Jason Nightingale

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We obtain an intrinsic vector-valued symmetric bilinear form that can be associate with an underactuated simple mechanical control system. We determine properties of the form which serve as necessary conditions for driving underactuated simple mechanical control systems to rest. We also determine properties of the form that serve as sufficient conditions(More)
We obtain an intrinsic vector-valued symmetric bilinear form that can be associated with an underactuated constrained mechanical control system. We determine properties of the form that serve as sufficient conditions for driving a constrained mechanical system underactuated by one control to an ǫ-neighborhood of rest from an arbitrary initial configuration(More)
Analysis and control of underactuated mechanical systems in the nonzero velocity setting remains a challenging problem. In this paper, we demonstrate the utility of a recently developed alternative representation of the equations of motion for this large class of nonlinear control systems. The alternative representation gives rise to an intrinisic symmetric(More)
This paper presents the definition of a new type of dynamic singularity for robotic manipulators. It is applicable to all underactuated robotic systems that can be described by Lagrange's equations where the Lagrangian is the kinetic minus potential energy. The approach is to decompose the velocity at every point in the configuration space into velocity(More)
We provide a constructive global discontinuous control law with state dependent switches for a class of under-actuated nonlinear mechanical robotic systems that will drive the system to an arbitrarily small neighborhood of rest from all initial configurations and velocities in arbitrarily small time. Because all physical mobile robotic systems are(More)
  • S. Dye, C. Furlanetto, +13 authors P. van der Werf
  • 2015
We have modelled Atacama Large Millimetre/sub-millimetre Array (ALMA) long baseline imaging of the strong gravitational lens system H-ATLAS J090311.6+003906 (SDP.81). We have reconstructed the distribution of band 6 and 7 continuum emission in the z= 3.042 source and determined its kinematic properties by reconstructing CO(5–4) and CO(8–7) line emission in(More)
We have determined the mass density radial profiles of the first five strong gravitational lens systems discovered by the Herschel Astrophysical Terahertz Large Area Survey. We present an enhancement of the semilinear lens inversion method of Warren & Dye which allows simultaneous reconstruction of several different wavebands and apply this to dual-band(More)
We exploit long baseline ALMA submillimeter observations of the lensed star-forming galaxy SDP 81 at z = 3.042 to investigate the properties of the interstellar medium (ISM) on scales of 50–100 pc. The kinematics of the CO gas within this system are welldescribed by a rotationally supported disk with an inclination-corrected rotation speed, vrot = 320 ± 20(More)