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At least 397 records · Page 22

On manipulator control by exact linearization

Comments are given on the application to rigid-link manipulators of geometric control theory, resolved acceleration control, operational space control, and nonlinear decoupling theory, and the essential unity of these techniques for externally linearizing and decoupling end-effector dynamics is discussed. Exploiting the fact that the mass matrix of a rigid-link manipulator is positive definite, and the fact that there is an independent input for each degree of freedom, it is shown that a necessary and sufficient condition for a locally externally linearizing and output decoupling feedback law to exist is that the end effector Jacobian matrix be nonsingular.

Kreutz, Kenneth↗

Subsonic investigations of vortex interaction control for enhanced high-alpha aerodynamics of a chine forebody/Delta wing configuration

A proposed concept to alleviate high alpha asymmetry and lateral/directional instability by decoupling of forebody and wing vortices was studied on a generic chine forebody/ 60 deg. delta configuration in the NASA Langley 7 by 10 foot High Speed Tunnel. The decoupling technique involved inboard leading edge flaps of varying span and deflection angle. Six component force/moment characteristics, surface pressure distributions and vapor-screen flow visualizations were acquired, on the basic wing-body configuration and with both single and twin vertical tails at M sub infinity = 0.1 and 0.4, and in the range alpha = 0 to 50 deg and beta = -10 to +10 degs. Results are presented which highlight the potential of vortex decoupling via leading edge flaps for enhanced high alpha lateral/directional characteristics.

Rao, Dhanvada M.↗

Control design of a UH-60 rotorcraft via CLTR and direct optimization

High-performance rotorcraft controller design is characterized by the need to compensate for both the longitudinal and lateral dynamics simultaneously. Rather than leaving these modes largely decoupled, one often needs for performance consideration to incorporate direct mode decoupling as a part of the controller design, especially when the system model includes high-frequency dynamics from the rotor and lag states. In addition to the usual design considerations of stability augmentation, a high-performance rotorcraft such as the UH-60 would also require a good command bandwidth and decoupling in the heave, yaw, pitch and roll command responses. In this paper, the method of closed-loop transfer recovery (CLTR) and direct optimization are applied to the control design of a UH-60 rotorcraft.

Vansteenwyk, Brett↗

On lattice chiral gauge theories

The Smit-Swift-Aoki formulation of a lattice chiral gauge theory is presented. In this formulation the Wilson and other non invariant terms in the action are made gauge invariant by the coupling with a nonlinear auxilary scalar field, omega. It is shown that omega decouples from the physical states only if appropriate parameters are tuned so as to satisfy a set of BRST identities. In addition, explicit ghost fields are necessary to ensure decoupling. These theories can give rise to the correct continuum limit. Similar considerations apply to schemes with mirror fermions. Simpler cases with a global chiral symmetry are discussed and it is shown that the theory becomes free at decoupling. Recent numerical simulations agree with those considerations.

Maiani, L.↗

End products of cometary evolution - Cometary origin of earth-crossing bodies of asteroidal appearance

The present state of the understanding of the dynamic mechanisms under which the orbits of some comets evolve into those observed for Apollo-Amor objects is reviewed. Observed Jupiter-family objects of asteroidal appearance, e.g., 1983SA, are much more likely to be of cometary rather than asteroidal origin. 'Decoupling' is facilitated by several mechanisms: perturbations by terrestrial planets, perturbations by Jupiter and the other giant planets, and nongravitational orbital changes caused by the loss of gas and dust from the comet. The dynamical time scale for decoupling is argued to be 100,000-1,000,000 yr, and almost all decoupled comets are likely to be of asteroidal appearance. Estimates can be made of the number of cometary Apollo-Amor 'asteroids', the observed number of earth-crossing active and inactive short-period comets, and the production rate of short-period comets. These estimates are compatible with other theoretical and observational inferences that suggest the presence of a significant population of Apollo objects that formerly were active comets.

Wetherill, G. W.↗

Determination of the mass properties of a manipulator

Space applications for telerobotics requires a manipulator that is robust to the large payload variations that occur in a zero-g environment. One approach to provide the required performance for this large payload variation is to provide inertial decoupling to the controller. The equations to generate the required joint torques can be obtained in several manners but the independent parameters required to perform the calculations are difficult to obtain. This presentation consists of an overview of the inertial decoupling control system and discusses how to reduce the inertial parameter set to a minimum and obtain the required parameter set to a minimum and obtain the required parameter vector using sensed joint positions and torques. In addition, as telerobotic technology becomes more prevalent in the space environments the ability to emulate the effect of zero-g in a one-g environment is critical in learning how to perform tasks in space. To emulate the zero-g environment it is necessary to remove the effect of gravity on the manipulator by determining the feedforward joint torques. A subset of the algorithm developed to obtain the decoupling parameters is used to obtain the gravity offload parameters. These parameters are used to eliminate the effect of gravity. The algorithm is validated on Martin Marietta/NASA Langley's, 7 Degrees-Of-Freedom (DOF) Flight Telerobotic Servicer Hydraulic Manipulator Test Bed. A video portraying actual results of the algorithm is provided.

Goldenberg, Stewart↗

Rotorcraft flight control design using quantitative feedback theory and dynamic crossfeeds

A multi-input, multi-output controls design with robust crossfeeds is presented for a rotorcraft in near-hovering flight using quantitative feedback theory (QFT). Decoupling criteria are developed for dynamic crossfeed design and implementation. Frequency dependent performance metrics focusing on piloted flight are developed and tested on 23 flight configurations. The metrics show that the resulting design is superior to alternative control system designs using conventional fixed-gain crossfeeds and to feedback-only designs which rely on high gains to suppress undesired off-axis responses. The use of dynamic, robust crossfeeds prior to the QFT design reduces the magnitude of required feedback gain and results in performance that meets current handling qualities specifications relative to the decoupling of off-axis responses. The combined effect of the QFT feedback design following the implementation of low-order, dynamic crossfeed compensator successfully decouples ten of twelve off-axis channels. For the other two channels it was not possible to find a single, low-order crossfeed that was effective.

Cheng, Rendy P.↗

Heterogeneous Combustion of Porous Graphite Particles in Microgravity

Recent theoretical investigations on graphite particle combustion have employed several levels of heterogeneous reaction models, ranging from global to elementary models, to describe the oxidation of carbon to gaseous products. Unlike the counterpart homogeneous reaction models, these heterogeneous reaction models are not well developed because of the difficulties associated with decoupling the physical characteristics of the solid (e.g. surface area taking part in combustion) from the chemical kinetic data. This is certainly true for porous graphite particle combustion, where heterogeneous and homogeneous reactions occur within the pores and play an important role in the overall oxidation process. As a result, there are considerable uncertainties of physical phenomena predicted using different heterogeneous kinetic models available in the literature. A good example, discussed later in this paper, is the predicted critical particle size below which the mass burning rate becomes exponentially small. The main goal of this study is to understand the basic mechanism controlling such rapid changes in burning rates, by developing a model where physical contributions are decoupled from chemical rate constants in a consistent manner. Another important goal of the proposed study is to develop a truly intrinsic, detailed heterogeneous reaction model for porous graphite combustion at high-temperatures, and to derive a systematically reduced heterogeneous reaction model in terms of the elementary reaction rate constants of the detailed model. The validation of chemical kinetic models describing the heterogeneous and homogeneous combustion in and around a spherically symmetric porous graphite particle can be considerably simplified by experimental measurements obtained under microgravity conditions. A vital component of this study is to conduct such supporting experiments on particle burning rate and surface temperature using NASA microgravity facilities, in close coordination with the theoretical effort. The basic understanding obtained and models developed as part of this project will be useful for optimal design of coal combustion devices. These models can also be extended to investigate the role of heterogeneous chemistry on pollutant formation pathways in combustion devices. The theoretical approach developed here, with pore diffusion effects decoupled from the chemical effects, can also be extended to understand the heterogeneous combustion of other porous fuels, for example, combustion of magnesium in a CO2 environment for propulsion in the Martian atmosphere.

Chelliah, Harsha K.↗

Improvements to Stitching Controls for Manufacturing Advanced Stitched Composites

Stitched composites have been extensively studied and have been shown to have benefits over unstitched composites for stiffened structures, including improved damage tolerance, reduced weight, and fewer fasteners. These benefits make stitched composites attractive from a performance perspective, however, the nature of stitching the preforms prior to infusion includes additional manufacturing steps and equipment compared to conventional resin infusion. Stitching of composite material structures at NASA Langley Research Center (LaRC) is performed at the Integrated Structural Assembly of Advanced Composites (ISAAC) facility using control algorithms developed by the lead author. Two deficiencies have been identified in the current control algorithms, and mitigations for these deficiencies were developed within the Hi-Rate Composite Aircraft Manufacturing (HiCAM) project and are presented herein. First, decoupling stitch translation and rotation takes more time for stitching since two robot operation control steps are executed for each stitch. Therefore, a method was developed to determine when to decouple the translation and rotation for stitching, which reduces stitch time by decoupling the operation control steps only when necessary to execute the stitch properly. Second, a correction to the sideslip stitching approach that eliminates a significant portion of the pre- and post-stitching activities was developed. The developed method adjusts the sideslip stitch angle based on the rotations of previous stitches to ensure that the width of the stitching seam remains constant along its length. Constant seam width eliminates observed overlap of the insertion and catcher thread portions for highly curved paths, which maintains the desired uniformity of through-the-thickness architecture along the seam and eliminates the local degradation of properties where the insertion needle is too close to, or crosses, the catcher needle portion of the seam.

stitching↗

2020 International Conference on Smart Grids and Energy Systems (SGES)

This paper is concerned about phasor-based linear state estimation of three-phase power grids which contain non transposed lines and unsymmetrical branches. It builds upon our previous work where the linear measurement equations were decoupled into three independent sets via the symmetrical component transformation. Such a transformation may however not fully decouple the measurement equations if there are nontransposed transmission lines and unsymmetrical branches in the system. This paper addresses this limitation by deriving additive terms that compensate for the remaining coupling between sequence measurements after the application of the conventional transformation. It will be shown that general unbalanced threephase power grids can still be transformed into three decoupled subsystems and their state estimation solution can be obtained in parallel by the proposed approach.

Khalili, Ramtin↗

Highly Reliable Multi-Port Smart Inverter Modules for PV-Based Energy Systems

Generally, large electrolytic capacitors (E-caps) are required to decouple the double-line frequency power fluctuation inherent in all single-phase dc-ac or ac-dc converters. These E-caps pose the weak link in the photovoltaic (PV) inverter because they have poor reliability as a result of short life expectancy and higher equivalent series resistance (ESR) which leads to lower system efficiency. In this paper, multiport smart dual-inverter modules are proposed for residential PV inverter systems with balanced outputs to eliminate the requirement of large decoupling capacitors, thus leading to more reliable and highly efficient inverter modules. The balanced dual outputs are controlled in phase quadrature such that the double frequency current is completely eliminated. One phase supports the standalone residential loads, and the other phase interfaces with the grid, which is synchronized to the utility grid. Also, the proposed modular configuration is scalable to accommodate higher power rating by stacking and paralleling multiple modules. Simulation results for the dual-inverter modules rated for 1 kW each are presented to validate the proposed concept. Experimental results from a controller hardware-in-the-loop (CHIL) platform also verify its feasibility.

14 SOLAR ENERGY↗

Zero-Strain Metal-Insulator Transition by the Local Fluctuation of Cation Dimerization

The coupled electronic and structural transitions in metal-insulator transition (MIT) hinder ultrafast switching and ultimate endurance. Decoupling these transitions and achieving a zero-strain electronic MIT can overcome the fundamental limitations of MIT in solid materials. Here, this study demonstrates that iso-valent Ti dopants in supercooled VO 2 epitaxial films cause MIT with minimal hysteresis without changing unit-cell volume and crystal symmetry. The Ti dopants in the VO 2 lattice locally alter the configuration of V-V pairs, where the long-range ordering in V-V pairs is disrupted, and the nano-domains of V-V dimers are formed. Strikingly, these local V-V dimers persist even above the electronic transition temperature (T MI ), facilitating the zero-strain electronic MIT with nanoscale structural heterogeneity. The geometrically compatible interface between insulating and metallic phases drastically enhances switching speed and endurance during electrically and optically driven zero-strain MIT. In conclusion, this discovery offers a fresh perspective on the scientific understanding of MIT and the improved functionality in terms of device speed and reliability by decoupling electronic and structural transitions.

36 MATERIALS SCIENCE↗

Crossing the Oxo‐Peroxo Wall for Selective Electrochemical Epoxidation

Electrochemical oxidation in water requires the formation of reactive oxygen species to be able to oxidize unsaturated hydrocarbons to epoxides, aldehydes, and ketones. These reactions, broadly classified as alternative oxidation reactions (AOR), directly compete with the prevalent oxygen evolution reaction (OER). In molecular catalysis, the Oxo-Wall dictates a transition from a stable oxo intermediate (OER active) to a meta-stable metal-oxo (OER inactive) generally occurs. In this work on heterogeneous catalysis, the same Oxo-Wall applies, however, a meta-stable oxo preferentially coordinates with lattice oxygen to form a more stable surface peroxo intermediate. A universal free energy onset of this process is identified at 3.39 eV under electrochemical activation in water and show that it is completely decoupled from the OER oxo species. Such decoupling gives rise to a new region of oxygen reactivity relevant for AOR where a selective oxidation of the unsaturated C-C bonds is predicted to occur instead of OER. A distinct AOR overpotential volcano is constructed and identify recently reported electrocatalysts, including palladium-platinum for propylene epoxidation and silver-nickel for ethylene epoxidation, along with others such as TiO 2 and CuO. Broader implications and limitations of electrochemical AOR are discussed, highlighting their potential to enable electrochemically enhanced thermal catalysis.

Electrocatalysis↗

Large U(1) charges from flux breaking in 4D F-theory models

We study the massless charged spectrum of U(1) gauge fields in F-theory that arise from flux breaking of a nonabelian group. The U(1) charges that arise in this way can be very large. In particular, using vertical flux breaking, we construct an explicit 4D F-theory model with a U(1) decoupled from other gauge sectors, in which the massless/light fields have charges as large as 657. This result greatly exceeds prior results in the literature. We argue heuristically that this result may provide an upper bound on charges for light fields under decoupled U(1) factors in the F-theory landscape. We also show that the charges can be even larger when the U(1) is coupled to other gauge groups.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗

Celestial gluon amplitudes from the outside in

We show that, given a two-dimensional realization of the celestial OPE in self-dual Yang-Mills, we can find a scalar source around which scattering amplitudes replicate correlation functions computed from the 2D ‘gluon’ operators in a limit where a dynamic massless scalar decouples. We derive conditions on the two-dimensional three-point correlation function so that such a source exists and give two particular examples of this construction, one in which gluons are constructed from vertex operators in the semiclassical limit of Liouville theory and another in which the soft gluons arise from generalized free fields. Finally, we identify a bulk dual to the level of the boundary Kac-Moody algebra and discuss moving beyond the decoupling limit.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗

Factorized class $\mathrm{S}$ theories and surface defects

It is known that some theories of class S are actually factorized into multiple decoupled nontrivial four-dimensional $\mathcal{N}$ = 2 It is known that some theories of class S are actually factorized into multiple decoupled nontrivial four-dimensional $\mathcal{N}$ = 2 superconformal SU(2) QCD, describing this factorized theory as a class S theory of type A 3 on a five-punctured sphere with a twist line. Separately, we also present explicit checks that the Coulomb branch of a putative factorized class S theory has the expected product structure, in two examples.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗

In situ deformation of antigorite-olivine two-phase mixtures: Implications for dynamics and seismic anisotropy in the mantle wedge

Water released from hydrous minerals in subducting slabs reacts with the overlying plate, resulting in widespread serpentinization in the mantle wedge. Deformation of serpentinized peridotites has been invoked to explain forearc seismic anisotropy, yet studies of the mechanical properties and deformation behaviors of serpentine-bearing multiphase aggregates remain limited. Here we deformed olivine-antigorite mixtures containing 70, 50, and 20 vol.% of antigorite at 2.5 – 7.6 GPa, 673 K and strain rates of ∼10 –5 –10 –4 s –1 . Elasto-viscoplastic self-consistent simulations, constrained by synchrotron X-ray diffraction (XRD) data, were used to estimate lattice strain, stress–strain partitioning, crystallographic preferred orientations (CPO) development, and aggregate strength. Selected run products were also analyzed by electron backscatter diffraction for comparison with the CPO results obtained from XRD experiments. We found olivine transitions from A- or B-type to C-type when antigorite fraction drops to 20 vol.%, coinciding with a microstructural change from interconnected weak layers to a load-bearing framework (LBF). An additional run on a sample Atg50/Ol50 with preexisting microstructures suggested the formation of LBF was promoted by these microstructures, although the preexisting antigorite CPO has been overprinted at 20.8 % strain and could be erased completely by subsequent deformation in nature. Estimated viscosity of the two-phase mixtures suggests that low-degree serpentinization (≤20 %) in the mantle wedge may increase the strength of olivine-rich peridotite and hinder slab-mantle decoupling, whereas high-degree serpentinization (≥50–70 %) weakens the peridotite and favors decoupling if sufficient viscosity contrast (>10) develops. Seismic anisotropy shows a nonlinear dependence on antigorite fraction: antigorite CPO governs the anisotropy of the mixtures with ≥50 vol.% antigorite, whereas olivine CPO dominates at low fractions (∼20 vol.%). The presence of pre-existing microstructures reduces seismic anisotropy of the deformed mixtures, however the persistence of pre-existing CPO in actively subducting slabs remains uncertain, making their significance over geological timescales questionable.

Crystallographic preferred orientation↗

GAMBL – A dual-cooled fusion blanket using SiC-based structures

We describe a novel fusion reactor blanket concept called GAMBL – GA Modular BLanket. This design concept exploits the advantages of SiC-based structures while minimizing their limitations. Material microstructures are tailored for different functions throughout the first wall and blanket, including the use of graded W/SiC composites to enhance heat transfer capabilities and resist erosion at the plasma-facing surface. The design contains a decoupled first wall and breeding blanket, which we show can provide adequate tritium breeding. By decoupling the breeding part of the blanket, we can operate at very low PbLi breeder pressure and support gravity loads in simple, radiatively-cooled structural beams that do not contain coolant. First wall performance capabilities are enhanced by eliminating constraints imposed by the deep blanket. We have performed initial fluid, thermal, mechanical and neutronics analysis of this concept to show its capabilities to meet the design requirements. R&D needs are mostly related to materials development. Except for unique manufacturing needs, no new facilities are required beyond existing or planned facilities for the US base program on steel-based DCLL blankets.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗