Robust CDM and pole placement PID based thrust controllers for multirotor motor-rotor simplified model

Positioning and orientation precision of a multirotor aerial robot can be increased by using additional control loops for each of the driving units. As a result, one can eliminate lack of balance between true thrust forces. A control performance comparison of two proposed thrust controllers, namely robust controller designed with coefficient diagram method (CDM) and proportional, integral and derivative (PID) controller tuned with pole-placement law, is presented in the paper. The research has been conducted with respect to model/plant matching uncertainty and with the use of antiwindup compensators for a simple motor-rotor model approximated by first-order inertia plus delay. From the obtained simulation results one concludes that appropriate choice of AWC compensator improves tracking performance and increases robustness against parametric uncertainty.

Conformational Spread in the Flagellar Motor Switch: A Model Study

The reliable response to weak biological signals requires that they be amplified with fidelity. In E. coli, the flagellar motors that control swimming can switch direction in response to very small changes in the concentration of the signaling protein CheY-P, but how this works is not well understood. A recently proposed allosteric model based on cooperative conformational spread in a ring of identical protomers seems promising as it is able to qualitatively reproduce switching, locked state behavior and Hill coefficient values measured for the rotary motor. In this paper we undertook a comprehensive simulation study to analyze the behavior of this model in detail and made predictions on three experimentally observable quantities: switch time distribution, locked state interval distribution, Hill coefficient of the switch response. We parameterized the model using experimental measurements, finding excellent agreement with published data on motor behavior. Analysis of the simulated switching dynamics revealed a mechanism for chemotactic ultrasensitivity, in which cooperativity is indispensable for realizing both coherent switching and effective amplification. These results showed how cells can combine elements of analog and digital control to produce switches that are simultaneously sensitive and reliable. © 2012 Ma et al.

A simplified model for dark matter interacting primarily with gluons

We consider a simple renormalizable model providing a UV completion for dark matter whose interactions with the Standard Model are primarily via the gluons. The model consists of scalar dark matter interacting with scalar colored mediator particles. A novel feature is the fact that (in contrast to more typical models containing dark matter whose interactions are mediated via colored scalars) the colored scalars typically decay into multi-quark final states, with no associated missing energy. We construct this class of models and examine associated phenomena related to dark matter annihilation, scattering with nuclei, and production at colliders.

Absolute measurement of roughness and lateral-correlation length of random surfaces by use of the simplified model of image-speckle contrast

We present a method of image-speckle contrast for the nonprecalibration measurement of the root-mean-square roughness and the lateral-correlation length of random surfaces with Gaussian correlation. We use the simplified model of the speckle fields produced by the weak scattering object in the theoretical analysis. The explicit mathematical relation shows that the saturation value of the image-speckle contrast at a large aperture radius determines the roughness, while the variation of the contrast with the aperture radius determines the lateral-correlation length. In the experimental performance, we specially fabricate the random surface samples with Gaussian correlation. The square of the image-speckle contrast is measured versus the radius of the aperture in the 4f system, and the roughness and the lateral-correlation length are extracted by fitting the theoretical result to the experimental data. Comparison of the measurement with that by an atomic force microscope shows our method has a satisfying accuracy. (C) 2002 Optical Society of America.

Potential symmetries and new solutions of a simplified model for reacting mixtures

In this paper, we investigate potential symmetries of a simplified model for reacting mixtures. We find new similarity reductions and wider class of solutions through this approach. Further, we explore an invertible mapping which linearizes the reacting mixture model.

A SIMPLIFIED MODEL FOR EVALUATING TIRE WEAR DURING CONCEPTUAL DESIGN

In the field of vehicle dynamics, commercial software can aid the designer during the conceptual and detailed design phases. Simulations using these tools can quickly provide specific design metrics, such as yaw and lateral velocity, for standard maneuvers. However, it remains challenging to correlate these metrics with empirical quantities that depend on many external parameters and design specifications. This scenario is the case with tire wear, which depends on the frictional work developed by the tire-road contact. In this study, an approach is proposed to estimate the tire-road friction during steady-state longitudinal and cornering maneuvers. Using this approach, a qualitative formula for tire wear evaluation is developed, and conceptual design analyses of cornering maneuvers are performed using simplified vehicle models. The influence of some design parameters such as cornering stiffness, the distance between the axles, and the steer angle ratio between the steering axles for vehicles with two steering axles is evaluated. The proposed methodology allows the designer to predict tire wear using simplified vehicle models during the conceptual design phase.

Discussion of "Simplified Model of Low Cycle Fatigue for RC Frames"

To model strength degradation due to low cycle fatigue, at least three different approaches can be considered. One possibility is based on the formulation of a new free energy function and damage energy release rate, as was proposed by Ju(1989). The second approach uses the notion of bounding surface introduced in cyclic plasticity by Dafalias and Popov (1975). From this concept, some models have been proposed to quantify damage in concrete or RC (Suaris et al. 1990). The model proposed by the author to include fatigue effects is based essentially in Marigo (1985) and can be included in this approach.

A simplified model for evaluation of fatigue damage in frames

Many studies have been developed to analyze the structural seismic behavior through the damage index concept. The evaluation of this index has been employed to quantify the safety of new and existing structures and, also, to establish a framework for seismic retrofitting decision making of structures. Most proposed models are based in a posterthquake evaluation in such a way they uncouple the structural response from the damage evaluation. In this paper, a generalization of the model by Flórez-López (1995) is proposed. The formulation employs irreversible thermodynamics and internal state variable theory applied to the study of beams and frames and it allows and explicit coupling between the degradation and the structural mechanical behavior. A damage index es defined in order to model elastoplasticity coupled with damage and fatigue damage.

The demand for light duty trucks: the Wharton EFA Motor Vehicle Demand Model (Mark II). Final report.

National Highway Traffic Safety Administration, Office of Research and Development, Washington, D.C.

Horizontal-axis wind system rotor performance model comparison : a compendium /

"February 1983."

Operator's, organizational, direct support, and general support maintenance manual : refrigeration unit, mechanical panel mounted for refrigerator prefabricated : electric motor driven, Keco model F 10000 R-6 (4110-01-077-8253) : gasoline engine driven ....

Includes index.