the presence of wind.

  3. Under-Actuated Robot Manipulator Positioning Control Using Artificial Neural Network Inversion Technique

    Directory of Open Access Journals (Sweden)

    Ali T. Hasan

    2012-01-01

    Full Text Available This paper is devoted to solve the positioning control problem of underactuated robot manipulator. Artificial Neural Networks Inversion technique was used where a network represents the forward dynamics of the system trained to learn the position of the passive joint over the working space of a 2R underactuated robot. The obtained weights from the learning process were fixed, and the network was inverted to represent the inverse dynamics of the system and then used in the estimation phase to estimate the position of the passive joint for a new set of data the network was not previously trained for. Data used in this research are recorded experimentally from sensors fixed on the robot joints in order to overcome whichever uncertainties presence in the real world such as ill-defined linkage parameters, links flexibility, and backlashes in gear trains. Results were verified experimentally to show the success of the proposed control strategy.

  4. Sliding mode coordination control for multiagent systems with underactuated agent dynamics

    Science.gov (United States)

    Ghasemi, Masood; Nersesov, Sergey G.; Clayton, Garrett; Ashrafiuon, Hashem

    2014-12-01

    In this paper, we develop a new integrated coordinated control and obstacle avoidance approach for a general class of underactuated agents. We use graph-theoretic notions to characterise communication topology in the network of underactuated agents as determined by the information flow directions and captured by the graph Laplacian matrix. Obstacle avoidance is achieved by surrounding the stationary as well as moving obstacles by elliptical or other convex shapes that serve as stable periodic solutions to planar systems of ordinary differential equations and using transient trajectories of those systems to navigate the agents around the obstacles. Decentralised controllers for individual agents are designed using sliding mode control approach and are only based on data communicated from the neighbouring agents. We demonstrate the efficacy of our theoretical approach using an example of a system of wheeled mobile robots that reach and maintain a desired formation. Finally, we validate our results experimentally.

  5. Trajectory tracking control for underactuated unmanned surface vehicles with dynamic uncertainties

    Institute of Scientific and Technical Information of China (English)

    廖煜雷; 张铭钧; 万磊; 李晔

    2016-01-01

    The trajectory tracking control problem for underactuated unmanned surface vehicles (USV) was addressed, and the control system took account of the uncertain influences induced by model perturbation, external disturbance, etc. By introducing the reference, trajectory was generated by a virtual USV, and the error equation of trajectory tracking for USV was obtained, which transformed the tracking problem of underactuated USV into the stabilization problem of the trajectory tracking error equation. A backstepping adaptive sliding mode controller was proposed based on backstepping technology and method of dynamic slide model control. By means of theoretical analysis, it is proved that the proposed controller ensures that the solutions of closed loop system have the ultimate boundedness property. Simulation results are presented to illustrate the effectiveness of the proposed controller.

  6. Experimental verification of chaotic control of an underactuated tethered satellite system

    Science.gov (United States)

    Pang, Zhaojun; Jin, Dongping

    2016-03-01

    This paper studies chaotic control of a tethered satellite system (TSS) driven only by a momentum-exchange device during its attitude adjustment. In dealing with such the underactuated system, an extended time-delay autosynchronization (ETDAS) is employed to stabilize the chaotic motion to a periodic motion. To obtain the control domains of the ETDAS method, a stability analysis of the controlled tethered satellite system in elliptical orbit is implemented. According to the principle of dynamic similarity, then, ground-based experiment setups are proposed and designed to emulate the in-plane motions of the TSS. Representative experiments are presented to demonstrate the effectiveness of the ETDAS scheme in controlling the chaotic motion of the underactuated TSS.

  7. Global Stabilisation of Underactuated Mechanical Systems via PID Passivity-Based Control

    OpenAIRE

    2016-01-01

    In this note we identify a class of underactuated mechanical systems whose desired constant equilibrium position can be globally stabilised with the ubiquitous PID controller. The class is characterised via some easily verifiable conditions on the systems inertia matrix and potential energy function, which are satisfied by many benchmark examples. The design proceeds in two main steps, first, the definition of two new passive outputs whose weighted sum defines the signal around which the PID ...

  8. Optimal Manoeuvres of Underactuated Linear Mechanical Systems: The Case of Controlling Gantry Crane Operations

    Directory of Open Access Journals (Sweden)

    S. Woods

    2014-01-01

    Full Text Available A method of solving optimal manoeuvre control of linear underactuated mechanical systems is presented. The nonintegrable constraints present in such systems are handled by adding dummy actuators and then by applying Lagrange multipliers to reduce their action to zero. The open- and closed-loop control schemes can be analyzed. The method, referred to as the constrained modal space optimal control (CMSOC, is illustrated in the examples of gantry crane operations.

  9. Optimal Manoeuvres of Underactuated Linear Mechanical Systems: The Case of Controlling Gantry Crane Operations

    OpenAIRE

    Woods, S; Szyszkowski, W.

    2014-01-01

    A method of solving optimal manoeuvre control of linear underactuated mechanical systems is presented. The nonintegrable constraints present in such systems are handled by adding dummy actuators and then by applying Lagrange multipliers to reduce their action to zero. The open- and closed-loop control schemes can be analyzed. The method, referred to as the constrained modal space optimal control (CMSOC), is illustrated in the examples of gantry crane operations.

  10. Computed torque control of an under-actuated service robot platform modeled by natural coordinates

    Science.gov (United States)

    Zelei, Ambrus; Kovács, László L.; Stépán, Gábor

    2011-05-01

    The paper investigates the motion planning of a suspended service robot platform equipped with ducted fan actuators. The platform consists of an RRT robot and a cable suspended swinging actuator that form a subsequent parallel kinematic chain and it is equipped with ducted fan actuators. In spite of the complementary ducted fan actuators, the system is under-actuated. The method of computed torques is applied to control the motion of the robot. The under-actuated systems have less control inputs than degrees of freedom. We assume that the investigated under-actuated system has desired outputs of the same number as inputs. In spite of the fact that the inverse dynamical calculation leads to the solution of a system of differential-algebraic equations (DAE), the desired control inputs can be determined uniquely by the method of computed torques. We use natural (Cartesian) coordinates to describe the configuration of the robot, while a set of algebraic equations represents the geometric constraints. In this modeling approach the mathematical model of the dynamical system itself is also a DAE. The paper discusses the inverse dynamics problem of the complex hybrid robotic system. The results include the desired actuator forces as well as the nominal coordinates corresponding to the desired motion of the carried payload. The method of computed torque control with a PD controller is applied to under-actuated systems described by natural coordinates, while the inverse dynamics is solved via the backward Euler discretization of the DAE system for which a general formalism is proposed. The results are compared with the closed form results obtained by simplified models of the system. Numerical simulation and experiments demonstrate the applicability of the presented concepts.

  11. A five-fingered underactuated prosthetic hand: hardware and its control scheme

    Institute of Scientific and Technical Information of China (English)

    ZHAO Jing-dong; JIANG Li; CAI He-gao; LIU hong

    2008-01-01

    A five-fingered underactuated prosthetic hand controlled by surface EMG (electromyographic) sig-nals is presented in this paper. The prosthetic hand was designed with simplicity, lightweight and dexterity on the requirement of anthropomorphic hands. Underactuated self-adaptive theory was adopted to decrease the number of motors and weight. The control part of the prosthetic hand was based on a surface EMG motion pat-tern classifier which combines LM-based (Levenberg-Marquardt) neural network with the parametric AR ( au-toregressive) model. This motion pattern classifier can successfully identify the flexions of the thumb, the index finger and the middle finger by measuring the surface EMG signals through two electrodes mounted on the flexor digitorum profundus and flexor pollicis longus. Furthermore, via continuously controlling a single finger' s mo-tion, the five-fingered underactuated prosthetic hand can achieve more prehensile postures such as power grasp,centralized grip, fingertip grasp, cylindrical grasp, etc. The experimental results show that the classifier has a great potential application to the control of bionic man-machine systems because of its fast learning speed, high recognition capability and strong robustness.

  12. Dynamic Surface and Active Disturbance Rejection Control for Path Following of an Underactuated UUV

    Directory of Open Access Journals (Sweden)

    Juan Li

    2014-01-01

    Full Text Available This paper addresses the problem of accurate path following control for an underactuated unmanned underwater vehicle (UUV in the horizontal plane. For an underactuated UUV, the line-of-sight (LOS guidance method is adopted to map 2D reference trajectory into a desired orientation, and through the tracking of heading to achieve path following, where the sideslip is introduced to modify the desired orientation. In this paper, we propose a method called dynamic surface and active disturbance rejection control (DS-ADRC to solve the path following control problem. This controller can effectively avoid the phenomenon of explosion of terms in the conventional backstepping method, reduce the dependence on the UUV controller mathematical model, and enhance the antijamming ability. Simulation is carried out to verify the effectiveness of the proposed control method for an underactuated UUV. The results show that, even for this controller with disturbance, the cross-track error of UUV is gradually converged to zero and has some certain robustness.

  13. Design and performance assessment of an underactuated hand for industrial applications

    Directory of Open Access Journals (Sweden)

    C. Meijneke

    2011-02-01

    Full Text Available The Delft Hand 2 (DH-2 is an underactuated robot hand meant for industrial applications, having six degrees of freedom (DoF, one actuator (DoA and no sensors. It was designed to provide a cheap and robust hand to grasp a large range of objects without damaging them. The goal of this paper is to assess the design and performance of the DH-2, demonstrating how the design was optimized for its intended application area and how the hand was simplified to make it commercially attractive. Performance tests show that the DH-2 has a payload of 2 kg for an object range of 60 to 120 mm, it can close or open within 0.5 s, and it only uses open-loop control by means of the input voltage of the motor. The results demonstrate that the industrial need of a simple, cheap and effective robotic hand can be achieved with the principle of underactuation and the use of conventional components.

    This paper was presented at the IFToMM/ASME International Workshop on Underactuated Grasping (UG2010, 19 August 2010, Montréal, Canada.

  14. Robust Regulation and Tracking Control of a Class of Uncertain 2DOF Underactuated Mechanical Systems

    Directory of Open Access Journals (Sweden)

    David I. Rosas Almeida

    2015-01-01

    Full Text Available A strategy to design and implement a robust controller for a class of underactuated mechanical systems, with two degrees of freedom, which solves the problems of regulation and trajectory tracking, is proposed. This control strategy considers the partial measurement of the state vector and the presence of parametric uncertainties in the plant; these conditions are common in the implementation of a control system. The strategy is based on the use of robust finite time convergence observers to estimate the unmeasured state variables, unknown disturbances, and other signals needed for the control system implementation. The performance of the control strategy is illustrated numerically and experimentally.

  15. Stabilisation of a class of 2-DOF underactuated mechanical systems via direct Lyapunov approach

    Science.gov (United States)

    Turker, Turker; Gorgun, Haluk; Cansever, Galip

    2013-06-01

    This paper represents an alternative stabilisation procedure for a class of two degree-of-freedom underactuated mechanical systems based on a set of transformations and a Lyapunov function. After simplifying dynamic equations of the system via partial feedback linearisation and coordinate changes, the stability of the system is provided with Lyapunov's direct method. Proposed control scheme is used on two different examples and asymptotic convergence for each system is proven by means of La Salle's invariance principle. The designed controller is successfully illustrated through numerical simulations for each example.

  16. Minimum-Time Trajectory Tracking of an Under-Actuated System

    Energy Technology Data Exchange (ETDEWEB)

    DRIESSEN,BRIAN; SADEGH,NADER

    1999-10-26

    Minimum-time trajectory tracking of an under-actuated mechanical system called the Acrobot is presented. The success of the controller is demonstrated by the fact that the tracking error is reduced by more than an order of magnitude when compared to the open-loop system response. The control law is obtained by linearizing the system about the nominal trajectory and applying differential dynamic programming to the resulting linear time-varying system, while using a weighted sum of the state-deviation and input-deviation as the cost function.

  17. A compliant underactuated hand with suction flow for underwater mobile manipulation

    KAUST Repository

    Stuart, Hannah S.

    2014-05-01

    © 2014 IEEE. Fingertip suction is investigated using a compliant, underactuated, tendon-driven hand designed for underwater mobile manipulation. Tendon routing and joint stiffnesses are designed to provide ease of closure while maintaining finger rigidity, allowing the hand to pinch small objects, as well as secure large objects, without diminishing strength. While the hand is designed to grasp a range of objects, the addition of light suction flow to the fingertips is especially effective for small, low-friction (slippery) objects. Numerical simulations confirm that changing suction parameters can increase the object acquisition region, providing guidelines for future versions of the hand.

  18. An Anthropomorphic Robot Hand Developed Based on Underactuated Mechanism and Controlled by EMG Signals

    Institute of Scientific and Technical Information of China (English)

    Da-peng Yang; Jing-dong Zhao; Yi-kun Gu; Xin-qing Wang; Nan Li; Li Jiang; Hong Liu; Hai Huang; Da-wei Zhao

    2009-01-01

    When developing a humanoid myo-control hand, not only the mechanical structure should be considered to afford a high dexterity, but also the myoelectric (electromyography, EMG) control capability should be taken into account to fully accomplish the actuation tasks. This paper presents a novel humanoid robotic myocontrol hand (AR hand Ⅲ) which adopted an underac-tuated mechanism and a forearm myocontrol EMG method. The AR hand Ⅲ has five fingers and 15 joints, and actuated by three embedded motors. Underactuation can be found within each finger and between the rest three fingers (the middle finger, the ring finger and the little finger) when the hand is grasping objects. For the EMG control, two specific methods are proposed: the three-fingered hand gesture configuration of the AR hand Ⅲ and a pattern classification method of EMG signals based on a statistical learning algorithm-Support Vector Machine (SVM). Eighteen active hand gestures of a testee are recognized ef-fectively, which can be directly mapped into the motions of AR hand Ⅲ. An on-line EMG control scheme is established based on two different decision functions: one is for the discrimination between the idle and active modes, the other is for the recog-nition of the active modes. As a result, the AR hand Ⅲ can swiftly follow the gesture instructions of the testee with a time delay less than 100 ms.

  19. Inverse dynamics of underactuated mechanical systems: A simple case study and experimental verification

    Science.gov (United States)

    Blajer, W.; Dziewiecki, K.; Kołodziejczyk, K.; Mazur, Z.

    2011-05-01

    Underactuated systems are featured by fewer control inputs than the degrees-of-freedom, m system to complete a set of m specified motion tasks is a challenging task, and the explicit solution existence is conditioned to differential flatness of the problem. The flatness-based solution denotes that all the 2 n states and m control inputs can be algebraically expressed in terms of the m specified outputs and their time derivatives up to a certain order, which is in practice attainable only for simple systems. In this contribution the problem is posed in a more practical way as a set of index-three differential-algebraic equations, and the solution is obtained numerically. The formulation is then illustrated by a two-degree-of-freedom underactuated system composed of two rotating discs connected by a torsional spring, in which the pre-specified motion of one of the discs is actuated by the torque applied to the other disc, n = 2 and m = 1. Experimental verification of the inverse simulation control methodology is reported.

  20. Grasp planning for a reconfigurable parallel robot with an underactuated arm structure

    Directory of Open Access Journals (Sweden)

    M. Riedel

    2010-12-01

    Full Text Available In this paper, a novel approach of grasp planning is applied to find out the appropriate grasp points for a reconfigurable parallel robot called PARAGRIP (Parallel Gripping. This new handling system is able to manipulate objects in the six-dimensional Cartesian space by several robotic arms using only six actuated joints. After grasping, the contact elements at the end of the underactuated arm mechanisms are connected to the object which forms a closed loop mechanism similar to the architecture of parallel manipulators. As the mounting and grasp points of the arms can easily be changed, the manipulator can be reconfigured to match the user's preferences and needs. This paper raises the question, how and where these grasp points are to be placed on the object to perform well for a certain manipulation task.

    This paper was presented at the IFToMM/ASME International Workshop on Underactuated Grasping (UG2010, 19 August 2010, Montréal, Canada.

  1. Backstepping adaptive dynamical sliding mode control method for path following of underactuated surface vessel%欠驱动船路径跟踪的反演自适应动态滑模控制方法

    Institute of Scientific and Technical Information of China (English)

    廖煜雷; 万磊; 庄佳园

    2012-01-01

    针对欠驱动水面船的路径跟踪控制系统,提出一种反演自适应动态滑模控制方法.该系统由船舶艏摇非线性响应模型和Serret-Frenet误差动力学方程组成,并考虑建模误差和外界干扰力等不确定性.经过简化处理,将原欠驱动系统的控制问题转化为非线性系统的镇定问题.同时,基于反步方法和动态滑模控制理论,设计自适应动态滑模控制器.通过理论分析,证明在该控制器作用下,路径跟踪控制系统是全局渐近稳定的.仿真试验表明:该控制器对系统参数摄动和外界干扰不敏感,具有强鲁棒性和自适应性.%A method of backstepping adaptive dynamical sliding mode control (DSMC) was addressed for the path following control system of the underactuated surface vessel. The system consists of the nonlinear ship response model and the Serret-Frenet error dynamics equations. The control system takes account of the modeling errors and external disturbances. It transformed the original underactuated system into a nonlinear system via simplified analysis. An adaptive dynamical sliding mode controller was proposed based on backstepping method and dynamical sliding mode control theory. By means of theory analysis, it was proven that the proposed controller can render the path following control system globally asymptotically stable. Simulation results show that the controller is robust and adaptive to the systemic variations or disturbances.

  2. 基于离散滑模预测的欠驱动AUV三维航迹跟踪控制%Three-dimensional path tracking control for an underactuated AUV based on discrete-time sliding mode prediction

    Institute of Scientific and Technical Information of China (English)

    贾鹤鸣; 程相勤; 张利军; 边信黔; 严浙平

    2011-01-01

    According to the model uncertainties problem of an underactuated autonomous underwater vehicle(AUV) and the enviromental current disturbances problem,in order to achieve the three-dimensional path tracking control of the underactuated AUV,the space movement error model is established based on virtual guidance method.The discrete-time sliding mode predictive controller is designed based on recursive sliding mode designing theory.Feedback correction and receding horizon optimization approaches are employed to compensate the in?uence of uncertainties for the sliding mode predictive model.Finally,space curve tracking simulation experiment is carried out by an underactuated AUV.The simulation results show that the designed controller can overcome the in?uence of time-varying nonlinear hydrodynamic damping to the control system,even the proposed control scheme has better effect on attenuating the external current disturbances.Thus the robustness of three-dimensional path following system is guaranteed and the tracking control with high tracking precision can be achieved.%针对欠驱动自主水下航行器(AUV)的模型不确定和外界海流干扰问题,为了实现欠驱动AUV的三维航迹跟踪控制,采用虚拟向导法建立空间运动误差离散化模型.基于递归滑模思想设计离散滑模预测控制器,利用滚动优化和反馈校正方法补偿了不确定项对滑模预测模型的影响.最后针对某欠驱动AUV进行了空间曲线跟踪控制仿真实验.结果表明,所设计的控制器可以较好地克服时变非线性水动力阻尼对系统的影响,并对外界海流干扰有较好的抑制作用,保证了欠驱动AUV三维航迹跟踪系统的鲁棒性,实现了三维航迹的精确跟踪.

  3. Path Following of an Underactuated AUV Based on Fuzzy Backstepping Sliding Mode Control

    Directory of Open Access Journals (Sweden)

    Xiao Liang

    2016-06-01

    Full Text Available This paper addresses the path following problem of an underactuated autonomous underwater vehicle (AUV with the aim of dealing with parameter uncertainties and current disturbances. An adaptive robust control system was proposed by employing fuzzy logic, backstepping and sliding mode control theory. Fuzzy logic theory is adopted to approximate unknown system function, and the controller was designed by combining sliding mode control with backstepping thought. Firstly, the longitudinal speed was controlled, then the yaw angle was made as input of path following error to design the calm function and the change rate of path parameters. The controller stability was proved by Lyapunov stable theory. Simulation and outfield tests were conducted and the results showed that the controller is of excellent adaptability and robustness in the presence of parameter uncertainties and external disturbances. It is also shown to be able to avoid the chattering of AUV actuators.

  4. Development of an Underactuated 2-DOF Wrist Joint using McKibben PAMs

    Science.gov (United States)

    Rajagopal, S. P.; Jain, S.; Ramasubramanian, S. N.; Johnson, B. V.; Dwivedy, S. K.

    2014-10-01

    In this work, model of an underactuated 2-DOF wrist joint with pneumatically actuated muscles is proposed. For the joint, McKibben-type artificial muscles are used in parallel configuration for the actuation. For each Degree of Freedom (DOF) one agonist-antagonist pair arrangement is usually used with a pulley mechanism. A mathematical model of wrist joint is derived using conventional forward kinematic analysis. The static model relating pressure in the muscle with the orientation of the wrist joint is obtained by combining the experimental data and mathematical model. Regulation of pressure can be achieved by pulse width modulation control of on/off solenoid valves. A set of free vibration experiments are done for the dynamic identification of the muscle characteristics.

  5. Diving control of underactuated unmanned undersea vehicle using integral-fast terminal sliding mode control

    Institute of Scientific and Technical Information of China (English)

    严浙平; 于浩淼; 侯恕萍

    2016-01-01

    The problem of diving control for an underactuated unmanned undersea vehicle (UUV) considering the presence of parameters perturbations and wave disturbances was addressesed. The vertical motion of an UUV was divided into two noninteracting subsystems for surge velocity control and diving. To stabilize the vertical motion system, the surge velocity and the depth control controllers were proposed using backstepping technology and an integral-fast terminal sliding mode control (IFTSMC). It is proven that the proposed control scheme can guarantee that all the error signals in the whole closed-loop system globally converge to the sliding surface in finite time and asymptotically converge to the origin along the sliding surface. With a unified control parameters for different motion states, a series of numerical simulation results illustrate the effectiveness of the above designed control scheme, which also shows strong robustness against parameters perturbations and wave disturbances.

  6. Adaptive robust dissipative designs on straight path control for underactuated ships

    Institute of Scientific and Technical Information of China (English)

    Li Tieshan; Yang Yansheng; Hong Biguang

    2006-01-01

    An adaptive robust control algorithm for ship straight path control system in the presence of both modeling uncertainties and the bounded disturbances is proposed. Motivated by the backstepping approach, the algorithm is developed by using the dissipation theory, such that the resulting closed-loop system is both strictly dissipative and asymptotically adaptively stable for all admissible uncertainties. Also, it is able to steer an underactuated ship along a prescribed straight path with ultimate bounds under external disturbances induced by wave, wind and ocean current. When there are no disturbances, the straight path control can be implemented in a locally asymptotically stable manner. Simulation results on an ocean-going training ship ‘YULONG’ are presented to validate the effectiveness of the algorithm.

  7. Path following of an Underactuated AUV Based on Fuzzy Backstepping Sliding Mode Control

    Directory of Open Access Journals (Sweden)

    Xiao Liang

    2016-06-01

    Full Text Available This paper addresses the path following problem of an underactuated autonomous underwater vehicle (AUV with the aim of dealing with parameter uncertainties and current disturbances. An adaptive robust control system was proposed by employing fuzzy logic, backstepping and sliding mode control theory. Fuzzy logic theory is adopted to approximate unknown system function, and the controller was designed by combining sliding mode control with backstepping thought. Firstly, the longitudinal speed was controlled, then the yaw angle was made as input of path following error to design the calm function and the change rate of path parameters. The controller stability was proved by Lyapunov stable theory. Simulation and outfield tests were conducted and the results showed that the controller is of excellent adaptability and robustness in the presence of parameter uncertainties and external disturbances. It is also shown to be able to avoid the chattering of AUV actuators.

  8. Intelligent Integrated Control of Underactuated Mechanical Systems with Second-order Nonholonomic Constraints

    Institute of Scientific and Technical Information of China (English)

    Lai Xuzhi(赖旭芝); Wu Min; Cai Zixing; She Jinhua

    2003-01-01

    This paper describes an intelligent integrated control of an acrobot, which is an underactuated mechanical system with second-order nonholonomic constraints. The control combines a model-free fuzzy control, a fuzzy sliding-mode control and a model-based fuzzy control. The model-free fuzzy controller designed for the upswing ensures that the energy of the acrobot increases with each swing. Then the fuzzy sliding-mode controller is employed to control the movement that the acrobot enters the balance area from the swing-up area. The model-based fuzzy controller, which is based on a Takagi-Sugeno fuzzy model, is used to balance the acrobot. The stability of the fuzzy control system for balance control is guaranteed by a common symmetric positive matrix, which satisfies linear matrix inequalities.

  9. Analysis of suitable geometrical parameters for designing a tendon-driven under-actuated mechanical finger

    Science.gov (United States)

    Penta, Francesco; Rossi, Cesare; Savino, Sergio

    2016-06-01

    This study aims to optimize the geometrical parameters of an under-actuated mechanical finger by conducting a theoretical analysis of these parameters. The finger is actuated by a flexion tendon and an extension tendon. The considered parameters are the tendon guide positions with respect to the hinges. By applying such an optimization, the correct kinematical and dynamical behavior of the closing cycle of the finger can be obtained. The results of this study are useful for avoiding the snapthrough and the single joint hyperflexion, which are the two breakdowns most frequently observed during experimentation on prototypes. Diagrams are established to identify the optimum values for the tendon guides position of a finger with specified dimensions. The findings of this study can serve as guide for future finger design.

  10. Path-tracking control of underactuated ships under tracking error constraints

    Science.gov (United States)

    Do, Khac Duc

    2015-12-01

    This paper presents a constructive design of new controllers that force underactuated ships under constant or slow time-varying sea loads to asymptotically track a parameterized reference path, that guarantees the distance from the ship to the reference path always be within a specified value. The control design is based on a global exponential disturbance observer, a transformation of the ship dynamics to an almost spherical form, an interpretation of the tracking errors in an earth-fixed frame, an introduction of dynamic variables to compensate for relaxation of the reference path generation, p-times differentiable step functions, and backstepping and Lyapunov's direct methods. The effectiveness of the proposed results is illustrated through simulations.

  11. Geometric Optimization of Three-Phalanx Prosthesis Underactuated Fingers using Particles Swarm Algorithm

    Directory of Open Access Journals (Sweden)

    Somar M. Nacy

    2009-01-01

    Full Text Available Problem statement: One are now interested to investigate the optimum design procedure for a finger driving mechanism to have a good configuration of the finger for its utilization in hand prosthesis. A Geometric Optimization of Three-Phalanx Prosthesis Underactuated Fingers (TPPUF based on a Particle Swarm Optimization (PSO was presented. Approach: Firstly, a numerical evaluation of the human-like motion was obtained by using an anthropomorphic finger mechanism. Secondly, the dimensional design of a finger driving mechanism had been formulated as a multi-objective optimization problem by using evaluation criteria for fundamental characteristics that were associated with finger motion, grasping equilibrium and force transmission. Results: Testing results indicated that the proposed PSO gives high-quality result and shorter computation time compared with genetic algorithm. Conclusion: Using the PSO Algorithm with the Matlab-software, it is possible to identify all the necessary parameters of the mathematical models.

  12. Path-tracking Control of Underactuated Ships Under Tracking Error Constraints

    Institute of Scientific and Technical Information of China (English)

    Khac Duc Do

    2015-01-01

    This paper presents a constructive design of new controllers that force underactuated ships under constant or slow time-varying sea loads to asymptotically track a parameterized reference path, that guarantees the distance from the ship to the reference path always be within a specified value. The control design is based on a global exponential disturbance observer, a transformation of the ship dynamics to an almost spherical form, an interpretation of the tracking errors in an earth-fixed frame, an introduction of dynamic variables to compensate for relaxation of the reference path generation, p-times differentiable step functions, and backstepping and Lyapunov’s direct methods. The effectiveness of the proposed results is illustrated through simulations.

  13. Design and analysis of an underactuated anthropomorphic finger for upper limb prosthetics.

    Science.gov (United States)

    Omarkulov, Nurdos; Telegenov, Kuat; Zeinullin, Maralbek; Begalinova, Ainur; Shintemirov, Almas

    2015-01-01

    This paper presents the design of a linkage based finger mechanism ensuring extended range of anthropomorphic gripping motions. The finger design is done using a path-point generation method based on geometrical dimensions and motion of a typical index human finger. Following the design description, and its kinematics analysis, the experimental evaluation of the finger gripping performance is presented using the finger 3D printed prototype. The finger underactuation is achieved by utilizing mechanical linkage system, consisting of two crossed four-bar linkage mechanisms. It is shown that the proposed finger design can be used to design a five-fingered anthropomorphic hand and has the potential for upper limb prostheses development.

  14. Principal components analysis based control of a multi-dof underactuated prosthetic hand

    Directory of Open Access Journals (Sweden)

    Magenes Giovanni

    2010-04-01

    Full Text Available Abstract Background Functionality, controllability and cosmetics are the key issues to be addressed in order to accomplish a successful functional substitution of the human hand by means of a prosthesis. Not only the prosthesis should duplicate the human hand in shape, functionality, sensorization, perception and sense of body-belonging, but it should also be controlled as the natural one, in the most intuitive and undemanding way. At present, prosthetic hands are controlled by means of non-invasive interfaces based on electromyography (EMG. Driving a multi degrees of freedom (DoF hand for achieving hand dexterity implies to selectively modulate many different EMG signals in order to make each joint move independently, and this could require significant cognitive effort to the user. Methods A Principal Components Analysis (PCA based algorithm is used to drive a 16 DoFs underactuated prosthetic hand prototype (called CyberHand with a two dimensional control input, in order to perform the three prehensile forms mostly used in Activities of Daily Living (ADLs. Such Principal Components set has been derived directly from the artificial hand by collecting its sensory data while performing 50 different grasps, and subsequently used for control. Results Trials have shown that two independent input signals can be successfully used to control the posture of a real robotic hand and that correct grasps (in terms of involved fingers, stability and posture may be achieved. Conclusions This work demonstrates the effectiveness of a bio-inspired system successfully conjugating the advantages of an underactuated, anthropomorphic hand with a PCA-based control strategy, and opens up promising possibilities for the development of an intuitively controllable hand prosthesis.

  15. Bounded Nonlinear Control of a Rotating Pendulum System

    Science.gov (United States)

    Luyckx, L.; Loccufier, M.; Noldus, E.

    2004-08-01

    We are interested in the output feedback control of mechanical systems governed by the Euler-Lagrange formalism. The systems are collocated actuator-sensor controlled and underactuated. We present a design method by means of a specific example : the set point control of a rotating pendulum. We use constrained output feedback, whereby the control inputs satisfy a priori imposed upper bounds. The closed loop stability analysis relies on the direct method of Liapunov. This results in a frequency criterion on the controller's linear dynamic component and some restrictions on its nonlinearities. The control parameters are tuned for maximizing closed loop damping.

  16. 航空操控面板组件在气垫船上的应用研究%Application of aviation control panel assembly on hovercraft

    Institute of Scientific and Technical Information of China (English)

    庞景昊

    2015-01-01

    Hovercraft is rather small in space. The aviation control panel assembly is used for the integration optimization of the control panels on the wheelhouse control console to obtain more reasonable space. Thus each control panel can accomplish the functions of night display, concentrated luminance adjust, concentrated light check, concentrated alarming in the limited space. The conifguration and display mode of each panel are uniformed to optimize its display and operation and to improve the maneuvering control interface for steersmen. The ifrst application of the aviation control panel assembly on the hovercraft can be an exploration and attempt to develop its application on the hovercraft in the future.% 由于气垫船船型较小、空间有限,通过采用航空操控面板组件,对驾控台上各控制面板进行集成优化,使其能更合理地利用空间。在有限空间内实现驾控台各面板夜间显示、集中调光、集中试灯、集中报警等功能,并统一外形及显示方式,以达到优化各面板显示及操作方式,改善驾驶员的操纵使用界面。该面板首次在气垫船上使用,为气垫船控制面板的未来发展方向进行探索和尝试。

  17. Frequency-tuning input-shaped manifold-based switching control for underactuated space robot equipped with flexible appendages

    Science.gov (United States)

    Kojima, Hirohisa; Ieda, Shoko; Kasai, Shinya

    2014-08-01

    Underactuated control problems, such as the control of a space robot without actuators on the main body, have been widely investigated. However, few studies have examined attitude control problems of underactuated space robots equipped with a flexible appendage, such as solar panels. In order to suppress vibration in flexible appendages, a zero-vibration input-shaping technique was applied to the link motion of an underactuated planar space robot. However, because the vibrational frequency depends on the link angles, simple input-shaping control methods cannot sufficiently suppress the vibration. In this paper, the dependency of the vibrational frequency on the link angles is measured experimentally, and the time-delay interval of the input shaper is then tuned based on the frequency estimated from the link angles. The proposed control method is referred to as frequency-tuning input-shaped manifold-based switching control (frequency-tuning IS-MBSC). The experimental results reveal that frequency-tuning IS-MBSC is capable of controlling the link angles and the main body attitude to maintain the target angles and that the vibration suppression performance of the proposed frequency-tuning IS-MBSC is better than that of a non-tuning IS-MBSC, which does not take the frequency variation into consideration.

  18. A close examination of under-actuated attitude control subsystem design for future satellite missions' life extension

    Science.gov (United States)

    Lam, Quang M.; Barkana, Itzhak

    2014-12-01

    Satellite mission life, maintained and prolonged beyond its typical norm of their expectancy, are primarily dictated by the state of health of its Reaction Wheel Assembly (RWA), especially for commercial GEO satellites since torquer bars are no longer applicable while thruster assistant is unacceptable due to pointing accuracy impact during jet firing. The RWA is the primary set of actuators (as compared to thrusters for orbit maintenance and maneuvering) mainly responsible for the satellite mission for accurately and precisely pointing its payloads to the right targets to conduct its mission operations. The RWA consisting of either a set of four in pyramid or three in orthogonal is the primary set of actuators to allow the satellite to achieve accurate and precise pointing of the satellite payloads towards the desired targets. Future space missions will be required to achieve much longer lives and are currently perceived by the GEO satellite community as an "expected norm" of 20 years or longer. Driven by customers' demands/goals and competitive market have challenged Attitude Control Subsystems (ACS) engineers to develop better ACS algorithms to address such an emerging need. There are two main directions to design satellite's under-actuated control subsystem: (1) Attitude Feedback with Zero Momentum Principle and (2) Attitude Control by Angular Velocity Tracking via Small Time Local Controllability concept. Successful applications of these control laws have been largely demonstrated via simulation for the rest to rest case. Limited accuracy and oscillatory behaviors are observed in three axes for non-zero wheel momentum while realistic loss of a wheel scenario (i.e., fully actuated to under-actuated) has not been closely examined! This study revisits the under-actuated control design with detailed set ups of multiple scenarios reflecting real life operating conditions which have put current under-actuated control laws mentioned earlier into a re-evaluation mode

  19. Dimensional Reduction for Filters of Nonlinear Systems with Time-Scale Separation

    Science.gov (United States)

    2013-03-01

    Rapp, Edwin Kreuzer and N. Sri Namachchivaya, “Reduced Nor- mal Forms for Nonlinear Control of Underactuated Hoisting Systems ,” Archive of Applied Mechanics , Vol.82, 2012, pp. 297 - 315. 7 ... Mechanics , Vol. 78(6), 2011, pp. 61001-1 - 61001-10. 8. Lee DeVille, N. Sri Namachchivaya and Zoi Rapti, “Noisy Two Dimensional Non-Hamiltonian System ...AFRL-OSR-VA-TR-2013-0009 Dimensional Reduction for Filters of Nonlinear Systems with Time- Scale Separation Namachchivaya, N

  20. Nonlinear systems techniques for dynamical analysis and control

    CERN Document Server

    Lefeber, Erjen; Arteaga, Ines

    2017-01-01

    This treatment of modern topics related to the control of nonlinear systems is a collection of contributions celebrating the work of Professor Henk Nijmeijer and honoring his 60th birthday. It addresses several topics that have been the core of Professor Nijmeijer’s work, namely: the control of nonlinear systems, geometric control theory, synchronization, coordinated control, convergent systems and the control of underactuated systems. The book presents recent advances in these areas, contributed by leading international researchers in systems and control. In addition to the theoretical questions treated in the text, particular attention is paid to a number of applications including (mobile) robotics, marine vehicles, neural dynamics and mechanical systems generally. This volume provides a broad picture of the analysis and control of nonlinear systems for scientists and engineers with an interest in the interdisciplinary field of systems and control theory. The reader will benefit from the expert participan...

  1. Push recovery for the standing under-actuated bipedal robot using the hip strategy

    Institute of Scientific and Technical Information of China (English)

    Chao LI; Rong XIONG‡; Qiu-guo ZHU; Jun WU; Ya-liang WANG; Yi-ming HUANG

    2015-01-01

    This paper presents a control algorithm for push recovery, which particularly focuses on the hip strategy when an external disturbance is applied on the body of a standing under-actuated biped. By analyzing a simplified dynamic model of a bipedal robot in the stance phase, it is found that horizontal stability can be maintained with a suitably controlled torque applied at the hip. However, errors in the angle or angular velocity of body posture may appear, due to the dynamic coupling of the transla-tional and rotational motions. To solve this problem, different hip strategies are discussed for two cases when (1) external dis-turbance is applied on the center of mass (CoM) and (2) external torque is acting around the CoM, and a universal hip strategy is derived for most disturbances. Moreover, three torque primitives for the hip, depending on the type of disturbance, are designed to achieve translational and rotational balance recovery simultaneously. Compared with closed-loop control, the advantage of the open-loop methods of torque primitives lies in rapid response and reasonable performance. Finally, simulation studies of the push recovery of a bipedal robot are presented to demonstrate the effectiveness of the proposed methods.

  2. Orthotic Body-Weight Support Through Underactuated Potential Energy Shaping with Contact Constraints.

    Science.gov (United States)

    Lv, Ge; Gregg, Robert D

    2015-12-01

    Body-weight support is an effective clinical tool for gait rehabilitation after neurological impairment. Body-weight supported training systems have been developed to help patients regain mobility and confidence during walking, but conventional systems constrain the patient's treatment in clinical environments. We propose that this challenge could be addressed by virtually providing patients with body-weight support through the actuators of a powered orthosis (or exoskeleton) utilizing potential energy shaping control. However, the changing contact conditions and degrees of underactuation encountered during human walking present significant challenges to consistently matching a desired potential energy for the human in closed loop. We therefore introduce a generalized matching condition for shaping Lagrangian systems with holonomic contact constraints. By satisfying this matching condition for four phases of gait, we derive control laws to achieve virtual body-weight support through a powered knee-ankle orthosis. We demonstrate beneficial effects of virtual body-weight support in simulations of a human-like biped model, indicating the potential clinical value of this proposed control approach.

  3. Analysis of Underactuated Dynamic Locomotion Systems Using Perturbation Expansion: The Twistcar Toy Example

    Science.gov (United States)

    Chakon, Ofir; Or, Yizhar

    2017-01-01

    Underactuated robotic locomotion systems are commonly represented by nonholonomic constraints where in mixed systems, these constraints are also combined with momentum evolution equations. Such systems have been analyzed in the literature by exploiting symmetries and utilizing advanced geometric methods. These works typically assume that the shape variables are directly controlled, and obtain the system's solutions only via numerical integration. In this work, we demonstrate utilization of the perturbation expansion method for analyzing a model example of mixed locomotion system—the twistcar toy vehicle, which is a variant of the well-studied roller-racer model. The system is investigated by assuming small-amplitude oscillatory inputs of either steering angle (kinematic) or steering torque (mechanical), and explicit expansions for the system's solutions under both types of actuation are obtained. These expressions enable analyzing the dependence of the system's dynamic behavior on the vehicle's structural parameters and actuation type. In particular, we study the reversal in direction of motion under steering angle oscillations about the unfolded configuration, as well as influence of the choice of actuation type on convergence properties of the motion. Some of the findings are demonstrated qualitatively by reporting preliminary motion experiments with a modular robotic prototype of the vehicle.

  4. Analysis of Underactuated Dynamic Locomotion Systems Using Perturbation Expansion: The Twistcar Toy Example

    Science.gov (United States)

    Chakon, Ofir; Or, Yizhar

    2017-08-01

    Underactuated robotic locomotion systems are commonly represented by nonholonomic constraints where in mixed systems, these constraints are also combined with momentum evolution equations. Such systems have been analyzed in the literature by exploiting symmetries and utilizing advanced geometric methods. These works typically assume that the shape variables are directly controlled, and obtain the system's solutions only via numerical integration. In this work, we demonstrate utilization of the perturbation expansion method for analyzing a model example of mixed locomotion system—the twistcar toy vehicle, which is a variant of the well-studied roller-racer model. The system is investigated by assuming small-amplitude oscillatory inputs of either steering angle (kinematic) or steering torque (mechanical), and explicit expansions for the system's solutions under both types of actuation are obtained. These expressions enable analyzing the dependence of the system's dynamic behavior on the vehicle's structural parameters and actuation type. In particular, we study the reversal in direction of motion under steering angle oscillations about the unfolded configuration, as well as influence of the choice of actuation type on convergence properties of the motion. Some of the findings are demonstrated qualitatively by reporting preliminary motion experiments with a modular robotic prototype of the vehicle.

  5. Comparison study of input shaping techniques to control an underactuated flexible link system

    Science.gov (United States)

    Al Hamidi, Yasser; Rakotondrabe, Micky

    2016-05-01

    This paper compares between three different input shaping feedforward techniques, traditional (TIS), extra insensitive (EI), and modified input shaping (MIS), to reduce the vibration of a flexible link QUANSER system. The main challenge is that the system under test is an underactuated system: it has one input and two outputs. This makes the application of the input shaping techniques not utilizable directly. We therefore first propose to use a variable change at the output in order to make the process equivalent to a monovariable system without modification of the behavior and of the objective of the control. The experimental tests demonstrate the efficiency of the technique and the different results from the three control techniques are compared and discussed. It comes out that EI shapers are the most efficient in term of robustness. MIS shaper has a shorter length than that of a corresponding TIS shaper; however both shapers have the same ability of vibration suppression. Also MIS scheme is easier than the traditional scheme because the numerical optimization is unnecessary in the design of the MIS shaper. MIS shaper has an advantage over a TIS corresponding shaper in being capable of suppressing multimode of vibration.

  6. 欠驱动式移动机器人构型综合%Type Synthesis of Underactuated Mobile Robot

    Institute of Scientific and Technical Information of China (English)

    谢铮; 张新华

    2014-01-01

    拓展移动机器人的构型以满足更多场景的应用有着重要意义。在颜氏机构创造性设计法的基础上对欠驱动式移动机器人悬架进行创新设计,并针对该方法的不足进行了拓展和补充。从最简化的摇臂机构出发,分别采用了增加机构构件、增加接触地面车轮数目、增加机构自由度等方法,得到了新型的欠驱动式悬架,并从中挑选了几种典型的构型进行移动性能比较和评价,为移动机器人的设计提供了新的构型和思路。%With mobile robot being applied widely, it′s significantly important to enrich the mechanisms of mobile robot for more specific conditions.Based on the Yan′s mechanical creative design procedure, the underactuated suspension of mobile robot is redesigned , and the procedure′s insufficiency is completed .Starting with the most simplified rocker-bogie mecha-nism, several methods are used to propose new mechanisms of underactuated suspension, such as adding structural compo-nents to the mechanism , increasing the number of wheels that interacting with the ground and augmenting the DOF of the un-deractuated suspension .A couple of typical new designed mechanisms are picked out to evaluate comprehensive locomotion performance in the last.The result provides new mechanisms and methods for mobile robot designing.

  7. Saturations-based nonlinear controllers with integral term: validation in real-time

    Science.gov (United States)

    Alatorre, A. G.; Castillo, P.; Mondié, S.

    2016-05-01

    Popular saturations-based nonlinear controller usually include proportional and derivative components of the state or output. The fact that in many applications, these components do not suffice to insure the convergence to the desired output values, motivate the addition of an integral term. In this paper, three configurations of nonlinear controllers based on saturation functions are improved with an integral component. The stability of the three algorithms is analysed using the Lyapunov theory. Simulation results validate the proposed control laws when they are applied to nonlinear systems with constant and unknown perturbations. Real-time experiments realised with a quad-rotor aerial vehicle and a hovercraft vehicle show that the proposed scheme can follow autonomously some trajectories, and that it could be robust with respect to delays.

  8. Modeling and Backstepping-based Nonlinear Control Strategy for a 6 DOF Quadrotor Helicopter

    Institute of Scientific and Technical Information of China (English)

    Ashfaq Ahmad Mian; Wang Daobo

    2008-01-01

    In this article,a nonlinear model of an underactuated six degrees of freedom (6 DOF) quadrotor helicopter is derived on the basis of the Newton-Euler formalism.The derivation comprises determining equations of the motion of the quadrotor in three dimensions andapproximating the actuation forces through the modeling of aerodynamic coefficients and electric motor dynamics.The derived modelcomposed of translatioual and rotational subsystems is dynamically unstable,so a sequential nonlinear control strategy is used.The con-trol strategy includes feedback linearization coupled with a PD controller for the translational subsystem and a backstepping-based PID nonlinear controller for the rotational subsystem of the quadrotor.The performances of the nonlinear control method are evaluated by nonlinear simulation and the results demonstrate the effectiveness of the proposed control strategy for the quadrotor helicopter inquasi-stationary flights.

  9. Dynamics and Stable Control for a Class of Underactuated Mechanical Systems%一类欠驱动机械系统的动态及其稳定控制

    Institute of Scientific and Technical Information of China (English)

    刘殿通; 郭卫平; 易建强

    2006-01-01

    Abstract The control of underactuated mechanical systems is very complex for the loss of its control inputs. The model of underactuated mechanical systems in a potential field is built with Lagrangian method and its structural properties are analyzed in detail. A stable control approach is proposed for the class of underactuated mechanical systems. This approach is applied to an unde ractuated double-pendulum-type overhead crane and the simulation results illustrate the correctness of dynamics analysis and validity of the proposed control algorithm.

  10. 基于lead/lag的气垫船训练模拟器延迟补偿设计%Design of Delay Compensation in Hovercraft Training Simulator Based on lead/lag

    Institute of Scientific and Technical Information of China (English)

    李娟; 李庆; 施小成

    2012-01-01

    Transport delay in the Hovercraft Training Simulator(HTS)is the main reason of decreasing its performance and affecting its real-time. To decrease the transport delay on the impact of HTS, this paper introduces a modified lead/lad compensator to compensate the phase lag which caused by the transport delay. The modified lead/lag compensator can be applied in non-linear and time-varying HTS systems; and it eliminate the limitations of the traditional lead/lag compensation that it can only be applied in linear, time-invariant system. Analysis of simulation results show that it can improve the modified lead/lag compensator effectiveness of delay compensation , and adjusting the coefficients of the modified lead/lag compensator can enhance the compensation capacity of the compensator.%气垫船训练模拟器的传输延迟是造成气垫船训练模拟器操作性能下降、影响实时性的主要原因.为减小传输延迟对气垫船训练模拟器的影响,应用改进的lead/lag补偿器提供一个相位超前来补偿由气垫船训练模拟器的传输延迟引起的相位滞后.改进的lead/lag补偿器可应用于非线性、时变的气垫船训练模拟系统,弥补了经典的lead/lag补偿器只能应用于线性、时不变系统的局限性.仿真结果验证了改进的lead/lag补偿器补偿传输延迟的有效性,并且调整改进的lead/lag补偿器的参数可以增强补偿器的补偿能力.

  11. Hovercraft experience in Antarctica

    Science.gov (United States)

    Cook, Harvey C.

    The Model 1500 TD air-cushion vehicle (ACV) has been modified for the extreme conditions encountered in Antarctic operations; these operations began in the 1988-1989 austral summer. Performance evaluations covering 300 hours of engine operations have been obtained which demonstrate the basic soundness of this ACV's design and construction, and its applicability to Antarctic operations, where it was able to reduce travel time and fuel consumption in excess of 40 percent. In addition, passenger comfort was increased manyfold over wheeled and tracked vehicles for comparable missions. The ACV is judged capable of solving many of the transportation problems experienced in Antarctica.

  12. Design of hovercraft.

    OpenAIRE

    Lhotský, Marek

    2009-01-01

    V diplomové práci se věnuji návrhu designu vznášedla. Koncepce návrhu je malé vznášedlo pro osobní přepravu. Stylem vznášedlo zapadá mezi sportovní stroje. Interiér je navržen pro přepravu 4 osob a osobního nákladu. Hlavní náplní práce je exteriér vznášedla. Její součástí je ale i nástin řešení interiéru v základních rozměrech odpovídajícím antropometrickým rozměrům a jiným ergonomickým požadavkům.Výsledkem tedy je originální a osobité vznášedlo, které je vyřešeno z hlediska designu s ohledem...

  13. 欠驱动船舶路径跟踪的神经滑模控制%Path Following of Underactuated Surface Vessels Based on Neural Sliding Mode

    Institute of Scientific and Technical Information of China (English)

    杨震; 刘繁明; 王岩

    2015-01-01

    In order to realize the path following control for underactuated surface vessels under parameter perturbation and external disturbances, a neural and sliding mode controller is presented based on visible distance. Desired position and current position are used to determine reference surge velocity and yawing angle, which are employed as virtual control laws in stabilizing position errors. Based on neural network and sliding modes, a new nonlinear feedback robust controller is designed, and then the tracking control of the laws of virtual control can be realized without determining upper bound of parameter perturbation and external disturbances. The problem of saturation and chattering of the controller are circumvented. Simulation experiments indicate that the controller is robust against parameter perturbation and external disturbances. Moreover, the path following control can be achieved with the proposed control method.%为实现欠驱动船舶在存在风浪流外界干扰和参数摄动条件下的路径跟踪控制,提出一种基于可视距离的神经滑模路径跟踪鲁棒控制器。利用可视距离思想,根据期望路径与当前位置信息,分别设计船舶纵向速度和艏摇角的参考值,并视为镇定位置误差的虚拟控制律,将路径跟踪问题转化为纵向速度和艏摇角的镇定问题;结合神经网络和滑模方法,设计一种新的神经滑模鲁棒控制器,实现了对虚拟控制律的跟踪控制,无需确定参数摄动和外界干扰的上界,避免了控制器容易出现的饱和问题和抖振现象。仿真试验表明,设计的控制器对欠驱动船舶的模型摄动和外界干扰变化不敏感,可以实现路径的理想跟踪。

  14. Finite time control for MIMO nonlinear system based on higher-order sliding mode.

    Science.gov (United States)

    Liu, Xiangjie; Han, Yaozhen

    2014-11-01

    Considering a class of MIMO uncertain nonlinear system, a novel finite time stable control algorithm is proposed based on higher-order sliding mode concept. The higher-order sliding mode control problem of MIMO nonlinear system is firstly transformed into finite time stability problem of multivariable system. Then continuous control law, which can guarantee finite time stabilization of nominal integral chain system, is employed. The second-order sliding mode is used to overcome the system uncertainties. High frequency chattering phenomenon of sliding mode is greatly weakened, and the arbitrarily fast convergence is reached. The finite time stability is proved based on the quadratic form Lyapunov function. Examples concerning the triple integral chain system with uncertainty and the hovercraft trajectory tracking are simulated respectively to verify the effectiveness and the robustness of the proposed algorithm.

  15. Integral backstepping sliding mode control for underactuated systems: swing-up and stabilization of the Cart-Pendulum System.

    Science.gov (United States)

    Adhikary, Nabanita; Mahanta, Chitralekha

    2013-11-01

    In this paper an integral backstepping sliding mode controller is proposed for controlling underactuated systems. A feedback control law is designed based on backstepping algorithm and a sliding surface is introduced in the final stage of the algorithm. The backstepping algorithm makes the controller immune to matched and mismatched uncertainties and the sliding mode control provides robustness. The proposed controller ensures asymptotic stability. The effectiveness of the proposed controller is compared against a coupled sliding mode controller for swing-up and stabilization of the Cart-Pendulum System. Simulation results show that the proposed integral backstepping sliding mode controller is able to reject both matched and mismatched uncertainties with a chattering free control law, while utilizing less control effort than the sliding mode controller.

  16. Design of Control System and Under-actuated Manipulator%欠驱动五指灵巧手及控制系统设计

    Institute of Scientific and Technical Information of China (English)

    张习烨; 唐新星; 张楠; 倪涛

    2014-01-01

    By simulating the physical structure of the human hand,a new type of under-actuated dexterous hand system was cre-ated.The structure of the under-actuated dexterous hand was introduced,and a new driven method based on the sequential under-actu-ated joint mechanism was proposed.The movement spatial domain of the fingertips was drawn by using Matlab Robotics Toolbox from the kinematic of view.The results show that the joint of the sequential driving method has larger movement spatial domain.Finally,the scheme and the circuit of the control system are introduced,and the experiment realizes the primary movement of flexion/extension and adduction/abduction of under-actuated dexterous hand,and has good control effect.%模拟人手的生理结构,创建一种新型欠驱动五指灵巧手系统。介绍了欠驱动灵巧手的结构,提出一种基于欠驱动关节机构顺序驱动的方法;从运动学的角度出发,使用Matlab Robotics Toolbox绘制了手指指尖运动的工作空间域,并与采用关节同时驱动的指尖运动的工作空间域进行了对比,结果表明关节结构顺序驱动方法具有更大的工作域空间;最后,介绍了控制系统方案与电路,初步实现了欠驱动五指灵巧手的弯曲/伸展与内收/外展运动,其控制效果良好。

  17. 基于广义逆的欠驱动航天器姿态机动控制%Generalised Inversion Based Maneuver Attitude Control for Underactuated Spacecraft

    Institute of Scientific and Technical Information of China (English)

    黄静; 李传江; 马广富; 刘刚

    2013-01-01

    针对欠驱动刚体航天器机动控制问题,应用广义逆方法设计了姿态机动控制器.首先将三轴稳定欠驱动航天器动力学和运动学系统分解为三个子系统,应用微分几何理论将欠驱动航天器子系统转化为逐点线性形式,并设计了欠驱动航天器子系统渐近稳定控制器,进一步引入了动态尺度广义逆和摄动零控制向量,实现了对另外两轴的控制.设计的广义逆姿态控制器保证了整个系统的渐近稳定性,达到了控制要求.数值仿真实验结果表明了所设计控制律的有效性.%The methodology based on the concept of generalized inversion is investigated for asymptotic stabilization of underactuated rigid body dynamics under two degrees of actuation. Firstly, the underactuated kinematics and dynamics system is partitioned into three subsystems, and the underactuated subsystem is transformed as the point-wise linear form by differential geometry theory and achieves global realisability. Furthermore, with the introduction of dynamically scaled generalized inversion and perturbed null-control vector, a continuous feedback control law is designed to achieve the attitude stabilization of the underactuated spacecraft. Finally, the analytical and simulation results show that the proposed control methodology is effective.

  18. Nonlinear Control of Electrodynamic Tether in Equatorial or Somewhat Inclined Orbits

    DEFF Research Database (Denmark)

    Larsen, Martin Birkelund; Blanke, Mogens

    2007-01-01

    feedback designed for the controllable subspace of the system, a feedback linearization design and a sliding mode control. The controllers are evaluated by their ability to suppress variations in the B-field and their robustness with respect to the internal dynamics.......This paper applies different control design methods to a tethered satellite system (TSS) to investigate essential control properties of this under-actuated and nonlinear system. When the tether position in the orbit plane is controlled by the tether current, out of orbit plane motions occur...... as an unwanted side effect, due to nonlinear interaction with the Earth’s magnetic field. This paper focus on the uncontrollable out-of-plane motions and the robustness against B-field uncertainty associated with each of three popular controller design methodologies for nonlinear systems: linear quadratic...

  19. 基于迭代滑模增量反馈的欠驱动AUV地形跟踪控制%A bottom-following controller for underactuated AUV based on iterative sliding and increment feedback

    Institute of Scientific and Technical Information of China (English)

    边信黔; 程相勤; 贾鹤鸣; 严浙平; 张利军

    2011-01-01

    为实现欠驱动自治水下机器人(AUY)在未知海流干扰作用下的地形跟踪控制,提出一种基于非线性迭代滑模增量反馈的航迹跟踪控制器.基于虚拟向导的方法,建立AUV垂直面航迹跟踪误差方程.采用迭代方法,设计滑模增量反馈控制器,无需对AUV模型参数不确定部分和海流干扰进行估计,这样避免了AUV俯仰舵的抖振现象,并且减小了输出反馈控制的稳态误差与超调问题.仿真实验表明,所设计的控制器对AUV系统的模型参数摄动及海流干扰变化不敏感,所设计的参数易干调节.%In order to realize the bottom-following control for underactuated autonomous underwater vehicle(AUV) under the ocean current, an increment feedback control method based on nonlinear iterative sliding mode control is presented for path following.The path following error equation in vertical plane is established based on virtual guide method.Then an increment feedback control law is designed based on iterative sliding modes without the uncertainty of AUV model and ocean current disturbances' estimating.The problem of chattering by the hydroplane is circumvented, and the static error and overshoot by output feedback control are decreased.The results of simulation experiments show that the controller is robust against the systemic variations and disturbances, and the parameters are easy to be adjusted.

  20. 基于变结构自抗扰的欠驱动水面船舶航迹保持控制%Track keeping control for underactuated surface ships based on variable structure active-disturbance rejection

    Institute of Scientific and Technical Information of China (English)

    孙建; 李伟; 安思朦

    2015-01-01

    针对受内部动态不确定和外界风流影响下的欠驱动水面船舶直线航迹保持问题,将变结构控制引入非线性自抗扰控制器中,在保证原控制器优点的同时,大大减少了需要整定的参数。同时构造降维方程,使航迹控制问题转变为简单的跟踪参考航向问题。仿真结果表明,新控制器具有较好的控制效果,可使船舶对直线航迹精确跟踪,且具有较强的鲁棒性。%Variable structure control was introduced into non-linear active-disturbance rejection controller for the straight line track keeping control problem of underactuated surface ship under the influence of internal dynamic uncertainties and external disturbances .The needed setting parameters were greatly reduced with keeping the intrinsic controller ’ s advan-tages.Meanwhile through the design of dimension reduction equation, the ship track keeping control is changed into the simple desired heading angle followed control .Simulation re-sults show that the new controller with preferable control func-tion is robust against the systemic variations and external dis-turbances , which can realize the accurate tracking of straight line.

  1. Stabilization and utilization of nonlinear phenomena based on bifurcation control for slow dynamics

    Science.gov (United States)

    Yabuno, Hiroshi

    2008-08-01

    Mechanical systems may experience undesirable and unexpected behavior and instability due to the effects of nonlinearity of the systems. Many kinds of control methods to decrease or eliminate the effects have been studied. In particular, bifurcation control to stabilize or utilize nonlinear phenomena is currently an active topic in the field of nonlinear dynamics. This article presents some types of bifurcation control methods with the aim of realizing vibration control and motion control for mechanical systems. It is also indicated through every control method that slowly varying components in the dynamics play important roles for the control and the utilizations of nonlinear phenomena. In the first part, we deal with stabilization control methods for nonlinear resonance which is the 1/3-order subharmonic resonance in a nonlinear spring-mass-damper system and the self-excited oscillation (hunting motion) in a railway vehicle wheelset. The second part deals with positive utilizations of nonlinear phenomena by the generation and the modification of bifurcation phenomena. We propose the amplitude control method of the cantilever probe of an atomic force microscope (AFM) by increasing the nonlinearity in the system. Also, the motion control of a two link underactuated manipulator with a free link and an active link is considered by actuating the bifurcations produced under high-frequency excitation. This article is a discussion on the bifurcation control methods presented by the author and co-researchers by focusing on the actuation of the slowly varying components included in the original dynamics.

  2. 双足欠驱动机器人能量成型控制%Energy Shaping Control of Under-actuated Biped Robot

    Institute of Scientific and Technical Information of China (English)

    刘德君; 田彦涛; 张雷

    2012-01-01

    研究欠驱动双足机器人在3D空间稳定行走控制器.建立双足机器人的3D动力学模型,通过构建概循环拉格朗日函数,把欠驱动双足机器人的3D动态系统解耦成前向和侧向部分.针对前向2D欠驱动部分设计势能成型和动能成型控制器,为了求解能量成型控制器,将匹配方程分解成分别与角度和角速度相关的两个子条件,再将非线性偏微分方程变为线性偏微分方程,求解出能量成型控制器对前向行走进行控制,使前向行走获得稳定且具有仿生特点.对侧向部分采用零动态控制,在保证侧向稳定同时,还满足系统的动态解耦条件.对不同步长行走进行仿真试验,仿真结果表明,动态步行收敛于稳定的极限环,步态符合仿生规律,验证了所提出理论的可行性和有效性.%The walking stability controller is designed for researching the biped robots in 3D (three-dimensional) space. The 3D dynamics model of biped robot is established. By constructing the almost-cyclic Lagrange function, the biped robot dynamic system is decoupled into sagittal and lateral portions. The potential energy shaping and kinetic energy shaping controller is designed for the sagittal portion of under-actuated robot in 2D space. In order to solve the energy shaping controller, the matching condition is be separated into two sub-conditions which relate to angle and angular velocity respectively. The nonlinear partial differential equation is changed into linear partial differential equation, and the energy controller is solved to regulate sagittal locomotion, so that the stable walking gait and bionic characteristic gait can be obtained. The output zero dynamic controller is applied to control the lateral portion, which satisfies the dynamic decoupling conditions of the system. The simulation experiments are carried out on different step length. The simulation results show that the dynamic walking converges to a stable limit cycle and

  3. Lyapunov based nonlinear control of electrical and mechanical systems

    Science.gov (United States)

    Behal, Aman

    This Ph.D. dissertation describes the design and implementation of various control strategies centered around the following applications: (i) an improved indirect field oriented controller for the induction motor, (ii) partial state feedback control of an induction motor with saturation effects, (iii) tracking control of an underactuated surface vessel, and (iv) an attitude tracking controller for an underactuated spacecraft. The theory found in each of these sections is demonstrated through simulation or experimental results. An introduction to each of these four primary chapters can be found in chapter one. In the second chapter, the previously published tracking control of [16] 1 is presented in the indirect field oriented control (IFOC) notation to achieve exponential rotor velocity/rotor flux tracking. Specifically, it is illustrated how the proposed IFOC controller can be rewritten in the manner of [16] to allow for a direct Lyapunov stability proof. Experimental results (implemented with the IFOC algorithm) are provided to corroborate the efficacy of the algorithm. In the third chapter, a singularity-free, rotor position tracking controller is presented for the full order, nonlinear dynamic model of the induction motor that includes the effects of magnetic saturation. Specifically, by utilizing the pi-equivalent saturation model, an observer/controller strategy is designed that achieves semi-global exponential rotor position tracking and only requires stator current, rotor velocity, and rotor position measurements. Simulation and experimental results are included to demonstrate the efficacy of the proposed algorithm. In the fourth chapter, a continuous, time-varying tracking controller is designed that globally exponentially forces the position/orientation tracking error of an under-actuated surface vessel to a neighborhood about zero that can be made arbitrarily small (i.e., global uniformly ultimately boundedness (GUUB)). The result is facilitated by

  4. Fram-2014/2015: A 400 Day Investigation of the Arctic's Oldest Sediments over the Alpha Ridge with a Research Hovercraft

    Science.gov (United States)

    Hall, J. K.; Kristoffersen, Y.

    2014-12-01

    The thickest multi-year ice in the Arctic covers a secret. Four short cores raised from the Alpha Ridge in the 1970s and 1980s from drift stations T-3 and CESAR showed ages between 45 and 76 my. The reason for these old ages became clear when examination of legacy seismic data from T-3 showed that in some places up to 500 m of sediments had been removed within an area of some 200 by 600 km, presumably by an impact of asteroid fragments. To investigate the impact area, the authors conceived an innovative research platform in 2007. Named the R/H SABVABAA, this 12m by 6m hovercraft has been home-based in Svalbard since June 2008. During the following 6 years the craft and its evolving innovative light-weight equipment have made 18 trips to the summer ice pack, traveling some 4410 km over ice during some six months of scientific investigations. An opportunity to get a lift to this area, some 1500 km from Svalbard, came in a 2011 invitation to join AWI's icebreaker POLARSTERN in its ARK-XXVIII/4 expedition departing Tromsö August 5, 2014. The 400 day drift will be the first wintering over, ever, of a mobile research platform with geophysical, geological, and oceanographic capabilities. The Arctic ice pack continually moves due to winds and currents. While at the main camp, observations will consist of marine geophysics (seismic profiling with four element CHIRP, a 20 in³ airgun with single hydrophone, as well as 12 kHz bathymetry and 200 kHz sounding of the deep scattering layer), marine geology (coring with a hydrostatically-boosted 3 or 6 m corer; bottom photography; and two rock dredges), and oceanography. Deployed away from the camp, four sonobuoys will allow 3-D seismic acquisition. Access to the depths below the ice is via a hydraulic capstan winch, with 6500 m of Kevlar aramid fiber rope with 2.8 ton breaking strength. Ice thickness monitoring of the local 100 km² will be made with the craft's EM-31 probe when away from the camp, moving to choice locations for

  5. Design of Underactuated Flexible Robotic Hand for Picking Fruit and Vegetable%果蔬采摘欠驱动灵巧机械手的设计

    Institute of Scientific and Technical Information of China (English)

    杨婕; 赵晓栋; 宋申祥; 张兆德

    2015-01-01

    Underactuated mechanism is a system whose number of control inputs is smaller than the number of degree of freedom. In order to realize non-destructive picking of fruits and vegetables ,a flexible and underactuated robotic hand with simple structure was designed through theoretical analysis,design of finger tip,transmission and drive mechanism,and modeling and simulation. It has shape-adaptability while grasping objects ,which can be completely surrounded to realize non-destructive picking. With small size and low cost ,it is adaptable to application in automatic picking in agriculture field.%欠驱动机构是指驱动器数目少于机构本身自由度数目的机构. 为了实现果蔬的无损采摘,通过理论分析、指端结构设计、传动机构设计和驱动机构设计与建模仿真,设计出一种灵活性高、结构简单的果蔬采摘欠驱动灵巧机械手.该机械手抓取物体时具有形状自适应能力,可完全包络物体实现无损采摘,且体积小、成本低,能够适应农业采摘自动化技术的推广.

  6. Linear active disturbance rejection control of underactuated systems: the case of the Furuta pendulum.

    Science.gov (United States)

    Ramírez-Neria, M; Sira-Ramírez, H; Garrido-Moctezuma, R; Luviano-Juárez, A

    2014-07-01

    An Active Disturbance Rejection Control (ADRC) scheme is proposed for a trajectory tracking problem defined on a nonfeedback linearizable Furuta Pendulum example. A desired rest to rest angular position reference trajectory is to be tracked by the horizontal arm while the unactuated vertical pendulum arm stays around its unstable vertical position without falling down during the entire maneuver and long after it concludes. A linear observer-based linear controller of the ADRC type is designed on the basis of the flat tangent linearization of the system around an arbitrary equilibrium. The advantageous combination of flatness and the ADRC method makes it possible to on-line estimate and cancels the undesirable effects of the higher order nonlinearities disregarded by the linearization. These effects are triggered by fast horizontal arm tracking maneuvers driving the pendulum substantially away from the initial equilibrium point. Convincing experimental results, including a comparative test with a sliding mode controller, are presented.

  7. Desain Kontrol Tracking Underactuated Autonomous Underwater Vehicle (AUV dengan Pengaruh Gangguan Arus Laut

    Directory of Open Access Journals (Sweden)

    Ilmi Rizki I

    2016-11-01

    Full Text Available Paper ini membahas masalah gerak AUV pada bidang horizontal yang dipengaruhi oleh arah sudut yaw. Arah sudut yaw merupakan ukuran utama dalam mengatur gerak horizontal pada AUV. Pengaturan gerak pada AUV berupa perubahan arah sudut yaw merupakan permasalahan kontrol tracking AUV. Kontrol tracking pada paper ini digunakan untuk kebutuhan heading control. Heading control tersebut digunakan untuk mengatur arah sudut yaw AUV agar sesuai dengan sinyal referensi yaw yang diberikan. Kompleksitas dalam mendesain heading control akibat karakteristik-karakteristik dari dinamika AUV yang high nonlinear dan uncertainty parameter yang ditentukan oleh hydrodynamic forces dan environmental forces berupa gangguan ocean current menjadi permasalahan yang tidak mudah dipecahkan. Oleh karena itu dibutuhkan sebuah metode untuk mengatasi permasalahan tersebut, yaitu menggunaan metode State Dependent Riccati Equations berdasarkan Linear Quadratic Tracking (SDRE-LQT. Algoritma ini menghitung perubahan permasalahan tracking pada sudut yaw dan dapat mengatasi gangguan ocean current melalui perhitungan perubahan parameter dari AUV secara online melalui algebraic Riccati equation.sehingga sinyal kontrol yang diberikan ke plant dapat mengikuti perubahan kondisi dari plant itu sendiri, termasuk perubahan parameter akibat gangguan berupa ocean current. Hasil simulasi menunjukkan bahwa metode kontrol yang digunakan mampu membawa sudut yaw pada nilai yang diharapkan dan gangguan arus dapat diatasi dengan memberikan nilai sinyal kontrol yang baru secara online, sehingga AUV dapat melakukan  tracking secara otomatis pada kondisi ada atau tanpa gangguan ocean current dengan dengan nilai error steady state . Kata kunci — AUV, Tracking Control, SDRE-LQT, Ocean Current Disturbance

  8. 欠驱动航天器姿态调节滑模控制%Sliding mode control for attitude regulation of underactuated spacecraft

    Institute of Scientific and Technical Information of China (English)

    马广富; 刘刚; 黄静

    2012-01-01

    针对欠驱动航天器的姿态调节问题,设计了基于滑模变结构控制方法的控制器.给出基于四元数的三轴稳定欠驱动航天器动力学模型和运动学模型,在此基础上首先利用广义逆和二阶滑模趋近律设计了航天器欠驱动轴的姿态调节控制律,给出了欠驱动轴控制器所具有的一般形式,分析了控制器的可实现性,并引入微小摄动量以保证控制器解的存在,在保证欠驱动轴稳定的情况下,又设计了一阶滑模趋近律控制器实现可控轴的调节,最后证明了该控制方法在干扰作用下是有界稳定的,并进行了数值仿真,验证了所推导控制律对欠驱动航天器姿态调节控制的有效性.%The problem of attitude regulation control of an underactuated spacecraft is resolved by using sliding mode method. The three-axis underactuated spacecraft attitude dynamics and kinematics models are introduced. A sliding mode controller using generalized inverse and second order approaching law is designed for underaetu- ated axis stabilization control, and the realisability of the controller is analyzed. A perturbed null-projection is constructed to guarantee the feasibility of the controller. On the basis of stabilization of the underactuated axis, a sliding mode controller is designed for another two axes as well. The proof of bounded stability is given in Lya- punov$ sense. Simulation results demonstrate the availability of the proposed control algorithm.

  9. Nonlinear optics

    CERN Document Server

    Bloembergen, Nicolaas

    1996-01-01

    Nicolaas Bloembergen, recipient of the Nobel Prize for Physics (1981), wrote Nonlinear Optics in 1964, when the field of nonlinear optics was only three years old. The available literature has since grown by at least three orders of magnitude.The vitality of Nonlinear Optics is evident from the still-growing number of scientists and engineers engaged in the study of new nonlinear phenomena and in the development of new nonlinear devices in the field of opto-electronics. This monograph should be helpful in providing a historical introduction and a general background of basic ideas both for expe

  10. Nonlinear supratransmission

    Energy Technology Data Exchange (ETDEWEB)

    Geniet, F; Leon, J [Physique Mathematique et Theorique, CNRS-UMR 5825, 34095 Montpellier (France)

    2003-05-07

    A nonlinear system possessing a natural forbidden band gap can transmit energy of a signal with a frequency in the gap, as recently shown for a nonlinear chain of coupled pendulums (Geniet and Leon 2002 Phys. Rev. Lett. 89 134102). This process of nonlinear supratransmission, occurring at a threshold that is exactly predictable in many cases, is shown to have a simple experimental realization with a mechanical chain of pendulums coupled by a coil spring. It is then analysed in more detail. First we go to different (nonintegrable) systems which do sustain nonlinear supratransmission. Then a Josephson transmission line (a one-dimensional array of short Josephson junctions coupled through superconducting wires) is shown to also sustain nonlinear supratransmission, though being related to a different class of boundary conditions, and despite the presence of damping, finiteness, and discreteness. Finally, the mechanism at the origin of nonlinear supratransmission is found to be a nonlinear instability, and this is briefly discussed here.

  11. Hovercraft de salvamento y rescate

    OpenAIRE

    Martínez Botella, Francisco De Borja

    2016-01-01

    Diseñar un vehículo de colchón de aire, de peso máximo operacional de 881 kg, fabricado en fibra de vidrio, además de mostrar el tema de manera general. Escuela Técnica Superior de Ingeniería Naval y Oceánica Universidad Politécnica de Cartagena

  12. Control and Stabilization of a Class of Nonlinear Systems With Symmetry

    Science.gov (United States)

    1998-01-01

    this dissertation is to study issues related to controllability and stabilization of a class of underactuated mechanical systems with symmetry. In...this dissertation issues related to controllability and stabilization of a class of underactuated mechanical systems was studied. For the class of...control for underactuated mechanical systems on Lie group. In Proc. of European Control Conference, 1997. 132 [Bullo and Lewis, 1996] F. Bullo and A.D

  13. Practical Nonlinearities

    Science.gov (United States)

    2016-07-01

    Advanced Research Projects Agency (DARPA) Dynamics-Enabled Frequency Sources (DEFYS) program is focused on the convergence of nonlinear dynamics and...Early work in this program has shown that nonlinear dynamics can provide performance advantages. However, the pathway from initial results to...dependent nonlinear stiffness observed in these devices. This work is ongoing, and will continue through the final period of this program . Reference 9

  14. 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

  15. Nonlinear Science

    CERN Document Server

    Yoshida, Zensho

    2010-01-01

    This book gives a general, basic understanding of the mathematical structure "nonlinearity" that lies in the depths of complex systems. Analyzing the heterogeneity that the prefix "non" represents with respect to notions such as the linear space, integrability and scale hierarchy, "nonlinear science" is explained as a challenge of deconstruction of the modern sciences. This book is not a technical guide to teach mathematical tools of nonlinear analysis, nor a zoology of so-called nonlinear phenomena. By critically analyzing the structure of linear theories, and cl

  16. Nonlinear analysis

    CERN Document Server

    Nanda, Sudarsan

    2013-01-01

    "Nonlinear analysis" presents recent developments in calculus in Banach space, convex sets, convex functions, best approximation, fixed point theorems, nonlinear operators, variational inequality, complementary problem and semi-inner-product spaces. Nonlinear Analysis has become important and useful in the present days because many real world problems are nonlinear, nonconvex and nonsmooth in nature. Although basic concepts have been presented here but many results presented have not appeared in any book till now. The book could be used as a text for graduate students and also it will be useful for researchers working in this field.

  17. Nonlinear Control for a Class of Underactuated Mechanical Systems%一类欠驱动机械系统的非线性控制

    Institute of Scientific and Technical Information of China (English)

    高丙团; 陈宏钧; 张晓华

    2006-01-01

    针对一类欠驱动机械系统,分析了其数学模型,提出了一种基于部分反馈线性化的非线性控制方案.该方案利用精确线性化的方法将欠驱动系统直接激励部分线性化,将被动部分作为系统的内部动态考虑;并选择直接激励的自由度作为系统输出,进行系统的轨迹跟踪控制;通过分析系统的内部动态,证明了零动态的稳定性能保证控制系统的稳定性.最后通过对吊车的负载防摆控制的研究,验证了该方案的可行性.

  18. 一类欠驱动旋转摆的非线性控制%Nonlinear Control of Rotating Pendulum for Underactuated Systems

    Institute of Scientific and Technical Information of China (English)

    戈新生; 姜文超

    2009-01-01

    欠驱动系统是一类构成系统的广义坐标维数多于控制输入维数的非线性系统.旋转摆属于典型的欠驱动系统,通过驱动杆的水平转动可使欠驱动杆由垂直下摆位置转到竖直向上位置.利用基于能量的控制方法设计了摇起控制器,使欠驱动杆由稳定平衡位置到达非稳定平衡区域,再由LQR方法设计平衡控制器,使其控制在非稳定平衡位置.两种控制器通过切换实现摇起和平衡控制转换.最后通过仿真实验验证了文中设计的两种控制器的有效性.

  19. Position and Orientation Control of a 4-DOF Planar Underactuated Robot%平面4自由度欠驱动机器人的位置和姿态控制

    Institute of Scientific and Technical Information of China (English)

    余跃庆; 梁浩; 张卓

    2015-01-01

    Based on the fuzzy control theory, the position and orientation control of a 4-DOF planar underactuated robot is investigated. The 4-DOF planar underactuated robot is a complex second order non-holonomic system with redundancy and underactuation. Using the coupling effect between the acceleration of passive joint and that of active joints, the motion of the passive joint is controlled. The trajectory tracking of end point and the orientation control of end link of robot are achieved simultaneously. A double fuzzy-PID compound controller is designed for the two subtasks based on the hierarchical control idea. The controller is verified by the co-simulation in Matlab and ADAMS. The experiment of the position and orientation control of the 4-DOF planar underactuated robot is realized on the experimental test bed based on PMAC controller. The results of simulation and experiment indicate that the fuzzy-PID compound controller is feasible and effective for the position and orientation control of 4R horizontal underactuated robot.%基于模糊控制理论,研究水平运动的4自由度欠驱动机器人位置和姿态控制问题。平面4自由度欠驱动机器人是具有冗余度和欠驱动双重特征的复杂二阶非完整系统,利用主动关节和被动关节加速度之间的耦合作用控制被动关节的运动,同时实现机械臂末端的轨迹跟踪和末杆的姿态控制。根据分层控制思想,提出双模态模糊PID复合控制算法,针对两个子任务分别设计控制器。通过Matlab和ADAMS的联合仿真验证算法的有效性,在基于可编程多轴运动控制卡的试验台上实现平面4自由度欠驱动机器人的位置和姿态控制试验。仿真和试验结果表明,所设计的模糊PID复合控制器对平面4自由度欠驱动机器人末杆的位置和姿态控制是可行、有效的。

  20. Actuability of Underactuated Manipulators

    Science.gov (United States)

    1994-06-01

    of a manipulator with passive joints in operational space. IEEE Transactions on Robotics and Automation, 9(1), February 1993. [6] !irohiko Arai and...Susumu Tachi Position control of a manipulator with passive joints using dynamic coupling. IEEE Transactions on Robotics and Automation, 7(4), August

  1. Nonlinear Reconstruction

    CERN Document Server

    Zhu, Hong-Ming; Pen, Ue-Li; Chen, Xuelei; Yu, Hao-Ran

    2016-01-01

    We present a direct approach to non-parametrically reconstruct the linear density field from an observed non-linear map. We solve for the unique displacement potential consistent with the non-linear density and positive definite coordinate transformation using a multigrid algorithm. We show that we recover the linear initial conditions up to $k\\sim 1\\ h/\\mathrm{Mpc}$ with minimal computational cost. This reconstruction approach generalizes the linear displacement theory to fully non-linear fields, potentially substantially expanding the BAO and RSD information content of dense large scale structure surveys, including for example SDSS main sample and 21cm intensity mapping.

  2. Nonlinear optics

    CERN Document Server

    Boyd, Robert W

    2013-01-01

    Nonlinear Optics is an advanced textbook for courses dealing with nonlinear optics, quantum electronics, laser physics, contemporary and quantum optics, and electrooptics. Its pedagogical emphasis is on fundamentals rather than particular, transitory applications. As a result, this textbook will have lasting appeal to a wide audience of electrical engineering, physics, and optics students, as well as those in related fields such as materials science and chemistry.Key Features* The origin of optical nonlinearities, including dependence on the polarization of light* A detailed treatment of the q

  3. Nonlinear optimization

    CERN Document Server

    Ruszczynski, Andrzej

    2011-01-01

    Optimization is one of the most important areas of modern applied mathematics, with applications in fields from engineering and economics to finance, statistics, management science, and medicine. While many books have addressed its various aspects, Nonlinear Optimization is the first comprehensive treatment that will allow graduate students and researchers to understand its modern ideas, principles, and methods within a reasonable time, but without sacrificing mathematical precision. Andrzej Ruszczynski, a leading expert in the optimization of nonlinear stochastic systems, integrates t

  4. Nonlinear channelizer

    Science.gov (United States)

    In, Visarath; Longhini, Patrick; Kho, Andy; Neff, Joseph D.; Leung, Daniel; Liu, Norman; Meadows, Brian K.; Gordon, Frank; Bulsara, Adi R.; Palacios, Antonio

    2012-12-01

    The nonlinear channelizer is an integrated circuit made up of large parallel arrays of analog nonlinear oscillators, which, collectively, serve as a broad-spectrum analyzer with the ability to receive complex signals containing multiple frequencies and instantaneously lock-on or respond to a received signal in a few oscillation cycles. The concept is based on the generation of internal oscillations in coupled nonlinear systems that do not normally oscillate in the absence of coupling. In particular, the system consists of unidirectionally coupled bistable nonlinear elements, where the frequency and other dynamical characteristics of the emergent oscillations depend on the system's internal parameters and the received signal. These properties and characteristics are being employed to develop a system capable of locking onto any arbitrary input radio frequency signal. The system is efficient by eliminating the need for high-speed, high-accuracy analog-to-digital converters, and compact by making use of nonlinear coupled systems to act as a channelizer (frequency binning and channeling), a low noise amplifier, and a frequency down-converter in a single step which, in turn, will reduce the size, weight, power, and cost of the entire communication system. This paper covers the theory, numerical simulations, and some engineering details that validate the concept at the frequency band of 1-4 GHz.

  5. Nonlinear dynamics

    Energy Technology Data Exchange (ETDEWEB)

    Turchetti, G. (Bologna Univ. (Italy). Dipt. di Fisica)

    1989-01-01

    Research in nonlinear dynamics is rapidly expanding and its range of applications is extending beyond the traditional areas of science where it was first developed. Indeed while linear analysis and modelling, which has been very successful in mathematical physics and engineering, has become a mature science, many elementary phenomena of intrinsic nonlinear nature were recently experimentally detected and investigated, suggesting new theoretical work. Complex systems, as turbulent fluids, were known to be governed by intrinsically nonlinear laws since a long time ago, but received purely phenomenological descriptions. The pioneering works of Boltzmann and Poincare, probably because of their intrinsic difficulty, did not have a revolutionary impact at their time; it is only very recently that their message is reaching a significant number of mathematicians and physicists. Certainly the development of computers and computer graphics played an important role in developing geometric intuition of complex phenomena through simple numerical experiments, while a new mathematical framework to understand them was being developed.

  6. 基于PVDF的欠驱动多指手滑触觉硬件系统%Underactuated multi-fingered hand with tactile sensor hardware system based on PVDF

    Institute of Scientific and Technical Information of China (English)

    潘孝业; 胡挺; 刘凤臣; 高大牛

    2012-01-01

    In order to solve the inaccurate problem of a traditional fruit-vegetable harvesting underactuated multi-fingered hand grasping force, a underactuated multi-fingered hand with tactile system was presented based on polyvinylidene fluorine (PVDF) piezoelectric film technology. The system consists of signal acquisition and signal processing,there were respectively designed that tactile sensor,a charge amplifier circuit,a low pass filtering,a industrial frequency trapped wave,voltage amplifier and so on. The experimental results show that fruits and vegetables be unwounded grabbed by the underactuated multi-fingers hand,and has the wide application prospect.%为解决传统果蔬采摘欠驱动多指手抓取力控制精度不高的问题,提出了一种基于聚偏二氟乙烯(PVDF)压电薄膜技术的新型欠驱动多指手滑触觉系统,该系统由信号采集和信号处理两个模块组成;分别设计了滑触觉传感器,电荷放大、低通滤波、工频限波、电压放大等电路,并进行了捏取和抓取实验.实验结果表明,该系统能较好地控制多指手的抓取精度,实现无损伤抓取,且具有广阔的应用前景.

  7. 基于开关算法的欠驱动刚体航天器姿态控制%Attitude Control of a Rigid Underactuated Spacecraft Based on Switching Algorithm

    Institute of Scientific and Technical Information of China (English)

    朱家兴; 孙兆伟; 陈长春

    2012-01-01

    Aimed to the attitude control of a rigid spacecraft which actuator had two control torques, the attitude control law of the underactuated spacecraft asymptotically stabilized was realized by using switching algorithm and backstepping control according to the condition that whether the underactuated axis was an inertial symmetric axis or not in this paper. The attitude angular velocity stabilization by three attitude maneuvers in accordance with the dynamic model first. The attitude angle stabilization was achieved through five attitude maneuvers based on the dynamic stabilization according to the kinematic model then. The theory analysis and simulation results showed that this control strategy was effective, which could realize the attitude control of the rigid underactuated spacecraft.%针对执行机构只能产生两轴控制力矩的刚体航天器的姿态控制,根据欠驱动轴是否为惯性对称轴,利用开关算法和退步控制技术设计了实现欠驱动航天器姿态渐近稳定的控制律。先根据姿态动力学模型,通过3次姿态机动实现姿态角速度的稳定,再根据姿态运动学模型,在姿态角速度稳定的基础上,通过5次姿态机动实现姿态角的稳定。理论分析和数值仿真结果验证了该控制策略的有效性,可实现欠驱动刚体航天器姿态控制的目标。

  8. Nonlinear Systems.

    Science.gov (United States)

    Seider, Warren D.; Ungar, Lyle H.

    1987-01-01

    Describes a course in nonlinear mathematics courses offered at the University of Pennsylvania which provides an opportunity for students to examine the complex solution spaces that chemical engineers encounter. Topics include modeling many chemical processes, especially those involving reaction and diffusion, auto catalytic reactions, phase…

  9. Research on dynamics coupling for underactuated bionic kangaroo-hopping robot%欠驱动仿袋鼠跳跃机器人动力学耦合研究

    Institute of Scientific and Technical Information of China (English)

    陈朋威; 葛文杰; 李岩

    2012-01-01

    根据袋鼠的生物结构及运动特点,建立了具有欠驱动关节的仿袋鼠跳跃机器人模型.以此模型为基础,分析系统的主动关节与被动关节之间的加速度耦合效应.采用拉格朗日方方法建立了机构的动力学方程.结合实例,运用Matlab软件对机器人进行仿真分析,给出了机器人全局单关节耦合变化规律.结果表明:仿袋鼠跳跃机器人的踝关节与欠驱动关节间存在足够大的耦合并且通过动力学耦合来控制欠驱动关节的位置是可能的.动力学耦合指标对欠驱动机器人的结构设计和驱动装置位置有重要作用.%According to the biological structure and kinematic characteristics of kangaroo, we establish a model for uniped hopping mechanism of bionic kangaroo with underactuated joint.Based on this model,the dynamic coupling effects of the acceleration coupling between active joints and passive ones are an-alyzed,and dynamics equations are established with adopting lagrange method.Wuh practical example and using Matlab simulation analysis for the robot is made so that the changing rule of the global individual joint coupling are obtained.The result indicates that a large coupling between the ankle joint and underactuated joint of the hopping kangaroo robot is available, thus it is possible to control the position of the under-actuated joint via the dynamics coupling, which index plays an important role in structure design and actuator placement of underactuated robots system.

  10. 美国气垫登陆艇推进垫升系统的改进与发展%Improvement and development of propulsion lift system for US hovercraft

    Institute of Scientific and Technical Information of China (English)

    张宗科; 陈德娟

    2015-01-01

    介绍美国气垫登陆艇推进垫升系统在三十余年使用过程中遇到的问题及解决措施.随着艇装载量、耐波性、全寿命周期维护等总体性能和作战使用要求的提高以及主机功率不断增大,结合现代技术分析手段,推进垫升系统正不断改进优化.在广泛采用新技术及复合材料后,艇载重大量幅增加且耐波性有所提高.%This paper introduces problems of propulsion lift system on US hovercraft and their solutions during operation in the past 30 years. It shows that the propulsion lift system is being developed by the advanced technical analysis method, resulting from the heightening requirement of combatant capability, increasing main engine power, and improving overall performance, such as shipborne load capacity, seakeeping capability, and lifespan maintenance. The propulsion lift the fan of the new ship-to-shore connector has been reduced to one per shipboard. The arrangement of the propulsion lift system is totally new with longitudinal main engine layout, simplified shafting system, double speed reduction gearboxes and more clutches in order to improve the ship availability under the condition of the either engine failure. The wide adoption of the advanced techniques and the compound material results in the greatly increased shipborne load capacity and the improved seakeeping capability.

  11. Nonlinear PDEs

    OpenAIRE

    2015-01-01

    From the Back Cover: The emphasis throughout the present volume is on the practical application of theoretical mathematical models helping to unravel the underlying mechanisms involved in processes from mathematical physics and biosciences. It has been conceived as a unique collection of abstract methods dealing especially with nonlinear partial differential equations (either stationary or evolutionary) that are applied to understand concrete processes involving some important applications re...

  12. 无根欠驱动冗余机器人动力耦合特性研究%Research on Dynamic Coupling Characteristic of Rootless Underactuated Redundant Robots

    Institute of Scientific and Technical Information of China (English)

    李娜; 赵铁石; 姜海勇; 王家忠

    2016-01-01

    无根多刚体系统和欠驱动冗余机器人系统实质上都属二阶非完整动力系统,其位姿空间约束方程不能满足控制要求,一般基于动力学方程对系统进行控制,即通过关节间动力耦合作用约束被动关节运动,因此此类机器人可控性分析的重点在于系统耦合运动特性研究。基于动力学虚设机构法及非完整系统微分变分原理,建立了无根欠驱动冗余机器人的动力学模型;针对虚设关节、主、被动关节进行动力学模型解耦,推导出了系统的二阶非完整约束方程及被动关节的加速度表达式;在此基础上,通过定义表征被动关节耦合运动的性能指标,针对不同位置主动关节输入参数对被动关节可控性的影响进行了仿真分析,得到了提高无根欠驱动冗余机器人可控性的有益结论,为实际欠驱动冗余机器人输入控制提供了参考。%The general characteristic of rootless multi-body system and underactuated redundant robots is essentially dynamic systems with second-order nonholonomic constraints. The configuration space constraints equations can not realize the control request, which is generally based on dynamic equation. The constraints of these systems are mainly on velocity and acceleration and in general not integral. Therefore, the research on the characteristic of coupling motion of this kind of robots system is the basis of the controllability analysis. Based on dynamic nominal mechanism method and the differential and variation theory of nonholonomic system, the dynamic model of rootless underactuated redundant system is built, from which the second-order nonholonomic constraint equations of the system and the acceleration expressions of passive joints are derived based on the decoupling of nominal mechanism, active and passive joints. According to the defined performance indices for describing the coupling motion of passive joint, the influence of the

  13. Nonlinear dynamics modeling and simulation of two-wheeled self-balancing vehicle

    Directory of Open Access Journals (Sweden)

    Yunping Liu

    2016-11-01

    Full Text Available Two-wheeled self-balancing vehicle system is a kind of naturally unstable underactuated system with high-rank unstable multivariable strongly coupling complicated dynamic nonlinear property. Nonlinear dynamics modeling and simulation, as a basis of two-wheeled self-balancing vehicle dynamics research, has the guiding effect for system design of the project demonstration and design phase. Dynamics model of the two-wheeled self-balancing vehicle is established by importing a TSi ProPac package to the Mathematica software (version 8.0, which analyzes the stability and calculates the Lyapunov exponents of the system. The relationship between external force and stability of the system is analyzed by the phase trajectory. Proportional–integral–derivative control is added to the system in order to improve the stability of the two-wheeled self-balancing vehicle. From the research, Lyapunov exponent can be used to research the stability of hyperchaos system. The stability of the two-wheeled self-balancing vehicle is better by inputting the proportional–integral–derivative control. The Lyapunov exponent and phase trajectory can help us analyze the stability of a system better and lay the foundation for the analysis and control of the two-wheeled self-balancing vehicle system.

  14. Nonlinear resonances

    CERN Document Server

    Rajasekar, Shanmuganathan

    2016-01-01

    This introductory text presents the basic aspects and most important features of various types of resonances and anti-resonances in dynamical systems. In particular, for each resonance, it covers the theoretical concepts, illustrates them with case studies, and reviews the available information on mechanisms, characterization, numerical simulations, experimental realizations, possible quantum analogues, applications and significant advances made over the years. Resonances are one of the most fundamental phenomena exhibited by nonlinear systems and refer to specific realizations of maximum response of a system due to the ability of that system to store and transfer energy received from an external forcing source. Resonances are of particular importance in physical, engineering and biological systems - they can prove to be advantageous in many applications, while leading to instability and even disasters in others. The book is self-contained, providing the details of mathematical derivations and techniques invo...

  15. Nonlinear Dynamics

    Institute of Scientific and Technical Information of China (English)

    1996-01-01

    3.1 A Unified Nonlinear Feedback Functional Method for Study Both Control and Synchronization of Spatiotemporal Chaos Fang Jinqing Ali M. K. (Department of Physics, The University of Lethbridge,Lethbridge, Alberta T1K 3M4,Canada) Two fundamental questions dominate future chaos control theories.The first is the problem of controlling hyperchaos in higher dimensional systems.The second question has yet to be addressed:the problem of controlling spatiotemporal chaos in a spatiotemporal system.In recent years, control and synchronization of spatiotemporal chaos and hyperchaos have became a much more important and challenging subject. The reason for this is the control and synchronism of such behaviours have extensive and great potential of interdisciplinary applications, such as security communication, information processing, medicine and so on. However, this subject is not much known and remains an outstanding open.

  16. 欠驱动移动机器人的路径跟踪控制%Path tracking control of underactuated mobile robot

    Institute of Scientific and Technical Information of China (English)

    杨兴明; 朱建; 高银平; 许东昌

    2014-01-01

    Two-wheeled mobile robot is a typical nonholonomic underactuated system .Aiming at the path tracking and posture balance control problem of this kind of mobile robot ,a control algorithm is proposed w hich integrates the kinematic controller designed by backstepping and the sliding mode dy-namics controller . T he kinematic controller designed by backstepping is used to solve the control problem between velocity and position .Considering the uncertainties of the system and external dis-turbance ,the sliding mode controller that has the characteristics of stability and robustness is used as the dynamics controller to realize the robot’s speed and posture balance .T he simulation results show that the method effectively realizes the two-wheeled mobile robot trajectory tracking in a stable and balanced mode .%双轮移动机器人是一种典型的具有非完整约束的欠驱动系统,针对其路径跟踪和姿态平衡的控制问题,文章提出了一种基于反演技术的运动学控制器和滑模动力学控制器相结合的控制算法,反演法设计运动学控制器用以解决跟踪速度和位置之间的控制关系。考虑到系统本身的不确定性和外界干扰,采用具有稳定性和鲁棒性特点的滑模控制器作为动力学控制器用以解决机器人的运动平衡和控制电压之间的控制问题。仿真结果表明该方法有效地实现了双轮移动机器人在保持平衡的同时稳定地进行轨迹跟踪。

  17. 基于模糊控制的3R欠驱动机器人轨迹跟踪研究∗%Trajectory Tracking Control of 3R Underactuated Robot Based on Fuzzy Control

    Institute of Scientific and Technical Information of China (English)

    梁浩; 余跃庆

    2015-01-01

    To improve the control effect of the trajectory tracking of a 3R horizontal underactuated manipula-tor, a kind of Fuzzy-PID compound controller is designed, which realizes the control by using the dynamic coupling between the actuated and the underactuated joints. It is a dual-mode system. If the error is higher than the valve values, the fuzzy controller works in order to obtain a good transient performance. If the error is lower than the valve values, the PID controller works in order to obtain a good steady state performance. The virtual prototype system of the 3R horizontal underactuated manipulator was created in ADAMS, and the control system is designed in MATLAB. The co-simulation based on MATLAB and ADAMS for the ro-bot was realized by the interface module between them. The results of the co-simulation show that the Fuzz-y-PID compound controller can effectively reduce the control error and improve dynamic property of the sys-tem.%对水平运动的3 R欠驱动机器人轨迹跟踪控制问题进行了研究。设计了Mamdani型模糊控制器和一种复合型Fuzzy-PID控制器,利用主、被动关节的动力学耦合规律实现对末端点的轨迹跟踪控制。复合控制器设有两个模态,当误差大于所设阀值时采用Mamdani型模糊控制以获得较高的瞬态性能,当误差小于所设阀值时采用PID控制以获得较高的稳态性能。在ADAMS中建立欠驱动机器人的虚拟样机模型,在MATLAB中建立复合型模糊控制系统,通过二者的联合仿真进行验证。结果表明:和Mamdani型模糊控制相比,复合型Fuzzy-PID控制器消除了系统的稳态误差,提高了轨迹跟踪的控制精度。

  18. Nonlinear Materials Characterization Facility

    Data.gov (United States)

    Federal Laboratory Consortium — The Nonlinear Materials Characterization Facility conducts photophysical research and development of nonlinear materials operating in the visible spectrum to protect...

  19. Nonlinear singular vectors and nonlinear singular values

    Institute of Scientific and Technical Information of China (English)

    2000-01-01

    A novel concept of nonlinear singular vector and nonlinear singular value is introduced, which is a natural generalization of the classical linear singular vector and linear singular value to the nonlinear category. The optimization problem related to the determination of nonlinear singular vectors and singular values is formulated. The general idea of this approach is demonstrated by a simple two-dimensional quasigeostrophic model in the atmospheric and oceanic sciences. The advantage and its applications of the new method to the predictability, ensemble forecast and finite-time nonlinear instability are discussed. This paper makes a necessary preparation for further theoretical and numerical investigations.

  20. A Type of Underactuated Finger Mechanism Design and Statics Analysis for Picking Fruit%一种抓取果实的欠驱动手指机构设计与静力学分析

    Institute of Scientific and Technical Information of China (English)

    王通; 尹建军

    2016-01-01

    In order to provide a type of anthropopathic finger end-effector for fruit-picking robot , a type of underactuat-ed finger mechanism was designed .The mechanism is set up three knuckle limiting stoppers and two different stiffness coefficient of torsional springs located between every two revolute pairs in middle transferring force mechanism , which aims to make three knuckles of underactuated finger mechanism rotate sequentially in the range of constrained degree of limiting stoppers .The configuration of underactuated finger mechanism can maintain stability and go back its initial posi -tion during the return stroke motion of knuckles when the mechanism envelops and grasps objects .Virtual work principle is used to build statics mathematical models between total driving force and contact forces generated by the knuckles and the object, and dynamics solver of Automatic Dynamic Analysis of Mechanical Systems ( ADAMS) software is used to cal-culate force performance of the finger mechanism .The motion simulation shows that the designed mechanism can have determined motion and return its initial position in unfixed order .Three contact force errors between calculation result of statics mathematical models and simulation result of ADAMS solver are 0.038N, 0.1251N and 0.0041N respectively, which validates the correctness of statics mathematical models and make statics mathematical models provide a reference for flexible grip control of the underactuated finger mechanism .%为了给类球形果实采摘机器人提供一种拟人手指的末端执行器,设计了一种欠驱动手指机构。通过设置指节限位块,并在中间传力机构两个转动副处添加不同刚度系数的扭簧,使欠驱动手指机构各指节在限位块约束的角度范围内依序转动,包络抓取物体时其构型稳定,并能保证各指节回程运动能回到手指机构的初始位置。同时,利用虚功原理建立了手指在包络抓

  1. Nonlinear Path-following Control of an Autonomous Surface Vehicle%自主船非线性路径跟踪控制

    Institute of Scientific and Technical Information of China (English)

    施淑伟; 严卫生; 高剑; 王迪

    2011-01-01

    A nonlinear path following control method is proposed for the nonlinear and underactuated Autonomous Surface Vehicle. The Serret-Frenet coordinate originating at the free reference point on the path is used to describe the path following errors and their dynamic model. Meanwhile, a non-time variable is selected as reference variable, which makes the system get rid of the time factor. Then, based on Lyapunov theory and back stepping techniques, a nonlinear controller is designed, which yields asymptotic convergence of the path following errors to zero. Finally, simulation results verify the effectiveness of the proposed path following controller.%针对非线性欠驱动自主船(Autonomous Surface Vehicle,ASV),提出了一种非线性路径跟踪控制方法.采用以自由参考点为原点的Serret-Frenet坐标系摧述路径跟踪误差及其动态模型,并选用非时间量为参考变量,摆脱了时间因素的影响;综合应用Lyapunov理论与Back stepping方法设计了欠驱动自主船的路径跟踪控制律,保证了路径跟踪误差的全局渐近稳定.最后,仿真研究结果验证了该方法的有效性.

  2. NONLINEAR EXPECTATIONS AND NONLINEAR MARKOV CHAINS

    Institute of Scientific and Technical Information of China (English)

    PENG SHIGE

    2005-01-01

    This paper deals with nonlinear expectations. The author obtains a nonlinear generalization of the well-known Kolmogorov's consistent theorem and then use it to construct filtration-consistent nonlinear expectations via nonlinear Markov chains. Compared to the author's previous results, i.e., the theory of g-expectations introduced via BSDE on a probability space, the present framework is not based on a given probability measure. Many fully nonlinear and singular situations are covered. The induced topology is a natural generalization of Lp-norms and L∞-norm in linear situations.The author also obtains the existence and uniqueness result of BSDE under this new framework and develops a nonlinear type of von Neumann-Morgenstern representation theorem to utilities and present dynamic risk measures.

  3. Design of a remote controlled hovercraft

    OpenAIRE

    Álvarez Sánchez, David

    2009-01-01

    Este informe trata el diseño, desarrollo y construcción de un aerodeslizador de pequeño tamaño, equipado con control remoto que permite al usuario actuar sobre la velocidad y dirección del mismo. Este proyecto podrá ser utilizado en un futuro como base para el desarrollo de aplicaciones más complejas. Un aerodeslizador es un medio de transporte cuyo chasis se eleva sobre el suelo por medio de un motor impulsor que hincha una falda colocada en la parte inferior del mismo. Además, uno ...

  4. Fontys Studenten maken hovercraft voor het MKB

    NARCIS (Netherlands)

    Ir. Eric Dortmans; Dr Ruud Ermers

    2008-01-01

    Studenten van Fontys Hogeschool ICT/Technische Informatica hebben vorig jaar hard gewerkt aan een minihovercraft. Die moest dienen als studieobject voor een aantal MKB'ers, die met een Raak Lightsubsidie meer informatie wilden inwinnen over het bouwen van toepassingen met embedded Linux en

  5. Robust control methods for nonlinear systems with uncertain dynamics and unknown control direction

    Science.gov (United States)

    Ton, Chau T.

    Robust nonlinear control design strategies using sliding mode control (SMC) and integral SMC (ISMC) are developed, which are capable of achieving reliable and accurate tracking control for systems containing dynamic uncertainty, unmodeled disturbances, and actuator anomalies that result in an unknown and time-varying control direction. In order to ease readability of this dissertation, detailed explanations of the relevant mathematical tools is provided, including stability denitions, Lyapunov-based stability analysis methods, SMC and ISMC fundamentals, and other basic nonlinear control tools. The contributions of the dissertation are three novel control algorithms for three different classes of nonlinear systems: single-input multipleoutput (SIMO) systems, systems with model uncertainty and bounded disturbances, and systems with unknown control direction. Control design for SIMO systems is challenging due to the fact that such systems have fewer actuators than degrees of freedom to control (i.e., they are underactuated systems). While traditional nonlinear control methods can be utilized to design controllers for certain classes of cascaded underactuated systems, more advanced methods are required to develop controllers for parallel systems, which are not in a cascade structure. A novel control technique is proposed in this dissertation, which is shown to achieve asymptotic tracking for dual parallel systems, where a single scalar control input directly aects two subsystems. The result is achieved through an innovative sequential control design algorithm, whereby one of the subsystems is indirectly stabilized via the desired state trajectory that is commanded to the other subsystem. The SIMO system under consideration does not contain uncertainty or disturbances. In dealing with systems containing uncertainty in the dynamic model, a particularly challenging situation occurs when uncertainty exists in the input-multiplicative gain matrix. Moreover, special

  6. Dynamic Coupling of Underactuated Manipulators

    Science.gov (United States)

    1994-08-01

    using dynamic coupling. IEEE Transactions on Robotics and Automation, vol. 7, no. 4, Aug. 1991, pp. 528-534. [2] Bergerman, M.; Xu, Y. Robust control of...equilibrium manifolds. IEEE Transactions on Robotics and Automation, vol. 9, no. 5, Oct. 1993. [8] Nakamura, Y. Advanced robotics: Redundancy and

  7. On compliant underactuated robotic fingers

    NARCIS (Netherlands)

    Wassink, Martin

    2011-01-01

    Driven by societal trends, such as aging, and by a desire to drive economic growth and enhance commercial competitiveness, researchers have tried to move robots from structured manufacturing tasks to unstructured professional and personal service applications. As announced in the Falcon project, an

  8. THE METHOD OF TE IMPROVEMENT OF POWER AND ACOUSTIC PARAMETERS OF TAPE CONVEYORS ON A HOVERCRAFT Метод улучшения энергетических и акустических показателей ленточных конвейеров на воздушной подушке

    OpenAIRE

    Murzinov V. L.; Murzinov P. V.

    2012-01-01

    The method of control of the amount of flow area of the supply nozzles in tape conveyor on a hovercraft is considered in the article. The local system that implements the principle of direct action to control the thickness of the air cushion is shown. Based on the hydrodynamic model, the formula for the engineering calculations of values of the moving devices are determined

  9. Advances in nonlinear optics

    CERN Document Server

    Chen, Xianfeng; Zeng, Heping; Guo, Qi; She, Weilong

    2015-01-01

    This book presents an overview of the state of the art of nonlinear optics from weak light nonlinear optics, ultrafast nonlinear optics to electro-optical theory and applications. Topics range from the fundamental studies of the interaction between matter and radiation to the development of devices, components, and systems of tremendous commercial interest for widespread applications in optical telecommunications, medicine, and biotechnology.

  10. Distributed nonlinear optical response

    DEFF Research Database (Denmark)

    Nikolov, Nikola Ivanov

    2005-01-01

    The purpose of the research presented here is to investigate basic physical properties in nonlinear optical materials with delayed or nonlocal nonlinearity. Soliton propagation, spectral broadening and the influence of the nonlocality or delay of the nonlinearity are the main focusses in the work...

  11. Noncommutative Nonlinear Supersymmetry

    CERN Document Server

    Nishino, H; Nishino, Hitoshi; Rajpoot, Subhash

    2002-01-01

    We present noncommutative nonlinear supersymmetric theories. The first example is a non-polynomial Akulov-Volkov-type lagrangian with noncommutative nonlinear global supersymmetry in arbitrary space-time dimensions. The second example is the generalization of this lagrangian to Dirac-Born-Infeld lagrangian with nonlinear supersymmetry realized in dimensions D=2,3,4 and 6 (mod 8).

  12. Fiber Nonlinearities: A Tutorial

    Institute of Scientific and Technical Information of China (English)

    Govind P. Agrawal

    2003-01-01

    Fiber nonlinearities have long been regarded as being mostly harmful for fiber-optic communication systems. Over the last few years, however, the nonlinear effects are increasingly being used for practical telecommunications applications,the Raman amplification being only one of the recent examples. In this tutorial I review the vario us nonlinear effects occurring in optical fibers from both standpoints..

  13. Fiber Nonlinearities: A Tutorial

    Institute of Scientific and Technical Information of China (English)

    Govind; P.; Agrawal

    2003-01-01

    Fiber nonlinearities have long been regarded as being mostly harmful for fiber-optic communication systems. Over the last few years, however, the nonlinear effects are increasingly being used for practical telecommunications applications, the Raman amplification being only one of the recent examples. In this tutorial I review the various nonlinear effects occurring in optical fibers from both standpoints..

  14. PBH tests for nonlinear systems

    NARCIS (Netherlands)

    Kawano, Yu; Ohtsuka, Toshiyuki

    2017-01-01

    Recently, concepts of nonlinear eigenvalues and eigenvectors are introduced. In this paper, we establish connections between the nonlinear eigenvalues and nonlinear accessibility/observability. In particular, we provide a generalization of Popov- Belevitch-Hautus (PBH) test to nonlinear accessibilit

  15. Nonlinear dynamics and complexity

    CERN Document Server

    Luo, Albert; Fu, Xilin

    2014-01-01

    This important collection presents recent advances in nonlinear dynamics including analytical solutions, chaos in Hamiltonian systems, time-delay, uncertainty, and bio-network dynamics. Nonlinear Dynamics and Complexity equips readers to appreciate this increasingly main-stream approach to understanding complex phenomena in nonlinear systems as they are examined in a broad array of disciplines. The book facilitates a better understanding of the mechanisms and phenomena in nonlinear dynamics and develops the corresponding mathematical theory to apply nonlinear design to practical engineering.

  16. Virtual constraints based dynamical servo control for a class of underactuated mechanical systems%一类欠驱动机械系统的虚约束动态伺服控制

    Institute of Scientific and Technical Information of China (English)

    程红太; 张晓华

    2011-01-01

    To overcome the shortcomings of underactuated mechanical systems which are unable to track arbitary point and trajectory, give full play to the resource and energy comsuming advantage and enlarge the application area, the dynamical servo control problem for a class of underactuated mechanical systems was studied. The dynamcal servo control aims to realize reaching any point in configuration space by planning and tracking specific trajectory. The virtual constraints method was used to plan the dynamcial servo trajectory. By constructing the constraint relation between freedoms and analysing the system zero dynamics ,periodic orbits meeting system dynamics were gained easily. Using the inner connection between the virtual constraints and orbit function, a orbit tracking controller was designed based on Lyapunov stability theory. The experiment was performed on the Acrobot Platform and experiment results shows the effectiveness of the trajectory planning method and control method.%为了克服欠驱动机械系统无法对任意点和轨迹进行跟踪的缺点,扩大欠驱动机械系统应用领域,研究一类欠驱动机械系统的动态伺服控制问题,动态伺服控制通过规划和跟踪特定轨迹来实现任意位形空间点的瞬时可达.采用虚约束方法来规划动态伺服轨迹,通过构造自由度之间的约束关系,并对约束作用下系统零动态进行分析,可以方便获得符合系统特性的周期轨道;利用虚约束函数与轨道函数之间的内在联系,基于Lyapunov稳定性理论设计轨迹跟踪控制器.最后,在Acrobot实物平台上进行了实验,实验结果证明轨迹规划方法和控制方法的有效性.

  17. 欠驱动航天器姿态稳定的分层滑模控制器设计%Hierarchical Sliding-Mode Control for Attitude Stabilization of an Underactuated Spacecraft

    Institute of Scientific and Technical Information of China (English)

    王冬霞; 贾英宏; 金磊; 周付根; 徐世杰

    2013-01-01

    For an underactuated spacecraft with two control actuators, an attitude controller is proposed based on hierarchical sliding-mode control. Firstly, attitude dynamics and kinematics models are introduced and analyzed. Secondly, the first-layer sliding surface is defined by the state variables of the underactuated system, and the equivalent controller is obtained by Filippov equivalent theorem. Then, the second-layer sliding surface and the third-layer sliding surface are constructed in sequence, and the switching controller is derived by using the sliding-mode control theory. Thus the total controller is deduced by the equivalent and switching controller. The global asymptotic stability of all sliding surfaces is proved by using Lyapunov stability theory and Barbalat theory. The simulation results illustrate the feasibility of the proposed control algorithm.%利用分层滑模控制方法,为带两个控制执行机构的欠驱动刚体航天器的姿态控制系统设计了一种三轴稳定控制器.首先,给出了基于两个推力器的欠驱动航天器的姿态动力学和运动学模型,分析了其模型特点.其次,将子系统的变量进行组合定义成第一层滑模面,利用Filippov等效定理求出等效控制律.然后依次构造出第二层滑模面及第三层滑模面,根据滑模控制原理求出切换控制律,进而得到总的控制量.利用Lyapunov稳定性理论和Barbalat引理及推论证明了各层滑模面的全局渐近稳定性.仿真实验验证了该控制方法的有效性.

  18. Nonlinear Path-Following Control of Torpedo-Shape Underwater Vehicles%鱼雷形水下机器人非线性航迹跟踪控制

    Institute of Scientific and Technical Information of China (English)

    苏玉民; 曹建; 徐锋; 张国成

    2012-01-01

    研究了欠驱动自主式水下机器人路径跟踪问题.在Serret—Frenet移动坐标系下,基于虚拟目标机器人建立了路径跟踪误差动力学方程.在此基础上,结合水下机器人动力学方程,设计了基于Lyapunov稳定性理论和反步法技术的控制器.仿真结果表明,提出的非线性反馈控制律能够保证路径跟踪误差快速收敛到零,使机器人沿着参考路径航行.%This paper researches on the problem of path-following control of underactuated autonomous un- derwater vehicles (AUV). In Serret-Frenet frame, a path-following error dynamics, corresponding to a virtual target AUV, was constructed. Building on the error dynamics and combining with the vehicle's dy- namics, a nonlinear controller based on Lyapunov stable theory and backstepping techniques was devel- oped. The resulting nonlinear feedback control law yields convergence of the path-following error trajecto- ry to zero. The simulation results illustrate the performance of the control system proposed.

  19. Nonlinear Elliptic Differential Equations with Multivalued Nonlinearities

    Indian Academy of Sciences (India)

    Antonella Fiacca; Nikolaos Matzakos; Nikolaos S Papageorgiou; Raffaella Servadei

    2001-11-01

    In this paper we study nonlinear elliptic boundary value problems with monotone and nonmonotone multivalued nonlinearities. First we consider the case of monotone nonlinearities. In the first result we assume that the multivalued nonlinearity is defined on all $\\mathbb{R}$. Assuming the existence of an upper and of a lower solution, we prove the existence of a solution between them. Also for a special version of the problem, we prove the existence of extremal solutions in the order interval formed by the upper and lower solutions. Then we drop the requirement that the monotone nonlinearity is defined on all of $\\mathbb{R}$. This case is important because it covers variational inequalities. Using the theory of operators of monotone type we show that the problem has a solution. Finally in the last part we consider an eigenvalue problem with a nonmonotone multivalued nonlinearity. Using the critical point theory for nonsmooth locally Lipschitz functionals we prove the existence of at least two nontrivial solutions (multiplicity theorem).

  20. Nonlinear Dirac Equations

    Directory of Open Access Journals (Sweden)

    Wei Khim Ng

    2009-02-01

    Full Text Available We construct nonlinear extensions of Dirac's relativistic electron equation that preserve its other desirable properties such as locality, separability, conservation of probability and Poincaré invariance. We determine the constraints that the nonlinear term must obey and classify the resultant non-polynomial nonlinearities in a double expansion in the degree of nonlinearity and number of derivatives. We give explicit examples of such nonlinear equations, studying their discrete symmetries and other properties. Motivated by some previously suggested applications we then consider nonlinear terms that simultaneously violate Lorentz covariance and again study various explicit examples. We contrast our equations and construction procedure with others in the literature and also show that our equations are not gauge equivalent to the linear Dirac equation. Finally we outline various physical applications for these equations.

  1. Nonlinear Cross Gramians

    Science.gov (United States)

    Ionescu, Tudor C.; Scherpen, Jacquelien M. A.

    We study the notion of cross Gramians for nonlinear gradient systems, using the characterization in terms of prolongation and gradient extension associated to the system. The cross Gramian is given for the variational system associated to the original nonlinear gradient system. We obtain linearization results that correspond to the notion of a cross Gramian for symmetric linear systems. Furthermore, first steps towards relations with the singular value functions of the nonlinear Hankel operator are studied and yield promising results.

  2. Nonlinear functional analysis

    Directory of Open Access Journals (Sweden)

    W. L. Fouché

    1983-03-01

    Full Text Available In this article we discuss some aspects of nonlinear functional analysis. It included reviews of Banach’s contraction theorem, Schauder’s fixed point theorem, globalising techniques and applications of homotopy theory to nonlinear functional analysis. The author emphasises that fundamentally new ideas are required in order to achieve a better understanding of phenomena which contain both nonlinear and definite infinite dimensional features.

  3. Nonlinear Electrodynamics and QED

    OpenAIRE

    2003-01-01

    The limits of linear electrodynamics are reviewed, and possible directions of nonlinear extension are explored. The central theme is that the qualitative character of the empirical successes of quantum electrodynamics must be used as a guide for understanding the nature of the nonlinearity of electrodynamics at the subatomic level. Some established theories of nonlinear electrodynamics, namely, those of Mie, Born, and Infeld are presented in the language of the modern geometrical and topologi...

  4. Study and application of improved PSO in the motion planning of under-actuated robot%改进PSO在欠驱动机器人运动规划中的应用研究

    Institute of Scientific and Technical Information of China (English)

    厉虹; 张甜

    2012-01-01

    This paper researches the motion planning of under-actuated bionic robot which named Rock & Roll Robot-RRRobot. According to the dynamic model of RRRobot, the objective is minimizing the energy loss; the improved Particle Swarm Optimization (PSO) algorithm based on genetic operator is proposed. At last, it gets motion planning of the robot from an initial state to a target state, and optimizes the motion planning on RRRobot. The simulation results show the improved PSO algorithm, compared with the PSO algorithm, the terminal configuration of the RRRobot error and system power consumption has significantly improvement.%研究欠驱动六足仿生机器人简化模型(Rock & Roll Robot-RRRobot)运动规划问题.根据RRRobot动力学模型,以能量损耗最小为目标,提出一种基于遗传算子的改进粒子群算法,对RRRobot运动规划进行优化.仿真实验结果表明,所提出的算法对解决运动规划的优化问题是有效的,与基本粒子群算法相比,改进的粒子群算法对RRRobot模型终端位形的误差有明显的改善作用.

  5. Nonlinear Physics of Plasmas

    CERN Document Server

    Kono, Mitsuo

    2010-01-01

    A nonlinearity is one of the most important notions in modern physics. A plasma is rich in nonlinearities and provides a variety of behaviors inherent to instabilities, coherent wave structures and turbulence. The book covers the basic concepts and mathematical methods, necessary to comprehend nonlinear problems widely encountered in contemporary plasmas, but also in other fields of physics and current research on self-organized structures and magnetized plasma turbulence. The analyses make use of strongly nonlinear models solved by analytical techniques backed by extensive simulations and available experiments. The text is written for senior undergraduates, graduate students, lecturers and researchers in laboratory, space and fusion plasmas.

  6. Nonlinear magnetic metamaterials.

    Science.gov (United States)

    Shadrivov, Ilya V; Kozyrev, Alexander B; van der Weide, Daniel W; Kivshar, Yuri S

    2008-12-08

    We study experimentally nonlinear tunable magnetic metamaterials operating at microwave frequencies. We fabricate the nonlinear metamaterial composed of double split-ring resonators where a varactor diode is introduced into each resonator so that the magnetic resonance can be tuned dynamically by varying the input power. We demonstrate that at higher powers the transmission of the metamaterial becomes power-dependent and, as a result, such metamaterial can demonstrate various nonlinear properties. In particular, we study experimentally the power-dependent shift of the transmission band and demonstrate nonlinearity-induced enhancement (or suppression) of wave transmission. (c) 2008 Optical Society of America

  7. Organic nonlinear optical materials

    Science.gov (United States)

    Umegaki, S.

    1987-01-01

    Recently, it became clear that organic compounds with delocalized pi electrons show a great nonlinear optical response. Especially, secondary nonlinear optical constants of more than 2 digits were often seen in the molecular level compared to the existing inorganic crystals such as LiNbO3. The crystallization was continuously tried. Organic nonlinear optical crystals have a new future as materials for use in the applied physics such as photomodulation, optical frequency transformation, opto-bistabilization, and phase conjugation optics. Organic nonlinear optical materials, e.g., urea, O2NC6H4NH2, I, II, are reviewed with 50 references.

  8. Nonlinearity-reduced interferometer

    Science.gov (United States)

    Wu, Chien-ming

    2007-12-01

    Periodic nonlinearity is a systematic error limiting the accuracy of displacement measurements at the nanometer level. It results from many causes such as the frequency mixing, polarization mixing, polarization-frequency mixing, and the ghost reflections. An interferometer having accuracy in displacement measurement of less than one-nanometer is necessary in nanometrology. To meet the requirement, the periodic nonlinearity should be less than deep sub-nanometer. In this paper, a nonlinearity-reduced interferometry has been proposed. Both the linear- and straightness-interferometer were tested. The developed interferometer demonstrated of a residual nonlinearity less than 25 pm.

  9. Lasers for nonlinear microscopy.

    Science.gov (United States)

    Wise, Frank

    2013-03-01

    Various versions of nonlinear microscopy are revolutionizing the life sciences, almost all of which are made possible because of the development of ultrafast lasers. In this article, the main properties and technical features of short-pulse lasers used in nonlinear microscopy are summarized. Recent research results on fiber lasers that will impact future instruments are also discussed.

  10. Nonlinear optical materials.

    Science.gov (United States)

    Eaton, D F

    1991-07-19

    The current state of materials development in nonlinear optics is summarized, and the promise of these materials is critically evaluated. Properties and important materials constants of current commercial materials and of new, promising, inorganic and organic molecular and polymeric materials with potential in second- and third-order nonlinear optical applications are presented.

  11. Estimating nonlinear models

    Science.gov (United States)

    Billings, S. A.

    1988-03-01

    Time and frequency domain identification methods for nonlinear systems are reviewed. Parametric methods, prediction error methods, structure detection, model validation, and experiment design are discussed. Identification of a liquid level system, a heat exchanger, and a turbocharge automotive diesel engine are illustrated. Rational models are introduced. Spectral analysis for nonlinear systems is treated. Recursive estimation is mentioned.

  12. Nonlinear Cross Gramians

    NARCIS (Netherlands)

    Ionescu, T. C.; Scherpen, J. M. A.; Korytowski, A; Malanowski, K; Mitkowski, W; Szymkat, M

    2009-01-01

    We study the notion of cross Gramians for nonlinear gradient systems, using the characterization in terms of prolongation and gradient extension associated to the system. The cross Gramian is given for the variational system associated to the original nonlinear gradient system. We obtain

  13. Engineered nonlinear lattices

    DEFF Research Database (Denmark)

    Clausen, Carl A. Balslev; Christiansen, Peter Leth; Torner, L.

    1999-01-01

    We show that with the quasi-phase-matching technique it is possible to fabricate stripes of nonlinearity that trap and guide light like waveguides. We investigate an array of such stripes and find that when the stripes are sufficiently narrow, the beam dynamics is governed by a quadratic nonlinear...

  14. Controllability in nonlinear systems

    Science.gov (United States)

    Hirschorn, R. M.

    1975-01-01

    An explicit expression for the reachable set is obtained for a class of nonlinear systems. This class is described by a chain condition on the Lie algebra of vector fields associated with each nonlinear system. These ideas are used to obtain a generalization of a controllability result for linear systems in the case where multiplicative controls are present.

  15. Nonlinear Maneuver Autopilot

    Science.gov (United States)

    Menon, P. K. A.; Badgett, M. E.; Walker, R. A.

    1992-01-01

    Trajectory-control laws based on singular-perturbation theory and nonlinear dynamical modeling. Nonlinear maneuver autopilot commands flight-test trajectories of F-15 airplane. Underlying theory of controller enables separation of variables processed in fast and slow control loops, reducing amount of computation required.

  16. 一类非线性欠激励机械系统的控制研究%Study of control for a kind of nonlinear underactuated mechanical systems

    Institute of Scientific and Technical Information of China (English)

    李琦; 陈晓建

    2004-01-01

    以直轨二级倒立摆(DIP)系统为例分析了一类非线性欠激励系统动力学,提出了一种基于动态变量优化算法和该类系统的控制策略.仿真结果显示了该算法对该类非线性欠激励系统控制的有效性,并且该算法具有较快的收敛速度和较高的计算精度.

  17. Nonlinear optics and photonics

    CERN Document Server

    He, Guang S

    2015-01-01

    This book provides a comprehensive presentation on most of the major topics in nonlinear optics and photonics, with equal emphasis on principles, experiments, techniques, and applications. It covers many major new topics including optical solitons, multi-photon effects, nonlinear photoelectric effects, fast and slow light , and Terahertz photonics. Chapters 1-10 present the fundamentals of modern nonlinear optics, and could be used as a textbook with problems provided at the end of each chapter. Chapters 11-17 cover the more advanced topics of techniques and applications of nonlinear optics and photonics, serving as a highly informative reference for researchers and experts working in related areas. There are also 16 pages of color photographs to illustrate the visual appearances of some typical nonlinear optical effects and phenomena. The book could be adopted as a textbook for both undergraduates and graduate students, and serve as a useful reference work for researchers and experts in the fields of physics...

  18. Nonlinear optical systems

    CERN Document Server

    Lugiato, Luigi; Brambilla, Massimo

    2015-01-01

    Guiding graduate students and researchers through the complex world of laser physics and nonlinear optics, this book provides an in-depth exploration of the dynamics of lasers and other relevant optical systems, under the umbrella of a unitary spatio-temporal vision. Adopting a balanced approach, the book covers traditional as well as special topics in laser physics, quantum electronics and nonlinear optics, treating them from the viewpoint of nonlinear dynamical systems. These include laser emission, frequency generation, solitons, optically bistable systems, pulsations and chaos and optical pattern formation. It also provides a coherent and up-to-date treatment of the hierarchy of nonlinear optical models and of the rich variety of phenomena they describe, helping readers to understand the limits of validity of each model and the connections among the phenomena. It is ideal for graduate students and researchers in nonlinear optics, quantum electronics, laser physics and photonics.

  19. Nonlinear cochlear mechanics.

    Science.gov (United States)

    Zweig, George

    2016-05-01

    An earlier paper characterizing the linear mechanical response of the organ of Corti [J. Acoust. Soc. Am. 138, 1102-1121 (2015)] is extended to the nonlinear domain. Assuming the existence of nonlinear oscillators nonlocally coupled through the pressure they help create, the oscillator equations are derived and examined when the stimuli are modulated tones and clicks. The nonlinearities are constrained by the requirements of oscillator stability and the invariance of zero crossings in the click response to changes in click amplitude. The nonlinear oscillator equations for tones are solved in terms of the fluid pressure that drives them, and its time derivative, presumably a proxy for forces created by outer hair cells. The pressure equation is reduced to quadrature, the integrand depending on the oscillators' responses. The resulting nonlocally coupled nonlinear equations for the pressure, and oscillator amplitudes and phases, are solved numerically in terms of the fluid pressure at the stapes. Methods for determining the nonlinear damping directly from measurements are described. Once the oscillators have been characterized from their tone and click responses, the mechanical response of the cochlea to natural sounds may be computed numerically. Signal processing inspired by cochlear mechanics opens up a new area of nonlocal nonlinear time-frequency analysis.

  20. Nonlinear fiber optics

    CERN Document Server

    Agrawal, Govind P

    2001-01-01

    The Optical Society of America (OSA) and SPIE - The International Society for Optical Engineering have awarded Govind Agrawal with an honorable mention for the Joseph W. Goodman Book Writing Award for his work on Nonlinear Fiber Optics, 3rd edition.Nonlinear Fiber Optics, 3rd Edition, provides a comprehensive and up-to-date account of the nonlinear phenomena occurring inside optical fibers. It retains most of the material that appeared in the first edition, with the exception of Chapter 6, which is now devoted to the polarization effects relevant for light propagation in optical

  1. Will Nonlinear Backcalculation Help?

    DEFF Research Database (Denmark)

    Ullidtz, Per

    2000-01-01

    demonstrates, that treating the subgrade as a nonlinear elastic material, can result in more realistic moduli and a much better agreement between measured and calculated stresses and strains.The response of nonlinear elastic materials can be calculated using the Finite Element Method (FEM). A much simpler...... approach is to use the Method of Equivalent Thicknesses (MET), modified for a nonlinear subgrade. The paper includes an example where moduli backcalculated using FEM, linear elastic theory and MET are compared. Stresses and strains predicted by the three methods are also compared to measured values...

  2. Nonlinear graphene metamaterial

    CERN Document Server

    Nikolaenko, Andrey E; Atmatzakis, Evangelos; Luo, Zhiqiang; Shen, Ze Xiang; De Angelis, Francesco; Boden, Stuart A; Di Fabrizio, Enzo; Zheludev, Nikolay I

    2012-01-01

    We demonstrate that the broadband nonlinear optical response of graphene can be resonantly enhanced by more than an order of magnitude through hybridization with a plasmonic metamaterial,while retaining an ultrafast nonlinear response time of ~1 ps. Transmission modulation close to ~1% is seen at a pump uence of ~0.03 mJ/cm^2 at the wavelength of ~1600 nm. This approach allows to engineer and enhance graphene's nonlinearity within a broad wavelength range enabling applications in optical switching, mode-locking and pulse shaping.

  3. 一类新的PPA型三连杆欠驱动机器人的控制策略%Control strategy for a novel class of three-link underactuated manipulators named PPA robot

    Institute of Scientific and Technical Information of China (English)

    赖旭芝; 潘昌忠; 吴敏

    2011-01-01

    A PPA robot,which has 3 degrees of freedom(DOF)but only has one actuator,is a novel class of underactuated mechanical systems.For the motion control of this robot,a zoning control strategy is presented to drive it away from the straight-down position and balance it at the straight-up position.Firstly,the motion space is divided into swing-up area and attractive area.Then a swing-up control law based on the Lyapunov function is employed to increase the system energy and control the posture.A balancing control law adopting optimal control is designed for a stable control in the attractive area. Finally,simulation results show the effectiveness of the proposed method.%PPA型机器人是一类新型的三连杆欠驱动机械系统,具有3个自由度,但只有1个驱动装置.针对这类欠驱动机器人的运动控制,提出一种分区的控制策略,使之从垂直向下的位置摇起到垂直向上的位置,并实现稳定控制.首先,将系统的运动空间划分为摇起区和吸引区;其次,应用一种基于Lyapunov函数的控制方法来增加系统能量和控制驱动杆姿态,实现摇起操作;再次,采用最优控制方法设计平衡控制,实现稳定的平衡控制;最后,通过仿真实验验证了所提出控制方法的有效性.

  4. Position control for planar four-link underactuated mechanical system based on model degeneration%基于模型退化的平面四连杆欠驱动机械系统位置控制

    Institute of Scientific and Technical Information of China (English)

    熊培银; 赖旭芝; 吴敏

    2015-01-01

    针对第2关节为被动的平面四连杆欠驱动机械系统,提出基于模型退化的分阶段控制策略。首先,建立系统的数学模型,并通过控制第1杆维持初始状态,使系统模型退化;然后,根据第1关节为被动的平面连杆系统的积分特性,得到系统角度约束关系,基于角度关系和目标位置,利用粒子群优化算法获得驱动杆的目标角度;最后,基于Lyapunov函数分阶段设计控制律,实现系统从初始位置到目标位置的控制目标。仿真结果验证了所提出控制策略的有效性。%A piecewise control strategy is proposed for the planar four-link underactuated system with a passive second joint. Firstly, a mathematical model of the system is built, and it is degenerated by controlling the first link maintaining at the initial state. Then, the angle constraint relationships are obtained by employing the integral characteristics of the planar link system with a first passive joint. The target angles of actuated links are calculated by using particle swarm optimization algorithm based on the angle constraint relationships and target position. Finally, the controllers designed by employing Lyapunov functions achieve the control objective from an initial position to a target position. Simulation results show the effectiveness of the proposed control method.

  5. Multipolar nonlinear nanophotonics

    CERN Document Server

    Smirnova, Daria

    2016-01-01

    Nonlinear nanophotonics is a rapidly developing field with many useful applications for a design of nonlinear nanoantennas, light sources, nanolasers, sensors, and ultrafast miniature metadevices. A tight confinement of the local electromagnetic fields in resonant photonic nanostructures can boost nonlinear optical effects, thus offering versatile opportunities for subwavelength control of light. To achieve the desired functionalities, it is essential to gain flexible control over the near- and far-field properties of nanostructures. Thus, both modal and multipolar analyses are widely exploited for engineering nonlinear scattering from resonant nanoscale elements, in particular for enhancing the near-field interaction, tailoring the far-field multipolar interference, and optimization of the radiation directionality. Here, we review the recent advances in this recently emerged research field ranging from metallic structures exhibiting localized plasmonic resonances to hybrid metal-dielectric and all-dielectric...

  6. Solitons in nonlinear lattices

    CERN Document Server

    Kartashov, Yaroslav V; Torner, Lluis

    2010-01-01

    This article offers a comprehensive survey of results obtained for solitons and complex nonlinear wave patterns supported by purely nonlinear lattices (NLs), which represent a spatially periodic modulation of the local strength and sign of the nonlinearity, and their combinations with linear lattices. A majority of the results obtained, thus far, in this field and reviewed in this article are theoretical. Nevertheless, relevant experimental settings are surveyed too, with emphasis on perspectives for implementation of the theoretical predictions in the experiment. Physical systems discussed in the review belong to the realms of nonlinear optics (including artificial optical media, such as photonic crystals, and plasmonics) and Bose-Einstein condensation (BEC). The solitons are considered in one, two, and three dimensions (1D, 2D, and 3D). Basic properties of the solitons presented in the review are their existence, stability, and mobility. Although the field is still far from completion, general conclusions c...

  7. Nonlinear plasmonic antennas

    Directory of Open Access Journals (Sweden)

    Shakeeb Bin Hasan

    2014-12-01

    Full Text Available Contrary to traditional optical elements, plasmonic antennas made from nanostructured metals permit the localization of electromagnetic fields on length scales much smaller than the wavelength of light. This results in huge amplitudes for the electromagnetic field close to the antenna being conducive for the observation of nonlinear effects already at moderate pump powers. Thus, these antennas exhibit a promising potential to achieve optical frequency conversion and all-optical control of light at the nano-scale. This opens unprecedented opportunities for ultrafast nonlinear spectroscopy, sensing devices, on-chip optical frequency conversion, nonlinear optical metamaterials, and novel photon sources. Here, we review some of the recent advances in exploiting the potential of plasmonic antennas to realize robust nonlinear applications.

  8. Ultrafast nonlinear optics

    CERN Document Server

    Leburn, Christopher; Reid, Derryck

    2013-01-01

    The field of ultrafast nonlinear optics is broad and multidisciplinary, and encompasses areas concerned with both the generation and measurement of ultrashort pulses of light, as well as those concerned with the applications of such pulses. Ultrashort pulses are extreme events – both in terms of their durations, and also the high peak powers which their short durations can facilitate. These extreme properties make them powerful experiment tools. On one hand, their ultrashort durations facilitate the probing and manipulation of matter on incredibly short timescales. On the other, their ultrashort durations can facilitate high peak powers which can drive highly nonlinear light-matter interaction processes. Ultrafast Nonlinear Optics covers a complete range of topics, both applied and fundamental in nature, within the area of ultrafast nonlinear optics. Chapters 1 to 4 are concerned with the generation and measurement of ultrashort pulses. Chapters 5 to 7 are concerned with fundamental applications of ultrasho...

  9. Nonlinear Source Emulator

    DEFF Research Database (Denmark)

    Nguyen-Duy, Khiem

    and remains the prime source of energy in non-terrestrial applications such as those in sky-explorers. However, a renewable energy source is expensive, bulky, and its performance is weather dependent, which make testing of downstream converters very difficult. As a result, a nonlinear source emulator (NSE......) is a good solution to solve the problems associated with the use of real nonlinear sources in testing phases. However, a recent technical survey conducted during this work shows that most existing NSEs have only been concerned with simulating nonlinear systems in terrestrial applications. Furthermore......, their dynamic performance were not fast enough in order to imitate how a real nonlinear energy source would react under extreme conditions and operation modes. Particularly, a system in the sky can experience a step change of sunlight irradiation. Moreover, operation modes may include load step between nominal...

  10. 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...

  11. Nonlinear magnetoinductive transmission lines

    CERN Document Server

    Lazarides, Nikos; Tsironis, G P

    2011-01-01

    Power transmission in one-dimensional nonlinear magnetic metamaterials driven at one end is investigated numerically and analytically in a wide frequency range. The nonlinear magnetic metamaterials are composed of varactor-loaded split-ring resonators which are coupled magnetically through their mutual inductances, forming thus a magnetoiductive transmission line. In the linear limit, significant power transmission along the array only appears for frequencies inside the linear magnetoinductive wave band. We present analytical, closed form solutions for the magnetoinductive waves transmitting the power in this regime, and their discrete frequency dispersion. When nonlinearity is important, more frequency bands with significant power transmission along the array may appear. In the equivalent circuit picture, the nonlinear magnetoiductive transmission line driven at one end by a relatively weak electromotive force, can be modeled by coupled resistive-inductive-capacitive (RLC) circuits with voltage-dependent cap...

  12. Optimization under Nonlinear Constraints

    OpenAIRE

    1982-01-01

    In this paper a timesaving method is proposed for maximizing likelihood functions when the parameter space is subject to nonlinear constraints, expressible as second order polynomials. The suggested approach is especially attractive when dealing with systems with many parameters.

  13. Nonlinearity in nanomechanical cantilevers

    DEFF Research Database (Denmark)

    Villanueva Torrijo, Luis Guillermo; Karabalin, R. B.; Matheny, M. H.

    2013-01-01

    Euler-Bernoulli beam theory is widely used to successfully predict the linear dynamics of micro-and nanocantilever beams. However, its capacity to characterize the nonlinear dynamics of these devices has not yet been rigorously assessed, despite its use in nanoelectromechanical systems development....... These findings underscore the delicate balance between inertial and geometric nonlinear effects in the fundamental mode, and strongly motivate further work to develop theories beyond the Euler-Bernoulli approximation. DOI: 10.1103/PhysRevB.87.024304....... In this article, we report the first highly controlled measurements of the nonlinear response of nanomechanical cantilevers using an ultralinear detection system. This is performed for an extensive range of devices to probe the validity of Euler-Bernoulli theory in the nonlinear regime. We find that its...

  14. Nonlinear Stokes Mueller Polarimetry

    CERN Document Server

    Samim, Masood; Barzda, Virginijus

    2015-01-01

    The Stokes Mueller polarimetry is generalized to include nonlinear optical processes such as second- and third-harmonic generation, sum- and difference-frequency generations. The overall algebraic form of the polarimetry is preserved, where the incoming and outgoing radiations are represented by column vectors and the intervening medium is represented by a matrix. Expressions for the generalized nonlinear Stokes vector and the Mueller matrix are provided in terms of coherency and correlation matrices, expanded by higher-dimensional analogues of Pauli matrices. In all cases, the outgoing radiation is represented by the conventional $4\\times 1$ Stokes vector, while dimensions of the incoming radiation Stokes vector and Mueller matrix depend on the order of the process being examined. In addition, relation between nonlinear susceptibilities and the measured Mueller matrices are explicitly provided. Finally, the approach of combining linear and nonlinear optical elements is discussed within the context of polarim...

  15. Adaptive and Nonlinear Control

    Science.gov (United States)

    1992-02-29

    in [22], we also applied the concept of zero dynamics to the problem of exact linearization of a nonlinear control system by dynamic feedback. Exact ...nonlinear systems, although it was well-known that the conditions for exact linearization are very stringent and consequently do not apply to a broad...29th IEEE Conference n Decision and Control, Invited Paper delivered by Dr. Gilliam. Exact Linearization of Zero Dynamics, 29th IEEE Conference on

  16. Nonlinear Optics and Turbulence

    Science.gov (United States)

    1992-10-01

    currently at Queen Mary College, London Patrick Dunne, (Ph.D., 1987, M.I.T., Hydrodynamic Stability, Nonlinear Waves), 1987-1988. Alecsander Dyachenko...U I I I U I I 3 9 3 V. BIOGRAPHIES A. FACULTY BRUCE BAYLY, 31, Ph.D. 1986, Princeton University. Postdoctoral visiting member 1986-88 at Courant...Caputo, A. C. Newell, and M. Shelley , "Nonlinear Wave Propagation Through a Random Medium and Soliton Tunneling", Integrable Systems and

  17. Robust Nonlinear Neural Codes

    Science.gov (United States)

    Yang, Qianli; Pitkow, Xaq

    2015-03-01

    Most interesting natural sensory stimuli are encoded in the brain in a form that can only be decoded nonlinearly. But despite being a core function of the brain, nonlinear population codes are rarely studied and poorly understood. Interestingly, the few existing models of nonlinear codes are inconsistent with known architectural features of the brain. In particular, these codes have information content that scales with the size of the cortical population, even if that violates the data processing inequality by exceeding the amount of information entering the sensory system. Here we provide a valid theory of nonlinear population codes by generalizing recent work on information-limiting correlations in linear population codes. Although these generalized, nonlinear information-limiting correlations bound the performance of any decoder, they also make decoding more robust to suboptimal computation, allowing many suboptimal decoders to achieve nearly the same efficiency as an optimal decoder. Although these correlations are extremely difficult to measure directly, particularly for nonlinear codes, we provide a simple, practical test by which one can use choice-related activity in small populations of neurons to determine whether decoding is suboptimal or optimal and limited by correlated noise. We conclude by describing an example computation in the vestibular system where this theory applies. QY and XP was supported by a grant from the McNair foundation.

  18. Nonlinear Multiantenna Detection Methods

    Directory of Open Access Journals (Sweden)

    Chen Sheng

    2004-01-01

    Full Text Available A nonlinear detection technique designed for multiple-antenna assisted receivers employed in space-division multiple-access systems is investigated. We derive the optimal solution of the nonlinear spatial-processing assisted receiver for binary phase shift keying signalling, which we refer to as the Bayesian detector. It is shown that this optimal Bayesian receiver significantly outperforms the standard linear beamforming assisted receiver in terms of a reduced bit error rate, at the expense of an increased complexity, while the achievable system capacity is substantially enhanced with the advent of employing nonlinear detection. Specifically, when the spatial separation expressed in terms of the angle of arrival between the desired and interfering signals is below a certain threshold, a linear beamformer would fail to separate them, while a nonlinear detection assisted receiver is still capable of performing adequately. The adaptive implementation of the optimal Bayesian detector can be realized using a radial basis function network. Two techniques are presented for constructing block-data-based adaptive nonlinear multiple-antenna assisted receivers. One of them is based on the relevance vector machine invoked for classification, while the other on the orthogonal forward selection procedure combined with the Fisher ratio class-separability measure. A recursive sample-by-sample adaptation procedure is also proposed for training nonlinear detectors based on an amalgam of enhanced -means clustering techniques and the recursive least squares algorithm.

  19. Nonlinear systems in medicine.

    Science.gov (United States)

    Higgins, John P

    2002-01-01

    Many achievements in medicine have come from applying linear theory to problems. Most current methods of data analysis use linear models, which are based on proportionality between two variables and/or relationships described by linear differential equations. However, nonlinear behavior commonly occurs within human systems due to their complex dynamic nature; this cannot be described adequately by linear models. Nonlinear thinking has grown among physiologists and physicians over the past century, and non-linear system theories are beginning to be applied to assist in interpreting, explaining, and predicting biological phenomena. Chaos theory describes elements manifesting behavior that is extremely sensitive to initial conditions, does not repeat itself and yet is deterministic. Complexity theory goes one step beyond chaos and is attempting to explain complex behavior that emerges within dynamic nonlinear systems. Nonlinear modeling still has not been able to explain all of the complexity present in human systems, and further models still need to be refined and developed. However, nonlinear modeling is helping to explain some system behaviors that linear systems cannot and thus will augment our understanding of the nature of complex dynamic systems within the human body in health and in disease states.

  20. Handbook of nonlinear optical crystals

    CERN Document Server

    Dmitriev, Valentin G; Nikogosyan, David N

    1991-01-01

    This Handbook of Nonlinear Optical Crystals provides a complete description of the properties and applications of nonlinear crystals In addition, it presents the most important equations for calculating the main parameters of nonlinear frequency converters This comprehensive reference work will be of great value to all scientists and engineers working in nonlinear optics, quantum electronics and laser physics

  1. Nonlinear Approaches in Engineering Applications

    CERN Document Server

    Jazar, Reza

    2012-01-01

    Nonlinear Approaches in Engineering Applications focuses on nonlinear phenomena that are common in the engineering field. The nonlinear approaches described in this book provide a sound theoretical base and practical tools to design and analyze engineering systems with high efficiency and accuracy and with less energy and downtime. Presented here are nonlinear approaches in areas such as dynamic systems, optimal control and approaches in nonlinear dynamics and acoustics. Coverage encompasses a wide range of applications and fields including mathematical modeling and nonlinear behavior as applied to microresonators, nanotechnologies, nonlinear behavior in soil erosion,nonlinear population dynamics, and optimization in reducing vibration and noise as well as vibration in triple-walled carbon nanotubes. This book also: Provides a complete introduction to nonlinear behavior of systems and the advantages of nonlinearity as a tool for solving engineering problems Includes applications and examples drawn from the el...

  2. Nonlinear pulsation masses

    Energy Technology Data Exchange (ETDEWEB)

    Davis, C.G.

    1990-01-01

    The advent of nonlinear pulsation theory really coincides with the development of the large computers after the second world war. Christy and Stobbie were the first to make use of finite difference techniques on computers to model the bumps'' observed in the classical Cepheid light and velocity curves, the so-called Hertzsprung'' sequence. Following this work a more sophisticated analysis of the light and velocity curves from the models was made by Simon and Davis using Fourier techniques. Recently a simpler amplitude equation formalism has been developed that helps explain this resonance mechanism. The determination of Population I Cepheid masses by nonlinear methods will be discussed. For the lower mass objects, such as RR Lyrae and BL Her. stars, we find general agreement using evolutionary masses and nonlinear pulsation theory. An apparent difficulty of nonlinear pulsation theory occurs in the understanding of double'' mode pulsation, which will also be discussed. Recent studies in nonlinear pulsation theory have dealt with the question of mode selection, period doubling and the trends towards chaotic behavior such as is observed in the transition from W Virginis to RV Tauri-like stars. 10 refs., 1 fig., 2 tabs.

  3. Nonlinear elastic waves in materials

    CERN Document Server

    Rushchitsky, Jeremiah J

    2014-01-01

    The main goal of the book is a coherent treatment of the theory of propagation in materials of nonlinearly elastic waves of displacements, which corresponds to one modern line of development of the nonlinear theory of elastic waves. The book is divided on five basic parts: the necessary information on waves and materials; the necessary information on nonlinear theory of elasticity and elastic materials; analysis of one-dimensional nonlinear elastic waves of displacement – longitudinal, vertically and horizontally polarized transverse plane nonlinear elastic waves of displacement; analysis of one-dimensional nonlinear elastic waves of displacement – cylindrical and torsional nonlinear elastic waves of displacement; analysis of two-dimensional nonlinear elastic waves of displacement – Rayleigh and Love nonlinear elastic surface waves. The book is addressed first of all to people working in solid mechanics – from the students at an advanced undergraduate and graduate level to the scientists, professional...

  4. Nonlinear Dynamic Force Spectroscopy

    CERN Document Server

    Björnham, Oscar

    2016-01-01

    Dynamic force spectroscopy (DFS) is an experimental technique that is commonly used to assess information of the strength, energy landscape, and lifetime of noncovalent bio-molecular interactions. DFS traditionally requires an applied force that increases linearly with time so that the bio-complex under investigation is exposed to a constant loading rate. However, tethers or polymers can modulate the applied force in a nonlinear regime. For example, bacterial adhesion pili and polymers with worm-like chain properties are examples of structures that show nonlinear force responses. In these situations, the theory for traditional DFS cannot be readily applied. In this work we expand the theory for DFS to also include nonlinear external forces while still maintaining compatibility with the linear DFS theory. To validate the theory we modeled a bio-complex expressed on a stiff, an elastic and a worm-like chain polymer, using Monte Carlo methods, and assessed the corresponding rupture force spectra. It was found th...

  5. Nonlinear optomechanical paddle nanocavities

    CERN Document Server

    Kaviani, Hamidreza; Wu, Marcelo; Ghobadi, Roohollah; Barclay, Paul E

    2014-01-01

    A photonic crystal optomechanical system combining strong nonlinear optomechanical coupling, low effective mass and large optical mode spacing is introduced. This nanoscale "paddle nanocavity" device supports mechanical resonances with effective mass of 300--600 fg which couple nonlinearly to co-localized optical modes with a quadratic optomechanical coupling coefficient $g^{(2)} > 2\\pi\\times400$ MHz/nm$^2$, and a two phonon to single photon optomechanical coupling rate $\\Delta \\omega_0 > 2\\pi\\times 16$ Hz. This coupling relies on strong phonon-photon interactions in a structure whose optical mode spectrum is highly non--degenerate. Simulations indicate that nonlinear optomechanical readout of thermally driven motion in these devices should be observable for T $> 50 $ mK, and that measurement of phonon shot noise is achievable.

  6. Nonlinear dynamics of structures

    CERN Document Server

    Oller, Sergio

    2014-01-01

    This book lays the foundation of knowledge that will allow a better understanding of nonlinear phenomena that occur in structural dynamics.   This work is intended for graduate engineering students who want to expand their knowledge on the dynamic behavior of structures, specifically in the nonlinear field, by presenting the basis of dynamic balance in non‐linear behavior structures due to the material and kinematics mechanical effects.   Particularly, this publication shows the solution of the equation of dynamic equilibrium for structure with nonlinear time‐independent materials (plasticity, damage and frequencies evolution), as well as those time dependent non‐linear behavior materials (viscoelasticity and viscoplasticity). The convergence conditions for the non‐linear dynamic structure solution  are studied, and the theoretical concepts and its programming algorithms are presented.  

  7. Nonlinear Photonic Crystal Fibers

    DEFF Research Database (Denmark)

    Hansen, Kim Per

    2004-01-01

    , leading to reduced mode confinement and dispersion flexibility. In this thesis, we treat the nonlinear photonic crystal fiber – a special sub-class of photonic crystal fibers, the core of which has a diameter comparable to the wavelength of the light guided in the fiber. The small core results in a large...... nonlinear coefficient and in various applications, it is therefore possible to reduce the required fiber lengths quite dramatically, leading to increased stability and efficiency. Furthermore, it is possible to design these fibers with zero-dispersion at previously unreachable wavelengths, paving the way...... for completely new applications, especially in and near the visible wavelength region. One such application is supercontinuum generation. Supercontinuum generation is extreme broadening of pulses in a nonlinear medium (in this case a small-core fiber), and depending on the dispersion of the fiber, it is possible...

  8. Linearizing nonlinear optics

    CERN Document Server

    Schmidt, Bruno E; Ernotte, Guilmot; Clerici, Matteo; Morandotti, Roberto; Ibrahim, Heide; Legare, Francois

    2016-01-01

    In the framework of linear optics, light fields do not interact with each other in a medium. Yet, when their field amplitude becomes comparable to the electron binding energies of matter, the nonlinear motion of these electrons emits new dipole radiation whose amplitude, frequency and phase differ from the incoming fields. Such high fields are typically achieved with ultra-short, femtosecond (1fs = 10-15 sec.) laser pulses containing very broad frequency spectra. Here, the matter not only couples incoming and outgoing fields but also causes different spectral components to interact and mix through a convolution process. In this contribution, we describe how frequency domain nonlinear optics overcomes the shortcomings arising from this convolution in conventional time domain nonlinear optics1. We generate light fields with previously inaccessible properties because the uncontrolled coupling of amplitudes and phases is turned off. For example, arbitrary phase functions are transferred linearly to the second har...

  9. Nonlinear optomechanics with graphene

    Science.gov (United States)

    Shaffer, Airlia; Patil, Yogesh Sharad; Cheung, Hil F. H.; Wang, Ke; Vengalattore, Mukund

    2016-05-01

    To date, studies of cavity optomechanics have been limited to exploiting the linear interactions between the light and mechanics. However, investigations of quantum signal transduction, quantum enhanced metrology and manybody physics with optomechanics each require strong, nonlinear interactions. Graphene nanomembranes are an exciting prospect for realizing such studies due to their inherently nonlinear nature and low mass. We fabricate large graphene nanomembranes and study their mechanical and optical properties. By using dark ground imaging techniques, we correlate their eigenmode shapes with the measured dissipation. We study their hysteretic response present even at low driving amplitudes, and their nonlinear dissipation. Finally, we discuss ongoing efforts to use these resonators for studies of quantum optomechanics and force sensing. This work is supported by the DARPA QuASAR program through a Grant from the ARO.

  10. Nonlinear Analysis of Buckling

    Directory of Open Access Journals (Sweden)

    Psotný Martin

    2014-06-01

    Full Text Available The stability analysis of slender web loaded in compression was presented. To solve this problem, a specialized computer program based on FEM was created. The nonlinear finite element method equations were derived from the variational principle of minimum of potential energy. To obtain the nonlinear equilibrium paths, the Newton-Raphson iteration algorithm was used. Corresponding levels of the total potential energy were defined. The peculiarities of the effects of the initial imperfections were investigated. Special attention was focused on the influence of imperfections on the post-critical buckling mode. The stable and unstable paths of the nonlinear solution were separated. Obtained results were compared with those gained using ANSYS system.

  11. Nonlinear Metamaterials for Holography

    CERN Document Server

    Almeida, Euclides; Prior, Yehiam

    2015-01-01

    A hologram is an optical element storing phase and possibly amplitude information enabling the reconstruction of a three dimensional image of an object by illumination and scattering of a coherent beam of light, and the image is generated at the same wavelength as the input laser beam. In recent years it was shown that information can be stored in nanometric antennas giving rise to ultrathin components. Here we demonstrate nonlinear multi-layer metamaterial holograms where by the nonlinear process of Third Harmonic Generation, a background free image is formed at a new frequency which is the third harmonic of the illuminating beam. Using e-beam lithography of multilayer plasmonic nanoantennas, we fabricate polarization-sensitive nonlinear elements such as blazed gratings, lenses and other computer-generated holograms. These holograms are analyzed and prospects for future device applications are discussed.

  12. Multidimensional nonlinear descriptive analysis

    CERN Document Server

    Nishisato, Shizuhiko

    2006-01-01

    Quantification of categorical, or non-numerical, data is a problem that scientists face across a wide range of disciplines. Exploring data analysis in various areas of research, such as the social sciences and biology, Multidimensional Nonlinear Descriptive Analysis presents methods for analyzing categorical data that are not necessarily sampled randomly from a normal population and often involve nonlinear relations. This reference not only provides an overview of multidimensional nonlinear descriptive analysis (MUNDA) of discrete data, it also offers new results in a variety of fields. The first part of the book covers conceptual and technical preliminaries needed to understand the data analysis in subsequent chapters. The next two parts contain applications of MUNDA to diverse data types, with each chapter devoted to one type of categorical data, a brief historical comment, and basic skills peculiar to the data types. The final part examines several problems and then concludes with suggestions for futu...

  13. Nonlinear airship aeroelasticity

    Science.gov (United States)

    Bessert, N.; Frederich, O.

    2005-12-01

    The aeroelastic derivatives for today's aircraft are calculated in the concept phase using a standard procedure. This scheme has to be extended for large airships, due to various nonlinearities in structural and aerodynamic behaviour. In general, the structural model of an airship is physically as well as geometrically nonlinear. The main sources of nonlinearity are large deformations and the nonlinear material behaviour of membranes. The aerodynamic solution is also included in the nonlinear problem, because the deformed airship influences the surrounding flow. Due to these nonlinearities, the aeroelastic problem for airships can only be solved by an iterative procedure. As one possibility, the coupled aerodynamic and structural dynamic problem was handled using linked standard solvers. On the structural side, the Finite-Element program package ABAQUS was extended with an interface to the aerodynamic solver VSAERO. VSAERO is based on the aerodynamic panel method using potential flow theory. The equilibrium of the internal structural and the external aerodynamic forces leads to the structural response and a trimmed flight state for the specified flight conditions (e.g. speed, altitude). The application of small perturbations around a trimmed state produces reaction forces and moments. These constraint forces are then transferred into translational and rotational acceleration fields by performing an inertia relief analysis of the disturbed structural model. The change between the trimmed flight state and the disturbed one yields the respective aeroelastic derivatives. By including the calculated derivatives in the linearised equation of motion system, it is possible to judge the stability and controllability of the investigated airship.

  14. Nonlinear fiber optics

    CERN Document Server

    Agrawal, Govind

    2012-01-01

    Since the 4e appeared, a fast evolution of the field has occurred. The 5e of this classic work provides an up-to-date account of the nonlinear phenomena occurring inside optical fibers, the basis of all our telecommunications infastructure as well as being used in the medical field. Reflecting the big developments in research, this new edition includes major new content: slow light effects, which offers a reduction in noise and power consumption and more ordered network traffic-stimulated Brillouin scattering; vectorial treatment of highly nonlinear fibers; and a brand new chapter o

  15. Limits to Nonlinear Inversion

    DEFF Research Database (Denmark)

    Mosegaard, Klaus

    2012-01-01

    For non-linear inverse problems, the mathematical structure of the mapping from model parameters to data is usually unknown or partly unknown. Absence of information about the mathematical structure of this function prevents us from presenting an analytical solution, so our solution depends on our......-heuristics are inefficient for large-scale, non-linear inverse problems, and that the 'no-free-lunch' theorem holds. We discuss typical objections to the relevance of this theorem. A consequence of the no-free-lunch theorem is that algorithms adapted to the mathematical structure of the problem perform more efficiently than...

  16. Fundamentals of nonlinear optics

    CERN Document Server

    Powers, Peter E

    2011-01-01

    Peter Powers's rigorous but simple description of a difficult field keeps the reader's attention throughout. … All chapters contain a list of references and large numbers of practice examples to be worked through. … By carefully working through the proposed problems, students will develop a sound understanding of the fundamental principles and applications. … the book serves perfectly for an introductory-level course for second- and third-order nonlinear optical phenomena. The author's writing style is refreshing and original. I expect that Fundamentals of Nonlinear Optics will fast become pop

  17. Tunable nonlinear graphene metasurfaces

    CERN Document Server

    Smirnova, Daria A; Kivshar, Yuri S; Khanikaev, Alexander B

    2015-01-01

    We introduce the concept of nonlinear graphene metasurfaces employing the controllable interaction between a graphene layer and a planar metamaterial. Such hybrid metasurfaces support two types of subradiant resonant modes, asymmetric modes of structured metamaterial elements ("metamolecules") and graphene plasmons exhibiting strong mutual coupling and avoided dispersion crossing. High tunability of graphene plasmons facilitates strong interaction between the subradiant modes, modifying the spectral position and lifetime of the associated Fano resonances. We demonstrate that strong resonant interaction, combined with the subwavelength localization of plasmons, leads to the enhanced nonlinear response and high efficiency of the second-harmonic generation.

  18. Nonlinear effects in optical fibers

    CERN Document Server

    Ferreira, Mario F

    2011-01-01

    Cutting-edge coverage of nonlinear phenomena occurring inside optical fibers Nonlinear fiber optics is a specialized part of fiber optics dealing with optical nonlinearities and their applications. As fiber-optic communication systems have become more advanced and complex, the nonlinear effects in optical fibers have increased in importance, as they adversely affect system performance. Paradoxically, the same nonlinear phenomena also offer the promise of addressing the bandwidth bottleneck for signal processing for future ultra-high speed optical networks. Nonlinear Effects in Optical Fiber

  19. Modeling and Simulation of Underactuated Double-Container Overhead Crane%双吊具欠驱动桥吊的建模与仿真

    Institute of Scientific and Technical Information of China (English)

    李云林; 徐为民; 褚建新; 周贤文

    2012-01-01

    较之于传统的单吊具桥吊,双起升双吊具桥吊是一种新型高效集装箱装卸机械,但其本质上是一类复杂的欠驱动非线性系统,其建模和控制方法存在较大难度.利用拉格朗日分析方法和仿真手段对双起升双吊具桥吊的动力学特性进行了研究,分析了吊绳长度和负载变化对桥吊动态特性的影响,以及作业环境中的摩擦力和空气阻力对模型特性的影响;建立了双起升双吊具桥吊的动力学模型,并进行了简化.最后,仿真研究为验证双起升双吊具桥吊的动力学模型的正确性提供了依据.%Compared with a traditional single - container overhead crane, the double - container overhead crane is a new efficient container stevedoring machinery, and it is actually a complicated under actuated nonlinear system. In this brief, both the kinematic and dynamic characteristics concerning the double - container crane were investigated, and then an accurate dynamic model of the double - container overhead crane was established by utilizing Lagrange's equation. Not only were the variation of the rope and payloads, but also the mechanical frictions and air -resistance in the environment were considered in the model. Furthermore, a simplified double -container model was given based on the accurate double container overhead crane dynamic model. Simulation results show the validity of the established double - container overhead crane model.

  20. Nonlinear elliptic systems with exponential nonlinearities

    Directory of Open Access Journals (Sweden)

    Said El Manouni

    2002-12-01

    Full Text Available In this paper we investigate the existence of solutions for {gather*} -mathop{m div}( a(| abla u | ^N| abla u |^{N-2}u = f(x,u,v quad mbox{in } Omega -mathop{m div}(a(| abla v| ^N| abla v |^{N-2}v = g(x,u,v quad mbox{in } Omega u(x = v(x = 0 quad mbox{on }partial Omega. end{gather*} Where $Omega$ is a bounded domain in ${mathbb{R}}^N$, $Ngeq 2$, $f$ and $g$ are nonlinearities having an exponential growth on $Omega$ and $a$ is a continuous function satisfying some conditions which ensure the existence of solutions.

  1. Nonlinearity and disorder: Classification and stability of nonlinear impurity modes

    DEFF Research Database (Denmark)

    Sukhorukov, Andrey A.; Kivshar, Yuri S.; Bang, Ole

    2001-01-01

    We study the effects produced by competition of two physical mechanisms of energy localization in inhomogeneous nonlinear systems. As an example, we analyze spatially localized modes supported by a nonlinear impurity in the generalized nonlinear Schrödinger equation and describe three types of no...

  2. Generalized Nonlinear Yule Models

    Science.gov (United States)

    Lansky, Petr; Polito, Federico; Sacerdote, Laura

    2016-10-01

    With the aim of considering models related to random graphs growth exhibiting persistent memory, we propose a fractional nonlinear modification of the classical Yule model often studied in the context of macroevolution. Here the model is analyzed and interpreted in the framework of the development of networks such as the World Wide Web. Nonlinearity is introduced by replacing the linear birth process governing the growth of the in-links of each specific webpage with a fractional nonlinear birth process with completely general birth rates. Among the main results we derive the explicit distribution of the number of in-links of a webpage chosen uniformly at random recognizing the contribution to the asymptotics and the finite time correction. The mean value of the latter distribution is also calculated explicitly in the most general case. Furthermore, in order to show the usefulness of our results, we particularize them in the case of specific birth rates giving rise to a saturating behaviour, a property that is often observed in nature. The further specialization to the non-fractional case allows us to extend the Yule model accounting for a nonlinear growth.

  3. Nonlinear Regression with R

    CERN Document Server

    Ritz, Christian; Parmigiani, Giovanni

    2009-01-01

    R is a rapidly evolving lingua franca of graphical display and statistical analysis of experiments from the applied sciences. This book provides a coherent treatment of nonlinear regression with R by means of examples from a diversity of applied sciences such as biology, chemistry, engineering, medicine and toxicology.

  4. Methods of nonlinear kinetics

    OpenAIRE

    Gorban, A. N.; Karlin, I.V.

    2003-01-01

    Nonlinear kinetic equations are reviewed for a wide audience of specialists and postgraduate students in physics, mathematical physics, material science, chemical engineering and interdisciplinary research. Contents: The Boltzmann equation, Phenomenology and Quasi-chemical representation of the Boltzmann equation, Kinetic models, Discrete velocity models, Direct simulation, Lattice Gas and Lattice Boltzmann models, Minimal Boltzmann models for flows at low Knudsen number, Other kinetic equati...

  5. Intramolecular and nonlinear dynamics

    Energy Technology Data Exchange (ETDEWEB)

    Davis, M.J. [Argonne National Laboratory, IL (United States)

    1993-12-01

    Research in this program focuses on three interconnected areas. The first involves the study of intramolecular dynamics, particularly of highly excited systems. The second area involves the use of nonlinear dynamics as a tool for the study of molecular dynamics and complex kinetics. The third area is the study of the classical/quantum correspondence for highly excited systems, particularly systems exhibiting classical chaos.

  6. Nonlinear Hamiltonian systems

    DEFF Research Database (Denmark)

    Jørgensen, Michael Finn

    1995-01-01

    It is generally very difficult to solve nonlinear systems, and such systems often possess chaotic solutions. In the rare event that a system is completely solvable, it is said to integrable. Such systems never have chaotic solutions. Using the Inverse Scattering Transform Method (ISTM) two...

  7. Nonlinear phased array imaging

    Science.gov (United States)

    Croxford, Anthony J.; Cheng, Jingwei; Potter, Jack N.

    2016-04-01

    A technique is presented for imaging acoustic nonlinearity within a specimen using ultrasonic phased arrays. Acoustic nonlinearity is measured by evaluating the difference in energy of the transmission bandwidth within the diffuse field produced through different focusing modes. The two different modes being classical beam forming, where delays are applied to different element of a phased array to physically focus the energy at a single location (parallel firing) and focusing in post processing, whereby one element at a time is fired and a focused image produced in post processing (sequential firing). Although these two approaches are linearly equivalent the difference in physical displacement within the specimen leads to differences in nonlinear effects. These differences are localized to the areas where the amplitude is different, essentially confining the differences to the focal point. Direct measurement at the focal point are however difficult to make. In order to measure this the diffuse field is used. It is a statistical property of the diffuse field that it represents the total energy in the system. If the energy in the diffuse field for both the sequential and parallel firing case is measured then the difference between these, within the input signal bandwidth, is largely due to differences at the focal spot. This difference therefore gives a localized measurement of where energy is moving out of the transmission bandwidth due to nonlinear effects. This technique is used to image fatigue cracks and other damage types undetectable with conventional linear ultrasonic measurements.

  8. Generalized Nonlinear Yule Models

    Science.gov (United States)

    Lansky, Petr; Polito, Federico; Sacerdote, Laura

    2016-11-01

    With the aim of considering models related to random graphs growth exhibiting persistent memory, we propose a fractional nonlinear modification of the classical Yule model often studied in the context of macroevolution. Here the model is analyzed and interpreted in the framework of the development of networks such as the World Wide Web. Nonlinearity is introduced by replacing the linear birth process governing the growth of the in-links of each specific webpage with a fractional nonlinear birth process with completely general birth rates. Among the main results we derive the explicit distribution of the number of in-links of a webpage chosen uniformly at random recognizing the contribution to the asymptotics and the finite time correction. The mean value of the latter distribution is also calculated explicitly in the most general case. Furthermore, in order to show the usefulness of our results, we particularize them in the case of specific birth rates giving rise to a saturating behaviour, a property that is often observed in nature. The further specialization to the non-fractional case allows us to extend the Yule model accounting for a nonlinear growth.

  9. Trirefringence in nonlinear metamaterials

    CERN Document Server

    De Lorenci, Vitorio A

    2012-01-01

    We study the propagation of electromagnetic waves in the limit of geometrical optics for a class of nearly transparent nonlinear uniaxial metamaterials for which their permittivity tensors present a negative principal component. Their permeability are assumed positive and dependent on the electric field. We show that light waves experience triple refraction -- trirefringence. Additionally to the ordinary wave, two extraordinary waves propagate in such media.

  10. Nonlinear silicon photonics

    Science.gov (United States)

    Borghi, M.; Castellan, C.; Signorini, S.; Trenti, A.; Pavesi, L.

    2017-09-01

    Silicon photonics is a technology based on fabricating integrated optical circuits by using the same paradigms as the dominant electronics industry. After twenty years of fervid development, silicon photonics is entering the market with low cost, high performance and mass-manufacturable optical devices. Until now, most silicon photonic devices have been based on linear optical effects, despite the many phenomenologies associated with nonlinear optics in both bulk materials and integrated waveguides. Silicon and silicon-based materials have strong optical nonlinearities which are enhanced in integrated devices by the small cross-section of the high-index contrast silicon waveguides or photonic crystals. Here the photons are made to strongly interact with the medium where they propagate. This is the central argument of nonlinear silicon photonics. It is the aim of this review to describe the state-of-the-art in the field. Starting from the basic nonlinearities in a silicon waveguide or in optical resonator geometries, many phenomena and applications are described—including frequency generation, frequency conversion, frequency-comb generation, supercontinuum generation, soliton formation, temporal imaging and time lensing, Raman lasing, and comb spectroscopy. Emerging quantum photonics applications, such as entangled photon sources, heralded single-photon sources and integrated quantum photonic circuits are also addressed at the end of this review.

  11. Nonlinear fibre optics overview

    DEFF Research Database (Denmark)

    Travers, J. C.; Frosz, Michael Henoch; Dudley, J. M.

    2010-01-01

    , provides a background to the associated nonlinear optical processes, treats the generation mechanisms from continuous wave to femtosecond pulse pump regimes and highlights the diverse applications. A full discussion of numerical methods and comprehensive computer code are also provided, enabling readers...

  12. Nonlinear silicon photonics

    Science.gov (United States)

    Tsia, Kevin K.; Jalali, Bahram

    2010-05-01

    An intriguing optical property of silicon is that it exhibits a large third-order optical nonlinearity, with orders-ofmagnitude larger than that of silica glass in the telecommunication band. This allows efficient nonlinear optical interaction at relatively low power levels in a small footprint. Indeed, we have witnessed a stunning progress in harnessing the Raman and Kerr effects in silicon as the mechanisms for enabling chip-scale optical amplification, lasing, and wavelength conversion - functions that until recently were perceived to be beyond the reach of silicon. With all the continuous efforts developing novel techniques, nonlinear silicon photonics is expected to be able to reach even beyond the prior achievements. Instead of providing a comprehensive overview of this field, this manuscript highlights a number of new branches of nonlinear silicon photonics, which have not been fully recognized in the past. In particular, they are two-photon photovoltaic effect, mid-wave infrared (MWIR) silicon photonics, broadband Raman effects, inverse Raman scattering, and periodically-poled silicon (PePSi). These novel effects and techniques could create a new paradigm for silicon photonics and extend its utility beyond the traditionally anticipated applications.

  13. Is this scaling nonlinear?

    CERN Document Server

    Leitao, J C; Gerlach, M; Altmann, E G

    2016-01-01

    One of the most celebrated findings in complex systems in the last decade is that different indexes y (e.g., patents) scale nonlinearly with the population~x of the cities in which they appear, i.e., $y\\sim x^\\beta, \\beta \

  14. Nonlinear Gravitational Lagrangians revisited

    CERN Document Server

    Magnano, Guido

    2016-01-01

    The Legendre transformation method, applied in 1987 to deal with purely metric gravitational Lagrangians with nonlinear dependence on the Ricci tensor, is extended to metric-affine models and is shown to provide a concise and insightful comparison of the dynamical content of the two variational frameworks.

  15. Nonlinearities in Microwave Superconductivity

    OpenAIRE

    Ledenyov, Dimitri O.; Ledenyov, Viktor O.

    2012-01-01

    The research is focused on the modeling of nonlinear properties of High Temperature Superconducting (HTS) thin films, using Bardeen, Cooper, Schrieffer and Lumped Element Circuit theories, with purpose to enhance microwave power handling capabilities of microwave filters and optimize design of microwave circuits in micro- and nano- electronics.

  16. Nonlinear tsunami generation mechanism

    Directory of Open Access Journals (Sweden)

    M. A. Nosov

    2001-01-01

    Full Text Available The nonlinear mechanism of long gravitational surface water wave generation by high-frequency bottom oscillations in a water layer of constant depth is investigated analytically. The connection between the surface wave amplitude and the parameters of bottom oscillations and source length is investigated.

  17. Topics in Nonlinear Dynamics

    DEFF Research Database (Denmark)

    Mosekilde, Erik

    Through a significant number of detailed and realistic examples this book illustrates how the insights gained over the past couple of decades in the fields of nonlinear dynamics and chaos theory can be applied in practice. Aomng the topics considered are microbiological reaction systems, ecological...

  18. Terahertz semiconductor nonlinear optics

    DEFF Research Database (Denmark)

    Turchinovich, Dmitry; Hvam, Jørn Märcher; Hoffmann, Matthias

    2013-01-01

    nonlinearity in doped semiconductors originates from the near-instantaneous heating of free electrons in the ponderomotive potential created by electric field of the THz pulse, leading to ultrafast increase of electron effective mass by intervalley scattering. Modification of effective mass in turn leads...

  19. 基于模型降阶的平面三连杆欠驱动机械系统位置控制%Position Control of a Planar Three-link Underactuated Mechanical System Based on Model Reduction

    Institute of Scientific and Technical Information of China (English)

    盛洋; 赖旭芝; 吴敏

    2014-01-01

    This paper presents a position control method based on model reduction for a planar three-link passive-active-active (PAA) under-actuated mechanical system with a passive first joint. Firstly, a mathematical model of the system is built, and its integral characteristic is analyzed. Next, the partially integrable three-link system is reduced to two completely integrable two-link systems by the method of piecewise degree reduction, and the state constraint relationships of the system between the active link and the passive link can be obtained based on the two subsystems. Then, the target angles of the active links are calculated by particle swarm optimization (PSO) algorithm according to the target position of the end of the system. Finally, the controllers of the two link subsystems are designed respectively to achieve the system control objective from any initial position to any target position. Simulation results demonstrate the validity of the proposed control method.%针对第一关节为被动的平面三连杆欠驱动机械系统,提出一种基于模型降阶的位置控制方法。首先,建立平面三连杆欠驱动系统数学模型,并分析其积分特性;其次,将部分可积的三连杆系统分段降阶为两个完全可积的两连杆子系统,并基于两子系统获得系统驱动杆与欠驱动杆之间的状态约束关系;然后,利用粒子群优化算法,根据系统末端点目标位置计算驱动杆目标角度;最后,分别设计两连杆子系统控制器,实现系统从任意初始位置到任意目标位置的控制目标。仿真结果验证所提控制策略的有效性。

  20. Maneuvering Control of an Underactuated Spacecraft Based on Dynamic Inverse Method%基于动态逆法的欠驱动航天器姿态机动控制

    Institute of Scientific and Technical Information of China (English)

    桂海潮; 徐世杰; 金磊

    2014-01-01

    针对轴对称欠驱动航天器的姿态机动控制问题,在欠驱动轴为对称轴且沿该轴的角速度为零的情况下,结合广义动态逆法和退步控制,设计了使姿态误差全局收敛的切换控制律。通过引入饱和函数和恰当的选择控制增益,消除了控制律在初始时刻和稳态阶段可能出现的奇异,同时避免了在机动初始阶段可能出现的大幅超调。经过严格的理论分析,证明在所设计的控制律作用下,姿态误差全局收敛,且控制律至多出现一次切换,不会出现颤振问题。数值仿真结果表明了该法的有效性。%The maneuvering control of an underactuated axisymmetric spacecraft with the symmetry axis as unactuated axis was investigated under the assumption that the angular velocity component along the unactuated axis was zero.The generalized dynamic inverse (GDI) method was utilized in conj unction with backstepping method to design a switched control logic yielding global convergence of the attitude error. Singularities inherent in the control law, which may arise at the beginning or during the steady phase of the control process, were wiped out by introducing a saturated function and properly choosing control gains. Simultaneously,the large transient amplitude, which may occur during the initial maneuver phase,was avoided. Strict proof shows that by this control law the attitude error globally converges to zero and there is at most one switching during the whole control process, thus eliminating the possibility of chattering. Numerical simulation results demonstrate the effectiveness of the proposed control law.

  1. Bottom-following control for an underactuated unmanned underwater vehicle using integral sliding mode control%基于积分滑模的欠驱动UUV地形跟踪控制

    Institute of Scientific and Technical Information of China (English)

    严浙平; 于浩淼; 李本银; 周佳加

    2016-01-01

    The bottom⁃following problem of an underactuated unmanned underwater vehicle ( UUV) is discussed with consideration of the effects of parameter perturbation and external disturbances. A bottom⁃following control law based on the backstepping method and integral sliding mode control ( ISMC) is presented, which eliminates parameter per⁃turbations and external disturbances. First, the bottom⁃following error equations were established using the kinematic properties of the vehicle and the local Serret⁃Frenet Frame. Then, the kinematic control law ( guidance law) and dy⁃namic control law were developed based on the backstepping method and ISMC. Thus, the closed⁃loop motion system under the proposed control law was proven to have global finite⁃time stability. These simulation results show that the bottom⁃following mission can efficiently be achieved, and there is strong robustness to the parameter perturbations and external disturbances.%针对参数摄动以及外界环境扰动条件下欠驱动水下无人航行器( UUV)地形跟踪控制任务,提出了一种基于反步法( Backstepping)和积分滑模控制方法( ISMC)的地形跟踪控制策略。首先,利用航行器的运动学特性以及局部Serret⁃Frenet坐标系,建立UUV地形跟踪误差方程。然后,分别采用反步法和ISMC设计运动学控制(制导律)和动力学控制器。利用有限时间稳定性理论证明该地形跟踪控制策略作用下的闭环运动系统为全局有限时间收敛的。仿真结果表明,所提出的地形跟踪控制策略可以有效地实现地形跟踪任务,并且对于参数摄动以及外界干扰具有很强的鲁棒性。

  2. 通信时延下欠驱动自主水下航行器编队控制%Formation Control of Multiple Underactuated Autonomous Underwater Vehicles with Communication Time Delays

    Institute of Scientific and Technical Information of China (English)

    闫伟; 严卫生; 王银涛; 姚尧

    2011-01-01

    研究了通讯时延情况下的欠驱动自主水下航行器(Autonomous Underwater Vehicle)编队控制问题。考虑到水下通讯所面临困难,将编队问题分为两个部分:一部分为单个AUV的路径跟踪控制问题,保证每个AUV沿各自的期望路径航行;另一部分为路径参数的协同控制问题,保证每个AUV期望的路径参数能够实现同步,进而达到编队控制的目的。提出的控制方案仅需要AUV之间交互路径参数信息,通讯需求量小,满足实际工程需求且能够允许一定的通讯时间延迟。数值仿真结果验证了控制算法的有效性。%We address the problem of designing distributed feedback laws to fore the outputs of underactuated Autonomous Underwater Vehicles to following geometric paths while holding a desired formation pattern. Considering the difficulties that are specially challenging in the field of underwater communications, the solution to formation problem, unfolds in two basic parts. Firstly, a path following control law is used to drive each AUV to its desired path regardless of the temporal speed profile adopted. Secondly the path parameters of each assigned path are adjusted so as to synchronize their positions along the path, thus achieving coordination, while making the formation as a whole travel at a given speed. The control strategy proposed only need AUVs communicate the information of path parameter with each other; the information flow is small and satisfy with a practical standpoint, moreover, the control law permits with a certain extent time delays. Simulation results show that the proposed control strategy is valid.

  3. Nonlinear Optical Terahertz Technology Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Our approach is based on high-Q optical WGM resonators made with a nonlinear crystal. Such resonators have been demonstrated to dramatically enhance nonlinear...

  4. Phase retrieval using nonlinear diversity.

    Science.gov (United States)

    Lu, Chien-Hung; Barsi, Christopher; Williams, Matthew O; Kutz, J Nathan; Fleischer, Jason W

    2013-04-01

    We extend the Gerchberg-Saxton algorithm to phase retrieval in a nonlinear system. Using a tunable photorefractive crystal, we experimentally demonstrate the noninterferometric technique by reconstructing an unknown phase object from optical intensity measurements taken at different nonlinear strengths.

  5. Strong nonlinear oscillators analytical solutions

    CERN Document Server

    Cveticanin, Livija

    2017-01-01

    This book outlines an analytical solution procedure of the pure nonlinear oscillator system, offering a solution for free and forced vibrations of the one-degree-of-freedom strong nonlinear system with constant and time variable parameter. Includes exercises.

  6. 鲁棒自适应控制

    Institute of Scientific and Technical Information of China (English)

    2005-01-01

    Robust adaptive path following of under-actuated ships.Robust Adaptive Stabilization for Time Varying Uncertain Nonlinear Systems with Unknown Control Coefficients,Robust adaptive tracking for time-varying uncertain nonlinear systems with unknown control coefficients,Robust and adaptive path following for underactuated autonomous underwater vehicles.Smooth shift control of automatic transmissions using a robust adaptive scheme with intelligent supervision.

  7. Control Property of the Spacecraft Attitude Underactuated by Wheels%轮控欠驱动航天器的姿态控制特性

    Institute of Scientific and Technical Information of China (English)

    桂海潮; 徐世杰; 金磊; 张军

    2012-01-01

    针对由飞轮控制的欠驱动航天器,研究了直接以飞轮转速为控制输入时航天器姿态的小时间局部可控性与可镇定性.首先,视飞轮转速为输入,将航天器与飞轮总角动量守恒的约束直接纳入系统动力学方程中.然后,利用非线性系统的可控性与可镇定性理论分析该系统方程在分别带有一个和两个飞轮时的控制特性.结果表明,仅在带有两个非共轴的飞轮时航天器的姿态才有可能满足局部可控;同时,系统已经不能被时不变光滑状态反馈渐近镇定,但至少可以被分段连续的状态反馈渐近镇定.据此,设计了基于四元数的非光滑控制器使得航天器的姿态迅速镇定,同时飞轮转速不超过最大转速,既验证了理论分析结果的正确性,又具有一定的实用意义.%Small-time local controllability (STLC) and stabilizability of the spacecraft attitude underaetuated by reaction wheels (RWs) were investigated with the wheel speeds as control inputs. Firstly, with the wheel speeds being treated as inputs, the conservation constraint of the total angular momentum of the spacecraft and RWs was directly brought into the dynamics of the system. Then nonlinear controllability and stabilizability theory were utilized to analyze the control property of this dynamics with one and two RWs respectively. The results show that the STLC of the spacecraft attitude is possible only when two non-coaxial RWs are available. Simultaneously, the system cannot be asymptotically stabilized by a time-invariant smooth feedback, but it still can be asymptotically stabilized at least by a piecewise continuous feedback. Accordingly, a nonsmooth control law based on quaternion was constructed to stabilize the spacecraft attitude with wheel speeds under the saturation limits, which not only confirms the theoretical outcomes but also is practically useful.

  8. Cubication of Conservative Nonlinear Oscillators

    Science.gov (United States)

    Belendez, Augusto; Alvarez, Mariela L.; Fernandez, Elena; Pascual, Immaculada

    2009-01-01

    A cubication procedure of the nonlinear differential equation for conservative nonlinear oscillators is analysed and discussed. This scheme is based on the Chebyshev series expansion of the restoring force, and this allows us to approximate the original nonlinear differential equation by a Duffing equation in which the coefficients for the linear…

  9. Terahertz Nonlinear Optics in Semiconductors

    DEFF Research Database (Denmark)

    Turchinovich, Dmitry; Hvam, Jørn Märcher; Hoffmann, Matthias C.

    2013-01-01

    We demonstrate the nonlinear optical effects – selfphase modulation and saturable absorption of a single-cycle THz pulse in a semiconductor. Resulting from THz-induced modulation of Drude plasma, these nonlinear optical effects, in particular, lead to self-shortening and nonlinear spectral...

  10. Fault Detection for Nonlinear Systems

    DEFF Research Database (Denmark)

    Stoustrup, Jakob; Niemann, H.H.

    1998-01-01

    The paper describes a general method for designing fault detection and isolation (FDI) systems for nonlinear processes. For a rich class of nonlinear systems, a nonlinear FDI system can be designed using convex optimization procedures. The proposed method is a natural extension of methods based...

  11. Nonlinear electrostatic drift Kelvin-Helmholtz instability

    Science.gov (United States)

    Sharma, Avadhesh C.; Srivastava, Krishna M.

    1993-01-01

    Nonlinear analysis of electrostatic drift Kelvin-Helmholtz instability is performed. It is shown that the analysis leads to the propagation of the weakly nonlinear dispersive waves, and the nonlinear behavior is governed by the nonlinear Burger's equation.

  12. Optothermal nonlinearity of silica aerogel

    CERN Document Server

    Braidotti, Maria Chiara; Fleming, Adam; Samuels, Michiel C; Di Falco, Andrea; Conti, Claudio

    2016-01-01

    We report on the characterization of silica aerogel thermal optical nonlinearity, obtained by z-scan technique. The results show that typical silica aerogels have nonlinear optical coefficient similar to that of glass $(\\simeq 10^{-12} $m$^2/$W), with negligible optical nonlinear absorption. The non\\-li\\-near coefficient can be increased to values in the range of $10^{-10} $m$^2/$W by embedding an absorbing dye in the aerogel. This value is one order of magnitude higher than that observed in the pure dye and in typical highly nonlinear materials like liquid crystals.

  13. Essentials of nonlinear optics

    CERN Document Server

    Murti, Y V G S

    2014-01-01

    Current literature on Nonlinear Optics varies widely in terms of content, style, and coverage of specific topics, relative emphasis of areas and the depth of treatment. While most of these books are excellent resources for the researchers, there is a strong need for books appropriate for presenting the subject at the undergraduate or postgraduate levels in Universities. The need for such a book to serve as a textbook at the level of the bachelors and masters courses was felt by the authors while teaching courses on nonlinear optics to students of both science and engineering during the past two decades. This book has emerged from an attempt to address the requirement of presenting the subject at college level. A one-semester course covering the essentials can effectively be designed based on this.

  14. Nonlinear metamaterials for holography

    Science.gov (United States)

    Almeida, Euclides; Bitton, Ora; Prior, Yehiam

    2016-08-01

    A hologram is an optical element storing phase and possibly amplitude information enabling the reconstruction of a three-dimensional image of an object by illumination and scattering of a coherent beam of light, and the image is generated at the same wavelength as the input laser beam. In recent years, it was shown that information can be stored in nanometric antennas giving rise to ultrathin components. Here we demonstrate nonlinear multilayer metamaterial holograms. A background free image is formed at a new frequency--the third harmonic of the illuminating beam. Using e-beam lithography of multilayer plasmonic nanoantennas, we fabricate polarization-sensitive nonlinear elements such as blazed gratings, lenses and other computer-generated holograms. These holograms are analysed and prospects for future device applications are discussed.

  15. Nonlinear metamaterials for holography

    Science.gov (United States)

    Almeida, Euclides; Bitton, Ora

    2016-01-01

    A hologram is an optical element storing phase and possibly amplitude information enabling the reconstruction of a three-dimensional image of an object by illumination and scattering of a coherent beam of light, and the image is generated at the same wavelength as the input laser beam. In recent years, it was shown that information can be stored in nanometric antennas giving rise to ultrathin components. Here we demonstrate nonlinear multilayer metamaterial holograms. A background free image is formed at a new frequency—the third harmonic of the illuminating beam. Using e-beam lithography of multilayer plasmonic nanoantennas, we fabricate polarization-sensitive nonlinear elements such as blazed gratings, lenses and other computer-generated holograms. These holograms are analysed and prospects for future device applications are discussed. PMID:27545581

  16. Nonlinear data assimilation

    CERN Document Server

    Van Leeuwen, Peter Jan; Reich, Sebastian

    2015-01-01

    This book contains two review articles on nonlinear data assimilation that deal with closely related topics but were written and can be read independently. Both contributions focus on so-called particle filters. The first contribution by Jan van Leeuwen focuses on the potential of proposal densities. It discusses the issues with present-day particle filters and explorers new ideas for proposal densities to solve them, converging to particle filters that work well in systems of any dimension, closing the contribution with a high-dimensional example. The second contribution by Cheng and Reich discusses a unified framework for ensemble-transform particle filters. This allows one to bridge successful ensemble Kalman filters with fully nonlinear particle filters, and allows a proper introduction of localization in particle filters, which has been lacking up to now.

  17. Nonlinearity without Superluminality

    CERN Document Server

    Kent, A

    2002-01-01

    Quantum theory is compatible with special relativity. In particular, though measurements on entangled systems are correlated in a way that cannot be reproduced by local hidden variables, they cannot be used for superluminal signalling. As Gisin and Polchinski first pointed out, this is not true for general nonlinear modifications of the Schroedinger equation. Excluding superluminal signalling has thus been taken to rule out most nonlinear versions of quantum theory. The no superluminal signalling constraint has also been used for alternative derivations of the optimal fidelities attainable for imperfect quantum cloning and other operations. These results apply to theories satisfying the rule that their predictions for widely separated and slowly moving entangled systems can be approximated by non-relativistic equations of motion with respect to a preferred time coordinate. This paper describes a natural way in which this rule might fail to hold. In particular, it is shown that quantum readout devices which di...

  18. Monte Carlo and nonlinearities

    CERN Document Server

    Dauchet, Jérémi; Blanco, Stéphane; Caliot, Cyril; Charon, Julien; Coustet, Christophe; Hafi, Mouna El; Eymet, Vincent; Farges, Olivier; Forest, Vincent; Fournier, Richard; Galtier, Mathieu; Gautrais, Jacques; Khuong, Anaïs; Pelissier, Lionel; Piaud, Benjamin; Roger, Maxime; Terrée, Guillaume; Weitz, Sebastian

    2016-01-01

    The Monte Carlo method is widely used to numerically predict systems behaviour. However, its powerful incremental design assumes a strong premise which has severely limited application so far: the estimation process must combine linearly over dimensions. Here we show that this premise can be alleviated by projecting nonlinearities on a polynomial basis and increasing the configuration-space dimension. Considering phytoplankton growth in light-limited environments, radiative transfer in planetary atmospheres, electromagnetic scattering by particles and concentrated-solar-power-plant productions, we prove the real world usability of this advance on four test-cases that were so far regarded as impracticable by Monte Carlo approaches. We also illustrate an outstanding feature of our method when applied to sharp problems with interacting particles: handling rare events is now straightforward. Overall, our extension preserves the features that made the method popular: addressing nonlinearities does not compromise o...

  19. Nonlinear Photonics 2014: introduction.

    Science.gov (United States)

    Akhmediev, N; Kartashov, Yaroslav

    2015-01-12

    International Conference "Nonlinear Photonics-2014" took place in Barcelona, Spain on July 27-31, 2014. It was a part of the "Advanced Photonics Congress" which is becoming a traditional notable event in the world of photonics. The current focus issue of Optics Express contains contributions from the participants of the Conference and the Congress. The articles in this focus issue by no means represent the total number of the congress contributions (around 400). However, it demonstrates wide range of topics covered at the event. The next conference of this series is to be held in 2016 in Australia, which is the home of many researchers working in the field of photonics in general and nonlinear photonics in particular.

  20. Nonlinear fractional relaxation

    Indian Academy of Sciences (India)

    A Tofighi

    2012-04-01

    We define a nonlinear model for fractional relaxation phenomena. We use -expansion method to analyse this model. By studying the fundamental solutions of this model we find that when → 0 the model exhibits a fast decay rate and when → ∞ the model exhibits a power-law decay. By analysing the frequency response we find a logarithmic enhancement for the relative ratio of susceptibility.

  1. -Deformed nonlinear maps

    Indian Academy of Sciences (India)

    Ramaswamy Jaganathan; Sudeshna Sinha

    2005-03-01

    Motivated by studies on -deformed physical systems related to quantum group structures, and by the elements of Tsallis statistical mechanics, the concept of -deformed nonlinear maps is introduced. As a specific example, a -deformation procedure is applied to the logistic map. Compared to the canonical logistic map, the resulting family of -logistic maps is shown to have a wider spectrum of interesting behaviours, including the co-existence of attractors – a phenomenon rare in one-dimensional maps.

  2. Controllability of nonlinear systems.

    Science.gov (United States)

    Sussmann, H. J.; Jurdjevic, V.

    1972-01-01

    Discussion of the controllability of nonlinear systems described by the equation dx/dt - F(x,u). Concepts formulated by Chow (1939) and Lobry (1970) are applied to establish criteria for F and its derivatives to obtain qualitative information on sets which can be obtained from x which denotes a variable of state in an arbitrary, real, analytical manifold. It is shown that controllability implies strong accessibility for a large class of manifolds including Euclidean spaces.-

  3. Stochastic Nonlinear Aeroelasticity

    Science.gov (United States)

    2009-01-01

    STOCHASTIC NONLINEAR AEROELASTICITY 5a. CONTRACT NUMBER In- house 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 0601102 6. AUTHOR(S) Philip S...ABSTRACT This report documents the culmination of in- house work in the area of uncertainty quantification and probabilistic techniques for... coff U∞ cs ea lw cw Figure 6: Wing and store geometry (left), wing box structural model (middle), flutter distribution (right

  4. Nonlinear Control Systems

    Science.gov (United States)

    2007-03-01

    IEEE Transactions on Automatic Control , AC- 48, pp. 1712-1723, (2003). [14] C.I. Byrnes, A. Isidori...Nonlinear internal models for output regulation,” IEEE Transactions on Automatic Control , AC-49, pp. 2244-2247, (2004). [15] C.I. Byrnes, F. Celani, A...approach,” IEEE Transactions on Automatic Control , 48 (Dec. 2003), 2172–2190. 2. C. I. Byrnes, “Differential Forms and Dynamical Systems,” to appear

  5. Filamentation with nonlinear Bessel vortices.

    Science.gov (United States)

    Jukna, V; Milián, C; Xie, C; Itina, T; Dudley, J; Courvoisier, F; Couairon, A

    2014-10-20

    We present a new type of ring-shaped filaments featured by stationary nonlinear high-order Bessel solutions to the laser beam propagation equation. Two different regimes are identified by direct numerical simulations of the nonlinear propagation of axicon focused Gaussian beams carrying helicity in a Kerr medium with multiphoton absorption: the stable nonlinear propagation regime corresponds to a slow beam reshaping into one of the stationary nonlinear high-order Bessel solutions, called nonlinear Bessel vortices. The region of existence of nonlinear Bessel vortices is found semi-analytically. The influence of the Kerr nonlinearity and nonlinear losses on the beam shape is presented. Direct numerical simulations highlight the role of attractors played by nonlinear Bessel vortices in the stable propagation regime. Large input powers or small cone angles lead to the unstable propagation regime where nonlinear Bessel vortices break up into an helical multiple filament pattern or a more irregular structure. Nonlinear Bessel vortices are shown to be sufficiently intense to generate a ring-shaped filamentary ionized channel in the medium which is foreseen as opening the way to novel applications in laser material processing of transparent dielectrics.

  6. Strongly nonlinear oscillators analytical solutions

    CERN Document Server

    Cveticanin, Livija

    2014-01-01

    This book provides the presentation of the motion of pure nonlinear oscillatory systems and various solution procedures which give the approximate solutions of the strong nonlinear oscillator equations. The book presents the original author’s method for the analytical solution procedure of the pure nonlinear oscillator system. After an introduction, the physical explanation of the pure nonlinearity and of the pure nonlinear oscillator is given. The analytical solution for free and forced vibrations of the one-degree-of-freedom strong nonlinear system with constant and time variable parameter is considered. Special attention is given to the one and two mass oscillatory systems with two-degrees-of-freedom. The criteria for the deterministic chaos in ideal and non-ideal pure nonlinear oscillators are derived analytically. The method for suppressing chaos is developed. Important problems are discussed in didactic exercises. The book is self-consistent and suitable as a textbook for students and also for profess...

  7. Quantum well nonlinear microcavities

    Science.gov (United States)

    Oudar, J. L.; Kuszelewicz, R.; Sfez, B.; Pellat, D.; Azoulay, R.

    We report on recent progress in reducing the power threshold of all-optical bistable quantum well vertical microcavities. Significant improvements are achieved through an increase of the cavity finesse, together with a reduction of the device active layer thickness. A critical intensity of 5 μW/μm 2 has been observed on a microcavity of finesse 250, with a nonlinear medium of only 18 GaAs quantum wells of 10 nm thickness. Further improvements of the Bragg mirror quality resulted in a finesse of 700 and a power-lifetime product of 15 fJ/μm 2. Microresonator pixellation allows to obtain 2-dimensional arrays. A thermally-induced alloy-mixing technique is described, which produced a 110 meV carrier confinement energy, together with a refractive index change of -.012, averaged over the 2.6 μm nonlinear medium thickness. The resulting electrical and optical confinement is shown to improve the nonlinear characteristics, by limiting lateral carrier diffusion and light diffraction.

  8. Nonlinear robust hierarchical control for nonlinear uncertain systems

    Directory of Open Access Journals (Sweden)

    Leonessa Alexander

    1999-01-01

    Full Text Available A nonlinear robust control-system design framework predicated on a hierarchical switching controller architecture parameterized over a set of moving nominal system equilibria is developed. Specifically, using equilibria-dependent Lyapunov functions, a hierarchical nonlinear robust control strategy is developed that robustly stabilizes a given nonlinear system over a prescribed range of system uncertainty by robustly stabilizing a collection of nonlinear controlled uncertain subsystems. The robust switching nonlinear controller architecture is designed based on a generalized (lower semicontinuous Lyapunov function obtained by minimizing a potential function over a given switching set induced by the parameterized nominal system equilibria. The proposed framework robustly stabilizes a compact positively invariant set of a given nonlinear uncertain dynamical system with structured parametric uncertainty. Finally, the efficacy of the proposed approach is demonstrated on a jet engine propulsion control problem with uncertain pressure-flow map data.

  9. Nonlinear scattering in plasmonic nanostructures

    Science.gov (United States)

    Chu, Shi-Wei

    2016-09-01

    Nonlinear phenomena provide novel light manipulation capabilities and innovative applications. Recently, we discovered nonlinear saturation on single-particle scattering of gold nanospheres by continuous-wave laser excitation and innovatively applied to improve microscopic resolution down to λ/8. However, the nonlinearity was limited to the green-orange plasmonic band of gold nanosphere, and the underlying mechanism has not yet been fully understood. In this work, we demonstrated that nonlinear scattering exists for various material/geometry combinations, thus expanding the applicable wavelength range. For near-infrared, gold nanorod is used, while for blue-violet, silver nanospheres are adopted. In terms of mechanism, the nonlinearity may originate from interband/intraband absorption, hot electron, or hot lattice, which are spectrally mixed in the case of gold nanosphere. For gold nanorod and silver nanosphere, nonlinear scattering occurs at plasmonic resonances, which are spectrally far from interband/intraband absorptions, so they are excluded. We found that the nonlinear index is much larger than possible contributions from hot electrons in literature. Therefore, we conclude that hot lattice is the major mechanism. In addition, we propose that similar to z-scan, which is the standard method to characterize nonlinearity of a thin sample, laser scanning microscopy should be adopted as the standard method to characterize nonlinearity from a nanostructure. Our work not only provides the physical mechanism of the nonlinear scattering, but also paves the way toward multi-color superresolution imaging based on non-bleaching plasmonic scattering.

  10. Discrete nonlinear Schrodinger equations with arbitrarily high-order nonlinearities

    DEFF Research Database (Denmark)

    Khare, A.; Rasmussen, Kim Ø; Salerno, M.

    2006-01-01

    A class of discrete nonlinear Schrodinger equations with arbitrarily high-order nonlinearities is introduced. These equations are derived from the same Hamiltonian using different Poisson brackets and include as particular cases the saturable discrete nonlinear Schrodinger equation and the Ablowi......-Ladik equation. As a common property, these equations possess three kinds of exact analytical stationary solutions for which the Peierls-Nabarro barrier is zero. Several properties of these solutions, including stability, discrete breathers, and moving solutions, are investigated....

  11. Dichromatic nonlinear eigenmodes in slab waveguide with chi(2) nonlinearity.

    Science.gov (United States)

    Darmanyan, S A; Nevière, M

    2001-03-01

    The existence of purely nonlinear eigenmodes in a waveguiding structure composed of a slab with quadratic nonlinearity surrounded by (non)linear claddings is reported. Modes having bright and dark solitonlike shapes and consisting of two mutually locked harmonics are identified. Asymmetrical modes are shown to exist in symmetrical environments. Constraints for the existence of the modes are derived in terms of parameters of guiding structure materials.

  12. Nonlinear Schrodinger equation with chaotic, random, and nonperiodic nonlinearity

    CERN Document Server

    Cardoso, W B; Avelar, A T; Bazeia, D; Hussein, M S

    2009-01-01

    In this paper we deal with a nonlinear Schr\\"{o}dinger equation with chaotic, random, and nonperiodic cubic nonlinearity. Our goal is to study the soliton evolution, with the strength of the nonlinearity perturbed in the space and time coordinates and to check its robustness under these conditions. Comparing with a real system, the perturbation can be related to, e.g., impurities in crystalline structures, or coupling to a thermal reservoir which, on the average, enhances the nonlinearity. We also discuss the relevance of such random perturbations to the dynamics of Bose-Einstein Condensates and their collective excitations and transport.

  13. Nonlinear Optical Rectennas

    CERN Document Server

    Stolz, A; Markey, L; Francs, G Colas des; Bouhelier, A

    2013-01-01

    We introduce strongly-coupled optical gap antennas to interface optical radiation with current-carrying electrons at the nanoscale. The transducer relies on the nonlinear optical and electrical properties of an optical antenna operating in the tunneling regime. We discuss the underlying physical mechanisms controlling the conversion and demonstrate that a two-wire optical antenna can provide advanced optoelectronic functionalities beyond tailoring the electromagnetic response of a single emitter. Interfacing an electronic command layer with a nanoscale optical device may thus be facilitated by the optical rectennas discussed here.

  14. Nonlinear surface electromagnetic phenomena

    CERN Document Server

    Ponath, H-E

    1991-01-01

    In recent years the physics of electromagnetic surface phenomena has developed rapidly, evolving into technologies for communications and industry, such as fiber and integrated optics. The variety of phenomena based on electromagnetism at surfaces is rich and this book was written with the aim of summarizing the available knowledge in selected areas of the field. The book contains reviews written by solid state and optical physicists on the nonlinear interaction of electromagnetic waves at and with surfaces and films. Both the physical phenomena and some potential applications are

  15. Nonlinear electrodynamics with birefringence

    CERN Document Server

    Kruglov, S I

    2015-01-01

    A new model of nonlinear electrodynamics with three parameters is suggested. The phenomena of vacuum birefringence takes place when there is the external constant magnetic field. We calculate the indices of refraction for two polarizations of electromagnetic waves, parallel and perpendicular to the magnetic induction field. From the Bir\\'{e}fringence Magn\\'{e}tique du Vide (BMV) experiment one of the coefficients, $\\gamma\\approx 10^{-20}$ T$^{-2}$, was estimated. The canonical, symmetrical Belinfante energy-momentum tensors and dilatation current were obtained. The dilatation symmetry and the dual symmetry are broken in the model considered.

  16. Nonlinear diffusion equations

    CERN Document Server

    Wu Zhuo Qun; Li Hui Lai; Zhao Jun Ning

    2001-01-01

    Nonlinear diffusion equations, an important class of parabolic equations, come from a variety of diffusion phenomena which appear widely in nature. They are suggested as mathematical models of physical problems in many fields, such as filtration, phase transition, biochemistry and dynamics of biological groups. In many cases, the equations possess degeneracy or singularity. The appearance of degeneracy or singularity makes the study more involved and challenging. Many new ideas and methods have been developed to overcome the special difficulties caused by the degeneracy and singularity, which

  17. Nonlinear dynamics in psychology

    Directory of Open Access Journals (Sweden)

    Stephen J. Guastello

    2001-01-01

    Full Text Available This article provides a survey of the applications of nonlinear dynamical systems theory to substantive problems encountered in the full scope of psychological science. Applications are organized into three topical areas – cognitive science, social and organizational psychology, and personality and clinical psychology. Both theoretical and empirical studies are considered with an emphasis on works that capture the broadest scope of issues that are of substantive interest to psychological theory. A budding literature on the implications of NDS principles in professional practice is reported also.

  18. Nonlinear Control Systems

    Science.gov (United States)

    2009-11-18

    analytic semigroup T(t) ~ eAl is exponentially stable (Notice that it is also a contraction semigroup ). 3. Be 3(U, Z) and P e £(W, 2) are bounded. 4. Ce...quite often in practice, .4 is self-adjoint. We also note that, since we assume (—A) is sectorial, we work with the semigroup exp(.4f) rather than...Uniform Output Regulation of Nonlinear Sys- tems: A convergent Dynamics Approach, Birkhauser, Boston, 2006. 23 135] A. Pazy, Semigroups of Linear

  19. Nonlinear elliptic systems

    Directory of Open Access Journals (Sweden)

    DJAIRO G. DEFIGUEIREDO

    2000-12-01

    Full Text Available In this paper we treat the question of the existence of solutions of boundary value problems for systems of nonlinear elliptic equations of the form - deltau = f (x, u, v,Ñu,Ñv, - deltav = g(x, u, v, Ñu, Ñv, in omega, We discuss several classes of such systems using both variational and topological methods. The notion of criticality takes into consideration the coupling, which plays important roles in both a priori estimates for the solutions and Palais-Smale conditions for the associated functional in the variational case.

  20. Global Analysis of Nonlinear Dynamics

    CERN Document Server

    Luo, Albert

    2012-01-01

    Global Analysis of Nonlinear Dynamics collects chapters on recent developments in global analysis of non-linear dynamical systems with a particular emphasis on cell mapping methods developed by Professor C.S. Hsu of the University of California, Berkeley. This collection of contributions prepared by a diverse group of internationally recognized researchers is intended to stimulate interests in global analysis of complex and high-dimensional nonlinear dynamical systems, whose global properties are largely unexplored at this time. This book also: Presents recent developments in global analysis of non-linear dynamical systems Provides in-depth considerations and extensions of cell mapping methods Adopts an inclusive style accessible to non-specialists and graduate students Global Analysis of Nonlinear Dynamics is an ideal reference for the community of nonlinear dynamics in different disciplines including engineering, applied mathematics, meteorology, life science, computational science, and medicine.  

  1. Nonlinear evolution of drift instabilities

    Energy Technology Data Exchange (ETDEWEB)

    Lee, W.W.; Krommes, J.A.; Oberman, C.R.; Smith, R.A.

    1984-01-01

    The nonlinear evolution of collisionless drift instabilities in a shear-free magnetic field has been studied by means of gyrokinetic particle simulation as well as numerical integration of model mode-coupling equations. The purpose of the investigation is to identify relevant nonlinear mechanisms responsible for the steady-state drift wave fluctuations. It is found that the saturation of the instability is mainly caused by the nonlinear E x B convection of the resonant electrons and their associated velocity space nonlinearity. The latter also induces energy exchange between the competing modes, which, in turn, gives rise to enhanced diffusion. The nonlinear E x B convection of the ions, which contributes to the nonlinear frequency shift, is also an important ingredient for the saturation.

  2. Z-scan theory for nonlocal nonlinear media with simultaneous nonlinear refraction and nonlinear absorption.

    Science.gov (United States)

    Rashidian Vaziri, Mohammad Reza

    2013-07-10

    In this paper, the Z-scan theory for nonlocal nonlinear media has been further developed when nonlinear absorption and nonlinear refraction appear simultaneously. To this end, the nonlinear photoinduced phase shift between the impinging and outgoing Gaussian beams from a nonlocal nonlinear sample has been generalized. It is shown that this kind of phase shift will reduce correctly to its known counterpart for the case of pure refractive nonlinearity. Using this generalized form of phase shift, the basic formulas for closed- and open-aperture beam transmittances in the far field have been provided, and a simple procedure for interpreting the Z-scan results has been proposed. In this procedure, by separately performing open- and closed-aperture Z-scan experiments and using the represented relations for the far-field transmittances, one can measure the nonlinear absorption coefficient and nonlinear index of refraction as well as the order of nonlocality. Theoretically, it is shown that when the absorptive nonlinearity is present in addition to the refractive nonlinearity, the sample nonlocal response can noticeably suppress the peak and enhance the valley of the Z-scan closed-aperture transmittance curves, which is due to the nonlocal action's ability to change the beam transverse dimensions.

  3. 不确定欠驱动系统的高阶自适应Super-Twisting滑模控制%High-Order Adaptive Super-Twisting Sliding Mode Control for Uncertain Underactuated Systems

    Institute of Scientific and Technical Information of China (English)

    杨兴明; 高银平

    2014-01-01

    为实现一类不确定欠驱动系统在未知干扰情况下的鲁棒控制,针对传统滑模控制中存在的抖振问题,提出一种基于二次型Lyapunov函数的二阶Super-Twisting自适应滑模控制策略。首先,控制器的不连续项采用二阶Super-Twisting算法,将不连续控制作用在滑模量的二阶导数。然后,针对滑模面受不确定干扰影响的情况,为调节参数设计一种自适应律方法,该方法不受传统二阶滑模控制中干扰项的一阶导数边界已知的条件限制,保证滑模面在有干扰情况下的收敛,削弱控制器输入的抖振现象。最后,以两轮自平衡车为实验对象验证该方法,并与传统滑模及普通二阶滑模方法做仿真对比。仿真结果表明文中所提的二阶自适应滑模控制方法在控制效果和降低抖振方面表现更优。%To achieve good robustness against disturbances for a class of uncertain underactuated systems, a second-order adaptive sliding mode control method is proposed based on quadratic Lyapunov function to reduce the inherent chattering of conventional sliding mode control ( SMC ) . Firstly, a second-order super-twisting algorithm is used by the discontinuous part of controller, which acts on the second-order derivative of sliding mode variables. Secondly, as for the effects of unknown disturbances on sliding mode surface, an adaptive law is designed to adjust the parameters. This method eliminates the restriction of the first derivative of disturbances boundary being known in the traditional second-order sliding mode control, which not only keeps convergence of sliding mode surface but also reduces chattering. Finally, a two-wheeled self-balancing cart is used to test the proposed approach. The simulation results show that compared with conventional SMC and ordinary second-order SMC, the proposed method outperforms the above methods on effectiveness and reducing chattering.

  4. 欠驱动式外骨骼手指康复机器人的设计和仿真%The design and simulation of the underactuation exoskeleton finger rehabilitation robot

    Institute of Scientific and Technical Information of China (English)

    张帆; 郭书祥; 魏巍

    2015-01-01

    In this paper, a novel exoskeleton finger rehabilitation robot system based on EEG signals is proposed, and the system consists of an exoskeleton finger robot, one EEG system, one human-computer interaction system, one motor control unit, some sensors and a workstation. Patients produce the EEG signals by the visual stimulation, and after the workstation collects and analyzes these signals, it is sent to the motor control unit to drive the robot motion that is fixed on the patient's finger to assist patient in finishing the rehabilitation tralning. The finger robot malnly adopts the underactuation method, and it can achieve the flexion and extension motion of three joints through the synchronous toothed belt transmission mechanism driven by the motor fixed on the back of the hand. Meanwhile, the paper adopts the UG software to design the robot and ADAMS software to the kinematic simulation. According to the robot trajectory and the movement parameters curve of the robot end-effecter, it shows that the exoskeleton finger robot motion is smooth without the motion dead point, and robot can satisfy movement requirements of the human finger, and accord with design characteristic of the ergonomic, which means that it has the ability to assist patients to implement the repeatability rehabilitation tralning.%本文提出一种新的基于脑电信号控制的外骨骼手指康复机器人系统,该系统主要由外骨骼手指康复机器人、脑电信号系统(EEG)、肌电信号系统(EMG)、人机交互系统、电机控制单元、相关传感器和工作站组成。患者通过外界的视觉刺激产生脑电信号,工作站经过对这些信号采集和处理后传递给电机控制单元控制,并驱动电机实现穿戴在患者手上的外骨骼手指机器人运动,辅助其完成康复训练。该机器人主要采用欠驱动的方式,由安装在手背处的电机带动同步齿形带传动机构实现机器的三个关节的弯曲和伸

  5. Topics on nonlinear generalized functions

    CERN Document Server

    Colombeau, J F

    2011-01-01

    The aim of this paper is to give the text of a recent introduction to nonlinear generalized functions exposed in my talk in the congress gf2011, which was asked by several participants. Three representative topics were presented: two recalls "Nonlinear generalized functions and their connections with distribution theory", "Examples of applications", and a recent development: "Locally convex topologies and compactness: a functional analysis of nonlinear generalized functions".

  6. Nonlinear Ultrasonic Phased Array Imaging

    Science.gov (United States)

    Potter, J. N.; Croxford, A. J.; Wilcox, P. D.

    2014-10-01

    This Letter reports a technique for the imaging of acoustic nonlinearity. By contrasting the energy of the diffuse field produced through the focusing of an ultrasonic array by delayed parallel element transmission with that produced by postprocessing of sequential transmission data, acoustic nonlinearity local to the focal point is measured. Spatially isolated wave distortion is inferred without requiring interrogation of the wave at the inspection point, thereby allowing nonlinear imaging through depth.

  7. Nonlinear ultrasonic phased array imaging

    OpenAIRE

    Potter, J N; Croxford, A.J.; Wilcox, P. D.

    2014-01-01

    This Letter reports a technique for the imaging of acoustic nonlinearity. By contrasting the energy of the diffuse field produced through the focusing of an ultrasonic array by delayed parallel element transmission with that produced by postprocessing of sequential transmission data, acoustic nonlinearity local to the focal point is measured. Spatially isolated wave distortion is inferred without requiring interrogation of the wave at the inspection point, thereby allowing nonlinear imaging t...

  8. Research on Nonlinear Dynamical Systems.

    Science.gov (United States)

    1983-01-10

    investigated fundamental aspects of functional differential equations, including qualitative questions (stability, nonlinear oscillations ), in 142,45,47,52...Bifurcation in the Duffing equation with several parameters, II. Proc. of the Royal Society of Edinburgh, Series A, 79A (1977), pp.317-326. 1I.J (with ;Ibtoas...Lecture Notes in Mathematics, Vol. 730 (1979). [54] Nonlinear oscillations in equations with delays. Proc. at A.M.S. 10th Summer Seminar on Nonlinear

  9. Nonlinear ultrasonic phased array imaging.

    Science.gov (United States)

    Potter, J N; Croxford, A J; Wilcox, P D

    2014-10-03

    This Letter reports a technique for the imaging of acoustic nonlinearity. By contrasting the energy of the diffuse field produced through the focusing of an ultrasonic array by delayed parallel element transmission with that produced by postprocessing of sequential transmission data, acoustic nonlinearity local to the focal point is measured. Spatially isolated wave distortion is inferred without requiring interrogation of the wave at the inspection point, thereby allowing nonlinear imaging through depth.

  10. Remote Atmospheric Nonlinear Optical Magnetometry

    Science.gov (United States)

    2014-04-28

    Boyd , Nonlinear Optics (Elsevier, Burlington, MA, 2008). [13] M. Scully and S. Zubairy, Quantum Optics (Cambridge U. Press, Cambridge, UK, 1997...Naval Research Laboratory Washington, DC 20375-5320 NRL/MR/6703--14-9548 Remote Atmospheric Nonlinear Optical Magnetometry PhilliP SPrangle...b. ABSTRACT c. THIS PAGE 18. NUMBER OF PAGES 17. LIMITATION OF ABSTRACT Remote Atmospheric Nonlinear Optical Magnetometry Phillip Sprangle, Luke

  11. Applications of nonlinear fiber optics

    CERN Document Server

    Agrawal, Govind

    2008-01-01

    * The only book describing applications of nonlinear fiber optics * Two new chapters on the latest developments: highly nonlinear fibers and quantum applications* Coverage of biomedical applications* Problems provided at the end of each chapterThe development of new highly nonlinear fibers - referred to as microstructured fibers, holey fibers and photonic crystal fibers - is the next generation technology for all-optical signal processing and biomedical applications. This new edition has been thoroughly updated to incorporate these key technology developments.The bo

  12. Linearization of conservative nonlinear oscillators

    Energy Technology Data Exchange (ETDEWEB)

    Belendez, A; Alvarez, M L [Departamento de Fisica, IngenierIa de Sistemas y TeorIa de la Senal, Universidad de Alicante, Apartado 99, E-03080 Alicante (Spain); Fernandez, E; Pascual, I [Departamento de Optica, FarmacologIa y AnatomIa, Universidad de Alicante, Apartado 99, E-03080 Alicante (Spain)], E-mail: a.belendez@ua.es

    2009-03-11

    A linearization method of the nonlinear differential equation for conservative nonlinear oscillators is analysed and discussed. This scheme is based on the Chebyshev series expansion of the restoring force which allows us to obtain a frequency-amplitude relation which is valid not only for small but also for large amplitudes and, sometimes, for the complete range of oscillation amplitudes. Some conservative nonlinear oscillators are analysed to illustrate the usefulness and effectiveness of the technique.

  13. Problems in nonlinear resistive MHD

    Energy Technology Data Exchange (ETDEWEB)

    Turnbull, A.D.; Strait, E.J.; La Haye, R.J.; Chu, M.S.; Miller, R.L. [General Atomics, San Diego, CA (United States)

    1998-12-31

    Two experimentally relevant problems can relatively easily be tackled by nonlinear MHD codes. Both problems require plasma rotation in addition to the nonlinear mode coupling and full geometry already incorporated into the codes, but no additional physics seems to be crucial. These problems discussed here are: (1) nonlinear coupling and interaction of multiple MHD modes near the B limit and (2) nonlinear coupling of the m/n = 1/1 sawtooth mode with higher n gongs and development of seed islands outside q = 1.

  14. Asymptotics for dissipative nonlinear equations

    CERN Document Server

    Hayashi, Nakao; Kaikina, Elena I; Shishmarev, Ilya A

    2006-01-01

    Many of problems of the natural sciences lead to nonlinear partial differential equations. However, only a few of them have succeeded in being solved explicitly. Therefore different methods of qualitative analysis such as the asymptotic methods play a very important role. This is the first book in the world literature giving a systematic development of a general asymptotic theory for nonlinear partial differential equations with dissipation. Many typical well-known equations are considered as examples, such as: nonlinear heat equation, KdVB equation, nonlinear damped wave equation, Landau-Ginzburg equation, Sobolev type equations, systems of equations of Boussinesq, Navier-Stokes and others.

  15. Focus issue introduction: nonlinear optics.

    Science.gov (United States)

    Boulanger, Benoît; Cundiff, Steven T; Gauthier, Daniel J; Karlsson, Magnus; Lu, Yan-Qing; Norwood, Robert A; Skryabin, Dmitry; Taira, Takunori

    2011-11-07

    It is now fifty years since the original observation of second harmonic generation ushered in the field of nonlinear optics, close on the heels of the invention of the laser. This feature issue celebrates this anniversary with papers that span the range from new nonlinear optical materials, through the increasingly novel methods that have been developed for phase matching, to emerging areas such as nonlinear metamaterials and plasmonic enhancement of optical properties. It is clear that the next fifty years of nonlinear optics will witness a proliferation of new applications with increasing technological impact.

  16. Nonlocal homogenization for nonlinear metamaterials

    CERN Document Server

    Gorlach, Maxim A; Lapine, Mikhail; Kivshar, Yuri S; Belov, Pavel A

    2016-01-01

    We present a consistent theoretical approach for calculating effective nonlinear susceptibilities of metamaterials taking into account both frequency and spatial dispersion. Employing the discrete dipole model, we demonstrate that effects of spatial dispersion become especially pronounced in the vicinity of effective permittivity resonance where nonlinear susceptibilities reach their maxima. In that case spatial dispersion may enable simultaneous generation of two harmonic signals with the same frequency and polarization but different wave vectors. We also prove that the derived expressions for nonlinear susceptibilities transform into the known form when spatial dispersion effects are negligible. In addition to revealing new physical phenomena, our results provide useful theoretical tools for analysing resonant nonlinear metamaterials.

  17. Nonlinear Peltier effect in semiconductors

    Science.gov (United States)

    Zebarjadi, Mona; Esfarjani, Keivan; Shakouri, Ali

    2007-09-01

    Nonlinear Peltier coefficient of a doped InGaAs semiconductor is calculated numerically using the Monte Carlo technique. The Peltier coefficient is also obtained analytically for single parabolic band semiconductors assuming a shifted Fermi-Dirac electronic distribution under an applied bias. Analytical results are in agreement with numerical simulations. Key material parameters affecting the nonlinear behavior are doping concentration, effective mass, and electron-phonon coupling. Current density thresholds at which nonlinear behavior is observable are extracted from numerical data. It is shown that the nonlinear Peltier effect can be used to enhance cooling of thin film microrefrigerator devices especially at low temperatures.

  18. Nonlinearities in Behavioral Macroeconomics.

    Science.gov (United States)

    Gomes, Orlando

    2017-07-01

    This article undertakes a journey across the literature on behavioral macroeconomics, with attention concentrated on the nonlinearities that the behavioral approach typically suggests or implies. The emphasis is placed on thinking the macro economy as a living organism, composed of many interacting parts, each one having a will of its own, which is in sharp contrast with the mechanism of the orthodox view (well represented by the neoclassical or new Keynesian dynamic stochastic general equilibrium - DSGE - model). The paper advocates that a thorough understanding of individual behavior in collective contexts is the only possible avenue to further explore macroeconomic phenomena and the often observed 'anomalies' that the benchmark DSGE macro framework is unable to explain or justify. After a reflection on the role of behavioral traits as a fundamental component of a new way of thinking the economy, the article proceeds with a debate on some of the most relevant frameworks in the literature that somehow link macro behavior and nonlinearities; covered subjects include macro models with disequilibrium rules, agent-based models that highlight interaction and complexity, evolutionary switching frameworks, and inattention based decision problems. These subjects have, as a fundamental point in common, the use of behavioral elements to transform existing interpretations of the economic reality, making it more evident how irregular fluctuations emerge and unfold on the aggregate.

  19. Improved nonlinear prediction method

    Science.gov (United States)

    Adenan, Nur Hamiza; Md Noorani, Mohd Salmi

    2014-06-01

    The analysis and prediction of time series data have been addressed by researchers. Many techniques have been developed to be applied in various areas, such as weather forecasting, financial markets and hydrological phenomena involving data that are contaminated by noise. Therefore, various techniques to improve the method have been introduced to analyze and predict time series data. In respect of the importance of analysis and the accuracy of the prediction result, a study was undertaken to test the effectiveness of the improved nonlinear prediction method for data that contain noise. The improved nonlinear prediction method involves the formation of composite serial data based on the successive differences of the time series. Then, the phase space reconstruction was performed on the composite data (one-dimensional) to reconstruct a number of space dimensions. Finally the local linear approximation method was employed to make a prediction based on the phase space. This improved method was tested with data series Logistics that contain 0%, 5%, 10%, 20% and 30% of noise. The results show that by using the improved method, the predictions were found to be in close agreement with the observed ones. The correlation coefficient was close to one when the improved method was applied on data with up to 10% noise. Thus, an improvement to analyze data with noise without involving any noise reduction method was introduced to predict the time series data.

  20. Nonlinear Response of Strong Nonlinear System Arisen in Polymer Cushion

    Directory of Open Access Journals (Sweden)

    Jun Wang

    2013-01-01

    Full Text Available A dynamic model is proposed for a polymer foam-based nonlinear cushioning system. An accurate analytical solution for the nonlinear free vibration of the system is derived by applying He's variational iteration method, and conditions for resonance are obtained, which should be avoided in the cushioning design.

  1. Nonlinear Evolution of Ferroelectric Domains

    Institute of Scientific and Technical Information of China (English)

    WeiLU; Dai-NingFANG; 等

    1997-01-01

    The nonlinear evolution of ferroelectric domains is investigated in the paper and amodel is proposed which can be applied to numerical computation.Numerical results show that the model can accurately predict some nonlinear behavior and consist with those experimental results.

  2. Nonlinear Electrodynamics and black holes

    CERN Document Server

    Breton, N; Breton, Nora; Garcia-Salcedo, Ricardo

    2007-01-01

    It is addressed the issue of black holes with nonlinear electromagnetic field, focussing mainly in the Born-Infeld case. The main features of these systems are described, for instance, geodesics, energy conditions, thermodynamics and isolated horizon aspects. Also are revised some black hole solutions of alternative nonlinear electrodynamics and its inconveniences.

  3. Space curves, anholonomy and nonlinearity

    Indian Academy of Sciences (India)

    Radha Balakrishnan

    2005-04-01

    Using classical differential geometry, we discuss the phenomenon of anholonomy that gets associated with a static and a moving curve. We obtain the expressions for the respective geometric phases in the two cases and interpret them. We show that there is a close connection between anholonomy and nonlinearity in a wide class of nonlinear systems.

  4. Balancing for unstable nonlinear systems

    NARCIS (Netherlands)

    Scherpen, J.M.A.

    1993-01-01

    A previously obtained method of balancing for stable nonlinear systems is extended to unstable nonlinear systems. The similarity invariants obtained by the concept of LQG balancing for an unstable linear system can also be obtained by considering a past and future energy function of the system. By c

  5. Nonlinear diffusion and superconducting hysteresis

    Energy Technology Data Exchange (ETDEWEB)

    Mayergoyz, I.D. [Univ. of Maryland, College Park, MD (United States)

    1996-12-31

    Nonlinear diffusion of electromagnetic fields in superconductors with ideal and gradual resistive transitions is studied. Analytical results obtained for linear and nonlinear polarizations of electromagnetic fields are reported. These results lead to various extensions of the critical state model for superconducting hysteresis.

  6. Nonlinear energy harvesting

    Energy Technology Data Exchange (ETDEWEB)

    Lallart, Mickael; Guyomar, Daniel, E-mail: mickael.lallart@insa-lyon.fr [LGEF, INSA-Lyon, Universite de Lyon, 8 rue de la Physique, F-69621 (France)

    2011-10-29

    The proliferation of wearable and left-behind devices has raised the issue of powering such systems. While primary batteries have been widely used in order to address this issue, recent trends have focused on energy harvesting products that feature high reliability and low maintenance issues. Among all the ambient sources available for energy harvesting, vibrations and heat have been of significant interest among the research community for small-scale devices. However, the conversion abilities of materials are still limited when dealing with systems featuring small dimensions. The purpose of this paper is to presents an up-to-date view of nonlinear approaches for increasing the efficiency of electromechanical and electrocaloric conversion mechanisms. From the modeling of the operation principles of the different architectures, a comparative analysis will be exposed, emphasizing the advantages and drawbacks of the presented concepts, in terms of maximal output power (under constant vibration magnitude or taking into account the damping effect), load independence, and implementation easiness.

  7. Nonlinear organic plasmonics

    CERN Document Server

    Fainberg, B D

    2015-01-01

    Purely organic materials with negative and near-zero dielectric permittivity can be easily fabricated. Here we develop a theory of nonlinear non-steady-state organic plasmonics with strong laser pulses. The bistability response of the electron-vibrational model of organic materials in the condensed phase has been demonstrated. Non-steady-state organic plasmonics enable us to obtain near-zero dielectric permittivity during a short time. We have proposed to use non-steady-state organic plasmonics for the enhancement of intersite dipolar energy-transfer interaction in the quantum dot wire that influences on electron transport through nanojunctions. Such interactions can compensate Coulomb repulsions for particular conditions. We propose the exciton control of Coulomb blocking in the quantum dot wire based on the non-steady-state near-zero dielectric permittivity of the organic host medium.

  8. Nonlinear Water Waves

    CERN Document Server

    2016-01-01

    This volume brings together four lecture courses on modern aspects of water waves. The intention, through the lectures, is to present quite a range of mathematical ideas, primarily to show what is possible and what, currently, is of particular interest. Water waves of large amplitude can only be fully understood in terms of nonlinear effects, linear theory being not adequate for their description. Taking advantage of insights from physical observation, experimental evidence and numerical simulations, classical and modern mathematical approaches can be used to gain insight into their dynamics. The book presents several avenues and offers a wide range of material of current interest. Due to the interdisciplinary nature of the subject, the book should be of interest to mathematicians (pure and applied), physicists and engineers. The lectures provide a useful source for those who want to begin to investigate how mathematics can be used to improve our understanding of water wave phenomena. In addition, some of the...

  9. Nonlinear estimation and classification

    CERN Document Server

    Hansen, Mark; Holmes, Christopher; Mallick, Bani; Yu, Bin

    2003-01-01

    Researchers in many disciplines face the formidable task of analyzing massive amounts of high-dimensional and highly-structured data This is due in part to recent advances in data collection and computing technologies As a result, fundamental statistical research is being undertaken in a variety of different fields Driven by the complexity of these new problems, and fueled by the explosion of available computer power, highly adaptive, non-linear procedures are now essential components of modern "data analysis," a term that we liberally interpret to include speech and pattern recognition, classification, data compression and signal processing The development of new, flexible methods combines advances from many sources, including approximation theory, numerical analysis, machine learning, signal processing and statistics The proposed workshop intends to bring together eminent experts from these fields in order to exchange ideas and forge directions for the future

  10. Nonlinear transmission sputtering

    Science.gov (United States)

    Bitensky, I. S.; Sigmund, P.

    1996-05-01

    General expressions have been derived for the nonlinear yield of transmission sputtering for an incident polyatomic ion under the assumption that the molecule breaks up on entering the target and that sputter yields are enhanced due to proximity of atomic trajectories. Special attention is given to the case of negligible Coulomb explosion where projectile atoms penetrate independently. For weakly overlapping trajectories, the yield enhancement factor of a polyatomic molecule can be expressed by that of a diatom, amended with a correction for triple correlations if necessary. This expression is in good agreement with recent experimental findings on phenylalanine targets. Pertinent results on multiple scattering of atomic ions are reviewed and applied to independently-moving fragment atoms. The merits of measurements at variable layer thickness in addition to variable projectile energy are mentioned.

  11. Perspectives on Nonlinear Filtering

    KAUST Repository

    Law, Kody

    2015-01-07

    The solution to the problem of nonlinear filtering may be given either as an estimate of the signal (and ideally some measure of concentration), or as a full posterior distribution. Similarly, one may evaluate the fidelity of the filter either by its ability to track the signal or its proximity to the posterior filtering distribution. Hence, the field enjoys a lively symbiosis between probability and control theory, and there are plenty of applications which benefit from algorithmic advances, from signal processing, to econometrics, to large-scale ocean, atmosphere, and climate modeling. This talk will survey some recent theoretical results involving accurate signal tracking with noise-free (degenerate) dynamics in high-dimensions (infinite, in principle, but say d between 103 and 108 , depending on the size of your application and your computer), and high-fidelity approximations of the filtering distribution in low dimensions (say d between 1 and several 10s).

  12. Nonlinear rotordynamics analysis

    Science.gov (United States)

    Day, W. B.; Zalik, R. A.

    1986-01-01

    Three analytic consequences of the nonlinear Jeffcott equations are examined. The primary application of these analyses is directed toward understanding the excessive vibrations recorded in the Liquid Oxygen (LOX) pump of the Space Shuttle Main Engine (SSME) during hot firing ground testing. The first task is to provide bounds on the coefficients of the equations which delimit the two cases of numerical solution as a circle or an annulus. The second task examines the mathematical generalization to multiple forcing functions, which includes the special problems of mass imbalance, side force, rubbing, and combination of these forces. Finally, stability and boundedness of the steady-state solutions is discussed and related to the corresponding linear problem.

  13. Nonlinearities in vegetation functioning

    Science.gov (United States)

    Ceballos-Núñez, Verónika; Müller, Markus; Metzler, Holger; Sierra, Carlos

    2016-04-01

    Given the current drastic changes in climate and atmospheric CO2 concentrations, and the role of vegetation in the global carbon cycle, there is increasing attention to the carbon allocation component in biosphere terrestrial models. Improving the representation of C allocation in models could be the key to having better predictions of the fate of C once it enters the vegetation and is partitioned to C pools of different residence times. C allocation has often been modeled using systems of ordinary differential equations, and it has been hypothesized that most models can be generalized with a specific form of a linear dynamical system. However, several studies have highlighted discrepancies between empirical observations and model predictions, attributing these differences to problems with model structure. Although efforts have been made to compare different models, the outcome of these qualitative assessments has been a conceptual categorization of them. In this contribution, we introduce a new effort to identify the main properties of groups of models by studying their mathematical structure. For this purpose, we performed a literature research of the relevant models of carbon allocation in vegetation and developed a database with their representation in symbolic mathematics. We used the Python package SymPy for symbolic mathematics as a common language and manipulated the models to calculate their Jacobian matrix at fixed points and their eigenvalues, among other mathematical analyses. Our preliminary results show a tendency of inverse proportionality between model complexity and size of time/space scale; complex interactions between the variables controlling carbon allocation in vegetation tend to operate at shorter time/space scales, and vice-versa. Most importantly, we found that although the linear structure is common, other structures with non-linearities have been also proposed. We, therefore, propose a new General Model that can accommodate these

  14. Nonlinear field space cosmology

    Science.gov (United States)

    Mielczarek, Jakub; Trześniewski, Tomasz

    2017-08-01

    We consider the FRW cosmological model in which the matter content of the Universe (playing the role of an inflaton or quintessence) is given by a novel generalization of the massive scalar field. The latter is a scalar version of the recently introduced nonlinear field space theory, where the physical phase space of a given field is assumed to be compactified at large energies. For our analysis, we choose the simple case of a field with the spherical phase space and endow it with the generalized Hamiltonian analogous to the XXZ Heisenberg model, normally describing a system of spins in condensed matter physics. Subsequently, we study both the homogenous cosmological sector and linear perturbations of such a test field. In the homogenous sector, we find that nonlinearity of the field phase space is becoming relevant for large volumes of the Universe and can lead to a recollapse, and possibly also at very high energies, leading to the phase of a bounce. Quantization of the field is performed in the limit where the nontrivial nature of its phase space can be neglected, while there is a nonvanishing contribution from the Lorentz symmetry breaking term of the Hamiltonian. As a result, in the leading order of the XXZ anisotropy parameter, we find that the inflationary spectral index remains unmodified with respect to the standard case but the total amplitude of perturbations is subject to a correction. The Bunch-Davies vacuum state also becomes appropriately corrected. The proposed new approach is bringing cosmology and condensed matter physics closer together, which may turn out to be beneficial for both disciplines.

  15. NONLINEAR STABILITY FOR EADY'S MODEL

    Institute of Scientific and Technical Information of China (English)

    LIU Yong-ming; QIU Ling-cun

    2005-01-01

    Poincaré type integral inequality plays an important role in the study of nonlinear stability ( in the sense of Arnold's second theorem) for three-dimensional quasigeostophic flow. The nonlinear stability of Eady's model is one of the most important cases in the application of the method. But the best nonlinear stability criterion obtained so far and the linear stability criterion are not coincident. The two criteria coincide only when the period of the channel is infinite.additional conservation law of momentum and by rigorous estimate of integral inequality. So the new nonlinear stability criterion was obtained, which shows that for Eady 's model in the periodic channel, the linear stable implies the nonlinear stable.

  16. Nonlinear Waves in Complex Systems

    DEFF Research Database (Denmark)

    2007-01-01

    The study of nonlinear waves has exploded due to the combination of analysis and computations, since the discovery of the famous recurrence phenomenon on a chain of nonlinearly coupled oscillators by Fermi-Pasta-Ulam fifty years ago. More than the discovery of new integrable equations, it is the ......The study of nonlinear waves has exploded due to the combination of analysis and computations, since the discovery of the famous recurrence phenomenon on a chain of nonlinearly coupled oscillators by Fermi-Pasta-Ulam fifty years ago. More than the discovery of new integrable equations......, it is the universality and robustness of the main models with respect to perturbations that developped the field. This is true for both continuous and discrete equations. In this volume we keep this broad view and draw new perspectives for nonlinear waves in complex systems. In particular we address energy flow...

  17. Terahertz Nonlinearity in Graphene Plasmons

    CERN Document Server

    Jadidi, Mohammad M; Winnerl, Stephan; Sushkov, Andrei B; Drew, H Dennis; Murphy, Thomas E; Mittendorff, Martin

    2015-01-01

    Sub-wavelength graphene structures support localized plasmonic resonances in the terahertz and mid-infrared spectral regimes. The strong field confinement at the resonant frequency is predicted to significantly enhance the light-graphene interaction, which could enable nonlinear optics at low intensity in atomically thin, sub-wavelength devices. To date, the nonlinear response of graphene plasmons and their energy loss dynamics have not been experimentally studied. We measure and theoretically model the terahertz nonlinear response and energy relaxation dynamics of plasmons in graphene nanoribbons. We employ a THz pump-THz probe technique at the plasmon frequency and observe a strong saturation of plasmon absorption followed by a 10 ps relaxation time. The observed nonlinearity is enhanced by two orders of magnitude compared to unpatterned graphene with no plasmon resonance. We further present a thermal model for the nonlinear plasmonic absorption that supports the experimental results.

  18. Fast Numerical Nonlinear Fourier Transforms

    CERN Document Server

    Wahls, Sander

    2014-01-01

    The nonlinear Fourier transform, which is also known as the forward scattering transform, decomposes a periodic signal into nonlinearly interacting waves. In contrast to the common Fourier transform, these waves no longer have to be sinusoidal. Physically relevant waveforms are often available for the analysis instead. The details of the transform depend on the waveforms underlying the analysis, which in turn are specified through the implicit assumption that the signal is governed by a certain evolution equation. For example, water waves generated by the Korteweg-de Vries equation can be expressed in terms of cnoidal waves. Light waves in optical fiber governed by the nonlinear Schr\\"dinger equation (NSE) are another example. Nonlinear analogs of classic problems such as spectral analysis and filtering arise in many applications, with information transmission in optical fiber, as proposed by Yousefi and Kschischang, being a very recent one. The nonlinear Fourier transform is eminently suited to address them ...

  19. Properties of Nonlinear Dynamo Waves

    Science.gov (United States)

    Tobias, S. M.

    1997-01-01

    Dynamo theory offers the most promising explanation of the generation of the sun's magnetic cycle. Mean field electrodynamics has provided the platform for linear and nonlinear models of solar dynamos. However, the nonlinearities included are (necessarily) arbitrarily imposed in these models. This paper conducts a systematic survey of the role of nonlinearities in the dynamo process, by considering the behaviour of dynamo waves in the nonlinear regime. It is demonstrated that only by considering realistic nonlinearities that are non-local in space and time can modulation of the basic dynamo wave he achieved. Moreover, this modulation is greatest when there is a large separation of timescales provided by including a low magnetic Prandtl number in the equation for the velocity perturbations.

  20. Cubication of conservative nonlinear oscillators

    Energy Technology Data Exchange (ETDEWEB)

    Belendez, Augusto; Alvarez, Mariela L [Departamento de Fisica, Ingenieria de Sistemas y Teoria de la Senal, Universidad de Alicante, Apartado 99, E-03080 Alicante (Spain); Fernandez, Elena; Pascual, Inmaculada [Departamento de Optica, FarmacologIa y Anatomia, Universidad de Alicante, Apartado 99, E-03080 Alicante (Spain)], E-mail: a.belendez@ua.es

    2009-09-15

    A cubication procedure of the nonlinear differential equation for conservative nonlinear oscillators is analysed and discussed. This scheme is based on the Chebyshev series expansion of the restoring force, and this allows us to approximate the original nonlinear differential equation by a Duffing equation in which the coefficients for the linear and cubic terms depend on the initial amplitude, A, while in a Taylor expansion of the restoring force these coefficients are independent of A. The replacement of the original nonlinear equation by an approximate Duffing equation allows us to obtain an approximate frequency-amplitude relation as a function of the complete elliptic integral of the first kind. Some conservative nonlinear oscillators are analysed to illustrate the usefulness and effectiveness of this scheme.

  1. Nonlinear Oscillators in Space Physics

    Science.gov (United States)

    Lester,Daniel; Thronson, Harley

    2011-01-01

    We discuss dynamical systems that produce an oscillation without an external time dependent source. Numerical results are presented for nonlinear oscillators in the Em1h's atmosphere, foremost the quasi-biennial oscillation (QBOl. These fluid dynamical oscillators, like the solar dynamo, have in common that one of the variables in a governing equation is strongly nonlinear and that the nonlinearity, to first order, has particular form. of 3rd or odd power. It is shown that this form of nonlinearity can produce the fundamental li'equency of the internal oscillation. which has a period that is favored by the dynamical condition of the fluid. The fundamental frequency maintains the oscillation, with no energy input to the system at that particular frequency. Nonlinearities of 2nd or even power could not maintain the oscillation.

  2. Asymptotic expansions in nonlinear rotordynamics

    Science.gov (United States)

    Day, William B.

    1987-01-01

    This paper is an examination of special nonlinearities of the Jeffcott equations in rotordynamics. The immediate application of this analysis is directed toward understanding the excessive vibrations recorded in the LOX pump of the SSME during hot-firing ground testing. Deadband, side force, and rubbing are three possible sources of inducing nonlinearity in the Jeffcott equations. The present analysis initially reduces these problems to the same mathematical description. A special frequency, named the nonlinear natural frequency, is defined and used to develop the solutions of the nonlinear Jeffcott equations as singular asymptotic expansions. This nonlinear natural frequency, which is the ratio of the cross-stiffness and the damping, plays a major role in determining response frequencies.

  3. Nonlinear hyperbolic waves in multidimensions

    CERN Document Server

    Prasad, Phoolan

    2001-01-01

    The propagation of curved, nonlinear wavefronts and shock fronts are very complex phenomena. Since the 1993 publication of his work Propagation of a Curved Shock and Nonlinear Ray Theory, author Phoolan Prasad and his research group have made significant advances in the underlying theory of these phenomena. This volume presents their results and provides a self-contained account and gradual development of mathematical methods for studying successive positions of these fronts.Nonlinear Hyperbolic Waves in Multidimensions includes all introductory material on nonlinear hyperbolic waves and the theory of shock waves. The author derives the ray theory for a nonlinear wavefront, discusses kink phenomena, and develops a new theory for plane and curved shock propagation. He also derives a full set of conservation laws for a front propagating in two space dimensions, and uses these laws to obtain successive positions of a front with kinks. The treatment includes examples of the theory applied to converging wavefronts...

  4. Analysis of Nonlinear Electromagnetic Metamaterials

    CERN Document Server

    Poutrina, Ekaterina; Smith, David R

    2010-01-01

    We analyze the properties of a nonlinear metamaterial formed by integrating nonlinear components or materials into the capacitive regions of metamaterial elements. A straightforward homogenization procedure leads to general expressions for the nonlinear susceptibilities of the composite metamaterial medium. The expressions are convenient, as they enable inhomogeneous system of scattering elements to be described as a continuous medium using the standard notation of nonlinear optics. We illustrate the validity and accuracy of our theoretical framework by performing measurements on a fabricated metamaterial sample composed of an array of split ring resonators (SRRs) with packaged varactors embedded in the capacitive gaps in a manner similar to that of Wang et al. [Opt. Express 16, 16058 (2008)]. Because the SRRs exhibit a predominant magnetic response to electromagnetic fields, the varactor-loaded SRR composite can be described as a magnetic material with nonlinear terms in its effective magnetic susceptibility...

  5. The Nonlinear Analytical Envelope Equation in quadratic nonlinear crystals

    CERN Document Server

    Bache, Morten

    2016-01-01

    We here derive the so-called Nonlinear Analytical Envelope Equation (NAEE) inspired by the work of Conforti et al. [M. Conforti, A. Marini, T. X. Tran, D. Faccio, and F. Biancalana, "Interaction between optical fields and their conjugates in nonlinear media," Opt. Express 21, 31239-31252 (2013)], whose notation we follow. We present a complete model that includes $\\chi^{(2)}$ terms [M. Conforti, F. Baronio, and C. De Angelis, "Nonlinear envelope equation for broadband optical pulses in quadratic media," Phys. Rev. A 81, 053841 (2010)], $\\chi^{(3)}$ terms, and then extend the model to delayed Raman effects in the $\\chi^{(3)}$ term. We therefore get a complete model for ultrafast pulse propagation in quadratic nonlinear crystals similar to the Nonlinear Wave Equation in Frequency domain [H. Guo, X. Zeng, B. Zhou, and M. Bache, "Nonlinear wave equation in frequency domain: accurate modeling of ultrafast interaction in anisotropic nonlinear media," J. Opt. Soc. Am. B 30, 494-504 (2013)], but where the envelope is...

  6. Breatherlike impurity modes in discrete nonlinear lattices

    DEFF Research Database (Denmark)

    Hennig, D.; Rasmussen, Kim; Tsironis, G. P.

    1995-01-01

    We investigate the properties of a disordered generalized discrete nonlinear Schrodinger equation, containing both diagonal and nondiagonal nonlinear terms. The equation models a Linear host lattice doped with nonlinear impurities. We find different types of impurity states that form itinerant...

  7. Underactuated hands: fundamentals, performance analysis and design

    NARCIS (Netherlands)

    Kragten, G. A.

    2011-01-01

    There is an emerging need to apply adaptive robotic hands to substitute humans in dangerous, laborious, or monotonous work. The state-of-the-art robotic hands cannot fulfill this need, because they are expensive, hard to control and they consist of many vulnerable motors and sensors. It is aimed to

  8. Passivation of Underactuated Systems with Physical Damping

    NARCIS (Netherlands)

    Gómez-­Estern, F.; Schaft, A.J. van der; Acosta, J.A.

    2004-01-01

    In recent works, Interconnection and Damping Assignment Passivity­-Based Control (IDA-­PBC) has been succesfully applied to mechanical control problems with no physical damping present. In some cases, the friction terms can be obviated without compromising stability in closed loop. However in method

  9. Stability of an underactuated bipedal gait.

    Science.gov (United States)

    Mukherjee, S; Sangwan, V; Taneja, A; Seth, B

    2007-01-01

    A self-excited biped walking mechanism consisting of two legs that are connected in series at the hip joint through a servomotor is studied as a cyclic system with collisions. A torque proportional to angle between the shank of the swinging leg and the vertical is seen to sustain a gait. Each leg has a thigh and a shank connected at a passive knee joint that has a knee stopper restricting hyperextension similar to the human knee. A mathematical model for the dynamics of the system including the impact equations is used to analyse the stability of the system through examination of phase plane plots. Attractor lines along which the system approaches stability have been identified. A leg length for optimal stability has been identified. The biological basis for the proposed system has been identified by comparison with human gait.

  10. Passivation of underactuated systems with physical damping

    NARCIS (Netherlands)

    Gomez-Estern, F.; Schaft, van der A.J.; Acosta, J.A.; Allgöwer, Frank; Zeitz, Michael

    2005-01-01

    In recent works, IDA-PBC has been succesfully applied to mechanical control problems with no physical damping present. In some cases, the friction terms can be obviated without compromising stability in closed loop. However in methods that modify the kinetic energy, a controller designed for stabili

  11. Spatial solitons in nonlinear photonic crystals

    DEFF Research Database (Denmark)

    Corney, Joel Frederick; Bang, Ole

    2000-01-01

    We study solitons in one-dimensional quadratic nonlinear photonic crystals with periodic linear and nonlinear susceptibilities. We show that such crystals support stable bright and dark solitons, even when the effective quadratic nonlinearity is zero.......We study solitons in one-dimensional quadratic nonlinear photonic crystals with periodic linear and nonlinear susceptibilities. We show that such crystals support stable bright and dark solitons, even when the effective quadratic nonlinearity is zero....

  12. Resource Letter NO-1: Nonlinear Optics

    Science.gov (United States)

    Garmire, Elsa

    2011-03-01

    This Resource Letter provides a guide to the literature on nonlinear optics. Books, journals, and websites are introduced that cover the general subject. Journal articles and websites are cited covering the following topics: second-order nonlinearities in transparent media including second-harmonic generation and optical parametric oscillation, third-order and higher nonlinearities, nonlinear refractive index, absorptive nonlinearities such as saturable absorption and multiphoton absorption, and scattering nonlinearities such as stimulated Raman scattering and stimulated Brillouin scattering. Steady-state and transient phenomena, fiber optics, solitons, nonlinear wave mixing, optical phase conjugation, nonlinear spectroscopy, and multiphoton microscopy are all outlined.

  13. Neurodynamics: nonlinear dynamics and neurobiology.

    Science.gov (United States)

    Abarbanel, H D; Rabinovich, M I

    2001-08-01

    The use of methods from contemporary nonlinear dynamics in studying neurobiology has been rather limited.Yet, nonlinear dynamics has become a practical tool for analyzing data and verifying models. This has led to productive coupling of nonlinear dynamics with experiments in neurobiology in which the neural circuits are forced with constant stimuli, with slowly varying stimuli, with periodic stimuli, and with more complex information-bearing stimuli. Analysis of these more complex stimuli of neural circuits goes to the heart of how one is to understand the encoding and transmission of information by nervous systems.

  14. Dissipative Nonlinear Dynamics in Holography

    CERN Document Server

    Basu, Pallab

    2013-01-01

    We look at the response of a nonlinearly coupled scalar field in an asymptotically AdS black brane geometry and find a behaviour very similar to that of known dissipative nonlinear systems like the chaotic pendulum. Transition to chaos proceeds through a series of period-doubling bifurcations. The presence of dissipation, crucial to this behaviour, arises naturally in a black hole background from the ingoing conditions imposed at the horizon. AdS/CFT translates our solution to a chaotic response of the operator dual to the scalar field. Our setup can also be used to study quench-like behaviour in strongly coupled nonlinear systems.

  15. Acoustic-gravity nonlinear structures

    Directory of Open Access Journals (Sweden)

    D. Jovanović

    2002-01-01

    Full Text Available A catalogue of nonlinear vortex structures associated with acoustic-gravity perturbations in the Earth's atmosphere is presented. Besides the previously known Kelvin-Stewart cat's eyes, dipolar and tripolar structures, new solutions having the form of a row of counter-rotating vortices, and several weakly two-dimensional vortex chains are given. The existence conditions for these nonlinear structures are discussed with respect to the presence of inhomogeneities of the shear flows. The mode-coupling mechanism for the nonlinear generation of shear flows in the presence of linearly unstable acoustic-gravity waves, possibly also leading to intermittency and chaos, is presented.

  16. Nonlinear effects in Thomson backscattering

    Science.gov (United States)

    Maroli, C.; Petrillo, V.; Tomassini, P.; Serafini, L.

    2013-03-01

    We analyze the nonlinear classical effects of the X/γ radiation produced by Thomson/Compton sources. We confirm the development of spectral fringes of the radiation on axis, which comports broadening, shift, and deformation of the spectrum. For the nominal parameters of the SPARC-LAB Thomson scattering and of the European Proposal for the gamma source ELI-NP, however, the radiation, when collected in the suitable acceptance angle, does not reveal many differences from that predicted by the linear model and the nonlinear redshift is subdominant with respect to the quantum recoil. An experiment aimed to the study of the nonlinearities is proposed on the SPARC-LAB source.

  17. Nonlinear Dynamic Phenomena in Mechanics

    CERN Document Server

    Warminski, Jerzy; Cartmell, Matthew P

    2012-01-01

    Nonlinear phenomena should play a crucial role in the design and control of engineering systems and structures as they can drastically change the prevailing dynamical responses. This book covers theoretical and applications-based problems of nonlinear dynamics concerned with both discrete and continuous systems of interest in civil and mechanical engineering. They include pendulum-like systems, slender footbridges, shape memory alloys, sagged elastic cables and non-smooth problems. Pendulums can be used as a dynamic absorber mounted in high buildings, bridges or chimneys. Geometrical nonlinear

  18. Nonlinear Optics: Principles and Applications

    DEFF Research Database (Denmark)

    Rottwitt, Karsten; Tidemand-Lichtenberg, Peter

    As nonlinear optics further develops as a field of research in electromagnetic wave propagation, its state-of-the-art technologies will continue to strongly impact real-world applications in a variety of fields useful to the practicing scientist and engineer. From basic principles to examples...... of applications, Nonlinear Optics: Principles and Applications effectively bridges physics and mathematics with relevant applied material for real-world use. The book progresses naturally from fundamental aspects to illustrative examples, and presents a strong theoretical foundation that equips the reader...... and matter, this text focuses on the physical understanding of nonlinear optics, and explores optical material response functions in the time and frequency domain....

  19. Oscillating solitons in nonlinear optics

    Indian Academy of Sciences (India)

    Lin Xiao-Gang; Liu Wen-Jun; Lei Ming

    2016-03-01

    Oscillating solitons are obtained in nonlinear optics. Analytical study of the variable coefficient nonlinear Schrödinger equation, which is used to describe the soliton propagation in those systems, is carried out using the Hirota’s bilinear method. The bilinear forms and analytic soliton solutions are derived, and the relevant properties and features of oscillating solitons are illustrated. Oscillating solitons are controlled by the reciprocal of the group velocity and Kerr nonlinearity. Results of this paper will be valuable to the study of dispersion-managed optical communication system and mode-locked fibre lasers.

  20. Nonlinear dynamics: Challenges and perspectives

    Indian Academy of Sciences (India)

    M Lakshmanan

    2005-04-01

    The study of nonlinear dynamics has been an active area of research since 1960s, after certain path-breaking discoveries, leading to the concepts of solitons, integrability, bifurcations, chaos and spatio-temporal patterns, to name a few. Several new techniques and methods have been developed to understand nonlinear systems at different levels. Along with these, a multitude of potential applications of nonlinear dynamics have also been enunciated. In spite of these developments, several challenges, some of them fundamental and others on the efficacy of these methods in developing cutting edge technologies, remain to be tackled. In this article, a brief personal perspective of these issues is presented.

  1. Femtosecond nonlinear polarization evolution based on cascade quadratic nonlinearities.

    Science.gov (United States)

    Liu, X; Ilday, F O; Beckwitt, K; Wise, F W

    2000-09-15

    We experimentally demonstrate that one can exploit nonlinear phase shifts produced in type I phase-mismatched second-harmonic generation to produce intensity-dependent polarization evolution with 100-fs pulses. An amplitude modulator based on nonlinear polarization rotation provides passive amplitude-modulation depth of up to ~50%. Applications of the amplitude and phase modulations to mode locking of femtosecond bulk and fiber lasers are promising and are discussed.

  2. Intrinsic nonlinear response of surface plasmon polaritons

    CERN Document Server

    Im, Song-Jin; Kim, Gum-Hyok

    2015-01-01

    We offer a model to describe the intrinsic nonlinear response of surface plasmon polaritons (SPPs). Relation of the complex nonlinear coefficient of SPPs to the third-order nonlinear susceptibility of the metal is provided. As reported in a recent study, gold is highly lossy and simultaneously highly nonlinear due to interband absorption and interband thermo-modulation at a wavelength shorter than 700 nm. The effect of the high loss of the metal on the SPP nonlinear propagation is taken into account in our model. With the model we show difference in sign of real and imaginary parts between the nonlinear propagation coefficient and the nonlinear susceptibility of component material for the first time to our knowledge. Our model could have practical importance in studying plasmonic devices utilizing the nonlinear phase modulation and the nonlinear absorption of SPPs. For example, it allows one to extract the complex nonlinear susceptibility of gold through a measurement of SPP nonlinear propagation at the visib...

  3. Nonlinear functional analysis

    CERN Document Server

    Deimling, Klaus

    1985-01-01

    topics. However, only a modest preliminary knowledge is needed. In the first chapter, where we introduce an important topological concept, the so-called topological degree for continuous maps from subsets ofRn into Rn, you need not know anything about functional analysis. Starting with Chapter 2, where infinite dimensions first appear, one should be familiar with the essential step of consider­ ing a sequence or a function of some sort as a point in the corresponding vector space of all such sequences or functions, whenever this abstraction is worthwhile. One should also work out the things which are proved in § 7 and accept certain basic principles of linear functional analysis quoted there for easier references, until they are applied in later chapters. In other words, even the 'completely linear' sections which we have included for your convenience serve only as a vehicle for progress in nonlinearity. Another point that makes the text introductory is the use of an essentially uniform mathematical languag...

  4. Guidance of Nonlinear Systems

    Science.gov (United States)

    Meyer, George

    1997-01-01

    The paper describes a method for guiding a dynamic system through a given set of points. The paradigm is a fully automatic aircraft subject to air traffic control (ATC). The ATC provides a sequence of way points through which the aircraft trajectory must pass. The way points typically specify time, position, and velocity. The guidance problem is to synthesize a system state trajectory which satisfies both the ATC and aircraft constraints. Complications arise because the controlled process is multi-dimensional, multi-axis, nonlinear, highly coupled, and the state space is not flat. In addition, there is a multitude of possible operating modes, which may number in the hundreds. Each such mode defines a distinct state space model of the process by specifying the state space coordinatization, the partition of the controls into active controls and configuration controls, and the output map. Furthermore, mode transitions must be smooth. The guidance algorithm is based on the inversion of the pure feedback approximations, which is followed by iterative corrections for the effects of zero dynamics. The paper describes the structure and modules of the algorithm, and the performance is illustrated by several example aircraft maneuvers.

  5. Optically nonlinear materials

    CERN Document Server

    Whittam, A J

    2001-01-01

    susceptibility from 26 pm/V (same film without octadecanoic acid) to 40 pm/V. This increase in the second-order susceptibility occurred even though the amount of NLO-active dye was effectively diluted by the addition of the inactive octadecanoic acid. The wavelength of the absorption maximum ranged from 346-440 nm and there was direct correlation between the susceptibilities and the transparency of the films at the harmonic wavelength. Hemicyanine dyes were synthesised, with the general formulae: - (a) C sub 1 sub 8 H sub 3 sub 7 -A sup + -[CH=CH-C sub 6 H sub 4] sub x -N(CH sub 3) sub 2 I (b) C sub 1 sub 8 H sub 3 sub 7 -A sup + -[CH=CH] sub y -C sub 6 H sub 4 -N(CH sub 3) sub 2 I where A sup + is a pyridinium or isoquinolinium acceptor, and x = 1 or 2, and y = 1 or 2. The optically nonlinear dyes were investigated via the Langmuir-Blodgett (LB) technique. The dyes all produced isotherm data, with molecular areas of 22-60 A sup 2 per molecule, which are consistent with the cross-sectional areas of the chromo...

  6. Nonlinear helical MHD instability

    Energy Technology Data Exchange (ETDEWEB)

    Zueva, N.M.; Solov' ev, L.S.

    1977-07-01

    An examination is made of the boundary problem on the development of MHD instability in a toroidal plasma. Two types of local helical instability are noted - Alfven and thermal, and the corresponding criteria of instability are cited. An evaluation is made of the maximum attainable kinetic energy, limited by the degree to which the law of conservation is fulfilled. An examination is made of a precise solution to a kinematic problem on the helical evolution of a cylindrical magnetic configuration at a given velocity distribution in a plasma. A numerical computation of the development of MHD instability in a plasma cylinder by a computerized solution of MHD equations is made where the process's helical symmetry is conserved. The development of instability is of a resonance nature. The instability involves the entire cross section of the plasma and leads to an inside-out reversal of the magnetic surfaces when there is a maximum unstable equilibrium configuration in the nonlinear stage. The examined instability in the tore is apparently stabilized by a magnetic hole when certain limitations are placed on the distribution of flows in the plasma. 29 references, 8 figures.

  7. Design with Nonlinear Constraints

    KAUST Repository

    Tang, Chengcheng

    2015-12-10

    Most modern industrial and architectural designs need to satisfy the requirements of their targeted performance and respect the limitations of available fabrication technologies. At the same time, they should reflect the artistic considerations and personal taste of the designers, which cannot be simply formulated as optimization goals with single best solutions. This thesis aims at a general, flexible yet e cient computational framework for interactive creation, exploration and discovery of serviceable, constructible, and stylish designs. By formulating nonlinear engineering considerations as linear or quadratic expressions by introducing auxiliary variables, the constrained space could be e ciently accessed by the proposed algorithm Guided Projection, with the guidance of aesthetic formulations. The approach is introduced through applications in different scenarios, its effectiveness is demonstrated by examples that were difficult or even impossible to be computationally designed before. The first application is the design of meshes under both geometric and static constraints, including self-supporting polyhedral meshes that are not height fields. Then, with a formulation bridging mesh based and spline based representations, the application is extended to developable surfaces including origami with curved creases. Finally, general approaches to extend hard constraints and soft energies are discussed, followed by a concluding remark outlooking possible future studies.

  8. Current and future developments in diesel powered hovercraft

    Science.gov (United States)

    Leonard, J. C.; Stevens, M. J.; Buttigieg, J. A.

    After evaluating the development status of the application of diesel power to air-cushion vehicles (ACVs) and surface-effect ships (SESs), attention is given to the AP1-88 ACV, which is both the first and largest operational diesel-powered amphibious craft of this type. An account is given of the ACV and SES features that are dictated by the need to accommodate diesel power sources; the major advantages and disadvantages of diesel (vs gas turbine) engines are discussed. Although cost reductions are achievable against gas turbine powerplant use, lower payload fractions and slightly lower performance capabilities appear to be inescapable.

  9. PRINCIPLE "EARLY MATCHING" AERODYNAMIC DESIGN AIRCRAFT WITH LANDING GEAR HOVERCRAFT

    Directory of Open Access Journals (Sweden)

    V. P. Morozov

    2015-01-01

    Full Text Available The principle of "early matching" aircraft aerohydrodynamic layouts with air cushion landing gear is suggested. Application of this principle is considered as an example of adaptation to the ball screw base circuit of light transport aircraft. The principle, other than weight, aerodynamic, technological and operational requirements includes additional project activities related to the installation of ball screws.

  10. Self-Propelled Hovercraft Based on Cold Leidenfrost Phenomenon

    OpenAIRE

    Meng Shi; Xing Ji; Shangsheng Feng; Qingzhen Yang; Tian Jian Lu; Feng Xu

    2016-01-01

    The Leidenfrost phenomenon of liquid droplets levitating and dancing when placed upon a hot plate due to propulsion of evaporative vapor has been extended to many self-propelled circumstances. However, such self-propelled Leidenfrost devices commonly need a high temperature for evaporation and a structured solid substrate for directional movements. Here we observed a “cold Leidenfrost phenomenon” when placing a dry ice device on the surface of room temperature water, based on which we develop...

  11. Nonlinear plasmonics at high temperatures

    Directory of Open Access Journals (Sweden)

    Sivan Yonatan

    2017-01-01

    Full Text Available We solve the Maxwell and heat equations self-consistently for metal nanoparticles under intense continuous wave (CW illumination. Unlike previous studies, we rely on experimentally-measured data for metal permittivity for increasing temperature and for the visible spectral range. We show that the thermal nonlinearity of the metal can lead to substantial deviations from the predictions of the linear model for the temperature and field distribution and, thus, can explain qualitatively the strong nonlinear scattering from such configurations observed experimentally. We also show that the incompleteness of existing data of the temperature dependence of the thermal properties of the system prevents reaching a quantitative agreement between the measured and calculated scattering data. This modeling approach is essential for the identification of the underlying physical mechanism responsible for the thermo-optical nonlinearity of the metal and should be adopted in all applications of high-temperature nonlinear plasmonics, especially for refractory metals, for both CW and pulsed illumination.

  12. Nonlinear optics and organic materials

    Energy Technology Data Exchange (ETDEWEB)

    Shen, Y.R.

    1994-07-01

    We shall consider an interesting topic relating nonlinear optics and organic materials: how nonlinear optics can be used to study organic materials. One of the main differences between linear and nonlinear responses of a medium to incoming radiation is in their symmetries. It leads to the possibility that some properties of the medium could be more sensitively probed by nonlinear, rather than linear, optical means, or vise versa. A well-known example is that some vibrational modes of a medium could be Raman-active but infrared-inactive, and would be more readily observed by Raman scattering, which is a two-photon transition process. In this paper, we shall discuss, with the help of three examples, how we can use second harmonic generation (SHG) and sum frequency generation (SFG) to obtain unique information about a material. We shall focus on thin films, surfaces, and interfaces.

  13. Nonlinear plasmonics at high temperatures

    Science.gov (United States)

    Sivan, Yonatan; Chu, Shi-Wei

    2017-01-01

    We solve the Maxwell and heat equations self-consistently for metal nanoparticles under intense continuous wave (CW) illumination. Unlike previous studies, we rely on experimentally-measured data for metal permittivity for increasing temperature and for the visible spectral range. We show that the thermal nonlinearity of the metal can lead to substantial deviations from the predictions of the linear model for the temperature and field distribution and, thus, can explain qualitatively the strong nonlinear scattering from such configurations observed experimentally. We also show that the incompleteness of existing data of the temperature dependence of the thermal properties of the system prevents reaching a quantitative agreement between the measured and calculated scattering data. This modeling approach is essential for the identification of the underlying physical mechanism responsible for the thermo-optical nonlinearity of the metal and should be adopted in all applications of high-temperature nonlinear plasmonics, especially for refractory metals, for both CW and pulsed illumination.

  14. Nonlinear microstructured polymer optical fibres

    DEFF Research Database (Denmark)

    Frosz, Michael Henoch

    . The combination of a small core size and zero-dispersion wavelength at the operating wavelength of widely available femtosecond Ti:sapphire lasers led to an extensive research in supercontinuum generation and other nonlinear effects in PCFs. It is crucial for the efficiency of many nonlinear mechanisms...... that the pump laser wavelength is close to the zero-dispersion wavelength and that the core size is small. Recently, work in fabricating PCFs from materials other than silica has intensified. One of the advantages of using alternative materials can be a higher inherent material nonlinearity, which...... to accurately obtain a small core size while maintaining small structural variations during fibre drawing. This talk will give a presentation of how the mPOFs are fabricated and the route to obtaining nonlinear effects in them....

  15. Device Applications of Nonlinear Dynamics

    CERN Document Server

    Baglio, Salvatore

    2006-01-01

    This edited book is devoted specifically to the applications of complex nonlinear dynamic phenomena to real systems and device applications. While in the past decades there has been significant progress in the theory of nonlinear phenomena under an assortment of system boundary conditions and preparations, there exist comparatively few devices that actually take this rich behavior into account. "Device Applications of Nonlinear Dynamics" applies and exploits this knowledge to make devices which operate more efficiently and cheaply, while affording the promise of much better performance. Given the current explosion of ideas in areas as diverse as molecular motors, nonlinear filtering theory, noise-enhanced propagation, stochastic resonance and networked systems, the time is right to integrate the progress of complex systems research into real devices.

  16. Nonlinear Inflaton Fragmentation after Preheating

    CERN Document Server

    Felder, G N; Felder, Gary N.; Kofman, Lev

    2007-01-01

    We consider the nonlinear dynamics of inflaton fragmentation during and after preheating in the simplest model of chaotic inflation. While the earlier regime of parametric resonant particle production and the later turbulent regime of interacting fields evolving towards equilibrium are well identified and understood, the short intermediate stage of violent nonlinear dynamics remains less explored. Lattice simulations of fully nonlinear preheating dynamics show specific features of this intermediate stage: occupation numbers of the scalar particles are peaked, scalar fields become significantly non-gaussian and the field dynamics become chaotic and irreversible. Visualization of the field dynamics in configuration space reveals that nonlinear interactions generate non-gaussian inflaton inhomogeneities with very fast growing amplitudes. The peaks of the inflaton inhomogeneities coincide with the peaks of the scalar field(s) produced by parametric resonance. When the inflaton peaks reach their maxima, they stop ...

  17. Reconstruction of nonlinear wave propagation

    Science.gov (United States)

    Fleischer, Jason W; Barsi, Christopher; Wan, Wenjie

    2013-04-23

    Disclosed are systems and methods for characterizing a nonlinear propagation environment by numerically propagating a measured output waveform resulting from a known input waveform. The numerical propagation reconstructs the input waveform, and in the process, the nonlinear environment is characterized. In certain embodiments, knowledge of the characterized nonlinear environment facilitates determination of an unknown input based on a measured output. Similarly, knowledge of the characterized nonlinear environment also facilitates formation of a desired output based on a configurable input. In both situations, the input thus characterized and the output thus obtained include features that would normally be lost in linear propagations. Such features can include evanescent waves and peripheral waves, such that an image thus obtained are inherently wide-angle, farfield form of microscopy.

  18. BRST charge for nonlinear algebras

    CERN Document Server

    Buchbinder, I L

    2007-01-01

    We study the construction of the classical nilpotent canonical BRST charge for the nonlinear gauge algebras where a commutator (in terms of Poisson brackets) of the constraints is a finite order polynomial of the constraints.

  19. Nonlinear optics: the next decade.

    Science.gov (United States)

    Kivshar, Yuri S

    2008-12-22

    This paper concludes the Focus Serial assembled of invited papers in key areas of nonlinear optics (Editors: J.M. Dudley and R.W. Boyd), and it discusses new directions for future research in this field.

  20. Nonlinear opto-mechanical pressure

    CERN Document Server

    Conti, Claudio

    2014-01-01

    A transparent material exhibits ultra-fast optical nonlinearity and is subject to optical pressure if irradiated by a laser beam. However, the effect of nonlinearity on optical pressure is often overlooked, even if a nonlinear optical pressure may be potentially employed in many applications, as optical manipulation, biophysics, cavity optomechanics, quantum optics, optical tractors, and is relevant in fundamental problems as the Abraham-Minkoswky dilemma, or the Casimir effect. Here we show that an ultra-fast nonlinear polarization gives indeed a contribution to the optical pressure that also is negative in certain spectral ranges; the theoretical analysis is confirmed by first-principles simulations. An order of magnitude estimate shows that the effect can be observable by measuring the deflection of a membrane made by graphene.

  1. Nonlinear programming analysis and methods

    CERN Document Server

    Avriel, Mordecai

    2012-01-01

    This text provides an excellent bridge between principal theories and concepts and their practical implementation. Topics include convex programming, duality, generalized convexity, analysis of selected nonlinear programs, techniques for numerical solutions, and unconstrained optimization methods.

  2. Nonlinear optics principles and applications

    CERN Document Server

    Li, Chunfei

    2017-01-01

    This book reflects the latest advances in nonlinear optics. Besides the simple, strict mathematical deduction, it also discusses the experimental verification and possible future applications, such as the all-optical switches. It consistently uses the practical unit system throughout. It employs simple physical images, such as "light waves" and "photons" to systematically explain the main principles of nonlinear optical effects. It uses the first-order nonlinear wave equation in frequency domain under the condition of “slowly varying amplitude approximation" and the classical model of the interaction between the light and electric dipole. At the same time, it also uses the rate equations based on the energy-level transition of particle systems excited by photons and the energy and momentum conservation principles to explain the nonlinear optical phenomenon. The book is intended for researchers, engineers and graduate students in the field of the optics, optoelectronics, fiber communication, information tech...

  3. Hilbert complexes of nonlinear elasticity

    Science.gov (United States)

    Angoshtari, Arzhang; Yavari, Arash

    2016-12-01

    We introduce some Hilbert complexes involving second-order tensors on flat compact manifolds with boundary that describe the kinematics and the kinetics of motion in nonlinear elasticity. We then use the general framework of Hilbert complexes to write Hodge-type and Helmholtz-type orthogonal decompositions for second-order tensors. As some applications of these decompositions in nonlinear elasticity, we study the strain compatibility equations of linear and nonlinear elasticity in the presence of Dirichlet boundary conditions and the existence of stress functions on non-contractible bodies. As an application of these Hilbert complexes in computational mechanics, we briefly discuss the derivation of a new class of mixed finite element methods for nonlinear elasticity.

  4. Studies of Nonlinear Problems. I

    Science.gov (United States)

    Fermi, E.; Pasta, J.; Ulam, S.

    1955-05-01

    A one-dimensional dynamical system of 64 particles with forces between neighbors containing nonlinear terms has been studied on the Los Alamos computer MANIAC I. The nonlinear terms considered are quadratic, cubic, and broken linear types. The results are analyzed into Fourier components and plotted as a function of time. The results show very little, if any, tendency toward equipartition of energy among the degrees of freedom.

  5. Nonlinear magnetization dynamics in nanosystems

    CERN Document Server

    Mayergoyz, Isaak D; Serpico, Claudio

    2014-01-01

    As data transfer rates increase within the magnetic recording industry, improvements in device performance and reliability crucially depend on the thorough understanding of nonlinear magnetization dynamics at a sub-nanoscale level. This book offers a modern, stimulating approach to the subject of nonlinear magnetization dynamics by discussing important aspects such as the Landau-Lifshitz-Gilbert (LLG) equation, analytical solutions, and the connection between the general topological and structural aspects of dynamics. An advanced reference for the study and understanding of non

  6. Nonlinear Observers for Gyro Calibration

    Science.gov (United States)

    Thienel, Julie; Sanner, Robert M.

    2003-01-01

    Nonlinear observers for gyro calibration are presented. The first observer estimates a constant gyro bias. The second observer estimates scale factor errors. The third observer estimates the gyro alignment for three orthogonal gyros. The convergence properties of all three observers are discussed. Additionally, all three observers are coupled with a nonlinear control algorithm. The stability of each of the resulting closed loop systems is analyzed. Simulated test results are presented for each system.

  7. Nonlinear dynamics in atom optics

    Energy Technology Data Exchange (ETDEWEB)

    Chen Wenyu; Dyrting, S.; Milburn, G.J. [Queensland Univ., St. Lucia, QLD (Australia). Dept. of Physics

    1996-12-31

    In this paper theoretical work on classical and quantum nonlinear dynamics of cold atoms is reported. The basic concepts in nonlinear dynamics are reviewed and then applied to the motion of atoms in time-dependent standing waves and to the atomic bouncer. The quantum dynamics for the cases of regular and chaotic classical dynamics is described. The effect of spontaneous emission and external noise is also discussed. 104 refs., 1 tab., 21 figs.

  8. A Nonlinear Transfer Operator Theorem

    Science.gov (United States)

    Pollicott, Mark

    2017-02-01

    In recent papers, Kenyon et al. (Ergod Theory Dyn Syst 32:1567-1584 2012), and Fan et al. (C R Math Acad Sci Paris 349:961-964 2011, Adv Math 295:271-333 2016) introduced a form of non-linear thermodynamic formalism based on solutions to a non-linear equation using matrices. In this note we consider the more general setting of Hölder continuous functions.

  9. Nonlinear programming analysis and methods

    CERN Document Server

    Avriel, Mordecai

    2003-01-01

    Comprehensive and complete, this overview provides a single-volume treatment of key algorithms and theories. The author provides clear explanations of all theoretical aspects, with rigorous proof of most results. The two-part treatment begins with the derivation of optimality conditions and discussions of convex programming, duality, generalized convexity, and analysis of selected nonlinear programs. The second part concerns techniques for numerical solutions and unconstrained optimization methods, and it presents commonly used algorithms for constrained nonlinear optimization problems. This g

  10. Nonlinear acoustics in biomedical ultrasound

    Science.gov (United States)

    Cleveland, Robin O.

    2015-10-01

    Ultrasound is widely used to image inside the body; it is also used therapeutically to treat certain medical conditions. In both imaging and therapy applications the amplitudes employed in biomedical ultrasound are often high enough that nonlinear acoustic effects are present in the propagation: the effects have the potential to be advantageous in some scenarios but a hindrance in others. In the case of ultrasound imaging the nonlinearity produces higher harmonics that result in images of greater quality. However, nonlinear effects interfere with the imaging of ultrasound contrast agents (typically micron sized bubbles with a strong nonlinear response of their own) and nonlinear effects also result in complications when derating of pressure measurements in water to in situ values in tissue. High intensity focused ultrasound (HIFU) is emerging as a non-invasive therapeutic modality which can result in thermal ablation of tissue. For thermal ablation, the extra effective attenuation resulting from nonlinear effects can result in enhanced heating of tissue if shock formation occurs in the target region for ablation - a highly desirable effect. However, if nonlinearity is too strong it can also result in undesired near-field heating and reduced ablation in the target region. The disruption of tissue (histotripsy) and fragmentation of kidney stones (lithotripsy) exploits shock waves to produce mechanically based effects, with minimal heating present. In these scenarios it is necessary for the waves to be of sufficient amplitude that a shock exists when the waveform reaches the target region. This talk will discuss how underlying nonlinear phenomenon act in all the diagnostic and therapeutic applications described above.

  11. Nonlinear evolution equations in QCD

    OpenAIRE

    Stasto, A. M.

    2004-01-01

    The following lectures are an introduction to the phenomena of partonic saturation and nonlinear evolution equations in Quantum Chromodynamics. After a short introduction to the linear evolution, the problems of unitarity bound and parton saturation are discussed. The nonlinear Balitsky-Kovchegov evolution equation in the high energy limit is introduced, and the progress towards the understanding of the properties of its solution is reviewed. We discuss the concepts of the saturation scale, g...

  12. Predictive simulation of nonlinear ultrasonics

    Science.gov (United States)

    Shen, Yanfeng; Giurgiutiu, Victor

    2012-04-01

    Most of the nonlinear ultrasonic studies to date have been experimental, but few theoretical predictive studies exist, especially for Lamb wave ultrasonic. Compared with nonlinear bulk waves and Rayleigh waves, nonlinear Lamb waves for structural health monitoring become more challenging due to their multi-mode dispersive features. In this paper, predictive study of nonlinear Lamb waves is done with finite element simulation. A pitch-catch method is used to interrogate a plate with a "breathing crack" which opens and closes under tension and compression. Piezoelectric wafer active sensors (PWAS) used as transmitter and receiver are modeled with coupled field elements. The "breathing crack" is simulated via "element birth and death" technique. The ultrasonic waves generated by the transmitter PWAS propagate into the structure, interact with the "breathing crack", acquire nonlinear features, and are picked up by the receiver PWAS. The features of the wave packets at the receiver PWAS are studied and discussed. The received signal is processed with Fast Fourier Transform to show the higher harmonics nonlinear characteristics. A baseline free damage index is introduced to assess the presence and the severity of the crack. The paper finishes with summary, conclusions, and suggestions for future work.

  13. Nonlinear optical thin films

    Science.gov (United States)

    Leslie, Thomas M.

    1993-01-01

    A focused approach to development and evaluation of organic polymer films for use in optoelectronics is presented. The issues and challenges that are addressed include: (1) material synthesis, purification, and the tailoring of the material properties; (2) deposition of uniform thin films by a variety of methods; (3) characterization of material physical properties (thermal, electrical, optical, and electro-optical); and (4) device fabrication and testing. Photonic materials, devices, and systems were identified as critical technology areas by the Department of Commerce and the Department of Defense. This approach offers strong integration of basic material issues through engineering applications by the development of materials that can be exploited as the active unit in a variety of polymeric thin film devices. Improved materials were developed with unprecedented purity and stability. The absorptive properties can be tailored and controlled to provide significant improvement in propagation losses and nonlinear performance. Furthermore, the materials were incorporated into polymers that are highly compatible with fabrication and patterning processes for integrated optical devices and circuits. By simultaneously addressing the issues of materials development and characterization, keeping device design and fabrication in mind, many obstacles were overcome for implementation of these polymeric materials and devices into systems. We intend to considerably improve the upper use temperature, poling stability, and compatibility with silicon based devices. The principal device application that was targeted is a linear electro-optic modulation etalon. Organic polymers need to be properly designed and coupled with existing integrated circuit technology to create new photonic devices for optical communication, image processing, other laser applications such as harmonic generation, and eventually optical computing. The progression from microscopic sample to a suitable film

  14. Nonlinear ultrasound wave propagation in thermoviscous fluids

    DEFF Research Database (Denmark)

    Sørensen, Mads Peter

    coupled nonlinear partial differential equations, which resembles those of optical chi-2 materials. We think this result makes a remarkable link between nonlinear acoustics and nonlinear optics. Finally our analysis reveal an exact kink solution to the nonlinear acoustic problem. This kink solution...

  15. New nonlinear optical materials based on ferrofluids

    Energy Technology Data Exchange (ETDEWEB)

    Huang, J P [Department of Physics, Fudan University, Shanghai 200433 (China); Max Planck Institute for Polymer Research, Ackermannweg 10, 55128 Mainz (Germany); Institute of Theoretical Physics, Chinese University of Hong Kong, Shatin, NT, Hong Kong (China); Yu, K W [Department of Physics, Chinese University of Hong Kong, Shatin, NT, Hong Kong (China); Institute of Theoretical Physics, Chinese University of Hong Kong, Shatin, NT, Hong Kong (China)

    2006-01-01

    We exploit theoretically a new class of magneto-controlled nonlinear optical material based on ferrofluids in which ferromagnetic nanoparticles are coated with a nonmagnetic metallic nonlinear shell. Such an optical material can have anisotropic nonlinear optical properties and a giant enhancement of nonlinearity, as well as an attractive figure of merit.

  16. Graphene - a rather ordinary nonlinear optical material

    CERN Document Server

    khurgin, Jacob B

    2014-01-01

    An analytical expression for the nonlinear refractive index of graphene has been derived and used to obtain the performance metrics of third order nonlinear devices using graphene as a nonlinear medium. None of the metrics is found to be superior to the existing nonlinear optical materials.

  17. Nonlinear models for autoregressive conditional heteroskedasticity

    DEFF Research Database (Denmark)

    Teräsvirta, Timo

    This paper contains a brief survey of nonlinear models of autore- gressive conditional heteroskedasticity. The models in question are parametric nonlinear extensions of the original model by Engle (1982). After presenting the individual models, linearity testing and parameter estimation...... are discussed. Forecasting volatility with nonlinear models is considered. Finally, parametric nonlinear models based on multi- plicative decomposition of the variance receive attention....

  18. Focus issue introduction: nonlinear optics 2013.

    Science.gov (United States)

    Dadap, Jerry I; Karlsson, Magnus; Panoiu, Nicolae C

    2013-12-16

    Nonlinear Optics has continued to develop over the last few years at an extremely fast pace, with significant advances being reported in nonlinear optical metamaterials, optical signal processing, quantum optics, nonlinear optics at subwavelength scale, and biophotonics. These exciting new developments have generated significant potential for a broad spectrum of technological applications in which nonlinear-optical processes play a central role.

  19. Standing waves for discrete nonlinear Schrodinger equations

    OpenAIRE

    Ming Jia

    2016-01-01

    The discrete nonlinear Schrodinger equation is a nonlinear lattice system that appears in many areas of physics such as nonlinear optics, biomolecular chains and Bose-Einstein condensates. By using critical point theory, we establish some new sufficient conditions on the existence results of standing waves for the discrete nonlinear Schrodinger equations. We give an appropriate example to illustrate the conclusion obtained.

  20. BOOK REVIEW: Nonlinear Magnetohydrodynamics

    Science.gov (United States)

    Shafranov, V.

    1998-08-01

    Nonlinear magnetohydrodynamics by Dieter Biskamp is a thorough introduction to the physics of the most impressive non-linear phenomena that occur in conducting magnetoplasmas. The basic systems, in which non-trivial dynamic processes are observed, accompanied by changes of geometry of the magnetic field and the effects of energy transformation (magnetic energy into kinetic energy or the opposite effect in magnetic dynamos), are the plasma magnetic confinement systems for nuclear fusion and space plasmas, mainly the solar plasma. A significant number of the examples of the dynamic processes considered are taken from laboratory plasmas, for which an experimental check of the theory is possible. Therefore, though the book is intended for researchers and students interested in both laboratory, including nuclear fusion, and astrophysical plasmas, it is most probably closer to the first category of reader. In the Introduction the author notes that unlike the hydrodynamics of non-conducting fluids, where the phenomena caused by rapid fluid motions are the most interesting, for plasmas in a strong magnetic field the quasi-static configurations inside which the local dynamic processes occur are often the most important. Therefore, the reader will also find in this book rather traditional material on the theory of plasma equilibrium and stability in magnetic fields. In addition, it is notable that, as opposed to a linear theory, the non-linear theory, as a rule, cannot give quite definite explanations or predictions of phenomena, and consequently there are in the book many results obtained by consideration of numerical models with the use of supercomputers. The treatment of non-linear dynamics is preceded by Chapters 2 to 4, in which the basics of MHD theory are presented with an emphasis on the role of integral invariants of the magnetic helicity type, a derivation of the reduced MHD equations is given, together with examples of the exact solutions of the equilibrium

  1. Complex motions and chaos in nonlinear systems

    CERN Document Server

    Machado, José; Zhang, Jiazhong

    2016-01-01

    This book brings together 10 chapters on a new stream of research examining complex phenomena in nonlinear systems—including engineering, physics, and social science. Complex Motions and Chaos in Nonlinear Systems provides readers a particular vantage of the nature and nonlinear phenomena in nonlinear dynamics that can develop the corresponding mathematical theory and apply nonlinear design to practical engineering as well as the study of other complex phenomena including those investigated within social science.

  2. Compressed Sensing with Nonlinear Observations and Related Nonlinear Optimisation Problems

    CERN Document Server

    Blumensath, Thomas

    2012-01-01

    Non-convex constraints have recently proven a valuable tool in many optimisation problems. In particular sparsity constraints have had a significant impact on sampling theory, where they are used in Compressed Sensing and allow structured signals to be sampled far below the rate traditionally prescribed. Nearly all of the theory developed for Compressed Sensing signal recovery assumes that samples are taken using linear measurements. In this paper we instead address the Compressed Sensing recovery problem in a setting where the observations are non-linear. We show that, under conditions similar to those required in the linear setting, the Iterative Hard Thresholding algorithm can be used to accurately recover sparse or structured signals from few non-linear observations. Similar ideas can also be developed in a more general non-linear optimisation framework. In the second part of this paper we therefore present related result that show how this can be done under sparsity and union of subspaces constraints, wh...

  3. Input saturation in nonlinear multivariable processes resolved by nonlinear decoupling

    Directory of Open Access Journals (Sweden)

    Jens G. Balchen

    1995-04-01

    Full Text Available A new method is presented for the resolution of the problem of input saturation in nonlinear multivariable process control by means of elementary nonlinear decoupling (END. Input saturation can have serious consequences particularly in multivariable control because it may lead to very undesirable system behaviour and quite often system instability. Many authors have searched for systematic techniques for designing multivariable control systems in which saturation may occur in any of the control variables (inputs, manipulated variables. No generally accepted method seems to have been presented so far which gives a solution in closed form. The method of elementary nonlinear decoupling (END can be applied directly to the case of saturation control variables by deriving as many control strategies as there are combinations of saturating control variables. The method is demonstrated by the multivariable control of a simulated Fluidized Catalytic Cracker (FCC with very convincing results.

  4. Nonlinear graphene plasmonics (Conference Presentation)

    Science.gov (United States)

    Cox, Joel D.; Marini, Andrea; Garcia de Abajo, Javier F.

    2016-09-01

    The combination of graphene's intrinsically-high nonlinear optical response with its ability to support long-lived, electrically tunable plasmons that couple strongly with light has generated great expectations for application of the atomically-thin material to nanophotonic devices. These expectations are mainly reinforced by classical analyses performed using the response derived from extended graphene, neglecting finite-size and nonlocal effects that become important when the carbon layer is structured on the nanometer scale in actual device designs. Based on a quantum-mechanical description of graphene using tight-binding electronic states combined with the random-phase approximation, we show that finite-size effects produce large contributions that increase the nonlinear response associated with plasmons in nanostructured graphene to significantly higher levels than previously thought, particularly in the case of Kerr-type optical nonlinearities. Motivated by this finding, we discuss and compare saturable absorption in extended and nanostructured graphene, with or without plasmonic enhancement, within the context of passive mode-locking for ultrafast lasers. We also explore the possibility of high-harmonic generation in doped graphene nanoribbons and nanoislands, where illumination by an infrared pulse of moderate intensity, tuned to a plasmon resonance, is predicted to generate light at harmonics of order 13 or higher, extending over the visible and UV regimes. Our atomistic description of graphene's nonlinear optical response reveals its complex nature in both extended and nanostructured systems, while further supporting the exceptional potential of this material for nonlinear nanophotonic devices.

  5. Introduction to nonlinear dispersive equations

    CERN Document Server

    Linares, Felipe

    2015-01-01

    This textbook introduces the well-posedness theory for initial-value problems of nonlinear, dispersive partial differential equations, with special focus on two key models, the Korteweg–de Vries equation and the nonlinear Schrödinger equation. A concise and self-contained treatment of background material (the Fourier transform, interpolation theory, Sobolev spaces, and the linear Schrödinger equation) prepares the reader to understand the main topics covered: the initial-value problem for the nonlinear Schrödinger equation and the generalized Korteweg–de Vries equation, properties of their solutions, and a survey of general classes of nonlinear dispersive equations of physical and mathematical significance. Each chapter ends with an expert account of recent developments and open problems, as well as exercises. The final chapter gives a detailed exposition of local well-posedness for the nonlinear Schrödinger equation, taking the reader to the forefront of recent research. The second edition of Introdu...

  6. Nonlinear plasmonics at high temperatures

    CERN Document Server

    Sivan, Yonatan

    2016-01-01

    We solve the Maxwell and heat equations self-consistently for metal nanoparticles under intense continuous wave (CW) illumination. Unlike previous studies, we rely on {\\em experimentally}-measured data for the metal permittivity for increasing temperature and for the visible spectral range. We show that the thermal nonlinearity of the metal can lead to substantial deviations from the predictions of the linear model for the temperature and field distribution, and thus, can explain qualitatively the strong nonlinear scattering from such configurations observed experimentally. We also show that the incompleteness of existing data of the temperature dependence of the thermal properties of the system prevents reaching a quantitative agreement between the measured and calculated scattering data. This modelling approach is essential for the identification of the underlying physical mechanism responsible for the thermo-optical nonlinearity of the metal and should be adopted in all applications of high temperature non...

  7. Nonlinear Multigrid for Reservoir Simulation

    DEFF Research Database (Denmark)

    Christensen, Max la Cour; Eskildsen, Klaus Langgren; Engsig-Karup, Allan Peter

    2016-01-01

    A feasibility study is presented on the effectiveness of applying nonlinear multigrid methods for efficient reservoir simulation of subsurface flow in porous media. A conventional strategy modeled after global linearization by means of Newton’s method is compared with an alternative strategy...... modeled after local linearization, leading to a nonlinear multigrid method in the form of the full-approximation scheme (FAS). It is demonstrated through numerical experiments that, without loss of robustness, the FAS method can outperform the conventional techniques in terms of algorithmic and numerical...... efficiency for a black-oil model. Furthermore, the use of the FAS method enables a significant reduction in memory usage compared with conventional techniques, which suggests new possibilities for improved large-scale reservoir simulation and numerical efficiency. Last, nonlinear multilevel preconditioning...

  8. Nonlinear photoacoustic spectroscopy of hemoglobin

    Energy Technology Data Exchange (ETDEWEB)

    Danielli, Amos; Maslov, Konstantin; Favazza, Christopher P.; Xia, Jun; Wang, Lihong V., E-mail: LHWANG@WUSTL.EDU [Optical Imaging Laboratory, Department of Biomedical Engineering, Washington University in St. Louis, One Brookings Drive, St. Louis, Missouri 63130 (United States)

    2015-05-18

    As light intensity increases in photoacoustic imaging, the saturation of optical absorption and the temperature dependence of the thermal expansion coefficient result in a measurable nonlinear dependence of the photoacoustic (PA) signal on the excitation pulse fluence. Here, under controlled conditions, we investigate the intensity-dependent photoacoustic signals from oxygenated and deoxygenated hemoglobin at varied optical wavelengths and molecular concentrations. The wavelength and concentration dependencies of the nonlinear PA spectrum are found to be significantly greater in oxygenated hemoglobin than in deoxygenated hemoglobin. These effects are further influenced by the hemoglobin concentration. These nonlinear phenomena provide insights into applications of photoacoustics, such as measurements of average inter-molecular distances on a nm scale or with a tuned selection of wavelengths, a more accurate quantitative PA tomography.

  9. Nonlinear Waves in Complex Systems

    DEFF Research Database (Denmark)

    2007-01-01

    The study of nonlinear waves has exploded due to the combination of analysis and computations, since the discovery of the famous recurrence phenomenon on a chain of nonlinearly coupled oscillators by Fermi-Pasta-Ulam fifty years ago. More than the discovery of new integrable equations......, it is the universality and robustness of the main models with respect to perturbations that developped the field. This is true for both continuous and discrete equations. In this volume we keep this broad view and draw new perspectives for nonlinear waves in complex systems. In particular we address energy flow...... in Fourier space and equipartition, the role of inhomogeneities and complex geometry and the importance of coupled systems....

  10. Nonlinear dynamics in biological systems

    CERN Document Server

    Carballido-Landeira, Jorge

    2016-01-01

    This book presents recent research results relating to applications of nonlinear dynamics, focusing specifically on four topics of wide interest: heart dynamics, DNA/RNA, cell mobility, and proteins. The book derives from the First BCAM Workshop on Nonlinear Dynamics in Biological Systems, held in June 2014 at the Basque Center of Applied Mathematics (BCAM). At this international meeting, researchers from different but complementary backgrounds, including molecular dynamics, physical chemistry, bio-informatics and biophysics, presented their most recent results and discussed the future direction of their studies using theoretical, mathematical modeling and experimental approaches. Such was the level of interest stimulated that the decision was taken to produce this publication, with the organizers of the event acting as editors. All of the contributing authors are researchers working on diverse biological problems that can be approached using nonlinear dynamics. The book will appeal especially to applied math...

  11. Nonlinear microrheology of living cells

    CERN Document Server

    Kollmannsberger, Philip; Fabry, Ben

    2009-01-01

    The linear rheology of adherent cells is characterized by a power-law creep or stress relaxation response, and proportionality between stiffness and internal prestress. It is unknown whether these observations hold in the physiologically relevant nonlinear regime. We used magnetic tweezers microrheology to measure the time- and force-dependent nonlinear creep response of adherent cells. Cell deformations in response to a stepwise increasing force applied to cytoskeletally bound magnetic beads were analyzed with a nonlinear superposition approach. The creep response followed a weak power law regardless of force. Stiffness and power law exponent both increased with force, indicating stress stiffening as well as fluidization of the cytoskeleton. Softer cells showed a more pronounced stress stiffening, which is quantitatively explained by their smaller internal prestress. Stiffer and more elastic cells showed a more pronounced force-induced fluidization, consistent with predictions from soft glassy rheology. Thes...

  12. A NONLINEAR FEASIBILITY PROBLEM HEURISTIC

    Directory of Open Access Journals (Sweden)

    Sergio Drumond Ventura

    2015-04-01

    Full Text Available In this work we consider a region S ⊂ given by a finite number of nonlinear smooth convex inequalities and having nonempty interior. We assume a point x 0 is given, which is close in certain norm to the analytic center of S, and that a new nonlinear smooth convex inequality is added to those defining S (perturbed region. It is constructively shown how to obtain a shift of the right-hand side of this inequality such that the point x 0 is still close (in the same norm to the analytic center of this shifted region. Starting from this point and using the theoretical results shown, we develop a heuristic that allows us to obtain the approximate analytic center of the perturbed region. Then, we present a procedure to solve the problem of nonlinear feasibility. The procedure was implemented and we performed some numerical tests for the quadratic (random case.

  13. Nonlinear Deformable-body Dynamics

    CERN Document Server

    Luo, Albert C J

    2010-01-01

    "Nonlinear Deformable-body Dynamics" mainly consists in a mathematical treatise of approximate theories for thin deformable bodies, including cables, beams, rods, webs, membranes, plates, and shells. The intent of the book is to stimulate more research in the area of nonlinear deformable-body dynamics not only because of the unsolved theoretical puzzles it presents but also because of its wide spectrum of applications. For instance, the theories for soft webs and rod-reinforced soft structures can be applied to biomechanics for DNA and living tissues, and the nonlinear theory of deformable bodies, based on the Kirchhoff assumptions, is a special case discussed. This book can serve as a reference work for researchers and a textbook for senior and postgraduate students in physics, mathematics, engineering and biophysics. Dr. Albert C.J. Luo is a Professor of Mechanical Engineering at Southern Illinois University, Edwardsville, IL, USA. Professor Luo is an internationally recognized scientist in the field of non...

  14. Nonlinear Resistivity for Magnetohydrodynamical Models

    CERN Document Server

    Lingam, Manasvi; Pfefferlé, David; Comisso, Luca; Bhattacharjee, Amitava

    2016-01-01

    A nonlinear current-dependent resistivity that accurately accounts for the collisional electron-ion momentum transfer rate is derived. It is shown that the Spitzer resistivity overestimates the resistivity in certain observationally relevant regimes. The nonlinear resistivity computed herein is a strictly decreasing function of the current, in contrast to some notable previous proposals. The relative importance of the new expression with respect to the well-established electron inertia and Hall terms is also examined. The subtle implications of this current-dependent resistivity are discussed in the context of plasma systems and phenomena such as magnetic reconnection.

  15. Time Series with Tailored Nonlinearities

    CERN Document Server

    Raeth, C

    2015-01-01

    It is demonstrated how to generate time series with tailored nonlinearities by inducing well- defined constraints on the Fourier phases. Correlations between the phase information of adjacent phases and (static and dynamic) measures of nonlinearities are established and their origin is explained. By applying a set of simple constraints on the phases of an originally linear and uncor- related Gaussian time series, the observed scaling behavior of the intensity distribution of empirical time series can be reproduced. The power law character of the intensity distributions being typical for e.g. turbulence and financial data can thus be explained in terms of phase correlations.

  16. Topics in nonlinear functional analysis

    CERN Document Server

    Nirenberg, Louis

    2001-01-01

    Since its first appearance as a set of lecture notes published by the Courant Institute in 1974, this book served as an introduction to various subjects in nonlinear functional analysis. The current edition is a reprint of these notes, with added bibliographic references. Topological and analytic methods are developed for treating nonlinear ordinary and partial differential equations. The first two chapters of the book introduce the notion of topological degree and develop its basic properties. These properties are used in later chapters in the discussion of bifurcation theory (the possible br

  17. Finite elements of nonlinear continua

    CERN Document Server

    Oden, J T

    2000-01-01

    Geared toward undergraduate and graduate students, this text extends applications of the finite element method from linear problems in elastic structures to a broad class of practical, nonlinear problems in continuum mechanics. It treats both theory and applications from a general and unifying point of view.The text reviews the thermomechanical principles of continuous media and the properties of the finite element method, and then brings them together to produce discrete physical models of nonlinear continua. The mathematical properties of these models are analyzed, along with the numerical s

  18. Nonlinear Control of Heartbeat Models

    Directory of Open Access Journals (Sweden)

    Witt Thanom

    2011-02-01

    Full Text Available This paper presents a novel application of nonlinear control theory to heartbeat models. Existing heartbeat models are investigated and modified by incorporating the control input as a pacemaker to provide the control channel. A nonlinear feedback linearization technique is applied to force the output of the systems to generate artificial electrocardiogram (ECG signal using discrete data as the reference inputs. The synthetic ECG may serve as a flexible signal source to assess the effectiveness of a diagnostic ECG signal-processing device.

  19. Edge detection by nonlinear dynamics

    Energy Technology Data Exchange (ETDEWEB)

    Wong, Yiu-fai

    1994-07-01

    We demonstrate how the formulation of a nonlinear scale-space filter can be used for edge detection and junction analysis. By casting edge-preserving filtering in terms of maximizing information content subject to an average cost function, the computed cost at each pixel location becomes a local measure of edgeness. This computation depends on a single scale parameter and the given image data. Unlike previous approaches which require careful tuning of the filter kernels for various types of edges, our scheme is general enough to be able to handle different edges, such as lines, step-edges, corners and junctions. Anisotropy in the data is handled automatically by the nonlinear dynamics.

  20. Generation of nonlinear vortex precursors

    CERN Document Server

    Chen, Yue-Yue; Liu, Chengpu

    2016-01-01

    We numerically study the propagation of a few-cycle pulse carrying orbital angular momentum (OAM) through a dense atomic system. Nonlinear precursors consisting of high-order vortex har- monics are generated in the transmitted field due to ultrafast Bloch oscillation. The nonlinear precursors survive to propagation effects and are well separated with the main pulse, which provide a straightforward way of measuring precursors. By the virtue of carrying high-order OAM, the obtained vortex precursors as information carriers have potential applications in optical informa- tion and communication fields where controllable loss, large information-carrying capacity and high speed communication are required.