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     

An optimum filter for direct A/D conversion

The author describes a design procedure to find the optimum finite-impulse-response (FIR) filter coefficients when the characteristics of the bandpass filter preceding the analog-to-digital (A/D) converter are known. A simulation of direct A/D conversion performance shows the improvement over the filter coefficients designed to minimize the maximum error over a specified band of frequencies. DC cancellation may be added to the process with very little change in the coefficients of the optimum FIR filter or its performance.<>     

Computation of the circular error probability integral

The author describes a simplified derivation of the representation of the circular error probability (CEP) integral, which is the integral over a disk centered at the origin of a zero mean two-dimensional Gaussian random variable, as a one-dimensional integral. In addition, two series are presented which can be used to compute efficiently the CEP integral. The domain of applicability of the series and methods for acceleration of the convergence of these series are discussed. The integral occurs in the evaluation of communication and radar signals, and in other statistical applications.<>     

Conjugate features of magnetospheric electron dynamics observed at balloon altitudes

Analysis of recent observations (from balloons, spacecraft, and surface observatories) demonstrate regional, shell, and nearpoint conjugacy at L ～ 7 during precipitative events which were characterized by local acceleration as well as release of gradient-drifted electrons injected during substorms. A number of new features of magnetospheric dynamics relating to substorm development and sudden-commencement effects, have been brought to light which, though poorly understood at present, may prove of considerable importance and are worthy of further investigation.

1. During the initial period of instability in substorm evolution, preceding the slower magnetotail convective injection, precipitation of waves of electrons in rapid polewards motion exhibit L-shell conjugacy near midnight.
2. Transient, large scale expansions of the magnetospheric electron population accompanied by temporally imbedded substorms display large scale regional conjugacy and are simultaneously observed as similarly transient intensity dropouts at balloon altitudes.
3. Precipitation from gradient-drifting electrons in the dayside magnetosphere exhibits near point-conjugacy, at least down to the order of 50 km and quite probably less.

Similarly tight conjugacy applies to the release of electrons showing a specific local response to sudden commencements.

1. Analysis of the approach to and attainment of spectral equilibrium in the precipitation observed from drifting electrons may provide information about either, or both, the source spectrum at injection and the process of local release.
2. The specific precipitation effect sometimes observed at the time of an SC remains a rather puzzling feature, although it seems clear now that the acceleration and/or release process responsible is of a highly local nature and works selectively at small pitch angles well within the magnetospheric boundary. Coupling of the interplanetary shock with the magnetosphere must be an important aspect, but the details are not clear as yet.
3. On at least one occasion, a large part (perhaps all) of the magnetospheric electron population varied in a nearly synchronous manner in response to solar wind induced distortions during the variable compressive phase of a sudden commencement geomagnetic storm.

In the ongoing effort to identify and understand acceleration and release mechanisms involved in magnetospheric dynamics, balloon-borne experiments will continue to be useful, providing essential information presently unattainable by other means.     

Identifications of some highly-ionized iron and nickel lines in the 200–400 Å region of the solar spectrum

A number of previously unclassified multiplets of Fexiv, xiii, xii, and xi produced by transitions of the type 3s ²3p ⁿ -3s3p ⁿ⁺¹ are identified in the XUV spectrum of the Sun. The iron lines account for most of the previously unidentified strong lines between 330 and 370 Å. Solar observations of especial value for the investigation of the 300–400 Å region were the slitless spectroheliograms of September 22, 1968 (Purcell and Tousey, 1969) and November 4, 1969 (Tousey, 1971) — on which the image of a flare was recorded. Other solar identifications in the same spectral region include the resonance lines of Nixvii and Nixviii, and one 3p-3d multiplet of Fexiii. The solar blend at 417 Å involving the Fexv inter-combination line and Sxiv is resolved.     

Hard rock cosmic ray archaeology

Recent examinations of extraterrestrial materials exposed to cosmic rays for different intervals of time during the geological history of the solar system have generated a wealth of new information on the history of cosmic radiation. This information relates to the temporal variations in

1. the flux and energy spectrum of low energy (solar) protons of ? 10 MeV kinetic energy;
2. the flux and energy spectrum of (solar) heavy nuclei of Z > 20 of kinetic energy, 0.5–10 MeV/n;
3. the integrated flux of protons and heavier nuclei of ? 0.5 GeV kinetic energy, and
4. the flux and energy spectrum of nuclei of Z > 20 of medium energy — 100–2000 MeV/n kinetic energy.

The above studies are entirely based on the natural detector method which utilises two principal cosmogenic effects observed in rocks, (i) isotopic changes and (ii) changes in the crystalline structure of rock constituents, due to cosmogenic interactions. The information available to date in the field of hard rock cosmic ray archaeology refers to meteorites and lunar rocks/soil. Additional information based on study of cosmogenic effects in man-made materials exposed to cosmic radiation in space is also discussed. It is shown that the natural detectors inspite of their extreme simplicity have begun to provide cosmic ray information in a very quantitative and precise manner comparable to the most sophisticated electronic particle detectors. The single handicap in using the hard rock detectors is however the uncertainty regarding their manner of exposure, geometry etc. At present, a variety of techniques are being used to study the evolutionary history of extraterrestrial materials and as this field grows, uncertainties in cosmic ray archaeology will correspondingly decrease.     

平板边界层转捩的数值模拟

对于自由湍流引起的压力梯度为零的平板边界层转捩过程的数值模拟,本文提出了一个单方程湍流模型 (VL M模型),对湍流粘性系数和湍流长度尺度都进行了修正以正确引入低雷诺数效应。数值计算表明,该模型在自由来流湍流度为 0.03～8%的大范围内能正确模拟边界层转捩全过程,包括转捩区起点位置和转捩区长度、边界层内的平均及脉动参数分布等。本文还提出了上述转捩过程的时均化五阶段模型。      

大多普勒容限巴克码脉压

 本文介绍用补偿式非相干型旁瓣抑制滤波器(SSF)实现13位巴克码脉冲压缩旁瓣抑制的理论计算及实验结果。补偿式非相干型SSF采用最小二乘近似逆滤波方法设计,若子脉冲宽度为0.7μs,峰值旁瓣电平不超过-30dB,这种SSF的多普勒容限能达到-40kHz～+40kHz。理论计算及实验结果都表明,所设计的补偿式非相干型SSF的多普勒容限比具有同样长度冲激响应序列的R-G-ISSF有显著改善。     

The relevant atomic data

The current status of the theoretical methods for producing the relevant atomic data is surveyed.Proceedings of the Conference Solar Physics from Space, held at at the Swiss Federal Institute of Technology Zurich (ETHZ), 11–14 November 1980.     

Energy coupling between the solar wind and the magnetosphere

This paper describes in detail how we are led to the first approximation expression for the solar wind-magnetosphere energy coupling function , which correlates well with the total energy consumption rate U _T of the magnetosphere. It is shown that is the primary factor which controls the time development of magnetospheric substorms and storms. The finding of this particular expression indicates how the solar wind couples its energy to the magnetosphere; the solar wind and the magnetosphere constitute a dynamo. In fact, the power P generated by the dynamo can be identified as by using a dimensional analysis. Furthermore, the finding of indicates that the magnetosphere is closer to a directly driven system than to an unloading system which stores the generated energy before converting it to substorm and storm energies. Therefore, the finding of and its implications have considerably advanced and improved our understanding of magnetospheric processes. The finding of has also led us to a few specific future problems in understanding relationships between solar activity and magnetospheric disturbances, such as a study of distortion of the solar current disk and the accompanying changes of . It is also pointed out that one of the first tasks in the energy coupling study is an improvement of the total energy consumption rate U _T of the magnetosphere. Specific steps to be taken in this study are suggested.