A global output-feedback controller for stabilization and tracking of underactuated ODIN: A spherical underwater vehicle

This paper presents a method to design an output-feedback controller that simultaneously solves global asymptotic stabilization and tracking of an underactuated omni-directional intelligent navigator—a spherical underwater vehicle moving in a horizontal plane (i.e. at a constant depth). The vehicle does not have a sway actuator and has only position and orientation measurements available. The control development is based on Lyapunov's direct method, backstepping technique and use of interconnected structure of the vehicle dynamics. Numerical simulations demonstrate the results.     

Comparing the Performance of Organic Solvent Nanofiltration Membranes in Non-Polar Solvents

Organic solvent nanofiltration (OSN) is gradually expanding from academic research to industrial implementation. The need for membranes with low and sharp molecular weight cutoffs that are able to operate under aggressive OSN conditions is increasing. However, the lack of comparable and uniform performance data frustrates the screening and membrane selection for processes. Here, a collaboration is presented between several academic and industrial partners analyzing the separation performance of 10 different membranes using three model process mixtures. Membrane materials range from classic polymeric and thin film composites (TFCs) to hybrid ceramic types. The model solutions were chosen to mimic cases relevant to today's industrial use: relatively low molar mass solutes (330–550 Da) in n-heptane, toluene, and anisole.     

An observer-controller combination for a unicycle mobile robot

This paper considers the problem of output feedback trajectory tracking with a unicycle mobile robot system. A state-feedback controller for the non-linear error dynamics of the robot is combined with an observer that estimates the orientation error based on available trajectory information and measurement of the position coordinates. A stability analysis, derivation and implementation of the resulting controller is given and tested on an experimental mobile robot.     

Zeros at infinity for nonlinear discrete time systems

A new set of integer invariants of a discrete time nonlinear system is introduced. Following the linear and continuous time nonlinear theory, this set is called the structure at infinity of the system. These integers contain structural information about the system. To support this idea the general block decoupling problem and a special case of the noninteracting control problem are solved in terms of the zeros at infinity.Partially supported by NSF contract ECS-8505318.     

Stable mounting of beamsplitters for an interferometer

The Basic Angle Monitoring (BAM) system for satellite GAIA (2012–2018) will measure variation on the angle between the lines-of-sight between two telescopes with 2.5 prad uncertainty. It is a laser-interferometer system consisting of two optical benches with a number of mirrors and beamsplitters. The optical components need to be stable with respect to each other within 0.17 pm in position and 60 nrad in angle during measurements over a period of 6 h with 0.1 mK thermal stability. This paper aims at finding the most suitable mounting plane of the fused silica beamsplitters mounted onto the silicon carbide optical bench in the BAM system. These beamsplitters must be clamped mechanically. Based on a force stability analysis, mounting in the plane of light is a more stable solution than mounting on the reflective surface. However, when making a conceptual design the difficulty is making a design which has sufficient alignment stability to survive launch vibrations and a cool-down trajectory is more difficult.     

Intrinsic instability of flame–acoustic coupling

This paper shows that a flame can be an intrinsically unstable acoustic element. The finding is clarified in the framework of an acoustic network model, where the flame is described by an acoustic scattering matrix. The instability of the flame acoustic coupling is shown to become dominating in the limit of no acoustic reflections. This is in contrast to classical standing-wave thermoacoustic modes, which originate from the positive feedback loop between system acoustics and the flame. These findings imply that the effectiveness of passive thermoacoustic damping devices is limited by the intrinsic stability properties of the flame.