Search results for "Trajectory"
showing 10 items of 203 documents
Influence of spray trajectories on characteristics of cold-sprayed copper deposits
2021
Abstract Industrial robots are widely used in cold spray (CS) as well as thermal spray to produce various coatings by precisely controlling kinematic parameters during the process. However, the robot trajectory and its effect on the characteristics of CS deposits are important, but not fully studied. This article introduces four typical spray trajectories, including zigzag path, cross path, parallel path, and spiral path, to elaborate thick CS Cu deposits, and characterizes the corresponding Cu deposits, respectively. The experimental results revealed that the spray trajectories have a major influence on the associated thermal history and the residual stress distribution. However, no signif…
A trajectory-based classification of ERA-Interim ice clouds in the region of the North Atlantic storm track
2016
A two-type classification of ice clouds (cirrus) is introduced, based on the liquid and ice water content, LWC and IWC, along air parcel backward trajectories from the clouds. In situ cirrus has no LWC along the trajectory segment containing IWC; it forms via nucleation from the gas phase. In contrast, liquid-origin cirrus has both LWC and IWC along their backward trajectories; it forms via lifting from the lower troposphere and freezing of mixed-phase clouds. This classification is applied to 12 years of ERA-Interim ice clouds in the North Atlantic region. Between 400 and 500 hPa more than 50% are liquid-origin cirrus, whereas this frequency decreases strongly with altitude (<10% at 200 hP…
Identification of processes that control the stable isotope composition of rainwater in the humid tropical West-Central Africa.
2020
12 pages; International audience; This study interprets 11 years (2006 to 2016) and 6 months (March to August in 2017) of respectively monthly and daily isotopic (δD and δ18O) monitoring of rain at Douala (Cameroon), a humid tropical station in Western Africa. The main scope is to analyze the climate controls on precipitation isotopes at different timescales. Firstly, we examine the annual cycles of δ18O. Over the 11 years of survey, the annual cycle exhibits a W shape that is quite reproducible from year to year, with two minima in spring and autumn periods. Based on back trajectory calculations and remote sensing observations of water vapor isotopic composition, we show that the observed …
Plankton Tracker: A novel integrated system to investigate the dynamic sinking behavior in phytoplankton
2020
Abstract Phytoplankton sinking is an important property that can determine community composition, affecting nutrient and light absorption in the photic zone, and influencing biogeochemical cycling via material loss to the deep ocean. To date, the difficulty in exploring the sinking processes is partly due to methodological limitations in measuring phytoplankton sinking rate. However, in the last decade, works have illustrated various methods based on some non-invasive and low perturbing approaches (laser scanner, video-microscopy, fluorescence spectroscopy). In this study, we review the methods for sinking rate estimation and describe the Plankton Tracker, a novel integrated system to inves…
Exploring connectivity between spawning and nursery areas ofMullus barbatus(L., 1758) in the Mediterranean through a dispersal model
2017
Connectivity between spawning and nursery areas plays a major role in determining the spatial structure of fish populations and the boundaries of stock units. Here, the potential effects of surface current on a red mullet population in the Central Mediterranean were simulated using a physical oceanographic model. Red mullet larvae were represented as Lagrangian drifters released in known spawning areas of the Strait of Sicily (SoS), which represents one of the most productive demersal fishing-grounds of the Mediterranean. To consider the effect of inter-annual variability of oceanographic patterns, numerical simulations were performed for the spawning seasons from 1999 to 2012. The main goa…
Recovery of plant communities after ecological restoration of forestry-drained peatlands
2017
Ecological restoration is expected to reverse the loss of biodiversity and ecosystem services. Due to the low number of well-replicated field studies, the extent to which restoration recovers plant communities, and the factors underlying possible shortcomings, are not well understood even in medium term. We compared the plant community composition of 38 sites comprising pristine, forestry-drained, and 5 or 10 years ago restored peatlands in southern Finland, with special interest in understanding spatial variation within studied sites, as well as the development of the numbers and the abundances of target species. Our results indicated a recovery of community composition 5–10 years after re…
Aircraft wing rock oscillations suppression by simple adaptive control
2020
Abstract Roll angular motion of the modern aircraft operating in non-linear flight modes with a high angle of attack often demonstrates the limit cycle oscillations, which is commonly known as the wing rock phenomenon. Wing rock dynamics are represented by a substantially non-linear model, with parameters varying over a wide range, depending on the flight conditions (altitude, Mach number, payload mass, etc.) and angle of attack. A perspective approach of the wing rock suppression lies in the adaptation methods. In the present paper an application of the simple adaptive control approach with the Implicit Reference Model (IRM) is proposed and numerically studied. The IRM adaptive controller …
Distributed Adaptive Consensus Tracking Control of Uncertain High-order Nonlinear Systems under Directed Graph Condition
2018
In this paper, we investigate the output consensus tracking problem for a class of high-order nonlinear systems subjected to unknown parameters and uncertain external disturbances. A novel backstepping based distributed adaptive control scheme is presented under the directed communication status. For the subsystems without direct access to time-varying desired trajectory, local estimators are introduced and the corresponding adaptive laws are designed in a totally distributed fashion. With the presented scheme, the assumption on linearly parameterized reference signal and the information exchange operation of subsystem inputs in the existing results are no longer needed. It is shown that al…
Distributed adaptive leader–follower and leaderless consensus control of a class of strict-feedback nonlinear systems : a unified approach
2020
In this paper, distributed adaptive consensus for a class of strict-feedback nonlinear systems under directed topology condition is investigated. Both leader–follower and leaderless cases are considered in a unified framework. To design distributed controller for each subsystem, a local compensatory variable is generated based on the signals collected from its neighbors. Such a technique enables us to solve the leader–follower consensus and leaderless consensus problems in a unified framework. And it further allows us to treat the leaderless consensus as a special case of the leader–follower consensus. For leader–follower consensus, the assumption that the leader trajectory is linearly para…
Compensation of Nonlinear Torsion in Flexible Joint Robots: Comparison of Two Approaches
2015
Flexible joint robots, in particularly those which are equipped with harmonic-drive gears, can feature elasticities with hysteresis. Under heavy loads and large joint torques the hysteresis lost motion can lead to significant errors of tracking and positioning of the robotic links. In this paper, two approaches for compensating the nonlinear joint torsion with hysteresis are described and compared with each other. Both methods assume the measured signals available only on the motor side of joint transmissions. The first approach assumes a rigid-link manipulator model and transforms the desired link trajectory into that of the motor drives by using the inverse dynamics and inverse hysteresis…