Dynamics and adaptive control of a dual-arm space robot with closed-loop constraints and uncertain inertial parameters

A dynamics-based adaptive control approach is proposed for a planar dual-arm space robot in the presence of closed-loop constraints and uncertain inertial parameters of the payload. The controller is capable of controlling the po- sition and attitude of both the satellite base and the payload grasped by the manipulator end effectors. The equations of motion in reduced-order form for the constrained system are derived by incorporating the constraint equations in terms of accelerations into Kane＇s equations of the unconstrained system. Model analysis shows that the resulting equations perfectly meet the requirement of adaptive controller design. Consequently, by using an indirect approach, an adaptive control scheme is proposed to accomplish position/attitude trajectory tracking control with the uncertain parameters be- ing estimated on-line. The actuator redundancy due to the closed-loop constraints is utilized to minimize a weighted norm of the joint torques. Global asymptotic stability is proven by using Lyapunov＇s method, and simulation results are also presented to demonstrate the effectiveness of the proposed approach.

An Efficient Accurate Direct Solution of Poisson's Equation for Computation of Meteorological Parameters

Poisson's equation is solved numerically by two direct methods, viz. Block Cyclic Reduction (BCR) method and Fourier Method. Qualitative and quantitative comparison between the numerical solutions obtained by two methods indicates that BCR method is superior to Fourier method in terms of speed and accuracy. Therefore. BCR method is applied to solve (?)2(?)= ζ and (?)2X= D from observed vorticity and divergent values. Thereafter the rotational and divergent components of the horizontal monsoon wind in the lower troposphere are reconstructed and are com pared with the results obtained by Successive Over-Relaxation (SOR) method as this indirect method is generally in more use for obtaining the streamfunction ((?)) and velocity potential (X) fields in NWP models. It is found that the results of BCR method are more reliable than SOR method.

Need for multiple biomarkers to adjust parameters of closed-loop deep brain stimulation for Parkinson's disease

Closed-loop deep brain stimulation（DBS）：DBS has been established as a surgical therapy for movement disorders and select neuropsychiatric disorders.Various efforts to improve the clinical outcomes of the procedure have been previously made.Several factors affect the DBS clinical outcomes such as lead position,programming technique,

Searching the Parameters of Dark Matter Halos on the Basis of Dwarf Galaxies’ Dynamics

Article devoted to searching the parameters of dark matter halos on the base of dwarf galaxies’ dynamics (Messier 32 and Leo I). For doing this, we propose the new approach founded on construction the coupled elliptical trajectory for a probe body in the gravitational fields of Newtonian potential and potential of dark matter’s halo. This allows more accuracy estimate its central density for the Navarro-Frenk-White profile and free parameter for the Einasto profile . Our result is in good correlation with results of other authors that are got by different numerical methods.

The Tension Cosmology, Largest Cosmic Structures and Explosions of Supernovae from SST

Here, using the Scale-Symmetric Theory (SST) we explain the cosmological tension and the origin of the largest cosmic structures. We show that a change in value of strong coupling constant for cold baryonic matter leads to the disagreement in the galaxy clustering amplitude, quantified by the parameter S8. Within the same model we described the Hubble tension. We described also the mechanism that transforms the gravitational collapse into an explosion—it concerns the dynamics of virtual fields that lead to dark energy. Our calculations concern the Type Ia supernovae and the core-collapse supernovae. We calculated the quantized masses of the progenitors of supernovae, emitted total energy during explosion, and we calculated how much of the released energy was transferred to neutrinos. Value of the speed of sound in the strongly interacting matter measured at the LHC confirms that presented here model is correct. Our calculations show that the Universe is cyclic.

A Simple Mechanism for Generating a Geomagnetic Field

On the basis of the ideal gas model, the polarization of charges in the mantle was obtained, a physical and mathematical model was constructed, and estimated calculations of the dipole mode of the Earth’s magnetic field were performed, taking into account the speed of its angular rotation, the parameters of density and temperature, the chemical composition, the ionization potential, the dielectric constant and the percentage of the main chemical compounds of the mantle substance.

Artificial network prediction on degradable properties of coal-filled films

Utilized degradable data of coal-filled films from the accelerated UV chamber ageing degradation experiments, and on the basis of control factors’ analysis, presented a predicting model on degradable properties of this film in photo-degradation according to back-propagation artificial neural network (BP ANN). 4 controlling factors in films degrada-tion, including temperature, the time of UV irradiation, the concentration and the type of coals were used as input parameters in the ANN model. While the degradable properties after film degradation, including the mechanical properties and carbonyl index, were used as output parameters. It was carried out by the neural network toolbox of Matlab 6.5 soft-ware and Visual Basic 6.0. Discussed partition of sample data and model’s parameters, and then selected the best configuration of ANN network. The accurate scope of predicting results was analyzed. This model has a high precision in predicting on properties of the coal-filled film degradation.

Effects of a Building’s Density on Flow in Urban Areas

The effects of a building＇s density on urban flows are investigated using a CFD model with the RNG k - ε turbulence closure scheme. Twenty-seven cases with different building＇s density parameters （e.g., building and street-canyon aspect ratios） are numerically simulated. As the building＇s density parameters vary, different flow regimes appear. When the street canyon is relatively narrow and high, two counterrotating vortices in the vertical direction are generated. The wind speed along streets is mainly affected by the building＇s length. However, it is very difficult to find or generalize the characteristics of the street-canyon flows in terms of a single building＇s density parameter. This is because the complicated flow patterns appear due to the variation of the vortex structure and vortex number. Volume-averaged vorticity magnitude is a very good indicator to reflect the flow characteristics despite the strong dependency of flows on the variation of the building＇s density parameters. Multi-linear regression shows that the volume-averaged vorticity magnitude is a strong function of the building＇s length and the street-canyon width. The increase in the building＇s length decreases the vorticity of the street-canyon flow, while, the increase in the street- canyon width increases the vorticity.

S Phase Cell Percentage Normalized BrdU Incorporation Rate, a New Parameter for Determining S Arrest

In this study, a new parameter, S phase cell percentage （S fraction） normalized BrdU （SFN-BrdU） incorporation rate, was introduced to detect $ arrest. The results showed a positive linear correlation between the BrdU incorporation rate and the S fraction in unperturbed 16HBE cells. Theoretical analysis indicated that only S arrest could result in a decrease in the SFN-BrdU incorporation rate. Additionally, the decrease in SFN-BrdU incorporation rate and the activation of DNA damage checkpoints further demonstrated that S arrest was induced by diethyl sulfate treatment of 16HBE cells. In conclusion, $FN-BrdU incorporation rate can be used to detecting S arrest.

Hypersphere World-Universe Model

Dirac’s themes were the unity and beauty of Nature. He identified three revolutions in modern physics: Relativity, Quantum Mechanics and Cosmology. In his opinion: “The new cosmology will probably turn out to be philosophically even more revolutionary than relativity or the quantum theory, perhaps looking forward to the current bonanza in cosmology, where precise observations on some of the most distant objects in the universe are shedding light on the nature of reality, on the nature of matter and on the most advanced quantum theories” [Farmelo, G. (2009) The Strangest Man. The Hidden Life of Paul Dirac, Mystic of the Atom. Basic Books, Britain, 661 p]. In 1937, Paul Dirac proposed the Large Number Hypothesis and the Hypothesis of the variable gravitational “constant”;and later added the notion of continuous creation of Matter in the World. The developed Hypersphere World-Universe Model (WUM) follows these ideas, albeit introducing a different mechanism of matter creation. In this paper, we show that WUM is a natural continuation of Classical Physics and it can already serve as a basis for a New Cosmology proposed by Paul Dirac.

Hypersphere World-Universe Model: Evolution of the World

The main objective of this paper is to discuss the Evolution of a 3D Finite World (that is a Hypersphere of a 4D Nucleus of the World) from the Beginning up to the present Epoch in frames of World-Universe Model (WUM). WUM is the only cosmological model in existence that is consistent with the Law of Conservation of Angular Momentum. To be consistent with this Fundamental Law, WUM introduces Dark Epoch (spanning from the Beginning of the World for 0.45 billion years) when only Dark Matter (DM) Macroobjects (MOs) existed, and Luminous Epoch (ever since for 13.77 billion years) when Luminous MOs emerged due to Rotational Fission of Overspinning DM Superclusters’ Cores and self-annihilation of Dark Matter Particles (DMPs). WUM envisions that DM is created by the Universe in the 4D Nucleus of the World. Dark Matter Particles (DMPs) carry new DM into the 3D Hypersphere World. Luminous Matter is a byproduct of DMPs self-annihilation. By analogy with 3D ball, which has two-dimensional sphere surface (that has surface energy), we can imagine that the 3D Hypersphere World has a “Surface Energy” of the 4D Nucleus. WUM solves a number of physical problems in contemporary Cosmology and Astrophysics through DMPs and their interactions: Angular Momentum problem in birth and subsequent evolution of Galaxies and Extrasolar systems—how do they obtain it;Fermi Bubbles—two large structures in gamma-rays and X-rays above and below Galactic center;Missing Baryon problem related to the fact that the observed amount of baryonic matter did not match theoretical predictions. WUM reveals Inter-Connectivity of Primary Cosmological Parameters and calculates their values, which are in good agreement with the latest results of their measurements. In 2013, WUM predicted the values of the following Cosmological parameters: gravitational, concentration of intergalactic plasma, and the minimum energy of photons, which were experimentally confirmed in 2015-2018. “The Discovery of a Supermassive Compact Object at the Centre of Our Galaxy” (Nobel Prize in Physics 2020) made by Prof. R. Genzel and A. Ghez is a confirmation of one of the most important predictions of WUM in 2013: “Macroobjects of the World have cores made up of the discussed DM particles. Other particles, including DM and baryonic matter, form shells surrounding the cores”.

PCB Base Log-periodic Antenna for Mobile Communications

A log-periodic antenna can provide directivity and gain when operating in a wide band.The log-periodic antenna is used in many applications where wide bandwidth is required along with direct and medium gain.This research implements a sequential approach to the design and simulation of the performance of a printed log-periodic dipole antenna(LPDA)capable of operating in the 1800 MHz frequency range.The advantage of this antenna is the compactness and easy integration into planar circuits suitable for applications requiring wide bandwidth and high gain.The dimension of the designed antenna was originally calculated taking high frequency as 1885 MHz and low frequency as 1805 MHz,then modeled using HFSS-13 electromagnetic simulation to determine the effect of substrate dielectric properties on dipole width and length for element optimization.The design was verified by creating and measuring S11 and radiation diagrams.The designed antenna has a total gain of 7.9 dB and a wide bandwidth.

Forecasting Short Time Series with Missing Data by Means of Energy Associated to Series

In this work an algorithm to predict short times series with missing data by means energy associated of series using artificial neural networks (ANN) is presented. In order to give the prediction one step ahead, a comparison between this and previous work that involves a similar approach to test short time series with uncertainties on their data, indicates that a linear smoothing is a well approximation in order to employ a method for uncompleted datasets. Moreover, in function of the long- or short-term stochastic dependence of the short time series considered, the training process modifies the number of patterns and iterations in the topology according to a heuristic law, where the Hurst parameter H is related with the short times series, of which they are considered as a path of the fractional Brownian motion. The results are evaluated on high roughness time series from solutions of the Mackey-Glass Equation (MG) and cumulative monthly historical rainfall data from San Agustin, Cordoba. A comparison with ANN nonlinear filters is shown in order to see a better performance of the outcomes when the information is taken from geographical point observation.

Anisotropic Bianchi Type-I Magnetized String Cosmological Models with Decaying Vacuum Energy Density A(t)

The present study deals with a spatially homogeneous and anisotropic Bianehi-I cosmological models representing massive strings with magnetic field and decaying vacuum energy density A. The energy-momentum tensor, as formulated by Letelier （1983）, has been used to construct massive string cosmological models for which we assume the expansion scalar in the models is proportional to one of the components of shear tensor. The Einstein＇s field equations have been solved by applying a variation law for generalized Hubble＇s parameter in Bianchi-I space-time. The variation law for Hubble＇s parameter generates two types of solutions for the average scale factor, one is of power-law type and other is of the exponential form. Using these two forms, Einstein＇s field equations are solved separately that correspond to expanding singular and non-singular models of the universe respectively. We have made a comparative study of accelerating and decelerating models in the presence of string scenario. The study reveals that massive strings dominate in the decelerating universe whereas strings dominate in the accelerating universe. The strings eventually disappear from the universe for sufficiently large times, which is in agreement with current astronomical observations. The cosmological constant A is found to be a positive decreasing function of time which is corroborated by results from recent supernovae Ia observations. The physical and geometric properties of the models have been also discussed in detail.

SWITCHING CHARACTERISTICS AND ANALYSIS OF RESONANT TUNNELING DIODES

Resonant tunneling diode （RTD） of AlAs/InGaAs/AlAs double barrier-single well structure was designed and fabricated. The devices showed current-voltage characteristics with peak-valley current ratio of 4 ： 1 at room temperature. The scattering parameter of RTD was measured by using an HP8510（C） network analyzer. Equivalent circuit parameters were obtained by curve fitting and optimized. The RTD switching time was estimated using the measured capacitance and average negative differential resistance. The minimum rise time of the sample was estimated to be 21 ps.

Research on COB De-embedding in Scattering Parameter Measurement

The popular radio frequency(RF) chip on board(COB) test has gradually taken the place of onwafer test due to the high efficiency and high power. This paper presents the extended Open-Short-Load(OSL) that is one-port calibration method to verify the error model de-embedding in S parameter measurement. Threelevel cascade structure on COB's system error model is proposed and analyzed. Four kinds of calibration plane solutions for de-embedding are verified. At last,on-board calibration(CAL) kits solution is established to decrease the system error to the least value. The maximum error shift can be controlled less than 0.1 dB comparing with the on-wafer test results. In general,the practical application results prove that this method is reasonable and effective and easy to be mastered.

Uplift Resistance Calculation and Sensitive Analysis of Jack-up Wind Installation Vessels

The uplift resistance calculation is an important basis for the construction decisions of the jack-up wind installation vessel and the design of the jacking system,and determines the operation risk and reliability in the installation process of the wind turbine. The influence factors of the pile shoe's penetration depth and uplift resistance are analyzed,and the calculation model and flow of the uplift resistance are given. Based on a construction example,the influence rules are analyzed for the change of the pile shoe's structural parameters on the penetration depth and uplift resistance.The analysis results show that the penetration depth is more sensitive to the width of the pile shoe,and the height has greater influence on the uplift resistance than the length and width of the spud. With the increase of the height,the uplift resistance may increase rapidly.Although the decreases of the length,width and height of the pile shoe may reduce the uplift resistance,the penetration depth may increase in the meantime. This will increase the pulling pile time and reduce the construction efficiency. So the parameters of the pile shoe should be optimized according to the adaptable geology condition so as to obtain the optimal uplift resistance and working efficiency.

On the Cosmic Evolution of the Quantum Vacuum Using Two Variable G Models and Winterberg’s Thesis

We work within a Winterberg framework where space, i.e., the vacuum, consists of a two component superfluid/super-solid made up of a vast assembly (sea) of positive and negative mass Planck particles, called planckions. These material particles interact indirectly, and have very strong restoring forces keeping them a finite distance apart from each other within their respective species. Because of their mass compensating effect, the vacuum appears massless, charge-less, without pressure, net energy density or entropy. In addition, we consider two varying G models, where G, is Newton’s constant, and G-1, increases with an increase in cosmological time. We argue that there are at least two competing models for the quantum vacuum within such a framework. The first follows a strict extension of Winterberg’s model. This leads to nonsensible results, if G increases, going back in cosmological time, as the length scale inherent in such a model will not scale properly. The second model introduces a different length scale, which does scale properly, but keeps the mass of the Planck particle as, ± the Planck mass. Moreover we establish a connection between ordinary matter, dark matter, and dark energy, where all three mass densities within the Friedman equation must be interpreted as residual vacuum energies, which only surface, once aggregate matter has formed, at relatively low CMB temperatures. The symmetry of the vacuum will be shown to be broken, because of the different scaling laws, beginning with the formation of elementary particles. Much like waves on an ocean where positive and negative planckion mass densities effectively cancel each other out and form a zero vacuum energy density/zero vacuum pressure surface, these positive mass densities are very small perturbations (anomalies) about the mean. This greatly alleviates, i.e., minimizes the cosmological constant problem, a long standing problem associated with the vacuum.

Professor Beranek's criteria about Acoustical parameters in concert hall acoustics

Professor Beranek talked about the sound qualities of concert hall. The 58 famous concert halls in the world were graded according to the subjective comparison from the professional musicians and music lovers. Six measurable objective parameters were proposed. The ranking according to these parameters were presented.

From the Beginning of the World to the Beginning of Life on Earth

Hypersphere World-Universe Model (WUM) is, in fact, a Paradigm Shift in Cosmology [1]. In this paper, we provide seven Pillars of WUM: Medium of the World;Inter-Connectivity of Primary Cosmological Parameters;Creation of Matter;Multicomponent Dark Matter;Macroobjects;Volcanic Rotational Fission;Dark Matter Reactors. We describe the evolution of the World from the Beginning up to the birth of the Solar System and discuss the condition of the Early Earth before the beginning of life on it.