Chaotic zero dynamics in kinematically redundant robots

The authors attempt to integrate two areas in robotics that are maturing rapidly: the control of kinematically redundant rigid robots and feedback linearization. Kinematically redundant robots have several advantages over nonredundant robot arms. The extra degrees of freedom are used to reach around or between obstacles. Unlike nonredundant rigid link robots that do not exhibit zero dynamics, the self motions of kinematically redundant robots can be used for torque optimization or avoiding obstacles. It is shown that induced self motions can be chaotic. The main contribution is to demonstrate chaos in cases of feedback linearization when the decoupling matrix is nonsquare and there are less outputs than inputs     

Direct integration methods in dynamic problems of structural mechanics

A method of direct integration with respect to time is proposed to solve dynamic problems of structural mechanics and comparison with the well-known methods is presented.     

Residual stresses and endurance strength under tension-compression in the conditions of stress concentration

Residual stresses and endurance strength of specimens with stress concentrators are considered. The results obtained make it possible to predict the fatigue limit of strengthened parts with concentrators in the case of tension-compression.     

Statistical analysis of experimental study results on low-cycle fatigue resistance for the EI698-VD high-temperature alloy

The results of low-cycle fatigue tests of smooth cylindrical specimens made of the EI698-VD nickel-base high-temperature alloy widely used in aircraft engine industry are considered statistically. The influence of such factors as an initial level of mechanical properties, operating time and temperature of tests is evaluated. The experimental data on low-cycle fatigue (LCF) are used when determining the cyclic life for disks.     

Network-Enabled Missile Deflection: Games and Correlation Equilibrium

The problem of deploying countermeasures (CM) against antiship missiles is investigated from a network centric perspective in which multiple ships coordinate to defend against a known missile threat. Using the paradigm of network enabled operations (NEOPS), the problem is formulated as a transient stochastic game with communication where the appropriate strategy takes the form of an optimal stationary correlated equilibrium. Under this strategy, ships cooperate through real-time communication to satisfy both local and collective interests. The use of communication results in a performance improvement over the noncommunicating, Nash equilibrium scenario. This framework allows us to develop a theoretical foundation for NEOPS and captures the trade-off between information exchange and performance, while generalizing the standard Nash equilibrium solution for the missile deflection game given in [1], The NEOPS equilibrium strategy is characterized as the solution to an optimization problem with linear objective and bilinear constraints, which can be solved calculating successive improvements starting from an initial noncooperative (Nash) solution. The communication overhead required to implement this strategy is associated with the mutual information between individual action probability distributions at equilibrium. Numerical results illustrate the trade-off between communication and performance.     

Reconstituting the US space programme

This response to Alex Roland's article, ‘Priorities in space for the USA’, argues that his analysis and conclusions are based on shaky historical evidence. Professor Roland's interpretation of NASA's priorities since 1959 is challenged, and it is pointed out that the manned spaceflight programme has widespread support in the USA. The most important issue, raised by the article but not treated extensively enough, is whether the pursuit of the widely accepted emphasis on manned spaceflight is a large-scale societal mistake.     

Cyclic variations in the solar lower atmosphere

The Ca K line has been measured regularly nearly every month since 1974 at Kitt Peak. It is well known that the K₁ component of the Ca K line is formed in the temperature minimum region (TMR) of the solar atmosphere. Our study of the data of CaII K profiles over two solar cycles indicates that both in full disc integrated spectra and in center disc spectra, the distance between the red K₁ and the blue K₁ of the profiles and its average intensity show periodic variations. But the variation for the full disc integrated spectra fluctuates in the same way as the sunspot number does, while that for the center disc spectra has a time delay with respect to sunspot number. Non-LTE computations yield a cyclic temperature variation of about 17 K of the TMR in the quiet-Sun atmosphere and a cyclic variation of about 15–20 km in the height position of the TMR.     

Performance characteristics of lithium ion cells at low temperatures

The low temperature charge and discharge characteristics of experimental MCMB-Li/sub x/Ni/sub y/Co/sub 1-y/O/sub 2/ cells containing different electrolytes were investigated. The use of low ethylene carbonate (EC)-content electrolyte formulations has resulted in good discharge performance to temperatures as low as -40/spl deg/C. The effect of charge voltage and charge current upon the individual electrode potentials at low temperature was investigated using the three electrode cells (containing lithium reference electrodes). In some cases, lithium plating was observed to occur upon low temperature charge, and found to be facilitated by high charge voltages, high charge currents, and poor anode kinetics. Electrochemical characterization of the cells has helped to establish the conditions under which lithium plating can occur by providing information regarding the polarization effects present at each electrode.     

Compressive failure of composites,part I: Testing and micromechanical theories

When structures made of composite materials are designed to be used in load bearing applications, a primary consideration is the evaluation of their load carrying capacity in compression. To this end, a vast number of research investigations, whose main objective is linked to ascertaining the compressive strength of a composite structure has been carried out and/or is currently being performed. Apart from its practical significance, the complexity associated with the task of predicting compression strength is the main reason for the overt attention this problem is receiving. One such difficulty has been associated with testing. When laboratory tests are carried out to determine compression strength, structural instabilities dictated by the geometry of the structure may interfere with material strength dictated by the mechanical properties of the constituents and their alignment and geometry (needed to describe the microstructure of the material). In addition stress concentrations may occur at undesirable locations. In Part I, issues pertaining to compression testing and micromechanical failure theories are reviewed.