On the Lagrangian Structure of Reduced Dynamics Under Virtual Holonomic Constraints

This paper investigates a class of Lagrangian control systems with $n$ degrees-of-freedom (DOF) and n-1 actuators, assuming that $n-1$ virtual holonomic constraints have been enforced via feedback, and a basic regularity condition holds. The reduced dynamics of such systems are described by a second-order unforced differential equation. We present necessary and sufficient conditions under which the reduced dynamics are those of a mechanical system with one DOF and, more generally, under which they have a Lagrangian structure. In both cases, we show that typical solutions satisfying the virtual constraints lie in a restricted class which we completely characterize.Comment: 23 pages, 5 figures, published online in ESAIM:COCV on April 28th, 201

The spectrum of kink-like oscillations of solar photospheric magnetic elements

Recently, the availability of new high-spatial and -temporal resolution observations of the solar photosphere has allowed the study of the oscillations in small magnetic elements. Small magnetic elements have been found to host a rich variety of oscillations detectable as intensity, longitudinal or transverse velocity fluctuations which have been interpreted as MHD waves. Small magnetic elements, at or below the current spatial resolution achieved by modern solar telescopes, are though to play a relevant role in the energy budget of the upper layers of the Sun's atmosphere, as they are found to cover a significant fraction of the solar photosphere. Unfortunately, the limited temporal length and/or cadence of the data sets, or the presence of seeing-induced effects have prevented, so far, the estimation of the power spectra of kink-like oscillations in small magnetic elements with good accuracy. Motivated by this, we studied kink-like oscillations in small magnetic elements, by exploiting very long duration and high-cadence data acquired with the Solar Optical Telescope on board the Hinode satellite. In this work we present the results of this analysis, by studying the power spectral density of kink-like oscillations on a statistical basis. We found that small magnetic elements exhibit a large number of spectral features in the range 1-12 mHz. More interestingly, most of these spectral features are not shared among magnetic elements but represent a unique signature of each magnetic element itself.Comment: A&A accepted for publication. 8 pages, 5 figure

Control of a Bicycle Using Virtual Holonomic Constraints

The paper studies the problem of making Getz's bicycle model traverse a strictly convex Jordan curve with bounded roll angle and bounded speed. The approach to solving this problem is based on the virtual holonomic constraint (VHC) method. Specifically, a VHC is enforced making the roll angle of the bicycle become a function of the bicycle's position along the curve. It is shown that the VHC can be automatically generated as a periodic solution of a scalar periodic differential equation, which we call virtual constraint generator. Finally, it is shown that if the curve is sufficiently long as compared to the height of the bicycle's centre of mass and its wheel base, then the enforcement of a suitable VHC makes the bicycle traverse the curve with a steady-state speed profile which is periodic and independent of initial conditions. An outcome of this work is a proof that the constrained dynamics of a Lagrangian control system subject to a VHC are generally not Lagrangian.Comment: 18 pages, 8 figure

Multifractal structure and intermittence in the AE index time series

The conventional approach to magnetospheric dynamics has not provided until now a satisfactory description of the singular behaviour of magnetospheric substorms. In this paper we present a multifractal analysis of AE time series, based on singularity analysis, a new tool to investigate signal dynamics features. The existence of a multifractal structure of the AE index with respect to time dilation has been investigated. The resulting multifractal behaviour of the signal can be interpreted as the signature of an underlying intermittence phenomenon. The derived singularity spectrum is well in agreement with the one of a two-scale Cantor model (P-model), a pure multiplicative model. The presence of intermittence in AE might indicate the occurrence of turbulence in magnetospheric dissipation processes

Observational evidence for buffeting induced kink waves in solar magnetic elements

The role of diffuse photospheric magnetic elements in the energy budget of the upper layers of the Sun's atmosphere has been the recent subject of many studies. This was made possible by the availability of high temporal and spatial resolution observations of the solar photosphere, allowing large numbers of magnetic elements to be tracked to study their dynamics. In this work we exploit a long temporal series of seeing-free magnetograms of the solar photosphere to study the effect of the turbulent convection in the excitation of kink oscillations in magnetic elements. We make use of the empirical mode decomposition technique (EMD) in order to study the transverse oscillations of several magnetic flux tubes. This technique permits the analysis of non-stationary time series like those associated to the horizontal velocities of these flux tubes which are continuously advected and dispersed by granular flows. Our primary findings reveal the excitation of low frequency modes of kink oscillations, which are sub-harmonics of a fundamental mode with a $7.6 \pm 0.2$ minute periodicity. These results constitute a strong case for observational proof of the excitation of kink waves by the buffeting of the convection cells in the solar photosphere, and are discussed in light of their possible role in the energy budget of the upper Sun's atmosphere.Comment: A&A accepte

Micro-channel flow boiling heat transfer of R-134a, R-236fa, and R-245fa

The rapid development of micro-thermal technologies has conveyed an increasing interest on convective boiling in micro-channels. Although there is general agreement that these systems may be able to dissipate potentially very high heat fluxes per unit volume, their heat transfer characteristics are still unclear and require investigation. The present study illustrates heat transfer data for flow boiling in a single micro-channel, for two channel diameters, namely, 510 and 790μm, three fluids, namely, R-134a, R-236fa and R-245fa, mass velocities from 300 to 2,000kg/m2s, and heat fluxes up to 200kW/m2. Stable flow boiling heat transfer data are analyzed through a parametric investigation, and are also confronted with measurements in the presence of two-phase oscillatory instabilities, which were found to significantly change the trends with respect to vapor qualit

Super-diffusion versus competitive advection: a simulation

Magnetic element tracking is often used to study the transport and diffusion of the magnetic field on the solar photosphere. From the analysis of the displacement spectrum of these tracers, it has been recently agreed that a regime of super-diffusivity dominates the solar surface. Quite habitually this result is discussed in the framework of fully developed turbulence. But the debate whether the super-diffusivity is generated by a turbulent dispersion process, by the advection due to the convective pattern, or by even another process, is still open, as is the question about the amount of diffusivity at the scales relevant to the local dynamo process. To understand how such peculiar diffusion in the solar atmosphere takes places, we compared the results from two different data-sets (ground-based and space-borne) and developed a simulation of passive tracers advection by the deformation of a Voronoi network. The displacement spectra of the magnetic elements obtained by the data-sets are consistent in retrieving a super-diffusive regime for the solar photosphere, but the simulation also shows a super-diffusive displacement spectrum: its competitive advection process can reproduce the signature of super-diffusion. Therefore, it is not necessary to hypothesize a totally developed turbulence regime to explain the motion of the magnetic elements on the solar surface

Scaling in long term data sets of geomagnetic indices and solar wind ϵ as seen by WIND spacecraft

We study scaling in fluctuations of the geomagnetic indices (AE, AU, and AL) that provide a measure of magnetospheric activity and of the ε parameter which is a measure of the solar wind driver. Generalized structure function (GSF) analysis shows that fluctuations exhibit self-similar scaling up to about 1 hour for the AU index and about 2 hours for AL, AE and ε when the most extreme fluctuations over 10 standard deviations are excluded. The scaling exponents of the GSF are found to be similar for the three AE indices, and to differ significantly from that of ε. This is corroborated by direct comparison of their rescaled probability density functions