Model reduction in the physical coordinate system

In the dynamics modeling of a flexible structure, finite element analysis employs reduction techniques, such as Guyan's reduction, to remove some of the insignificant physical coordinates, thus producing a dynamics model that has smaller mass and stiffness matrices. But this reduction is limited in the sense that it removes certain degrees of freedom at a node points themselves in the model. From the standpoint of linear control design, the resultant model is still too large despite the reduction. Thus, some form of the model reduction is frequently used in control design by approximating a large dynamical system with a fewer number of state variables. However, a problem arises from the placement of sensors and actuators in the reduced model, because a model usually undergoes, before being reduced, some form of coordinate transformations that do not preserve the physical meanings of the states. To correct such a problem, a method is developed that expresses a reduced model in terms of a subset of the original states. The proposed method starts with a dynamic model that is originated and reduced in finite element analysis. Then the model is converted to the state space form, and reduced again by the internal balancing method. At this point, being in the balanced coordinate system, the states in the reduced model have no apparent resemblance to those of the original model. Through another coordinate transformation that is developed, however, this reduced model is expressed by a subset of the original states

Recursive linearization of multibody dynamics equations of motion

The equations of motion of a multibody system are nonlinear in nature, and thus pose a difficult problem in linear control design. One approach is to have a first-order approximation through the numerical perturbations at a given configuration, and to design a control law based on the linearized model. Here, a linearized model is generated analytically by following the footsteps of the recursive derivation of the equations of motion. The equations of motion are first written in a Newton-Euler form, which is systematic and easy to construct; then, they are transformed into a relative coordinate representation, which is more efficient in computation. A new computational method for linearization is obtained by applying a series of first-order analytical approximations to the recursive kinematic relationships. The method has proved to be computationally more efficient because of its recursive nature. It has also turned out to be more accurate because of the fact that analytical perturbation circumvents numerical differentiation and other associated numerical operations that may accumulate computational error, thus requiring only analytical operations of matrices and vectors. The power of the proposed linearization algorithm is demonstrated, in comparison to a numerical perturbation method, with a two-link manipulator and a seven degrees of freedom robotic manipulator. Its application to control design is also demonstrated

Exploring laser-driven quantum phenomena from a time-frequency analysis perspective: A comprehensive study

Time-frequency (TF) analysis is a powerful tool for exploring ultrafast dynamics in atoms and molecules. While some TF methods have demonstrated their usefulness and potential in several of quantum systems, a systematic comparison among these methods is still lacking. To this end, we compare a series of classical and contemporary TF methods by taking hydrogen atom in a strong laser field as a benchmark. In addition, several TF methods such as Cohen class distribution other than the Wigner-Ville distribution, reassignment methods, and the empirical mode decomposition method are first introduced to exploration of ultrafast dynamics. Among these TF methods, the synchrosqueezing transform successfully illustrates the physical mechanisms in the multiphoton ionization regime and in the tunneling ionization regime. Furthermore, an empirical procedure to analyze an unknown complicated quantum system is provided, indicating the versatility of TF analysis as a new viable venue for exploring quantum dynamics

Internal wave generating turbulent mixing in the Canada Basin

The Tenth Symposium on Polar Science/Ordinary sessions: [OM] Polar Meteorology and Glaciology, Thu. 5 Dec. / 2F Auditorium , National Institute of Polar Researc

A new time-frequency method to reveal quantum dynamics of atomic hydrogen in intense laser pulses: Synchrosqueezing Transform

This study introduces a new adaptive time-frequency (TF) analysis technique, synchrosqueezing transform (SST), to explore the dynamics of a laser-driven hydrogen atom at an {\it ab initio} level, upon which we have demonstrated its versatility as a new viable venue for further exploring quantum dynamics. For a signal composed of oscillatory components which can be characterized by instantaneous frequency, the SST enables rendering the decomposed signal based on the phase information inherited in the linear TF representation with mathematical support. Compared with the classical type TF methods, the SST clearly depicts several intrinsic quantum dynamical processes such as selection rules, AC Stark effects, and high harmonic generation

Man-in-the-control-loop simulation of manipulators

A method to achieve man-in-the-control-loop simulation is presented. Emerging real-time dynamics simulation suggests a potential for creating an interactive design workstation with a human operator in the control loop. The recursive formulation for multibody dynamics simulation is studied to determine requirements for man-in-the-control-loop simulation. High speed computer graphics techniques provides realistic visual cues for the simulator. Backhoe and robot arm simulations are implemented to demonstrate the capability of man-in-the-control-loop simulation