scholarly journals Small-Scale Spatial-Temporal Correlation and Degrees of Freedom for Reconfigurable Intelligent Surfaces

2021 ◽  
pp. 1-1
Author(s):  
Shu Sun ◽  
Hangsong Yan
Keyword(s):  
Degrees Of Freedom ◽  
Temporal Correlation ◽  
Small Scale

scholarly journals Small-Scale Spatial-Temporal Correlation Modeling for Reconfigurable Intelligent Surfaces

2021 ◽  
Author(s):  
Shu Sun ◽  
Hangsong Yan
Keyword(s):  
Degrees Of Freedom ◽  
Temporal Correlation ◽  
Isotropic Scattering ◽  
Sinc Function ◽  
Small Scale ◽  
Wave Measurements ◽  
Correlation Models ◽  
Sixth Generation ◽  
Special Case ◽  
Sub Wavelength

<div><div><div><p>The reconfigurable intelligent surface (RIS) is an emerging promising candidate technology for the sixth-generation wireless networks, where the element spacing is usually of sub-wavelength. Only limited knowledge, however, has been gained about the spatial-temporal correlation behavior among the elements in an RIS. In this paper, we investigate the spatial-temporal correlation models for an RIS in a wireless communication system. Joint small-scale spatial-temporal correlation functions are provided and analyzed for both ideal isotropic scattering and more practical non-isotropic scattering environments, where the latter is studied via employing an angular distribution derived from real-world millimeter-wave measurements. Furthermore, for the special case of spatial-only correlation under isotropic scattering, an analytical expression is proposed to characterize the spatial degrees of freedom (DoF) for RISs with finite element spacing and aperture sizes in practice. Analytical and numerical results demonstrate that the joint spatial-temporal correlation can be represented by a four-dimensional sinc function under isotropic scattering, while the correlation is generally stronger with more fluctuation and significantly fewer dominant eigenvalues hence smaller DoF for non-isotropic scattering.</p></div></div></div>

scholarly journals Small-Scale Spatial-Temporal Correlation Modeling for Reconfigurable Intelligent Surfaces

2021 ◽  
Author(s):  
Shu Sun ◽  
Hangsong Yan
Keyword(s):  
Degrees Of Freedom ◽  
Temporal Correlation ◽  
Isotropic Scattering ◽  
Sinc Function ◽  
Small Scale ◽  
Wave Measurements ◽  
Correlation Models ◽  
Sixth Generation ◽  
Special Case ◽  
Sub Wavelength

<div><div><div><p>The reconfigurable intelligent surface (RIS) is an emerging promising candidate technology for the sixth-generation wireless networks, where the element spacing is usually of sub-wavelength. Only limited knowledge, however, has been gained about the spatial-temporal correlation behavior among the elements in an RIS. In this paper, we investigate the spatial-temporal correlation models for an RIS in a wireless communication system. Joint small-scale spatial-temporal correlation functions are provided and analyzed for both ideal isotropic scattering and more practical non-isotropic scattering environments, where the latter is studied via employing an angular distribution derived from real-world millimeter-wave measurements. Furthermore, for the special case of spatial-only correlation under isotropic scattering, an analytical expression is proposed to characterize the spatial degrees of freedom (DoF) for RISs with finite element spacing and aperture sizes in practice. Analytical and numerical results demonstrate that the joint spatial-temporal correlation can be represented by a four-dimensional sinc function under isotropic scattering, while the correlation is generally stronger with more fluctuation and significantly fewer dominant eigenvalues hence smaller DoF for non-isotropic scattering.</p></div></div></div>

scholarly journals Task space adaptation via the learning of gait controllers of magnetic soft millirobots

2021 ◽  
pp. 027836492110218
Author(s):  
Sinan O. Demir ◽  
Utku Culha ◽  
Alp C. Karacakol ◽  
Abdon Pena-Francesch ◽  
Sebastian Trimpe ◽  
...  
Keyword(s):  
Human Body ◽  
Degrees Of Freedom ◽  
Bayesian Optimization ◽  
Small Scale ◽  
Soft Robots ◽  
Modeling And Control ◽  
Walking Gait ◽  
Physical Experiments ◽  
Efficient Learning ◽  
Task Environments

Untethered small-scale soft robots have promising applications in minimally invasive surgery, targeted drug delivery, and bioengineering applications as they can directly and non-invasively access confined and hard-to-reach spaces in the human body. For such potential biomedical applications, the adaptivity of the robot control is essential to ensure the continuity of the operations, as task environment conditions show dynamic variations that can alter the robot’s motion and task performance. The applicability of the conventional modeling and control methods is further limited for soft robots at the small-scale owing to their kinematics with virtually infinite degrees of freedom, inherent stochastic variability during fabrication, and changing dynamics during real-world interactions. To address the controller adaptation challenge to dynamically changing task environments, we propose using a probabilistic learning approach for a millimeter-scale magnetic walking soft robot using Bayesian optimization (BO) and Gaussian processes (GPs). Our approach provides a data-efficient learning scheme by finding the gait controller parameters while optimizing the stride length of the walking soft millirobot using a small number of physical experiments. To demonstrate the controller adaptation, we test the walking gait of the robot in task environments with different surface adhesion and roughness, and medium viscosity, which aims to represent the possible conditions for future robotic tasks inside the human body. We further utilize the transfer of the learned GP parameters among different task spaces and robots and compare their efficacy on the improvement of data-efficient controller learning.

scholarly journals Dynamic Loads and Response of a Spar Buoy Wind Turbine with Pitch-Controlled Rotating Blades: An Experimental Study

Energies ◽  
2021 ◽  
Vol 14 (12) ◽  
pp. 3598
Author(s):  
Sara Russo ◽  
Pasquale Contestabile ◽  
Andrea Bardazzi ◽  
Elisa Leone ◽  
Gregorio Iglesias ◽  
...  
Keyword(s):  
Wind Speed ◽  
Wind Turbine ◽  
Degrees Of Freedom ◽  
Large Scale ◽  
Laboratory Data ◽  
Nonlinear Behavior ◽  
Offshore Wind ◽  
Small Scale ◽  
Wave Steepness ◽  
Design Factor

New large-scale laboratory data are presented on a physical model of a spar buoy wind turbine with angular motion of control surfaces implemented (pitch control). The peculiarity of this type of rotating blade represents an essential aspect when studying floating offshore wind structures. Experiments were designed specifically to compare different operational environmental conditions in terms of wave steepness and wind speed. Results discussed here were derived from an analysis of only a part of the whole dataset. Consistent with recent small-scale experiments, data clearly show that the waves contributed to most of the model motions and mooring loads. A significant nonlinear behavior for sway, roll and yaw has been detected, whereas an increase in the wave period makes the wind speed less influential for surge, heave and pitch. In general, as the steepness increases, the oscillations decrease. However, higher wind speed does not mean greater platform motions. Data also indicate a significant role of the blade rotation in the turbine thrust, nacelle dynamic forces and power in six degrees of freedom. Certain pairs of wind speed-wave steepness are particularly unfavorable, since the first harmonic of the rotor (coupled to the first wave harmonic) causes the thrust force to be larger than that in more energetic sea states. The experiments suggest that the inclusion of pitch-controlled, variable-speed blades in physical (and numerical) tests on such types of structures is crucial, highlighting the importance of pitch motion as an important design factor.

An Experimental Investigation on Cylinder VIV Trajectories Under Different Model Scale

2014 ◽  
Author(s):  
Zh. Kang ◽  
Yunhe Zhai ◽  
Ruxin Song ◽  
Liping Sun
Keyword(s):  
Experimental Investigation ◽  
Vibration Frequency ◽  
Degrees Of Freedom ◽  
Natural Vibration ◽  
Cross Flow ◽  
Small Scale ◽  
Natural Vibration Frequency ◽  
Test Results ◽  
The Cross ◽  
Initial Research

In this paper, model tests were carried out to investigate two degrees of freedom VIV of horizontally-laid cylinders with diameters of 5cm, 11cm, 20cm and length 120cm and compared their vibration trajectories. The test results showed that the in-line and cross-flow vibration frequency of different scale cylinders demonstrate “multi frequency” phenomenon, that is, the in-line vibration frequency is not only twice but also once or four times as much as the cross-flow vibration frequency in some scale, natural frequency and reduced velocity conditions. Also, the cross-flow multi-frequency vibration phenomenon occurred. The trajectory of the vibration cylinder differentiated from the traditional “8” shape accordingly. The vibration trajectory, especially of small-scale cylinder, changed in most conspicuous manner. Through the initial research and analysis, it was found that in addition to in-line and cross-flow natural vibration frequency and the flow velocity, the shape of cylinders was also one of the main causes leading to different vibration trajectory forms.

Experimental Comparison of Two Degrees-of-Freedom Vortex-Induced Vibration on High and Low Aspect Ratio Cylinders with Small Mass Ratio

2012 ◽  
Vol 134 (6) ◽  
Author(s):  
Rodolfo T. Gonçalves ◽  
Guilherme F. Rosetti ◽  
André L. C. Fujarra ◽  
Guilherme R. Franzini ◽  
César M. Freire ◽  
...  
Keyword(s):  
Aspect Ratio ◽  
Degrees Of Freedom ◽  
Small Mass ◽  
Experimental Comparison ◽  
Small Scale ◽  
Mass Ratio ◽  
Vortex Induced Vibration ◽  
Two Degrees Of Freedom ◽  
Low Aspect Ratio ◽  
Aspect Ratios

Vortex-induced motion (VIM) is a specific way for naming the vortex-induced vibration (VIV) acting on floating units. The VIM phenomenon can occur in monocolumn production, storage and offloading system (MPSO) and spar platforms, structures presenting aspect ratio lower than 4 and unity mass ratio, i.e., structural mass equal to the displaced fluid mass. These platforms can experience motion amplitudes of approximately their characteristic diameters, and therefore, the fatigue life of mooring lines and risers can be greatly affected. Two degrees-of-freedom VIV model tests based on cylinders with low aspect ratio and small mass ratio have been carried out at the recirculating water channel facility available at NDF-EPUSP in order to better understand this hydro-elastic phenomenon. The tests have considered three circular cylinders of mass ratio equal to one and different aspect ratios, respectively L/D = 1.0, 1.7, and 2.0, as well as a fourth cylinder of mass ratio equal to 2.62 and aspect ratio of 2.0. The Reynolds number covered the range from 10 000 to 50 000, corresponding to reduced velocities from 1 to approximately 12. The results of amplitude and frequency in the transverse and in-line directions were analyzed by means of the Hilbert-Huang transform method (HHT) and then compared to those obtained from works found in the literature. The comparisons have shown similar maxima amplitudes for all aspect ratios and small mass ratio, featuring a decrease as the aspect ratio decreases. Moreover, some changes in the Strouhal number have been indirectly observed as a consequence of the decrease in the aspect ratio. In conclusion, it is shown that comparing results of small-scale platforms with those from bare cylinders, all of them presenting low aspect ratio and small mass ratio, the laboratory experiments may well be used in practical investigation, including those concerning the VIM phenomenon acting on platforms.

scholarly journals On-Sun Tracking Evaluation of a Small-Scale Tensile Ganged Heliostat Prototype

2019 ◽  
Author(s):  
Julius Yellowhair ◽  
Kenneth M. Armijo ◽  
Jesus D. Ortega ◽  
Jim Clair
Keyword(s):  
Degrees Of Freedom ◽  
Small Scale ◽  
Preliminary Evaluation ◽  
Control Mechanisms ◽  
Tracking Accuracy ◽  
Additional Degree ◽  
Number Of Components ◽  
The Past ◽  
Linear Actuators ◽  
The Individual

Abstract Various ganged heliostat concepts have been proposed in the past. The attractive aspect of ganged heliostat concepts is multiple heliostats are grouped so that pedestals, tracking drives, and other components can be shared, thus reducing the number of components. The reduction in the number of components is thought to significantly reduce cost. However, since the drives and tracking mechanisms are shared, accurate on-sun tracking of grouped heliostats becomes challenging because the angular degrees-of-freedom are now limited for the multiple number of combined heliostats. In this paper, the preliminary evaluation of the on-sun tracking of a novel tensile-based cable suspended ganged heliostat concept is provided. In this concept, multiple heliostats are attached to two guide cables. The cables are attached to rotation spreader arms which are anchored to end posts on two ends. The guide cables form a catenary which makes tracking on-sun interesting and challenging. Tracking is performed by rotating the end plates that the two cables are attached to and rotating the individual heliostats in one axis. An additional degree-of-freedom can be added by differentially tensioning the two cables, but this may be challenging to do in practice. Manual on-sun tracking was demonstrated on small-scale prototypes. The rotation arms were coarsely controlled with linear actuators, and the individual heliostats were hand-adjusted in local pitch angle and locked in place with set screws. The coarse angle adjustments showed the tracking accuracy was 3–4 milli-radians. However, with better angle control mechanisms the tracking accuracy can be drastically improved. In this paper, we provide tracking data that was collected for a day, which showed feasibility for automated on-sun tracking. The next steps are to implement better angle control mechanisms and develop tracking algorithms so that the ganged heliostats can automatically track.

An Experiment for the Study of Free-Flying Supercavitating Projectiles

2011 ◽  
Vol 133 (2) ◽  
Author(s):  
Peter J. K. Cameron ◽  
Peter H. Rogers ◽  
John W. Doane ◽  
David H. Gifford
Keyword(s):  
High Speed ◽  
Degrees Of Freedom ◽  
Measurement Techniques ◽  
Theoretical Models ◽  
Dynamics Simulation ◽  
Small Scale ◽  
Successful Operation ◽  
Six Degrees Of Freedom ◽  
Impact Location ◽  
Simulation Based

Applications and research utilizing supercavitation for high-speed underwater flight has motivated study of the phenomenon. In this work, a small scale laboratory experiment for studying supercavitating projectiles has been designed, built, and tested. Similar existing experimental work has been documented in literature but using large, elaborate facilities, or has been presented with ambiguous conclusions from test results. The projectiles were 63.5 mm in length and traveled at speeds on the order of 145 m/s. Measurement techniques are discussed and used to record projectile speed, supercavity dimensions, and target impact location. Experimental observations are compared with a six degrees-of-freedom dynamics simulation based on theoretical models presented in literature for predicting supercavity shape and hydrodynamic forces on the supercavitating projectile during flight. Experimental observations are discussed qualitatively, along with quantitative statistics of the measurements made. Successful operation of the experiment has been demonstrated and verified by agreement with theoretical models.

scholarly journals Modeling Legged Microrobot Locomotion Based on Contact Dynamics and Vibration in Multiple Modes and Axes

2017 ◽  
Vol 139 (3) ◽  
Author(s):  
Jinhong Qu ◽  
Clark B. Teeple ◽  
Kenn R. Oldham
Keyword(s):  
Rigid Body ◽  
Dynamic Model ◽  
Degrees Of Freedom ◽  
Beam Theory ◽  
Contact Dynamics ◽  
Body Motion ◽  
Small Scale ◽  
Robot Locomotion ◽  
Actuation Scheme ◽  
Dynamics And Vibration

A dynamic model is developed for small-scale robots with multiple high-frequency actuated compliant elastic legs and a rigid body. The motion of the small-scale robots results from dual-direction motion of piezoelectric actuators attached to the legs, with impact dynamics increasing robot locomotion complexity. A dynamic model is developed to describe the small-scale robot motion in the presence of variable properties of the underlying terrain. The dynamic model is derived from beam theory with appropriate boundary and loading conditions and considers each robot leg as a continuous structure moving in two directions. Robot body motion is modeled in up to five degrees-of-freedom (DOF) using a rigid body approximation for the central robot chassis. Individual modes of the resulting multimode robot are treated as second-order linear systems. The dynamic model is tested with two different centimeter-scale robot prototypes having an analogous actuation scheme to millimeter-scale microrobots. In accounting for the interaction between the robot and ground, a dynamic model using the first two modes of each leg shows good agreement with experimental results for the centimeter-scale prototypes, in terms of both magnitude and the trends in robot locomotion with respect to actuation conditions.

Sign in / Sign up

Export Citation Format

Share Document