Dynamic simulation of task constrained of a rigid-flexible manipulator

A rigid-flexible manipulator may be assigned tasks in a moving environment where the winds or vibrations affect the position and/or orientation of surface of operation. Consequently, losses of the contact and perhaps degradation of the performance may occur as references are changed. When the environment is moving, knowledge of the angle α between the contact surface and the horizontal is required at every instant. In this paper, different profiles for the time varying angle α are proposed to investigate the effect of this change into the contact force and the joint torques of a rigid-flexible manipulator. The coefficients of the equation of the proposed rotating surface are changing with time to determine the new X and Y coordinates of the moving surface as the surface rotates

Finding Young Stellar Populations in Elliptical Galaxies from Independent Components of Optical Spectra

Elliptical galaxies are believed to consist of a single population of old stars formed together at an early epoch in the Universe, yet recent analyses of galaxy spectra seem to indicate the presence of significant younger populations of stars in them. The detailed physical modelling of such populations is computationally expensive, inhibiting the detailed analysis of the several million galaxy spectra becoming available over the next few years. Here we present a data mining application aimed at decomposing the spectra of elliptical galaxies into several coeval stellar populations, without the use of detailed physical models. This is achieved by performing a linear independent basis transformation that essentially decouples the initial problem of joint processing of a set of correlated spectral measurements into that of the independent processing of a small set of prototypical spectra. Two methods are investigated: (1) A fast projection approach is derived by exploiting the correlation structure of neighboring wavelength bins within the spectral data. (2) A factorisation method that takes advantage of the positivity of the spectra is also investigated. The preliminary results show that typical features observed in stellar population spectra of different evolutionary histories can be convincingly disentangled by these methods, despite the absence of input physics. The success of this basis transformation analysis in recovering physically interpretable representations indicates that this technique is a potentially powerful tool for astronomical data mining.Comment: 12 Pages, 7 figures; accepted in SIAM 2005 International Conference on Data Mining, Newport Beach, CA, April 200

Drift rate control of a Brownian processing system

A system manager dynamically controls a diffusion process Z that lives in a finite interval [0,b]. Control takes the form of a negative drift rate \theta that is chosen from a fixed set A of available values. The controlled process evolves according to the differential relationship dZ=dX-\theta(Z) dt+dL-dU, where X is a (0,\sigma) Brownian motion, and L and U are increasing processes that enforce a lower reflecting barrier at Z=0 and an upper reflecting barrier at Z=b, respectively. The cumulative cost process increases according to the differential relationship d\xi =c(\theta(Z)) dt+p dU, where c(\cdot) is a nondecreasing cost of control and p>0 is a penalty rate associated with displacement at the upper boundary. The objective is to minimize long-run average cost. This problem is solved explicitly, which allows one to also solve the following, essentially equivalent formulation: minimize the long-run average cost of control subject to an upper bound constraint on the average rate at which U increases. The two special problem features that allow an explicit solution are the use of a long-run average cost criterion, as opposed to a discounted cost criterion, and the lack of state-related costs other than boundary displacement penalties. The application of this theory to power control in wireless communication is discussed.Comment: Published at http://dx.doi.org/10.1214/105051604000000855 in the Annals of Applied Probability (http://www.imstat.org/aap/) by the Institute of Mathematical Statistics (http://www.imstat.org

The Metallicity Distribution Function of Field Stars in M31's Bulge

We have used Hubble Space Telescope Wide Field Planetary Camera 2 observations to construct a color-magnitude diagram (CMD) for the bulge of M31 at a location ~1.6 kpc from the galaxy's center. Using scaled-solar abundance theoretical red giant branches with a range of metallicities, we have translated the observed colors of the stars in the CMD to abundances and constructed a metallicity distribution function (MDF) for this region. The MDF shows a peak at [M/H]~0 with a steep decline at higher metallicities and a more gradual tail to lower metallicities. This is similar in shape to the MDF of the Milky Way bulge but shifted to higher metallicities by ~0.1 dex. As is the case with the Milky Way bulge MDF, a pure closed box model of chemical evolution, even with significant pre-enrichment, appears to be inconsistent with the M31 bulge MDF. However, a scenario in which an initial infall of gas enriched the bulge to an abundance of [M/H] ~ -1.6 with subsequent evolution proceeding as a closed box provides a better fit to the observed MDF. The similarity between the MDF of the M31 bulge and that of the Milky Way stands in stark contrast to the significant differences in the MDFs of their halo populations. This suggests that the bulk of the stars in the bulges of both galaxies were in place before the accretion events that occurred in the halos could influence them.Comment: 12 pages, 9 figures, accepted for publication in The Astronomical Journal, October 200