Event-Based, Intermittent, Discrete Adaptive Control for Speed Regulation of Artificial Legs

For artificial legs that are used in legged robots, exoskeletons, and prostheses, it suffices to achieve velocity regulation at a few key instants of swing rather than tight trajectory tracking. Here, we advertise an event-based, intermittent, discrete controller to enable set-point regulation for problems that are traditionally posed as trajectory following. We measure the system state at prior-chosen instants known as events (e.g., vertically downward position), and we turn on the controller intermittently based on the regulation errors at the set point. The controller is truly discrete, as these measurements and controls occur at the time scale of the system to be controlled. To enable set-point regulation in the presence of uncertainty, we use the errors to tune the model parameters. We demonstrate the method in the velocity control of an artificial leg, a simple pendulum, with up to 50% mass uncertainty. Starting with a 100% regulation error, we achieve velocity regulation of up to 10% in about five swings with only one measurement per swing.

Galactic potential constraints from clustering in action space of combined stellar stream data

ABSTRACT Stream stars removed by tides from their progenitor satellite galaxy or globular cluster act as a group of test particles on neighbouring orbits, probing the gravitational field of the Milky Way. While constraints from individual streams have been shown to be susceptible to biases, combining several streams from orbits with various distances reduces these biases. We fit a common gravitational potential to multiple stellar streams simultaneously by maximizing the clustering of the stream stars in action space. We apply this technique to members of the GD-1, Palomar 5 (Pal 5), Orphan, and Helmi streams, exploiting both the individual and combined data sets. We describe the Galactic potential with a Stäckel model, and vary up to five parameters simultaneously. We find that we can only constrain the enclosed mass, and that the strongest constraints come from the GD-1, Pal 5, and Orphan streams whose combined data set yields $M(\lt 20\, \mathrm{kpc}) = 2.96^{+0.25}_{-0.26} \times 10^{11} \, \mathrm{ M}_{\odot}$. When including the Helmi stream in the data set, the mass uncertainty increases to $M(\lt 20\, \mathrm{kpc}) = 3.12^{+3.21}_{-0.46} \times 10^{11} \, \mathrm{M}_{\odot}$.

Quantum clocks observe classical and quantum time dilation

At the intersection of quantum theory and relativity lies the possibility of a clock experiencing a superposition of proper times. We consider quantum clocks constructed from the internal degrees of relativistic particles that move through curved spacetime. The probability that one clock reads a given proper time conditioned on another clock reading a different proper time is derived. From this conditional probability distribution, it is shown that when the center-of-mass of these clocks move in localized momentum wave packets they observe classical time dilation. We then illustrate a quantum correction to the time dilation observed by a clock moving in a superposition of localized momentum wave packets that has the potential to be observed in experiment. The Helstrom-Holevo lower bound is used to derive a proper time-energy/mass uncertainty relation.

Consistency of Control Performance in 3D Overhead Cranes under Payload Mass Uncertainty

The paper addresses the problem of effectively and robustly controlling a 3D overhead crane under the payload mass uncertainty, where the control performance is shown to be consistent. It is proposed to employ the sliding mode control technique to design the closed-loop controller due to its robustness, regardless of the uncertainties and nonlinearities of the under-actuated crane system. The radial basis function neural network has been exploited to construct an adaptive mechanism for estimating the unknown dynamics. More importantly, the adaptation methods have been derived from the Lyapunov theory to not only guarantee stability of the closed-loop control system, but also approximate the unknown and uncertain payload mass and weight matrix, which maintains the consistency of the control performance, although the cargo mass can be varied. Furthermore, the results obtained by implementing the proposed algorithm in the simulations show the effectiveness of the proposed approach and the consistency of the control performance, although the payload mass is uncertain.

Mobutu’s Ghost

Both environments of mass uncertainty and emergent efforts at radical social change inspire calls for the arts to “get the word out.” Yet the distribution of information is inseparable from the distribution of resources, and the logics of broadcast are inherently colored by the politics of patronage. Moreover, the audiences addressed by such media are not open-ended, democratic masses but rather distinct publics constituted by the very forms of discourse chosen by the works: gender roles are consolidated around songs addressed either to men or women, political preferences swayed through the promotion of certain celebrities, ethnic identities unified or exacerbated via the use of different languages, and so on. However widely it spreads, distribution is never even nor unbiased; it is always colored by processes of disparity.