State of the art in adaptive control of robotic systems

An up-to-date assessment of adaptive control technology as applied to robotics is presented. Although the field is relatively new and does not yet represent a mature discipline, considerable attention for the design of sophisticated robot controllers has occurred. In this presentation, adaptive control methods are divided into model reference adaptive systems and self-tuning regulators with further definition of various approaches given in each class. The similarity and distinct features of the designed controllers are delineated and tabulated to enhance comparative review     

Trigonometric Approximations for Bessel Functions

Bessel functions, used extensively in mathematical physics, electromagnetics, and communication-system theory, must often be approximated by appropriate formulas. The functions J?(x) and I?(x) for integer values of p are well approximated by the sum of a small number of circular and hyperbolic sines or cosines, respectively, when x is not too large, e.g., less than 10, and convenient expressions are obtained for their errors. These approximations are especially convenient for use on personal computers (PCs) and pocket calculators and in analytically evaluating integrals.     

Controlled-root formulation for digital phase-locked loops

In a new formulation for digital phase-locked loops, loop-filter constants are determined from loop roots that can each be selectively placed in the s-plane on the basis of a new set of parameters, each with single and direct physical meaning in terms of loop noise band, width root-specific decay rate, or root-specific damping. Loops of first to fourth order are treated in the continuous-update approximation (B_L T→0) and in a discrete-update formulation with arbitrary B _LT. Deficiencies of the continuous-update approximation in large-B_LT applications are avoided in the new discrete-update formulation. A new method for direct, transient-free acquisition with third- and fourth-order loops can improve the versatility and reliability of acquisition with such loops     

An application of embedology to spatio-temporal pattern recognition

The theory of embedded time series is shown applicable for determining a reasonable lower bound on the length of test sequence required for accurate classification of moving objects. Sequentially recorded feature vectors of a moving object form a training trajectory in feature space. Each of the sequences of feature vector components is a time series, and under certain conditions, each of these time series has approximately the same fractal dimension. The embedding theorem may be applied to this fractal dimension to establish a sufficient number of observations to determine the feature space trajectory of the object. It is argued that this number is a reasonable lower bound on test sequence length for use in object classification. Experiments with data corresponding to five military vehicles (observed following a projected Lorenz trajectory on a viewing sphere) show that this bound is indeed adequate     

On the generation of the stimulated electromagnetic emission. The computer simulation results

Results of computer simulations of the broad continuum (BC) feature of stimulated electromagnetic emissions (SEE) of the ionosphere are presented. The simulations were performed using the model of BC generation based on the double transformation of electromagnetic waves to upper hybrid (UH) waves and back with artificial small scale irregularities (ASI) of plasma density. An induced scattering of the UH waves by thermal ions provided a wide spectrum of SEE. For the simulations an empirical model of the ASI spectrum, development and decay was used.     

Regulative development of Xenopus laevis in microgravity.

To test whether gravity is required for normal amphibian development, Xenopus laevis females were induced to ovulate aboard the orbiting Space Shuttle. Eggs were fertilized in vitro, and although early embryonic stages showed some abnormalities, the embryos were able to regulate and produce nearly normal larvae. These results demonstrate for the first time that a vertebrate can ovulate in the virtual absence of gravity, and that the eggs can develop to a free-living stage.     

Space radiation quality factor investigations with “NAUSICAA”-device on board the “MIR” space station

The estimation of radiation quality factor in space flights is a serious problem of space dosimetry. The solution of this problem is based on LET-spectra measurements. The “NAUSICAA”-device installed on the “MIR” station has a detector with a large geometric factor, that gives the possibility of measuring LET-spectra with sufficient statistic in relatively short time interval and hence the corresponding Q. LET-spectra are accumulated through 24 hour periods and equivalent dose (H), absorbed dose (D), quality factor and flux (F) are measured every 10 minutes. The obtained data permit the estimate of the diurnal Q and Q in South Atlantic Anomaly. These values vary in the range of 1.4 – 2.2. The analysis of these values including their comparison with the calculated results is given in this paper.     

Microorganisms and enzyme activity in permafrost after removal of long-term cold stress

Associations of immobilized microbial cells and organic-mineral complexes containing active enzymes are resistant to long-term (from tens of thousands to millions of years) effects of extremely low temperatures. This association enables the cells to restore their metabolic activity during permafrost thawing, because interactions with the heterogenous medium is made possible by the availability of active immobilized enzymes. The long-term effect of the cold probably favors an adaptational change of microbial metabolism that activates enzymes and cells during thawing.     

Delta-electron emission in fast heavy ion atom collisions.

Biological damages such as mutations, chromosomal aberrations etc. are a consequence of biochemical changes mostly in the DNA. With ionizing radiation, these chemical changes are due to primary ionization events and secondary ionization effects caused by the primarily produced electrons. Differences in the biological response of densely ionizing radiation, like heavy charged particles, in comparison to sparsely ionizing radiation, such as X- or gamma-rays, are mainly due to the differences in the production of the so called delta-electrons. Therefore, the emission process of electrons i.e. the cross section for the primary ionization event as well as the energy and angular distribution of the emitted electrons should be understood in detail. The delta-electron emission processes occuring in fast heavy ion atom collisions are explained qualitatively. The different spectral structures of electron emission arising from either the target or the projectile are explained in terms of simple models of the kinetics of momentum transfer induced by the COULOMB forces. In collisions of very heavy ions with matter, high nuclear COULOMB forces are created. These forces lead to a strong polarization of the electronic states of the participated electrons. The effects of this polarization are discussed.