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     

The detectability of molecular hydrogen in interstellar space

This review consists essentially of three parts where we consider: (1) the structure and spectrum of the hydrogen molecule; (2) the processes that in interstellar space can lead to the forma-tion and to the dissociation of the hydrogen molecule, with the aim of establishing its abundance, both on the average and in particular regions of the Galaxy; (3) the lines originating from interstellar molecular hydrogen that could be observed from the Earth. In this last Section the possible obser-vations are classified from the point of view of the height in the atmosphere from which they have to be made.     

Tapped-inductor filter assisted soft-switching PWM DC-DC power converter

A novel high-frequency transformer linked full-bridge type soft-switching phase-shift pulsewidth modulated (PWM) controlled dc-dc power converter is presented, which can be used as a power conditioner for small-scale photovoltaic and fuel cell power generation systems as well as isolated boost dc-dc power converter for automotive ac power supply. In these applications with low-voltage large-current sources, the full-bridge circuit is the most attractive topology due to the possibility of using low-voltage high-performance metal-oxide-semiconductor field-effect transistor (MOSFET) and achieving high efficiency of the dc-dc power converter. A tapped-inductor filter including the freewheeling diode is newly implemented in the output stage of the full-bridge phase-shift PWM dc-dc converter to achieve soft-switching operation for the wide load variation range. Moreover, in the proposed converter circuit, the circulating current is effectively minimized without using additional resonant circuit and auxiliary power switching devices. The practical effectiveness of the proposed soft-switching dc-dc power converter was verified in laboratory level experiment with 1 kW 100 kHz breadboard setup using power MOSFETs. Actual efficiency of 94-97% was obtained for the wide duty cycle and load variation ranges.     

Evolution of the sun''s near-surface asphericities over the activity cycle

Solar oscillations provide the most accurate measures of cycle dependent changes in the sun, and the Solar and Heliospheric Observatory/Michelson Doppler Imager (MDI) data are the most precise of all. They give us the opportunity to address the real challenge — connecting the MDI seismic measures to observed characteristics of the dynamic sun. From inversions of the evolving MDI data, one expects to determine the nature of the evolution, through the solar cycle, of the layers just beneath the sun's surface. Such inversions require one to guess the form of the causal perturbation — usually beginning with asking whether it is thermal or magnetic. Matters here are complicated because the inversion kernels for these two are quite similar, which means that we don't have much chance of disentangling them by inversion. However, since the perturbation lies very close to the solar surface, one can use synoptic data as an outer boundary condition to fix the choice. It turns out that magnetic and thermal synoptic signals are also quite similar. Thus, the most precise measure of the surface is required.

We argue that the most precise synoptic data come from the Big Bear Solar Observatory (BBSO) Solar Disk Photometer (SDP). A preliminary analysis of these data implies a magnetic origin of the cycle-dependent sub-surface perturbation. However, we still need to do a more careful removal of the facular signal to determine the true thermal signal.     

How much of the solar irradiance variations is caused by the magnetic field at the solar surface?

The contribution to total solar irradiance variations by the magnetic field at the solar surface is estimated. Detailed models of the irradiance changes on the basis of magnetograms show that magnetic features at the solar surface account for over 90% of the irradiance variations on a solar rotation time scale and at least 70% on a solar cycle time scale. If the correction to the VIRGO record proposed by Fröhlich & Finsterle (2001) is accepted, then magnetic features at the solar surface are responsible for over 90% of the solar cycle irradiance variations as well.     

The SOHO CELIAS/SEM EUV database from SC23 minimum to the present

The SOHO Solar EUV Monitor has been in operation since December 1995 onboard the SOHO spacecraft. This instrument is a highly stable transmission grating solar extreme ultraviolet spectrometer. It has made nearly continuous full disk solar irradiance measurements both within an 8 nm bandpass centered at 30.4 nm and throughout the 0.1 to 50 nm solar flux region since launch. The 30.4 nm flux, the 0.1 to 50 nm flux and the extracted soft X-ray (0.1 to 5 nm) flux are presented and compared with the behavior of solar proxies.     

Solar physics and interferometry mission (SPI)

This paper presents the scientific objectives of the Solar Physics and Interferometry Mission (SPI), describes succinctly the model payload and summarizes mission's issues. Novel instrumentation (interferometry) and clever mission design (small platform on low orbit with high telemetry and dedicated smaller platform on hexapod for permanently Sun-centered instruments) allow both spectral imaging and Helioseismology at very high spatial and temporal resolutions. Although not retained by ESA, this mission could become reality through NASA MIDEX and/or CNES PROTEUS opportunities as soon as 2007–2008.     

High energy particle dispersion events observed by interball-1 and -2

Time period from October 1996 until January 1998 was checked on high energy resolution DOK2 energetic particle instrument measurements on Interball-1 and Interball-2 for the ion (> 20 keV) dispersive events (EDIS) with the exclusion of Interball-1 orbit parts in the tail. A variety of energy dispersive events, both in ion and electron spectra with different duration is found in the auroral regions, in the outer magnetosphere and near the cusp. While EDIS were observed in all sectors of MLT, the best conditions for their observation were in the afternoon local time. The characteristics of dispersive events observed by DOK2 are consistent with their explanation by the gradient-curvature drift of particles from the injection point(s) in the night local time sector given in Lutsenko at al., 2000a, b.