Shaping stable periodic motions of inertia wheel pendulum: theory and experiment

We consider an underactuated two‐link robot called the inertia wheel pendulum. The system consists of a free planar rotational pendulum and a symmetric disk attached to its end, which is directly controlled by a DC‐motor. The goal is to create stable oscillations of the pendulum, which is not directly actuated. We exploit a recently proposed feedback‐control design strategy based on motion planning via virtual holonomic constraints. This strategy is shown to be useful for design of regulators for achieving orbitally exponentially stable oscillatory motions. The main contribution is a step‐by‐step procedure on how to achieve oscillations with pre‐specified amplitude from a given range and an arbitrary independently chosen period. The theoretical results are verified via experiments with a real hardware setup. Copyright © 2009 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

Superconducting gap in PrxY1?xBa2Cu4O8 and YBa2?ySryCu4O8 probed by infrared phonon self-energies

We report a reflectivity study of thez-polarized TO-phonons of Pr _x Y_1–x Ba₂Cu₄O₈ and YBa_2–y Sr _y Cu₄O₈ alloys in the temperature range 10–300 K. Anomalies of the frequency and linewidth of the plane-oxygen vibration at300 cm^–1 due to the opening of the superconducting gap are found to occur upon crossing the superconducting transition temperatureT _c . Phonon self-energy effects are strongly dependent onT _c , providing evidence for a relative shift of the gap with respect to the energy of phonon.On leave from the Institute for Semiconductor Physics, Ukrainian Academy of Sciences, 252650 Kiev-28, Ukraine.     

The method of fundamental solutions for problems in static thermo-elasticity with incomplete boundary data

An inverse problem in static thermo-elasticity is investigated. The aim is to reconstruct the unspecified boundary data, as well as the temperature and displacement inside a body from over-specified boundary data measured on an accessible portion of its boundary. The problem is linear but ill-posed. The uniqueness of the solution is established but the continuous dependence on the input data is violated. In order to reconstruct a stable and accurate solution, the method of fundamental solutions is combined with Tikhonov regularization where the regularization parameter is selected based on the L-curve criterion. Numerical results are presented in both two and three dimensions showing the feasibility and ease of implementation of the proposed technique.     

The motivation of information technology consultants: The struggle with social dimensions and identity

Increasingly, customer companies hire external information technology (IT) consultants, often on a special project basis. These consultants are employees of professional service firms, although they receive their assignments from the hiring companies, report to them, and are supervised by them. Using semistructured interviews with 12 IT consultants in Sweden, we examine the factors that influence their work motivation, including the effect of this dual allegiance—to the service firm and to the customer company. The data indicate that the primary motivators are the variety in tasks and the opportunity to influence and/or manage an entire project. Neither monetary incentives nor the consultancy firm norms are strong motivators. A factor that affects work behavior and motivation is the subordinate identity that IT consultants must assume with their powerful clients. The article concludes with practical suggestions for managers who seek to understand what motivates employees who work at a distance, under external control. © 2011 Wiley Periodicals, Inc.     

SearchFill: A stochastic optimization code for detecting atomic vacancies in crystalline and non-crystalline systems

We present an implementation of a stochastic optimization algorithm applied to location of atomic vacancies. Our method labels an empty point in space as a vacancy site, if the total spatial overlap of a “virtual sphere”, centered around the point, with the surrounding atoms (and other vacancies) falls below a tolerance parameter. A Metropolis-like algorithm displaces the vacancies randomly, using an “overlap temperature” parameter to allow for acceptance of moves into regions with higher overlap, thus avoiding local minima. Once the algorithm has targeted a point with low overlap, the overlap temperature is decreased, and the method works as a steepest descent optimization.Our method, with only two free parameters, is able to detect the correct number and coordinates of vacancies in a wide spectrum of condensed-matter systems, from crystals to amorphous solids, in fact in any given set of atomic coordinates, without any need of comparison with a reference initial structure.     

A numerical framework for load identification and regularization with application to rolling disc problem

Indirect identification methods are applied when direct measurement is unfeasible. One example is the measurement of the contact force between wheel and rail in railway traffic. This paper focuses on optimization-based methods for the identification of contact forces with the aim of developing a reliable and robust load identification scheme. A particular issue discussed here is the choice of discretization in space–time, enabling the sampling instances of the measurements, the parameterization of the sought input and the discretization of the pertinent state equations to be decoupled, in contrast to traditional methods such as, e.g. dynamic programming.In the present preliminary study where a 2-D disc is considered as a representative of a train wheel, a radial concentrated force rotates around the disc’s perimeter, representing the contact force acting on the rim of the wheel, while radial strains are measured on a set of points corresponding to the strain gauges position. The strain history data is then used in the identification procedure where the applied force is sought to minimize the discrepancy between the predicted and measured strain history. In particular the convergence of the results with respect to the temporal discretization of the model and the time parameterization of the sought loading history are investigated under the influence of noise. It is seen that choosing a discretization of the sought load that is coarser than that of the state variable gives a more robust scheme. The traditional Tikhonov regularization can also be added within the current framework. Furthermore, with the aid of a sensitivity analysis, the influence of measurement noise can be quantified.     

Extracting 3D information on bone remodeling in the proximity of titanium implants in SRμCT image volumes

Bone-implant integration is measured in several ways. Traditionally and routinely, 2D histological sections of samples, containing bone and the biomaterial, are stained and analyzed using a light microscope. Such histological section provides detailed cellular information about the bone regeneration in the proximity of the implant. However, this information reflects the integration in only a very small fraction, a 10 μm thick slice, of the sample. In this study, we show that feature values quantified on 2D sections are highly dependent on the orientation and the placement of the section, suggesting that a 3D analysis of the whole sample is of importance for a more complete judgment of the bone structure in the proximity of the implant. We propose features describing the 3D data by extending the features traditionally used for 2D-analysis. We present a method for extracting these features from 3D image data and we measure them on five 3D SRμCT image volumes.We also simulate cuts through the image volume positioned at all possible section positions. These simulations show that the measurement variations due to the orientation of the section around the center line of the implant are about 30%.     

Musculoskeletal disorders among female and male air traffic controllers performing identical and demanding computer work

Operators with identical, demanding computer work (90 female and 97 male air traffic controllers) were found to have high prevalences of disorders (assessed by questionnaire and physical examination) in neck, shoulders and upper back. In spite of the identical work, the women displayed higher prevalences than the men (e.g. neck diagnoses 21% vs. 4%). Disorders in elbows, wrists and hands were less common, with similar rates in both genders. Generally, the psychosocial work environment (assessed by questionnaire) was found to be good, but with large inter-individual variation. Women experienced lower decision latitude than men, particularly regarding influence and freedom at work, but perceived higher social support. Physically, the work was characterized by relatively low angular velocities of upper arms (measured by inclinometry) and wrists (right: < 1 degrees/s during 19% of time, measuring by goniometry), dynamic muscular activities and high time fractions of rest in the trapezius and forearm extensor muscles (measuring by electromyography). There were only minor differences between the genders.     

Organizational climate in air traffic control Innovative preparedness for implementation of new technology and organizational development in a rule governed organization

A positive and innovative organizational climate is of great importance in order to manage and adapt to change. Such a climate seldom evolves in organizations closely governed by rules and regulations. Because of ongoing organizational and technical changes within the Swedish Air Navigation Services Provider, a study concerning the organizational climate for changes and innovations was conducted to investigate the organization's capacity to cope with changes. Study locations were the two Swedish main air traffic control centers and parts of the civil aviation administration headquarters. In the study 390 subjects took part and the CCQ questionnaire was used to measure the organizational climate. The results show that the organizational climate is quite positive despite the rule-governed work. The results also show that administrative personnel assess the organizational climate as more positive than operative personnel. Comparisons between management positions did not result in any differences.     

Localization performance of binaurally recorded sounds with and without training

One of the problems associated with listening to binaurally recorded sound events is localization confusions. The main objective of this investigation was to find out whether a short training session prior to listening to binaural recordings through headphones would facilitate correct spatial perception of the sound field. Focus was on the localization of the sound stimuli in median plane. Sound signals were recorded with an artificial head in three different conditions namely, anechoic, highly reverberant and moderately reverberant. Fourteen subjects participated in the listening tests. All subjects were required to localize all virtual sound stimuli under two different conditions. The first condition had a short training session binaurally recorded in the same environments as preceeding sound stimuli, and only sound stimuli recorded in the same environment were presented. The second condition did not have a training session, and sound stimuli recorded in different environments were presented. Results showed that a short training session prior to listening to binaurally recorded sounds through headphones was useful as it facilitated localization performance. The biggest effect was in reduced amount of sounds perceived inside the head. It was most pronounced for sound stimuli recorded in anechoic environment.