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The nonlinear phenomena of signal beam saturation, pump beam depletion, and optically controlled coupling coefficient of two-beam interaction in photorefractive materials are analyzed. Applications of these phenomena to digital logic operations is discussed and supported by experimental results obtained in photorefractive BaTiO3.
The effects of strong critical-layer nonlinearity on the spatially growing instabilities of a shear layer between two parallel streams are considered. A composite expansion technique is used to obtain a single formula that accounts for both shear-layer spreading and nonlinear critical-layer effects. Nonlinearity causes the instability to saturate well upstream of the linear neutral stability point. It also produces vorticity roll-up that cannot be predicted by linear theory.
Static modelling of magnetic bearings is often carried out using magnetic circuit theory. This theory cannot easily include nonlinear effects such as magnetic saturation or the fringing of flux in air-gaps. Modern computational tools are able to accurately model complex magnetic bearing geometries, provided some care is exercised. In magnetic suspension applications, the magnetic fields are highly three-dimensional and require computational tools for the solution of most problems of interest. The dynamics of a magnetic bearing or magnetic suspension system can be strongly affected by eddy currents. Eddy currents are present whenever a time-varying magnetic flux penetrates a conducting medium. The direction of flow of the eddy current is such as to reduce the rate-of-change of flux. Analytic solutions for eddy currents are available for some simplified geometries, but complex geometries must be solved by computation. It is only in recent years that such computations have been considered truly practical. At NASA Langley Research Center, state-of-the-art finite-element computer codes, 'OPERA', 'TOSCA' and 'ELEKTRA' have recently been installed and applied to the magnetostatic and eddy current problems. This paper reviews results of theoretical analyses which suggest general forms of mathematical models for eddy currents, together with computational results. A simplified circuit-based eddy current model proposed appears to predict the observed trends in the case of large eddy current circuits in conducting non-magnetic material. A much more difficult case is seen to be that of eddy currents in magnetic material, or in non-magnetic material at higher frequencies, due to the lower skin depths. Even here, the dissipative behavior has been shown to yield at least somewhat to linear modelling. Magnetostatic and eddy current computations have been carried out relating to the Annular Suspension and Pointing System, a prototype for a space payload pointing and vibration isolation system, where the magnetic actuator geometry resembles a conventional magnetic bearing. Magnetostatic computations provide estimates of flux density within airgaps and the iron core material, fringing at the pole faces and the net force generated. Eddy current computations provide coil inductance, power dissipation and the phase lag in the magnetic field, all as functions of excitation frequency. Here, the dynamics of the magnetic bearings, notably the rise time of forces with changing currents, are found to be very strongly affected by eddy currents, even at quite low frequencies. Results are also compared to experimental measurements of the performance of a large-gap magnetic suspension system, the Large Angle Magnetic Suspension Test Fixture (LAMSTF). Eddy current effects are again shown to significantly affect the dynamics of the system. Some consideration is given to the ease and accuracy of computation, specifically relating to OPERA/TOSCA/ELEKTRA.
The Sound attenuation and dispersion in saturated gas-vapor-droplet mixture in the presence of evaporation has been investigated theoretically. The theory is based on an extension of the work of Davidson to accommodate the effects of nonlinear particle relaxation processes of mass, momentum and energy transfer on sound attenuation and dispersion. The results indicate the existence of a spectral broadening effect in the attenuation coefficient (scaled with respect to the peak value) with a decrease in droplet mass concentration. It is further shown that for large values of the droplet concentration the scaled attenuation coefficient is characterized by a universal spectrum independent of droplet mass concentration.
The study traces the evolution of Langmuir and ion-sound waves in type III sources, incorporating linear growth, linear damping, and nonlinear electrostatic decay. Improved estimates are obtained for the wavenumber range of growing waves and the nonlinear coupling coefficient for the decay process. It is shown that the conditions in the solar wind do not allow a steady state to be attained; instead, bursty linear and nonlinear interactions take place, consistent with the highly inhomogeneous and impulsive waves actually observed. Nonlinear growth is found to be rapid enough to saturate the growth of the parent Langmuir waves in the available interaction time. The competing processes of nonlinear wave collapse and quasi-linear relaxation are discussed, and it is concluded that neither is responsible for the saturation of Langmuir growth.
A nonlinear mode-coupling theory of the lower-hybrid-drift instability is presented. It is found that the instability saturates by transferring energy from the growing, long wavelength modes to the damped, short wavelength modes. The saturation energy, mean square of the potential fluctuations, and diffusion coefficient are calculated self-consistently.
Drift wave instabilities nonlinearities, discussing plasma growth rate and saturation coefficients, damping rate as function of amplitude and lower mode modification
Electron instabilities of magnetized spherical shell distributions in velocity space with a colder Maxwellian background are investigated analytically with simulations using electrostatic particle codes. The resonant and nonresonant instabilities observed in the particle simulations are in agreement with zeros of the dielectric function, as found from the resonant approximations for waves with an electric field component along the magnetic field or by computation with a root solver code in the case of perpendicular propagation. Saturation of the instabilities is by nonlinear cyclotron resonance with the cold background in the resonant case or by nonstochastic cyclotron harmonic damping by the cold background in the nonresonant case. Instabilities invariably lead to perpendicular acceleration and heating of the cold background to velocities sometimes exceeding the shell velocity.
A dye-induced nonlinear frequency chirping is analytically shown to have significant modifications on the nature of the output mode-locked lasers. It is shown that the saturated frequency sweeping is responsible for substantial pulse broadening as well as substructures.
The evolution of Langmuir and ion-sound waves in type 3 sources is investigated, incorporating linear growth, linear damping, and nonlinear electrostatic decay. Improved estimates are obtained for the wavenumber range of growing waves and the nonlinear coupling coefficient for the decay process. The resulting prediction for the electrostatic decay threshold is consistent with the observed high-field cutoff in the Langmuir field distribution. It is shown that the conditions in the solar wind do not allow a steady state to be attained; rather, bursty linear and nonlinear interactions take place, consistent with the highly inhomogeneous and impulsive waves actually observed. Nonlinear growth is found to be fast enough to saturate the growth of the parent Langmuir waves in the available interaction time. The resulting levels of product Langmuir and ion-sound waves are estimated theoretically and shown to be consistent with in situ ISEE 3 observations of type 3 events at 1 AU. Nonlinear interactions slave the growth and decay of product sound waves to that of the product Langmuir waves. The resulting probability distribution of ion-sound field strengths is predicted to have a flat tail extending to a high-field cutoff. This prediction is consistent with statistics derived here from ISEE 3 observations. Agreement is also found between the frequencies of the observed waves and predictions for the product S waves. The competing processes of nonlinear wave collapse and quasilinear relaxation are discussed, and it is concluded that neither is responsible for the saturation of Langmuir growth. When wave and beam inhomogeneities are accounted for, arguments from quasi-linear relaxation yield an upper bound on the Langmuir fields that is too high to be relevant. Nor are the criteria for direct wave collapse of the beam-driven waves met, consistent with earlier simulation results that imply that this process is not responsible for saturation of the beam instability. Indeed, even if the highest observed Langmuir fields are assumed to he part of a long-wavelength 'condensate' produced via electrostatic decay, they still fall short of the relevant requirements for wave collapse. The most stringent requirement for collapse is that collapsing wave packets not be disrupted by ambient density fluctuations in the solar wind. Fields of several mV m(exp -1) extending over several hundred km would be needed to satisfy this requirement; at 1 AU such fields are rare at best.
A method is presented to obtain the time-optimal motions for robotic manipulators. It considers the full nonlinear dynamics of the manipulator, its actuator saturation limits, and gripper and payload constraints. It also accounts for both the presence of obstacles in the work space and restrictions on the motion of the manipulator's joints. The method is computationally practical and has been implemented for the optimal trajectory planning of general six degree-of-freedom manipulators. Examples are presented that demonstrate the substantial improvement in manipulator performance that can be achieved using this method.
The unsteady structure of a supersonic jet is highly three dimensional, though the mean flow is axisymmetric. In simulating a circular jet, the centerline represents a computational boundary. As such, spurious modes can be generated near centerline, unless special attention is given to the behavior of the 3D structure near the centerline. Improper treatment of the dependent variables near the centerline results in the solution diverging or being suitable only for small amplitude excitation. With a careful treatment of the centerline formation, no spurious mode is generated. The results show that a near-linear disturbance growth is obtained, as the linear stability theory indicates. At high levels of excitation, nonlinear development of disturbances is evident and saturation is reached downstream.
The role of gravity wave forcing in the zonal mean circulation of the stratosphere is discussed. Starting from some very simple assumptions about the momentum flux spectrum of nonstationary (non-zero phase speed) waves at forcing levels in the troposphere, a linear model is used to calculate wave propagation through climatological zonal mean winds at solstice seasons. As the wave amplitudes exceed their stable limits, a saturation criterion is imposed to account for nonlinear wave breakdown effects, and the resulting vertical gradient in the wave momentum flux is then used to estimate the mean flow forcing per unit mass. Evidence from global, assimilated data sets are used to constrain these forcing estimates. The results suggest the gravity-wave-driven force is accelerative (has the same sign as the mean wind) throughout most of the stratosphere above 20 km. The sense of the gravity wave forcing in the stratosphere is thus opposite to that in the mesosphere, where gravity wave drag is widely believed to play a principal role in decelerating the mesospheric jets. The forcing estimates are further compared to existing gravity wave parameterizations for the same climatological zonal mean conditions. Substantial disagreement is evident in the stratosphere, and we discuss the reasons for the disagreement. The results suggest limits on typical gravity wave amplitudes near source levels in the troposphere at solstice seasons. The gravity wave forcing in the stratosphere appears to have a substantial effect on lower stratospheric temperatures during southern hemisphere summer and thus may be relevant to climate.
Accomplishments and future work are:(1) Stability analysis: the work completed includes characterization of stability of receding horizon-based MPC in the setting of LQ paradigm. The current work-in-progress includes analyzing local as well as global stability of the closed-loop system under various nonlinearities; for example, actuator nonlinearities; sensor nonlinearities, and other plant nonlinearities. Actuator nonlinearities include three major types of nonlineaxities: saturation, dead-zone, and (0, 00) sector. (2) Robustness analysis: It is shown that receding horizon parameters such as input and output horizon lengths have direct effect on the robustness of the system. (3) Code development: A matlab code has been developed which can simulate various MPC formulations. The current effort is to generalize the code to include ability to handle all plant types and all MPC types. (4) Improved predictor: It is shown that MPC design using better predictors that can minimize prediction errors. It is shown analytically and numerically that Smith predictor can provide closed-loop stability under GPC operation for plants with dead times where standard optimal predictor fails. (5) Neural network predictors: When neural network is used as predictor it can be shown that neural network predicts the plant output within some finite error bound under certain conditions. Our preliminary study shows that with proper choice of update laws and network architectures such bound can be obtained. However, much work needs to be done to obtain a similar result in general case.
This paper considers a landing problem for an MAV that uses only a monocular camera for guidance. Although this sensor cannot measure the absolute distance to the target, by using optical flow algorithms, time-to-collision to the target is obtained. Existing work has applied a simple proportional feedback control to simple dynamics and demonstrated its potential. However, due to the singularity in the time-to-collision measurement around the target, this feedback could require an infinite control action. This paper extends the approach into nonlinear dynamics. In particular, we explicitly consider the saturation of the actuator and include the effect of the aerial drag. It is shown that the convergence to the target is guaranteed from a set of initial conditions, and the boundaries of such initial conditions in the state space are numerically obtained. The paper then introduces parametric uncertainties in the vehicle model and in the time-to-collision measurements. Using an argument similar to the nominal case, the robust convergence to the target is proven, but the region of attraction is shown to shrink due to the existence of uncertainties. The numerical simulation validates these theoretical results.
Electromagnetic ion beam instabilities driven by cool ion beams at propagation parallel or antiparallel to a uniform magnetic field are studied using computer simulations. The elements of linear theory applicable to electromagnetic ion beam instabilities and the simulations derived from a one-dimensional hybrid computer code are described. The quasi-linear regime of the right-hand resonant ion beam instability, and the gyrophase bunching of the nonlinear regime of the right-hand resonant and nonresonant instabilities are examined. It is detected that in the quasi-linear regime the instability saturation is due to a reduction in the beam core relative drift speed and an increase in the perpendicular-to-parallel beam temperature; in the nonlinear regime the instabilities saturate when half the initial beam drift kinetic energy density is converted to fluctuating magnetic field energy density.
Heat flux inhibition by electromagnetic instabilities in a hot magnetized plasma is investigated. Low-frequency electromagnetic waves become unstable due to anisotropy of the electron distribution function. The chaotic magnetic field thus generated scatters the electrons with a specific effective mean free path. Saturation of the instability due to wave-wave interaction, nonlinear scattering, wave propagation, and collisional damping is considered. The effective mean free path is found self-consistently, using a simple model to estimate saturation level and scattering, and is shown to decrease with the temperature gradient length. The results, limited to the assumptions of the model, are applied to astrophysical systems. For some interstellar clouds the instability is found to be important. Collisional damping stabilizes the plasma, and the heat conduction can be dominated by superthermal electrons.
A unified approach for assessing aircraft susceptibility to aircraft-pilot coupling (or pilot-induced oscillations) which was previously reported in the literature and applied to linear systems is extended to nonlinear systems, with emphasis upon vehicles with actuator rate saturation. The linear methodology provided a tool for predicting: (1) handling qualities levels, (2) pilot-induced oscillation rating levels and (3) a frequency range in which pilot-induced oscillations are likely to occur. The extension to nonlinear systems provides a methodology for predicting the latter two quantities. Eight examples are presented to illustrate the use of the technique. The dearth of experimental flight-test data involving systematic variation and assessment of the effects of actuator rate limits presently prevents a more thorough evaluation of the methodology.