Abstract-In this paper we consider the problem of controlling multiple robots manipulating and transporting a payload in three dimensions via cables. We develop robot configurations that ensure static equilibrium of the payload at a desired pose while respecting constraints on the tension and provide analysis of payload stability for these configurations. We demonstrate our methods on a team of aerial robots via simulation and experimentation.
We have investigated the effect of a solidifying crust on the dynamics and surface morphology of radial viscous-gravity currents. Liquid polyethylene glycol was admitted into the base of a tank filled with cold sucrose solution maintained at a temperature below the wax freezing point. As the radial current advanced away from the inlet, its surface solidified and deformed through a combination of folding and fracturing. For the warmest experiments, during which solidification did not occur, the radius of the current increased in proportion to the square root of time, as demonstrated both experimentally and theoretically for isothermal viscous fluids by Huppert (1982). When cooling was sufficiently rapid, solid crust formed and caused the spreading rate to decrease. A cooling model combining conduction in the wax with convection in the sucrose solution predicts the distance from the source at which the solid crust first appearedProgressively colder experiments revealed a sequence of surface morphologies which resembled features observed on cooling lava flows and lava lakes. Flows in which crust formed very slowly developed marginal levees which contained and channelled the main portion of the current. Colder flows with more rapid crust growth formed regularly spaced surface folds, multi-armed rift structures complete with shear offsets, and bulbous lobate forms similar to pillow lavas seen under the ocean. The same transitions between modes of surface deformation were also generated by keeping the ambient water temperature constant and decreasing the extrusion rate. This demonstration that surfaces can exhibit a well-defined sequence of morphologies which depend on the underlying flow conditions offers the prospect of more successful interpretation of natural lava flows.
Recent years have seen a number of challenges to social stability and order, ranging from terrorist attacks and natural disasters to epidemics such as AIDS and SARS. Such challenges have generated specific policy responses, such as enhanced security at transportation hubs and planned deployment of a global tsunami detection network. However, the range of challenges and the practical impossibility of adequately addressing each in turn argue for adoption of a more comprehensive systems perspective. This should be based on the principle of enhancing social and economic resiliency as well as meeting security and emergency response needs and, to the extent possible, developing and implementing dual-use technologies that offer societal benefits even if anticipated disasters never occur.
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