Adaptive tackling of the swinging problem for a 2 DOF crane – payload system

The control of a crane carrying its payload by an elastic string corresponds to a task in which precise, indirect control of a subsystem dynamically coupled to a directly controllable subsystem is needed. This task is interesting since the coupled degree of freedom has little damping and it is apt to keep swinging accordingly. The traditional approaches apply the input shaping technology to assist the human operator responsible for the manipulation task. In the present paper a novel adaptive approach applying fixed point transformations based iterations having local basin of attraction is proposed to simultaneously tackle the problems originating from the imprecise dynamic model available for the system to be controlled and the swinging problem, too. The most important phenomenological properties of this approach are also discussed. The control considers the 4th time-derivative of the trajectory of the payload. The operation of the proposed control is illustrated via simulation results.

REDUCTION OF TODA LATTICE HIERARCHY TO GENERALIZED KDV HIERARCHIES AND THE 2-MATRIX MODEL

Toda lattice hierarchy and the associated matrix formulation of the 2M-boson KP hierarchies provide a framework for the Drinfeld-Sokolov reduction scheme realized through Hamiltonian action within the second KP Poisson bracket. By working with free currents, which Abelianize the second KP Hamiltonian structure, we are able to obtain a unified formalism for the reduced SL(M + 1, M - k) KdV hierarchies interpolating between the ordinary KP and KdV hierarchies. The corresponding Lax operators are given as superdeterminants of graded SL(M + 1, M - k) matrices in the diagonal gauge and we describe their bracket structure and field content. In particular, we provide explicit free field representations of the associated W(M, M - k) Poisson bracket algebras generalising the familiar nonlinear W-M+1 algebra. Discrete Backlund transformations for SL(M + 1, M - k) KdV are generated naturally from lattice translations in the underlying Toda-like hierarchy. As an application we demonstrate the equivalence of the two-matrix string model to the SL(M + 1, 1) KdV hierarchy.

Gravitação quadrática em (2 + 1)D com e sem termo topológico de Chern-Simons

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

(Table 2) Revised stacked record on magnetic susceptibility of ODP Site 162-984 sediments

Magnetic field and susceptibility data were collected using the geological high-resolution magnetometer tool string (GHMT) at three sites during Ocean Drilling Program Leg 162. Postcruise processing of the magnetic field data yielded a polarity stratigraphy for Holes 986C and 987E. A magnetic susceptibility record was measured at Hole 984B. Detailed analysis of the core and log susceptibility records at Hole 984B yielded an empirical tool resolution of the susceptibility measurement tool (SUMT) of 53 cm. At Site 984, where sedimentation rates were typically >10 cm/k.y., this gave a resolution of at least ~5000 yr. This data report summarizes the GHMT postcruise processing, method of interpretation, and analysis of the SUMT resolution.

Quintett, E dur, für Klavier, 2 Violinen, Bratsche und Violoncell, Op. 2 /

Publisher's no.: Universal-Edition, No. 3694.

Siegfried-Idyll. : Für Pianoforte, 2 Violinen, Viola und Violoncell (nebst einem 2.ten Violoncell ad. libitum) /

Includes part for optional 2d violoncello.

Quartett, Des dur, No. 2 für 2 Violinen, Bratsche und Violoncell. Op. 15.

Pl. no. 12321.

Quartett, G-moll, für 2 Violinen, Viola und Violoncell.

Mode of access: Internet.

Pastorale aus der Weihnachtsmusik (Concerto grosso Nr. 8) für 1 Violine (2 Violinen) Klavier

Originally for 2 violins, violoncello, strings, and cembalo.

Concerto ex C dur à violino principale, 2 violini, viola, e basso

Photocopy of the ms. original in the Stiftsbibliothek, Seitenstetten, Austria. 30-36 cm.

II. Streichquartett für 2 Violinen, Viola und Violoncell. Op. 17.

Title from Violin I part.

Quatuor pour 2 violons, alto et violoncelle, op. 20.

Mode of access: Internet.

3 Quartette für 2 Violinen, Bratsche und Violoncell. Op. 41.

With this is bound his Ritornelle in canonischen Weisen, men's voices. [18--?]

Concerto for horn no. 2. [music] : solo French horn and piano /

Originally for horn and string orchestra.