Motion Control by ZV Shaper Synthesis Extended for Fractional Systems and Its Application to CRONE Control

Shaping command input or preshaping is used for reducing system oscillation in motion control. Desired systems inputs are altered so that the system finishes the requested move without residual oscillation. This technique, developed by N.C. Singer and W.P. Seering, is used for example in the aerospace field, in particular in flexible structure control. This paper presents the study of ZV shaper for explicit fractional derivative systems (generalized derivative systems). A robustness study of ZV shaper is then presented and applied to improve second generation CRONE control response time. Results from simulation and from a DC motor bench are also given.     

Effect of Pressure on Fluid Damping in MEMS Torsional Resonators with Flow Ranging from Continuum to Molecular Regime

High quality factor of dynamic structures at micro and nano scale is exploited in various applications of micro electro-mechanical systems (MEMS) and nano electro-mechanical system. The quality factor of such devices can be very high in vacuum. However, when vacuum is not desirable or not possible, the tiny structures must vibrate in air or some other gas at pressure levels that may vary from atmospheric to low vacuum. The interaction of the surrounding fluid with the vibrating structure leads to dissipation, thus bringing down the quality factor. Depending on the ambient fluid pressure or the gap between the vibrating and the fixed structure, the fluid motion can range from continuum flow to molecular flow giving a wide range of dissipation. The relevant fluid flow characteristics are determined by the Knudsen number which is the ratio of the mean free path of the gas molecule to the characteristic flow length of the device. This number is very small for continuum flow and reasonably big for molecular flow. In this paper, we study the effect of fluid pressure on the quality factor by carrying out experiments on a MEMS device that consists of a double gimbaled torsional resonator. Such devices are commonly used in optical cross-connects and switches. We only vary fluid pressure to make the Knudsen number go through the entire range of continuum flow, slip flow, transition flow, and molecular flow. We experimentally determine the quality factor of the torsional resonator at different air pressures ranging from 760 Torr to 0.001 Torr. The variation of this pressure over six orders of magnitude ensures required rarefaction to range over all flow conditions. Finally, we get the variation of quality factor with pressure. The result indicates that the quality factor, Q, follows a power law, Q ∝P ^–r , with different values of the exponent r in different flow regimes. In the second part of the paper, we propose the use of effective viscosity for considering velocity slip conditions in solving Navier–Stokes equation numerically. This concept is validated with analytical results for a simple case and then compared with the experimental results presented in this paper. The study shows that the effective viscosity concept can be used effectively even for the molecular regime if the air-gap to length ratio is sufficiently small (h ₀/L<0.01). As this ratio increases, the range of validity decreases.     

A theory of coupled diffusion and large deformation in polymeric gels

A large quantity of small molecules may migrate into a network of long polymers, causing the network to swell, forming an aggregate known as a polymeric gel. This paper formulates a theory of the coupled mass transport and large deformation. The free energy of the gel results from two molecular processes: stretching the network and mixing the network with the small molecules. Both the small molecules and the long polymers are taken to be incompressible, a constraint that we enforce by using a Lagrange multiplier, which coincides with the osmosis pressure or the swelling stress. The gel can undergo large deformation of two modes. The first mode results from the fast process of local rearrangement of molecules, allowing the gel to change shape but not volume. The second mode results from the slow process of long-range migration of the small molecules, allowing the gel to change both shape and volume. We assume that the local rearrangement is instantaneous, and model the long-range migration by assuming that the small molecules diffuse inside the gel. The theory is illustrated with a layer of a gel constrained in its plane and subject to a weight in the normal direction. We also predict the scaling behavior of a gel under a conical indenter.     

狭义相对论效应──运动时钟变慢的计算机模拟演示实验

利用精炼的C语言进行程序设计，定量模拟狭义相结论的运动时钟变慢，并对处于两种不同时空观的时钟运行进行对比，使得时间膨胀效应变得直观。     

Polynuclear manganese grids and clusters—A magnetic perspective

High nuclearity paramagnetic, spin-coupled transition metal clusters and grids are fascinating chemists and physicists partly because of their structural beauty, and the challenge of creating them, but also because of their novel physical properties. Magnetic interactions between the spin centers are a primary focus. This review will examine a selection of Mn(II) polynuclear grids and clusters, with nuclearities in the range Mn₄ to Mn₉. Theoretical treatments of the magnetic properties are discussed, and approaches to solving the exchange problem for ‘large’ spin systems related to computational difficulties. A freely available software package (MAGMUN4.1) is presented as a means of dealing simply with spin-coupled clusters in general, and symmetry reduction methods are discussed briefly as a means of dealing with ‘large’ spin systems.     

The Mathematical Theory of Ito Diffusions on Hypersurfaces, with Applications to NMR Relaxation Problems

A mathematical framework for translational Brownian motion on hypersurfaces is presented, using an imbedding of the surface and Ito diffusions in the ambient space. This includes a survey of Ito calculus and differential geometry. Computational methods for time correlation functions relevant to spin relaxation studies on curved interfaces are given, and explicit calculations of time correlation functions and order parameters for a Rippled surface are presented.     

Gaussian Amplitude Amplification for Quantum Pathfinding

We study an oracle operation, along with its circuit design, which combined with the Grover diffusion operator boosts the probability of finding the minimum or maximum solutions on a weighted directed graph. We focus on the geometry of sequentially connected bipartite graphs, which naturally gives rise to solution spaces describable by Gaussian distributions. We then demonstrate how an oracle that encodes these distributions can be used to solve for the optimal path via amplitude amplification. And finally, we explore the degree to which this algorithm is capable of solving cases that are generated using randomized weights, as well as a theoretical application for solving the Traveling Salesman problem.     

The stability analysis of rolling motion of hypersonic vehicles and its validations

The stability of the rolling motion of near space hypersonic vehicles with rudder control is studied using method of qualitative analysis of nonlinear differential equations, and the stability criteria of the deflected rolling motions are improved. The outcomes can serve as the basis for further study regarding the influence of pitching and lateral motion on the stability of rolling motion. To validate the theoretical results, numerical simulations were done for the rolling motion of two hypersonic vehicles with typical configurations. Also, wind tunnel experiments for four aircraft models with typical configurations have been done. The results show that: 1) there exist two dynamic patterns of the rolling motion under statically stable condition. The first one is point attractor, for which the motion of aircraft returns to the original state. The second is periodic attractor, for which the aircraft rolls periodically. 2) Under statically unstable condition, there exist three dynamic patterns of rolling motion, namely, the point attractor, periodic attractor around deflected state of rolling motion, and double periodic attractors or chaotic attractors.     

基于一维标定物和改进进化策略的相机标定

为了解决运动参数光电探测过程中的相机标定问题,制作一种两端及中间各安装一个红外反光标记球的一维标定物.不需要其它复杂标定装置,只要将这种特制的一维标定物在测量空间内多次随意移动并摄取其图像,即可实现标定.算法首先假定主点位于像面中心附近的某个位置,再求出焦距、旋转矩阵、平移向量和比例因子,最后通过评价函数将相机标定转换成寻找两相机最佳主点对的非线性最小化问题.在传统进化策略中引进个体的自我改进系数、个体间距离等概念,提出了求取子代个体间的欧式距离并排序的方法,设计了搜索最佳主点对的改进型进化策略算法.与传统标定方法相比,基于一维标定物的方法克服了多相机场合的遮挡问题,改进进化策略的引入打破了一维标定物需做某种特殊运动的限制,使一维标定物自由运动时相机内、外参数的同时求解成为可能,改进的模拟退火进化策略改善了算法的全局收敛性能并加快了收敛速度.     

Rhenium(VII) polyhydrides supported by chelating bis -phosphine ligands: DPEphos,xantphos and biphep

Three new rhenium polyhydride complexes, [ReH₇(L₂)], incorporating bidentate organophosphorus ligands (L₂ = DPEphos, xantphos and biphep), were successfully synthesized using the corresponding [ReOCl₃(L₂)] complexes as precursors. The polyhydride complexes were characterized by IR, ¹H and ³¹P NMR, and elemental analysis.