Nonlinear state estimation and control for chaos suppression in MEMS resonator

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Nonlinear state estimation and control applied to a manipulator robotic including drive motor

A robotic control design considering all the inherent nonlinearities of the robot engine configuration is developed. The interactions between the robot and joint motor drive mechanism are considered. The proposed control combines two strategies, one feedforward control in order to maintain the system in the desired coordinate, and feedback control system to take the system into a desired coordinate. The feedback control is obtained using State Dependent Riccati Equation (SDRE). For link positioning two cases are considered. Case 1: For control positioning, it is only used motor voltage; Case 2: For control positioning, it is used both motor voltage and torque between the links. Simulation results, including parametric uncertainties in control shows the feasibility of the proposed control for the considered system.

Suppression of vibrations in a nonlinear half-car model using a magneto-rheological damper

The present work investigates the nonlinear response of a half-car model. The disturbances of the road are assumed to be sinusoidal. After constructing the bifurcation diagram, we use the 0-1 test to identify chaotic motions. The main objective of this study is to eliminate chaotic behavior of the chassis and reduce its vibrations. To accomplish this, a semi-active vehicle suspension control system, using magneto-rheological dampers, is proposed. The proposed semi-active control strategy consists of two nonlinear control laws: a feedforward control, and a feedback control. They are obtained by considering the SDRE (State Dependent Riccati Equation) control, where the control parameter is the voltage applied to the coils of the magneto-rheological dampers. Numerical results show that the proposed control method is effective in significantly reducing of the chassis vibration, increasing, therefore, passenger comfort.

Chaos control and sensitivity analysis of a double pendulum arm excited by an RLC circuit based nonlinear shaker

In this paper the dynamical interactions of a double pendulum arm and an electromechanical shaker is investigated. The double pendulum is a three degree of freedom system coupled to an RLC circuit based nonlinear shaker through a magnetic field, and the capacitor voltage is a nonlinear function of the instantaneous electric charge. Numerical simulations show the existence of chaotic behavior for some regions in the parameter space and this behaviour is characterized by power spectral density and Lyapunov exponents. The bifurcation diagram is constructed to explore the qualitative behaviour of the system. This kind of electromechanical system is frequently found in robotic systems, and in order to suppress the chaotic motion, the State-Dependent Riccati Equation (SDRE) control and the Nonlinear Saturation control (NSC) techniques are analyzed. The robustness of these two controllers is tested by a sensitivity analysis to parametric uncertainties.

Inclusive J/psi production in pp collisions at root s=2.76 TeV

The ALICE Collaboration has measured inclusive J/psi production in pp collisions at a center-of-mass energy root s = 2.76 TeV at the LHC. The results presented in this Letter refer to the rapidity ranges vertical bar y vertical bar < 0.9 and 2.5 < y <4 and have been obtained by measuring the electron and muon pair decay channels, respectively. The integrated luminosities for the two channels are L-int(e) = 1.1 nb(-1) and L-int(mu) = 19.9 nb(-1), and the corresponding signal statistics are N-J/psi(e+e-) = 59 +/- 14 and N-J/psi(mu+mu-) = 1364 +/- 53. We present d sigma(J/psi)/dy for the two rapidity regions under study and, for the forward-y range, d(2)sigma(J/psi)/dydp(t) in the transverse momentum domain 0 < p(t) < 8 GeV/c. The results are compared with previously published results at root s = 7 TeV and with theoretical calculations. (C) 2012 CERN. Published by Elsevier B.V. All rights reserved.

J/psi Polarization in pp Collisions at root s=7 TeV

The ALICE Collaboration has studied J/psi production in pp collisions at root s = 7 TeV at the LHC through its muon pair decay. The polar and azimuthal angle distributions of the decay muons were measured, and results on the J/psi polarization parameters lambda(theta) and lambda(phi) were obtained. The study was performed in the kinematic region 2: 5 < y < 4, 2 < p(t) < 8 GeV/c, in the helicity and Collins-Soper reference frames. In both frames, the polarization parameters are compatible with zero, within uncertainties.

Underlying Event measurements in pp collisions at root s=0.9 and 7 TeV with the ALICE experiment at the LHC

We present measurements of Underlying Event observables in pp collisions at root s = 0 : 9 and 7 TeV. The analysis is performed as a function of the highest charged-particle transverse momentum p(T),L-T in the event. Different regions are defined with respect to the azimuthal direction of the leading (highest transverse momentum) track: Toward, Transverse and Away. The Toward and Away regions collect the fragmentation products of the hardest partonic interaction. The Transverse region is expected to be most sensitive to the Underlying Event activity. The study is performed with charged particles above three different p(T) thresholds: 0.15, 0.5 and 1.0 GeV/c. In the Transverse region we observe an increase in the multiplicity of a factor 2-3 between the lower and higher collision energies, depending on the track p(T) threshold considered. Data are compared to PYTHIA 6.4, PYTHIA 8.1 and PHOJET. On average, all models considered underestimate the multiplicity and summed p(T) in the Transverse region by about 10-30%.

Measurement of electrons from semileptonic heavy-flavor hadron decays in pp collisions at root s=7 TeV

The differential production cross section of electrons from semileptonic heavy-flavor hadron decays has been measured at midrapidity (\y\ < 0.5) in proton-proton collisions at root s = 7 TeV with ALICE at the LHC. Electrons were measured in the transverse momentum range 0.5 < p(t) < 8 GeV/c. Predictions from a fixed-order perturbative QCD calculation with next-to-leading-log resummation agree with the data within the theoretical and experimental uncertainties. DOI: 10.1103/PhysRevD.86.112007

(KsKs0)-K-0 correlations in pp collisions at root s=7 TeV from the LHC ALICE experiment

Identical neutral kaon pair correlations are measured in root s = 7 TeV pp collisions in the ALICE experiment. One-dimensional (KsKs0)-K-0 correlation functions in terms of the invariant momentum difference of kaon pairs are formed in two multiplicity and two transverse momentum ranges. The femtoscopic parameters for the radius and correlation strength of the kaon source are extracted. The fit includes quantum statistics and final-state interactions of the a(0)/f(0) resonance. (KsKs0)-K-0 correlations show an increase in radius for increasing multiplicity and a slight decrease in radius for increasing transverse mass, mT, as seen in pi pi correlations in pp collisions and in heavy-ion collisions. Transverse mass scaling is observed between the (KsKs0)-K-0 and pi pi radii. Also, the first observation is made of the decay of the f(2)'(1525) meson into the (KsKs0)-K-0 channel in pp collisions. (C) 2012 CERN. Published by Elsevier B.V. All rights reserved.

Neutral pion and eta meson production in proton-proton collisions at root s=0.9 TeV and root s=7 TeV

The first measurements of the invariant differential cross sections of inclusive pi(0) and eta meson production at mid-rapidity in proton-proton collisions root s = 0.9 TeV and root s = 7 TeV are reported. The pi(0) measurement covers the ranges 0.4 < p(T) < 7 GeV/c and 0.3 < p(T) < 25 GeV/c for these two energies, respectively. The production of eta mesons was measured at root s = 7 TeV in the range 0.4 < p(T) < 15 GeV/c. Next-to-Leading Order perturbative QCD calculations, which are consistent with the pi(0) spectrum at root s = 0.9 TeV, overestimate those of pi(0) and eta mesons at root s = 7 TeV, but agree with the measured eta/pi(0) ratio at root s = 7 TeV. (C) 2012 CERN. Published by Elsevier B.V. All rights reserved.

Measurement of event background fluctuations for charged particle jet reconstruction in Pb-Pb collisions at root s(NN)=2.76 TeV

The effect of event background fluctuations on charged particle jet reconstruction in Pb-Pb collisions at root s(NN) = 2.76 TeV has been measured with the ALICE experiment. The main sources of non-statistical fluctuations are characterized based purely on experimental data with an unbiased method, as well as by using single high p(t) particles and simulated jets embedded into real Pb-Pb events and reconstructed with the anti-k(t) jet finder. The influence of a low transverse momentum cut-off on particles used in the jet reconstruction is quantified by varying the minimum track p(t) between 0.15 GeV/c and 2 GeV/c. For embedded jets reconstructed from charged particles with p(t) > 0.15 GeV/c, the uncertainty in the reconstructed jet transverse momentum due to the heavy-ion background is measured to be 11.3 GeV/c (standard deviation) for the 10% most central Pb-Pb collisions, slightly larger than the value of 11.0 GeV/c measured using the unbiased method. For a higher particle transverse momentum threshold of 2 GeV/c, which will generate a stronger bias towards hard fragmentation in the jet finding process, the standard deviation of the fluctuations in the reconstructed jet transverse momentum is reduced to 4.8-5.0 GeV/c for the 10% most central events. A non-Gaussian tail of the momentum uncertainty is observed and its impact on the reconstructed jet spectrum is evaluated for varying particle momentum thresholds, by folding the measured fluctuations with steeply falling spectra.

Production of Muons from Heavy Flavor Decays at Forward Rapidity in pp and Pb-Pb Collisions at root s(NN)=2.76 TeV

The ALICE Collaboration has measured the inclusive production of muons from heavy-flavor decays at forward rapidity, 2.5 < y < 4, in pp and Pb-Pb collisions at root s(NN) = 2.76 TeV. The p(t)-differential inclusive cross section of muons from heavy-flavor decays in pp collisions is compared to perturbative QCD calculations. The nuclear modification factor is studied as a function of p(t) and collision centrality. A weak suppression is measured in peripheral collisions. In the most central collisions, a suppression of a factor of about 3-4 is observed in 6 < p(t) < 10 GeV/c. The suppression shows no significant p(t) dependence.

Production of K*(892)(0) and phi(1020) in pp collisions at root s=7 TeV

The production of K*(892)(0) and phi(1020) in pp collisions at root s = 7 TeV was measured by the ALICE experiment at the LHC. The yields and the transverse momentum spectra d(2)N/dydp(T) at midrapidity vertical bar y vertical bar < 0.5 in the range 0 < p(T) < 6 GeV/c for K*(892)(0) and 0.4 < p(T) < 6 GeV/c for phi(1020) are reported and compared to model predictions. Using the yield of pions, kaons, and Omega baryons measured previously by ALICE at root s = 7 TeV, the ratios K*/K-, phi/K*, phi/ K-, phi/pi(-), and (Omega + <(Omega)over bar>)/phi are presented. The values of the K*/K-, phi/K* and phi/K- ratios are similar to those found at lower centre-of-mass energies. In contrast, the phi/pi(-) ratio, which has been observed to increase with energy, seems to saturate above 200 GeV. The (Omega + (Omega) over bar)/phi ratio in the p(T) range 1-5 GeV/ c is found to be in good agreement with the prediction of the HIJING/B (B) over bar v2.0model with a strong colour field.

Measurement of the Cross Section for Electromagnetic Dissociation with Neutron Emission in Pb-Pb Collisions at root s(NN)=2.76 TeV

The first measurement of neutron emission in electromagnetic dissociation of Pb-208 nuclei at the LHC is presented. The measurement is performed using the neutron zero degree calorimeters of the ALICE experiment, which detect neutral particles close to beam rapidity. The measured cross sections of single and mutual electromagnetic dissociation of Pb nuclei at root s(NN) = 2.76 TeV with neutron emission are sigma(singleEMD) = 187.4 +/- 0.2(stat)(-11.2)(+13.2) (syst) b and sigma(mutualEMD) = 5. 7 +/- 0.1(stat) +/- 0.4(syst) b, respectively. The experimental results are compared to the predictions from a relativistic electromagnetic dissociation model. DOI: 10.1103/PhysRevLett.109.252302

Transverse sphericity of primary charged particles in minimum bias proton-proton collisions at root s=0.9, 2.76 and 7 TeV

Measurements of the sphericity of primary charged particles in minimum bias proton-proton collisions at root s = 0.9, 2.76 and 7 TeV with the ALICE detector at the LHC are presented. The observable is measured in the plane perpendicular to the beam direction using primary charged tracks with p(T) > 0.5 GeV/c in vertical bar eta vertical bar < 0.8. The mean sphericity as a function of the charged particle multiplicity at mid-rapidity (N-ch) is reported for events with different p(T) scales ("soft" and "hard") defined by the transverse momentum of the leading particle. In addition, the mean charged particle transverse momentum versus multiplicity is presented for the different event classes, and the sphericity distributions in bins of multiplicity are presented. The data are compared with calculations of standard Monte Carlo event generators. The transverse sphericity is found to grow with multiplicity at all collision energies, with a steeper rise at low N-ch, whereas the event generators show an opposite tendency. The combined study of the sphericity and the mean p(T) with multiplicity indicates that most of the tested event generators produce events with higher multiplicity by generating more back-to-back jets resulting in decreased sphericity (and isotropy). The PYTHIA6 generator with tune PERUGIA-2011 exhibits a noticeable improvement in describing the data, compared to the other tested generators.