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At least 253 records · Page 14

Dealing with the time-varying parameter problem of robot manipulators performing path tracking tasks

Many robotic applications involve time-varying payloads during the operation of the robot. It is therefore of interest to consider control schemes that deal with time-varying parameters. Using the properties of the element by element (or Hadarmad) product of matrices, we obtain the robot dynamics in parameter-isolated form, from which a new control scheme is developed. The controller proposed yields zero asymptotic tracking errors when applied to robotic systems with time-varying parameters by using a switching type control law. The results obtained are global in the initial state of the robot, and can be applied to rapidly varying systems.

Song, Y. D.↗

The neutral circulation in the vicinity of a stable auroral arc

The effects of asymmetric potential distributions, arc-neutral feedback, and cross-arc winds on the neutral circulation near auroral arc were examined using a sophisticated two-dimensional high-resolution model of the neutral atmosphere which was preconditioned by allowing weak diffuse aurora to exist prior to the formation of an arc. Simulations were performed with asymmetric potential structures and with an initial state which was warmed and accelerated due to a preexisting diffuse aurora, as well as with arc-zonal wind feedback and with large-scale cross-arc flow. It is shown that, with a preexisting zonal flow and asymmetrical arc structures, strong zonal winds are generated within the arc. Simulations with the arc-zonal feedback indicate that the effect of feedback is not large because of the limited duration of an arc. Simulations with a strong large-scale cross-arc wind indicate that the zonal wind is not strongly sensitive to the large-scale wind.

Walterscheid, R. L.↗

A global multilevel atmospheric model using a vector semi-Lagrangian finite-difference scheme. I - Adiabatic formulation

An adiabatic global multilevel primitive equation model using a two time-level, semi-Lagrangian semi-implicit finite-difference integration scheme is presented. A Lorenz grid is used for vertical discretization and a C grid for the horizontal discretization. The momentum equation is discretized in vector form, thus avoiding problems near the poles. The 3D model equations are reduced by a linear transformation to a set of 2D elliptic equations, whose solution is found by means of an efficient direct solver. The model (with minimal physics) is integrated for 10 days starting from an initialized state derived from real data. A resolution of 16 levels in the vertical is used, with various horizontal resolutions. The model is found to be stable and efficient, and to give realistic output fields. Integrations with time steps of 10 min, 30 min, and 1 h are compared, and the differences are found to be acceptable.

Bates, J. R.↗

The formation of protostellar disks. I - 1 M(solar)

Hydrodynamical calculations of the collapse of an axisymmetric, rotating one solar mass protostellar cloud, including the effects of radiative transfer and radiative acceleration but without magnetic fields, are presented. The results include calculations of infrared protostellar spectra as a function of time and viewing angle. A numerical algorithm involving explicit nested grids is used to resolve the region of initial disk formation and at the same time to include the outer regions in the calculation. The central part of the protostar is modeled approximately. Initial conditions are systematically varied to investigate their influence on the evolution and final configuration of central star plus circumstellar disk. The initial state for the standard case is a centrally condensed molecular cloud core of one solar mass with a mean density of 8 x 10 exp -18 g/cu cm and a specific angular momentum at the outer edge of 7 x 10 exp 20 sq cm/s. The collapse is followed for 8 x 10 exp 4 yr, at which point 0.45 solar mass is contained in a rapidly rotating central object and most of the remainder in a surrounding equilibrium disk. The stability of this final structure is qualitatively analyzed.

Yorke, Harold W.↗

Dynamic performance of an aero-assist spacecraft - AFE

Dynamic performance of the Aero-assist Flight Experiment (AFE) spacecraft was investigated using a high-fidelity 6-DOF simulation model. Baseline guidance logic, control logic, and a strapdown navigation system to be used on the AFE spacecraft are also modeled in the 6-DOF simulation. During the AFE mission, uncertainties in the environment and the spacecraft are described by an error space which includes both correlated and uncorrelated error sources. The principal error sources modeled in this study include navigation errors, initial state vector errors, atmospheric variations, aerodynamic uncertainties, center-of-gravity off-sets, and weight uncertainties. The impact of the perturbations on the spacecraft performance is investigated using Monte Carlo repetitive statistical techniques. During the Solid Rocket Motor (SRM) deorbit phase, a target flight path angle of -4.76 deg at entry interface (EI) offers very high probability of avoiding SRM casing skip-out from the atmosphere. Generally speaking, the baseline designs of the guidance, navigation, and control systems satisfy most of the science and mission requirements.

Chang, Ho-Pen↗

Loss of equilibrium and reconnection in tearing of two-dimensional equilibria

Two-dimensional tearinglike behavior is studied in reduced resistive magnetohydrodynamics (MHD) with flux conserving boundary conditions on a rectangular box. The tearinglike perturbations do not destroy the symmetries of the initial state, either discrete or continuous. In such cases, in which the perturbation does not break a symmetry of the equilibrium, linear instability is typically not directly observed. However, there can be a loss of equilibrium associated with the existence of a tearing unstable state. These ideas are illustrated with three examples: a very elongated tokamak, a tokamak with pinching coils to elongate its flux surfaces, and a model for the magnetotail or for solar arcades. The loss of equilibrium is demonstrated by means of a nonlinear energy functional. The importance of the fact that the dynamics shows a loss of equilibrium is that a large amount of free energy can be released, in the form of reconnection, and that there is a possibility of hysteresis.

Finn, John M.↗

Three-dimensional magnetohydrodynamics of the emerging magnetic flux in the solar atmosphere

The nonlinear evolution of an emerging magnetic flux tube or sheet in the solar atmosphere is studied through 3D MHD simulations. In the initial state, a horizontal magnetic flux sheet or tube is assumed to be embedded at the bottom of MHD two isothermal gas layers, which approximate the solar photosphere/chromosphere and the corona. The magnetic flux sheet or tube is unstable against the undular mode of the magnetic buoyancy instability. The magnetic loop rises due to the linear and then later nonlinear instabilities caused by the buoyancy enhanced by precipitating the gas along magnetic field lines. We find by 3D simulation that during the ascendance of loops the bundle of flux tubes or even the flux sheet develops into dense gas filaments pinched between magnetic loops. The interchange modes help produce a fine fiber flux structure perpendicular to the magnetic field direction in the linear stage, while the undular modes determine the overall buoyant loop structure. The expansion of such a bundle of magnetic loops follows the self-similar behavior observed in 2D cases studied earlier. Our study finds the threshold flux for arch filament system (AFS) formation to be about 0.3 x 10 exp 20 Mx.

Matsumoto, R.↗

Gas flow with straight transition line

An investigation was conducted on the limiting case of a gas flow when the constant pressure in the surrounding medium is exactly equal to the critical pressure for the given initial state of the gas.

Ovsiannikov, L V↗

Smoothly deformed light

A single mode cavity is deformed smoothly to change its electromagnetic eigenfrequency. The system is modeled as a simple harmonic oscillator with a varying period. The Wigner function of the problem is obtained exactly by starting with a squeezed initial state. The result is evaluated for a linear change of the cavity length. The approach to the adiabatic limit is investigated. The maximum squeezing is found to occur for smooth change lasting only a fraction of the oscillational period. However, only a factor of two improvement over the adiabatic result proves to be possible. The sudden limit cannot be investigated meaningfully within the model.

Stenholm, Stig↗

Eddy mixing coefficient values derived from simulations with the NASA Ames Mars GCM

Values of eddy mixing coefficients, especially that for vertical mixing, are of particular importance for various photochemical models of the Mars atmosphere, which are either globally or zonally averaged. These models represent atmospheric transport processes in terms of eddy diffusion. While this is not appropriate for the advective transport by the mean meridional circulation (in general, a part of the eddy diffusion tensor actually does represent advection--a 'correction' to the Eulerian-mean circulation), it can be applied to simulate both the small- and larger-scale eddy transports of an atmospheric constituent. An effort is underway to estimate values of the eddy mixing coefficients for the Mars atmosphere using circulation data generated with the NASA Ames Mars GCM. This model simulates the three-dimensional winds in the atmosphere, and these are then used as inputs for a tracer transport model. The latter model has previously been used in interactive dust transport experiments with the Ames GCM. Idealized tracer transport experiments, with a conservative or nearly conservative hypothetical tracer, are performed to generate data from which the eddy diffusion coefficients can be estimated. Carrying out matched pairs of tracer experiments, using two very different initial states, permits all four components of the diffusion tensor to be determined. A large number of GCM experiments have been conducted, spanning a range of seasons and atmospheric dust loading, allowing the eddy mixing coefficients to be estimated for a variety of atmospheric conditions.

Barnes, J. R.↗

Characterization of dynamic stall phenomenon using two-dimensional unsteady Navier-Stokes equations

Among the new significant aspects of the present work are: (1) the treatment of the far-field boundary; (2) the use of C-grid topology, with the branch-cut singularity treated analytically; (3) evaluation of the effect of the envelope of prevailing initial states, and finally; (4) the ability to employ streakline/pathline 'visualization' to probe the unsteady features prevailing in vortex-dominated flows. The far-field boundary is placed at infinity, using appropriate grid stretching. This contributes to the accuracy of the solutions, but raised a number of important issues which needed to be resolved; this includes determining the equivalent time-dependent circulation for the pitching airfoil. A secondary counter-clockwise vortex erupts from within the boundary layer and immediately pinches off the energetic leading-edge shear layer which then, through hydrodynamic instability, rolls up into the dynamic stall vortex. The streakline/pathline visualization serves to provide information for insight into the physics of the unsteady separated flow.

Ghia, K. N.↗

Quantitative numerical modeling of a coronal mass ejection

The results of an investigation on how the initial state (pre-event corona) quantitatively affects the magnetohydrodynamic model output of a coronal mass ejection (CME) are presented. The extension of the study on the identification of pre-event streamer properties which are crucial in determining the observed characteristics of CMEs, to more realistic configurations, also taking into account the coronal hole regions, adjacent to quiet coronal streamers, whose physical conditions are not adequately reproduced by global coronal models, is addressed. Results from the present model show three distinct types of CME's (loop, plasmoid and spike) which correspond to the classes of CME's identified in observations made with white light coronographs. The aim is a better understanding of the intercorrelations between streamers and adjacent coronal hole properties.

Wang, A. H.↗

Attitude control of spacecraft using neural networks

This paper investigates the use of radial basis function neural networks for adaptive attitude control and momentum management of spacecraft. In the first part of the paper, neural networks are trained to learn from a family of open-loop optimal controls parameterized by the initial states and times-to-go. The trained is then used for closed-loop control. In the second part of the paper, neural networks are used for direct adaptive control in the presence of unmodeled effects and parameter uncertainty. The control and learning laws are derived using the method of Lyapunov.

Vadali, Srinivas R.↗

Controlled Quantum Packets

We look at time evolution of a physical system from the point of view of dynamical control theory. Normally we solve motion equation with a given external potential and we obtain time evolution. Standard examples are the trajectories in classical mechanics or the wave functions in Quantum Mechanics. In the control theory, we have the configurational variables of a physical system, we choose a velocity field and with a suited strategy we force the physical system to have a well defined evolution. The evolution of the system is the 'premium' that the controller receives if he has adopted the right strategy. The strategy is given by well suited laboratory devices. The control mechanisms are in many cases non linear; it is necessary, namely, a feedback mechanism to retain in time the selected evolution. Our aim is to introduce a scheme to obtain Quantum wave packets by control theory. The program is to choose the characteristics of a packet, that is, the equation of evolution for its centre and a controlled dispersion, and to give a building scheme from some initial state (for example a solution of stationary Schroedinger equation). It seems natural in this view to use stochastic approach to Quantum Mechanics, that is, Stochastic Mechanics [S.M.]. It is a quantization scheme different from ordinary ones only formally. This approach introduces in quantum theory the whole mathematical apparatus of stochastic control theory. Stochastic Mechanics, in our view, is more intuitive when we want to study all the classical-like problems. We apply our scheme to build two classes of quantum packets both derived generalizing some properties of coherent states.

DeMartino, Salvatore↗

Magnetohydrodynamic Simulation of a Streamer Beside a Realistic Coronal Hole

Existing models of coronal streamers establish their credibility and act as the initial state for transients. The models have produced satisfactory streamer simulations, but unsatisfactory coronal hole simulations. This is a consequence of the character of the models and the boundary conditions. The models all have higher densities in the magnetically open regions than occur in coronal holes (Noci, et al., 1993).

Suess, S. T.↗

Line Coupling in Atmospheric Spectra

The theoretical modeling of atmospheric spectra is important for a number of different applications: for instance, in the determination of minor atmospheric constituents such as ozone, carbon dioxide, CFC's etc.; in monitoring the temperature profile for climate studies; and in measuring the incoming and outgoing radiation to input into global climate models. In order to accomplish the above mentioned goal, one needs to know the spectral parameters characterizing the individual spectral lines (frequency, width, strength, and shape) as well as the physical parameters of the atmosphere (temperature, abundances, and pressure). When all these parameters are known, it is usually assumed that the resultant spectra and concomitant absorption coefficient can then be calculated by a superposition of individual profiles of appropriate frequency, strength and shape. However, this is not true if the lines are 'coupled'. Line coupling is a subtle effect that takes place when lines of a particular molecule overlap in frequency. In this case when the initial states and the final states of two transitions are connected by collisions, there is a quantum interference resulting in perturbed shapes. In general, this results in the narrowing of Q-branches (those in which the rotational quantum number does not change), and vibration-rotational R- and P branches (those in which the rotational quantum number changes by +/- 1), and in the spectral region beyond band heads (regions where the spectral lines pile up due to centrifugal distortion). Because these features and spectral regions are often those of interest in the determination of the abundances and pressure-temperature profiles, one must take this effect into account in atmospheric models.

Tipping, R. H.↗

Merger of a Neutron Star with a Newtonian Black Hole

Newtonian smooth particle hydro simulations are presented of the merger of a 1.4 solar mass neutron star with a black hole of equal mass. The initial state of the system is modeled with a stiff polytrope orbiting a point mass. Dynamical instability sets in when the orbital separation is equal to about three stellar radii. The ensuing mass transfer occurs on the dynamical timescale. No accretion torus is formed. At the end of the computation a corona of large extent shrouds an apparently stable binary system of a 0.25 solar mass star orbiting a 2.3 solar mass black hole.

Lee, William H.↗

Self-Similar Compressible Free Vortices

Lie group methods are used to find both exact and numerical similarity solutions for compressible perturbations to all incompressible, two-dimensional, axisymmetric vortex reference flow. The reference flow vorticity satisfies an eigenvalue problem for which the solutions are a set of two-dimensional, self-similar, incompressible vortices. These solutions are augmented by deriving a conserved quantity for each eigenvalue, and identifying a Lie group which leaves the reference flow equations invariant. The partial differential equations governing the compressible perturbations to these reference flows are also invariant under the action of the same group. The similarity variables found with this group are used to determine the decay rates of the velocities and thermodynamic variables in the self-similar flows, and to reduce the governing partial differential equations to a set of ordinary differential equations. The ODE's are solved analytically and numerically for a Taylor vortex reference flow, and numerically for an Oseen vortex reference flow. The solutions are used to examine the dependencies of the temperature, density, entropy, dissipation and radial velocity on the Prandtl number. Also, experimental data on compressible free vortex flow are compared to the analytical results, the evolution of vortices from initial states which are not self-similar is discussed, and the energy transfer in a slightly-compressible vortex is considered.

vonEllenrieder, Karl↗