The fractional-nonlinear robotic manipulator: Modeling and dynamic simulations

In this paper, we applied the Riemann-Liouville approach and the fractional Euler-Lagrange equations in order to obtain the fractional-order nonlinear dynamics equations of a two link robotic manipulator. The aformentioned equations have been simulated for several cases involving: integer and non-integer order analysis, with and without external forcing acting and some different initial conditions. The fractional nonlinear governing equations of motion are coupled and the time evolution of the angular positions and the phase diagrams have been plotted to visualize the effect of fractional order approach. The new contribution of this work arises from the fact that the dynamics equations of a two link robotic manipulator have been modeled with the fractional Euler-Lagrange dynamics approach. The results reveal that the fractional-nonlinear robotic manipulator can exhibit different and curious behavior from those obtained with the standard dynamical system and can be useful for a better understanding and control of such nonlinear systems. © 2012 American Institute of Physics.

Nonlinear dynamics of a flexible portal frame under support excitation

This paper presents a nonlinear dynamic analysis of a flexible portal frame subjected to support excitation, which is provided by an electro-dynamical shaker. The problem is reduced to a mathematical model of four degrees of freedom and the equations of motion are derived via Lagrangian formulation. The main goal of this study is to investigate the dynamic interactions between a flexible portal frame and a non-ideal support excitation. The numerical analysis shows a complex behavior of the system, which can be observed by phase spaces, Poincaŕ sections and bifurcation diagrams. © 2012 American Institute of Physics.

Detection of buried pipes using a shear wave ground surface vibration technique

A major UK initiative, entitled 'Mapping the Underworld', is seeking to address the serious social, environmental and economic consequences arising from an inability to locate the buried utility service infrastructure without resorting to extensive excavations. Mapping the Underworld aims to develop and prove the efficacy of a multi-sensor device for accurate remote buried utility service detection, location and, where possible, identification. One of the technologies to be incorporated in the device is low-frequency vibro-acoustics, and the application of this technology for detecting buried infrastructure is currently being investigated. Here, a shear wave ground vibration technique for detecting buried pipes is described. For this technique, shear waves are generated at the ground surface, and the resulting ground surface vibrations measured, using geophones, along a line traversing the anticipated run of the pipe. Measurements were made at a test site with a single pressurized polyethylene mains water pipe. Time-extended signals were employed to generate the illuminating wave. Cross-correlation functions between the measured ground velocities and a reference measurement adjacent to the excitation were then calculated and summed using a stacking method to generate a cross-sectional image of the ground. The wide cross-correlation peaks caused by high ground attenuation were partially compensated for by using a generalized cross-correlation function called the smoothed coherence transform. To mitigate the effects of other potential sources of vibration in the vicinity, the excitation signal was used as an additional reference when calculating the generalized cross-correlation functions. For two out of three tests, the pipe was detected, indicating that this technique will be a valuable addition to the Mapping the Underworld armoury.

One-dimensional Fermi accelerator model with moving wall described by a nonlinear van der Pol oscillator

A modification of the one-dimensional Fermi accelerator model is considered in this work. The dynamics of a classical particle of mass m, confined to bounce elastically between two rigid walls where one is described by a nonlinear van der Pol type oscillator while the other one is fixed, working as a reinjection mechanism of the particle for a next collision, is carefully made by the use of a two-dimensional nonlinear mapping. Two cases are considered: (i) the situation where the particle has mass negligible as compared to the mass of the moving wall and does not affect the motion of it; and (ii) the case where collisions of the particle do affect the movement of the moving wall. For case (i) the phase space is of mixed type leading us to observe a scaling of the average velocity as a function of the parameter (χ) controlling the nonlinearity of the moving wall. For large χ, a diffusion on the velocity is observed leading to the conclusion that Fermi acceleration is taking place. On the other hand, for case (ii), the motion of the moving wall is affected by collisions with the particle. However, due to the properties of the van der Pol oscillator, the moving wall relaxes again to a limit cycle. Such kind of motion absorbs part of the energy of the particle leading to a suppression of the unlimited energy gain as observed in case (i). The phase space shows a set of attractors of different periods whose basin of attraction has a complicated organization. © 2013 American Physical Society.

An analog model for quantum lightcone fluctuations in nonlinear optics

We propose an analog model for quantum gravity effects using nonlinear dielectrics. Fluctuations of the spacetime lightcone are expected in quantum gravity, leading to variations in the flight times of pulses. This effect can also arise in a nonlinear material. We propose a model in which fluctuations of a background electric field, such as that produced by a squeezed photon state, can cause fluctuations in the effective lightcone for probe pulses. This leads to a variation in flight times analogous to that in quantum gravity. We make some numerical estimates which suggest that the effect might be large enough to be observable. © 2012 Elsevier Inc.

An exact series solution for the vibration analysis of cylindrical shells with arbitrary boundary conditions

In this paper, an exact series solution for the vibration analysis of circular cylindrical shells with arbitrary boundary conditions is obtained, using the elastic equations based on Flügge's theory. Each of the three displacements is represented by a Fourier series and auxiliary functions and sought in a strong form by letting the solution exactly satisfy both the governing differential equations and the boundary conditions on a point-wise basis. Since the series solution has to be truncated for numerical implementation, the term exactly satisfying should be understood as a satisfaction with arbitrary precision. One of the important advantages of this approach is that it can be universally applied to shells with a variety of different boundary conditions, without the need of making any corresponding modifications to the solution algorithms and implementation procedures as typically required in other techniques. Furthermore, the current method can be easily used to deal with more complicated boundary conditions such as point supports, partial supports, and non-uniform elastic restraints. Numerical examples are presented regarding the modal parameters of shells with various boundary conditions. The capacity and reliability of this solution method are demonstrated through these examples. © 2012 Elsevier Ltd. All rights reserved.

A note on non-linear phenomena in a non-ideal oscillator, with a snap-through truss absorber, including parameter uncertainties

This work considers the vibrating system that consists of a snap-through truss absorber coupled to an oscillator under excitation of an electric motor with an eccentricity and limited power, characterizing a non-ideal oscillator. It is aimed to use the non-linearity and quasi-zero stiffness of absorber (snap-through truss absorber) to obtain a significantly attenuation the jump phenomenon. There is also an interest to exhibit the reduction of Sommerfeld effect, to confirm the saturation phenomenon occurrence and show the power transfer in a non-linear structure, evidencing the pumping energy. As shown by simulations in this work, this absorber allows the energy pumping before and during the jump phenomenon, decreasing the higher amplitudes of considered system. Additionally, the occurrence of saturation phenomenon due use of snap-through truss absorber is verified. The analysis of parameter uncertainties was introduced. Sensitivity of system with parametric errors demonstrated a trustable system. © IMechE 2012.

Fuzzy control embedded in microcontroller and applied to an experimental apparatus using magnetorheological fluid damper

This work focuses on applying fuzzy control embedded in microcontrollers in an experimental apparatus using magnetorheological fluid damper. The non-linear behavior of the magnetorheological dampers associated with the parametric variations on vehicle suspension models corroborate the use of the fuzzy controllers. The fundamental formulation of this controller is discussed and its performance is shown through numeric simulations. An experimental apparatus representing a two degree of freedom system containing a magnetorheological damper is used to identify the main parameters and to evaluate the performance of the closed-loop system with the embedded low-cost microcontroller-based fuzzy controller. © 2013 Brazilian Society for Automatics - SBA.

Stability of nonlinear system using takagi-sugeno fuzzy models and hyper-rectangle of LMIs

This paper presents a theorem based on the hyper-rectangle defined by the closed set of the time derivatives of the membership functions of Takagi-Sugeno fuzzy systems. This result is also based on Linear Matrix Inequalities and allows the reduction of the conservatism of the stability analysis in the sense of Lyapunov. The theorem generalizes previous results available in the literature. © 2013 Brazilian Society for Automatics - SBA.

Saddle points and rare collisions under scaling approach in a Fermi accelerator with two nonlinear terms

Rare collisions of a classical particle bouncing between two walls are studied. The dynamics is described by a two-dimensional, nonlinear and area-preserving mapping in the variables velocity and time at the instant that the particle collides with the moving wall. The phase space is of mixed type preventing diffusion of the particle to high energy. Successive and therefore rare collisions are shown to have a histogram of frequency which is scaling invariant with respect to the control parameters. The saddle fixed points are studied and shown to be scaling invariant with respect to the control parameters too. © 2012 Elsevier B.V. All rights reserved.

On elimination of chaotic behavior in a non-ideal portal frame structural system, using both passive and active controls

In this paper, an application is considered of both active and passive controls, to suppression of chaotic behavior of a simple portal frame, under the excitation of an unbalanced DC motor, with limited power supply (non-ideal problem). The adopted active control strategy consists of two controls: the nonlinear (feedforward) in order to keep the controlled system in a desirable orbit, and the feedback control, which may be obtained by considering state-dependent Riccati equation control to bringing the system into the desired orbit using a magneto rheological (MR) damper. To control the electric current applied in control of the MR damper the Bouc-Wen mathematical model was used to the MR damper. The passive control was obtained by means of a nonlinear sub-structure with properties of nonlinear energy sink. Simulations showed the efficiency of both the passive control (energy pumping) and active control strategies in the suppression of the chaotic behavior. © The Author(s) 2012.

Penalty-based nonlinear solver for optimal reactive power dispatch with discrete controls

The optimal reactive dispatch problem is a nonlinear programming problem containing continuous and discrete control variables. Owing to the difficulty caused by discrete variables, this problem is usually solved assuming all variables as continuous variables, therefore the original discrete variables are rounded off to the closest discrete value. This approach may provide solutions far from optimal or even unfeasible solutions. This paper presents an efficient handling of discrete variables by penalty function so that the problem becomes continuous and differentiable. Simulations with the IEEE test systems were performed showing the efficiency of the proposed approach. © 1969-2012 IEEE.

Nonlinear control system applied to atomic force microscope including parametric errors

The performance of the optimal linear feedback control and of the state-dependent Riccati equation control techniques applied to control and to suppress the chaotic motion in the atomic force microscope are analyzed. In addition, the sensitivity of each control technique regarding to parametric uncertainties are considered. Simulation results show the advantages and disadvantages of each technique. © 2013 Brazilian Society for Automatics - SBA.

Nonlinear Optical Properties of Tungsten Lead-Pyrophosphate Glasses Containing Metallic Copper Nanoparticles

We have prepared heavy metal oxide glasses containing metallic copper nanoparticles with promising nonlinear optical properties which were determined by Z-scan and pump-probe measurements using femtosecond laser pulses. For the wavelengths within the plasmon band, we have observed saturable absorption and response times of 2.3 ps. For the other regions of the spectrum, reverse saturable absorption and lifetimes shorter than 200 fs were verified. The nonlinear refractive index is about 2.0 × 10-19 m2/W from visible to telecom region, thus presenting an enhancement effect at wavelengths near the plasmon and Cu+2 d-d band. © 2013 Springer Science+Business Media New York.

The algebraic structure behind the derivative nonlinear Schrödinger equation

The Kaup-Newell (KN) hierarchy contains the derivative nonlinear Schrödinger equation (DNLSE) amongst others interesting and important nonlinear integrable equations. In this paper, a general higher grading affine algebraic construction of integrable hierarchies is proposed and the KN hierarchy is established in terms of an Ŝℓ2Kac-Moody algebra and principal gradation. In this form, our spectral problem is linear in the spectral parameter. The positive and negative flows are derived, showing that some interesting physical models arise from the same algebraic structure. For instance, the DNLSE is obtained as the second positive, while the Mikhailov model as the first negative flows. The equivalence between the latter and the massive Thirring model is also explicitly demonstrated. The algebraic dressing method is employed to construct soliton solutions in a systematic manner for all members of the hierarchy. Finally, the equivalence of the spectral problem introduced in this paper with the usual one, which is quadratic in the spectral parameter, is achieved by setting a particular automorphism of the affine algebra, which maps the homogeneous into principal gradation. © 2013 IOP Publishing Ltd.