Exact mirror equation via Berry's caustic touching theorem: plane and spherical mirrors.

In this work, we assume that in free space we have an observer, a smooth mirror, and an object placed at arbitrary positions. The aim is to obtain, within the geometrical optics approximation, an exact set of equations that gives the image position of the object registered by the observer. The general results are applied to plane and spherical mirrors, as an application of the caustic touching theorem introduced by Berry; the regions where the observer can receive zero, one, two, three, and one circle of reflected light rays are determined. Furthermore, we show that under the restricted paraxial approximation, that is, when sin⁡ψ≈ψ and cos⁡ψ≈1, the exact set of equations provides the well-known mirror equation.

Refracting and reflecting interfaces transforming a given wavefront into another one.

The aim of this work is threefold. First, following Luneburg and using our own notation, we review the Cartesian ovals. Second, we obtain analytical expressions for the reflecting and refracting surfaces that transform a prescribed smooth two-dimensional wavefront into a spherical one. These results are applied to show that the reflecting surface that connects a plane wavefront to a spherical one is a parabolical surface, and we design a lens, with two freeform surfaces, that transforms a spherical wavefront into another spherical one. These examples show that our equations provide the well-known solution for these problems, which is given by the Cartesian ovals method. Third, we present a procedure to obtain exact expressions for the refracting and reflecting surfaces that connect two given arbitrary wavefronts; that is, by assuming that the optical path length between two points on the prescribed wavefronts is given by the designer the refracting and reflecting surfaces we are looking for are determined by a set of two algebraic equations, which in the general case have to be solved in a numerical way. These general results are applied to compute the analytical expressions for the reflecting and refracting surfaces that transform a parabolical initial wavefront into a plane one.

Classical characterization of quantum waves: comparison between the caustic and the zeros of the Madelung-Bohm potential.

From a geometric perspective, the caustic is the most classical description of a wave function since its evolution is governed by the Hamilton-Jacobi equation. On the other hand, according to the Madelung-de Broglie-Bohm equations, the most classical description of a solution to the Schrödinger equation is given by the zeros of the Madelung-Bohm potential. In this work, we compare these descriptions, and, by analyzing how the rays are organized over the caustic, we find that the wave functions with fold caustic are the most classical beams because the zeros of the Madelung-Bohm potential coincide with the caustic. For another type of beam, the Madelung-Bohm potential is in general distinct to zero over the caustic. We have verified these results for the one-dimensional Airy and Pearcey beams, which, according to the catastrophe theory, have stable caustics. Similarly, we introduce the optical Madelung-Bohm potential, and we show that if the optical beam has a caustic of the fold type, then its zeros coincide with the caustic. We have verified this fact for the Bessel beams of nonzero order. Finally, we remark that for certain cases, the zeros of the Madelung-Bohm potential are linked with the superoscillation phenomenon.

Path-Tracking of a WMR Fed by Inverter-DC/DC Buck Power Electronic Converter Systems.

This paper is concerned with path-tracking control of a wheeled mobile robot. This robot is equipped with two permanent magnet brushed DC-motors which are fed by two inverter-DC/DC Buck power converter systems as power amplifiers. By taking into account the dynamics of all the subsystems we present, for the first time, a formal stability proof for this control problem. Our control scheme is simple, in the sense that it is composed by four internal classical proportional-integral loops and one external classical proportional-derivative loop for path-tracking purposes. This is the third paper of a series of papers devoted to control different nonlinear systems, which proves that the proposed methodology is a rather general approach for controlling electromechanical systems when actuated by power electronic converters.

A Novel Dynamic Three-Level Tracking Controller for Mobile Robots Considering Actuators and Power Stage Subsystems: Experimental Assessment.

In order to solve the trajectory tracking task in a wheeled mobile robot (WMR), a dynamic three-level controller is presented in this paper. The controller considers the mechanical structure, actuators, and power stage subsystems. Such a controller is designed as follows: At the high level is a dynamic control for the WMR (differential drive type). At the medium level is a PI current control for the actuators (DC motors). Lastly, at the low level is a differential flatness-based control for the power stage (DC/DC Buck power converters). The feasibility, robustness, and performance in closed-loop of the proposed controller are validated on a DDWMR prototype through Matlab-Simulink, the real-time interface ControlDesk, and a DS1104 board. The obtained results are experimentally assessed with a hierarchical tracking controller, recently reported in literature, that was also designed on the basis of the mechanical structure, actuators, and power stage subsystems. Although both controllers are robust when parametric disturbances are taken into account, the dynamic three-level tracking controller presented in this paper is better than the hierarchical tracking controller reported in literature.

Paraxial optical fields whose intensity pattern skeletons are stable caustics.

We construct exact solutions to the paraxial wave equation in free space characterized by stable caustics. First, we show that any solution of the paraxial wave equation can be written as the superposition of plane waves determined by both the Hamilton-Jacobi and Laplace equations in free space. Then using the five elementary stable catastrophes, we construct solutions of the Hamilton-Jacobi and Laplace equations, and the corresponding exact solutions of the paraxial wave equation. Therefore, the evolution of the intensity patterns is governed by the paraxial wave equation and that of the corresponding caustic by the Hamilton-Jacobi equation.

Robust Switched Tracking Control for Wheeled Mobile Robots Considering the Actuators and Drivers.

By using the hierarchical controller approach, a new solution for the control problem related to trajectory tracking in a differential drive wheeled mobile robot (DDWMR) is presented in this paper. For this aim, the dynamics of the three subsystems composing a DDWMR, i.e., the mechanical structure (differential drive type), the actuators (DC motors), and the power stage (DC/DC Buck power converters), are taken into account. The proposed hierarchical switched controller has three levels: the high level corresponds to a kinematic control for the mechanical structure; the medium level includes two controls based on differential flatness for the actuators; and the low level is linked to two cascade switched controls based on sliding modes and PI control for the power stage. The hierarchical switched controller was experimentally implemented on a DDWMR prototype via MATLAB-Simulink along with a DS1104 board. With the intention of assessing the performance of the switched controller, experimental results associated with a hierarchical average controller recently reported in literature are also presented here. The experimental results show the robustness of both controllers when parametric uncertainties are applied. However, the performance achieved with the switched controller introduced in the present paper is better than, or at least similar to, performance achieved with the average controller reported in literature.

Wavefronts, caustic, and intensity of a plane wave refracted by an arbitrary surface: the axicon and the plano spherical lenses.

The aim of the present work is to obtain an integral representation of the field associated with the refraction of a plane wave by an arbitrary surface. To this end, in the first part we consider two optical media with refraction indexes n1 and n2 separated by an arbitrary interface, and we show that the optical path length, ϕ, associated with the evolution of the plane wave is a complete integral of the eikonal equation in the optical medium with refraction index n2. Then by using the k function procedure introduced by Stavroudis, we define a new complete integral, S, of the eikonal equation. We remark that both complete integrals in general do not provide the same information; however, they give the geometrical wavefronts, light rays, and the caustic associated with the refraction of the plane wave. In the second part, using the Fresnel-Kirchhoff diffraction formula and the complete integral, S, we obtain an integral representation for the field associated only with the refraction phenomena, the geometric field approximation, in terms of secondary plane waves and the k-function introduced by Stavroudis in solving the problem from the geometrical optics point of view. We use the general results to compute: the wavefronts, light rays, caustic, and the intensity associated with the refraction of a plane wave by an axicon and plano-spherical lenses.

Hydrogen atom in a quantum plasma environment under the influence of Aharonov-Bohm flux and electric and magnetic fields.

This study presents the confinement influences of Aharonov-Bohm (AB) flux and electric and magnetic fields directed along the z axis and encircled by quantum plasmas on the hydrogen atom. The all-inclusive effects result in a strongly attractive system while the localizations of quantum levels change and the eigenvalues decrease. We find that the combined effect of the fields is stronger than a solitary effect and consequently there is a substantial shift in the bound state energy of the system. We also find that to perpetuate a low-energy medium for the hydrogen atom in quantum plasmas, a strong electric field and weak magnetic field are required, whereas the AB flux field can be used as a regulator. The application of the perturbation technique utilized in this paper is not restricted to plasma physics; it can also be applied in molecular physics.

Wavefronts, caustic, ronchigram, and null ronchigrating of a plane wave refracted by an axicon lens.

The aim of this work is threefold: first we obtain analytical expressions for the wavefront train and the caustic associated with the refraction of a plane wavefront by an axicon lens, second we describe the structure of the ronchigram when the ronchiruling is placed at the flat surface of the axicon and the screen is placed at different relative positions to the caustic region, and third we describe in detail the structure of the null ronchigrating for this system; that is, we obtain the grating such that when it is placed at the flat surface of the axicon its associated pattern, at a given plane perpendicular to the optical axis, is a set of parallel fringes. We find that the caustic has only one branch, which is a segment of a line along the optical axis; the ronchigram exhibits self-intersecting fringes when the screen is placed at the caustic region, and the null ronchigrating exhibits closed loop rulings if we want to obtain its associated pattern at the caustic region.

Wavefronts, caustics, and ronchigrams of a spherical wave reflected by a spherical mirror.

The aim of the present work is twofold: first we obtain analytical expressions for both the wavefronts and the caustic associated with the light rays reflected by a spherical mirror after being emitted by a point light source located at an arbitrary position in free space, and second, we describe, in detail, the structure of the ronchigrams when the grating or Ronchi ruling is placed at different relative positions to the caustic region and the point light source is located on and off the optical axis. We find that, in general, the caustic has two branches: one is a segment of a line, and the other is a two-dimensional surface. The wavefronts, at the caustic region, have self intersections and singularities. The ronchigrams exhibit closed-loop fringes when the grating is placed at the caustic region.

The point-characteristic function, wavefronts, and caustic of a spherical wave refracted by an arbitrary smooth surface.

The aim of this paper is to obtain expressions for the k-function, the wavefront train, and the caustic associated with the light rays refracted by an arbitrary smooth surface after being emitted by a point light source located at an arbitrary position in a three-dimensional homogeneous optical medium. The general results are applied to a parabolic refracting surface. For this case, we find that when the point light source is off the optical axis, the caustic locally has singularities of the hyperbolic umbilic type, while the refracted wavefront, at the caustic region, locally has singularities of the cusp ridge and swallowtail types.

Describing the structure of ronchigrams when the grating is placed at the caustic region: The parabolical mirror.

In this work we use the geometrical point of view of the Ronchi test and the caustic-touching theorem to describe the structure of the ronchigrams for a parabolical mirror when the point light source is on and off the optical axis and the grating is placed at the caustic associated with the reflected light rays. We find that for a given position of the point light source the structure of the ronchigram is determined by the form of the caustic and the relative position between the grating and the caustic. We remark that the closed loop fringes commonly observed in the ronchigrams appear when the grating and the caustic are tangent to each other. Furthermore, we find that the caustic locally has singularities of the purse or hyperbolic umbilic type, and the ronchigram obtained when the grating is located at certain specific positions at the caustic locally is of the serpentine type. The main motivation of this work is that nowadays a quantitative analysis of the Ronchi test is applied only when the grating is outside the caustic, and we claim that by working at the caustic, the sensitivity of the Ronchi test will be improved. Therefore, a clear understanding of the properties of the ronchigrams when the grating is placed at the caustic will be needed to extend the Ronchi test to that region.

Wavefronts and caustic of a spherical wave reflected by an arbitrary smooth surface.

The aim of the present work is to obtain expressions for both the wavefront train and the caustic associated with the light rays reflected by an arbitrary smooth surface after being emitted by a point light source located at an arbitrary position in free space. To this end, we obtain an expression for the k-function associated with the general integral of Stavroudis to the eikonal equation that describes the evolution of the reflected light rays. The caustic is computed by using the definitions of the critical and caustic sets of the map that describes the evolution of an arbitrary wavefront associated with the general integral. It is shown that the expression for the caustic is the same as that--reported in the literature--obtained by using an exact ray tracing. The general results are applied to a parabolic mirror. For this case, we find that when the point light source is off the optical axis, the caustic locally has singularities of the hyperbolic umbilic type while the reflected wavefront at the caustic region locally has singularities of the cusp ridge and swallowtail types.