1,559 research outputs found

    Satellite remote sensing of surface winds, waves, and currents: Where are we now?

    Get PDF
    This review paper reports on the state-of-the-art concerning observations of surface winds, waves, and currents from space and their use for scientific research and subsequent applications. The development of observations of sea state parameters from space dates back to the 1970s, with a significant increase in the number and diversity of space missions since the 1990s. Sensors used to monitor the sea-state parameters from space are mainly based on microwave techniques. They are either specifically designed to monitor surface parameters or are used for their abilities to provide opportunistic measurements complementary to their primary purpose. The principles on which is based on the estimation of the sea surface parameters are first described, including the performance and limitations of each method. Numerous examples and references on the use of these observations for scientific and operational applications are then given. The richness and diversity of these applications are linked to the importance of knowledge of the sea state in many fields. Firstly, surface wind, waves, and currents are significant factors influencing exchanges at the air/sea interface, impacting oceanic and atmospheric boundary layers, contributing to sea level rise at the coasts, and interacting with the sea-ice formation or destruction in the polar zones. Secondly, ocean surface currents combined with wind- and wave- induced drift contribute to the transport of heat, salt, and pollutants. Waves and surface currents also impact sediment transport and erosion in coastal areas. For operational applications, observations of surface parameters are necessary on the one hand to constrain the numerical solutions of predictive models (numerical wave, oceanic, or atmospheric models), and on the other hand to validate their results. In turn, these predictive models are used to guarantee safe, efficient, and successful offshore operations, including the commercial shipping and energy sector, as well as tourism and coastal activities. Long-time series of global sea-state observations are also becoming increasingly important to analyze the impact of climate change on our environment. All these aspects are recalled in the article, relating to both historical and contemporary activities in these fields

    Cascaded Model Predictive Control of a Tandem-Rotor Helicopter

    Full text link
    This letter considers cascaded model predictive control (MPC) as a computationally lightweight method for controlling a tandem-rotor helicopter. A traditional single MPC structure is split into separate outer and inner-loops. The outer-loop MPC uses an SE2(3)SE_2(3) error to linearize the translational dynamics about a reference trajectory. The inner-loop MPC uses the optimal angular velocity sequence of the outer-loop MPC to linearize the rotational dynamics. The outer-loop MPC is run at a slower rate than the inner-loop allowing for longer prediction time and improved performance. Monte-Carlo simulations demonstrate robustness to model uncertainty and environmental disturbances. The proposed control structure is benchmarked against a single MPC algorithm where it shows significant improvements in position and velocity tracking while using significantly less computational resources.Comment: 6 pages, 3 figure

    Proceedings of SIRM 2023 - The 15th European Conference on Rotordynamics

    Get PDF
    It was our great honor and pleasure to host the SIRM Conference after 2003 and 2011 for the third time in Darmstadt. Rotordynamics covers a huge variety of different applications and challenges which are all in the scope of this conference. The conference was opened with a keynote lecture given by Rainer Nordmann, one of the three founders of SIRM “Schwingungen in rotierenden Maschinen”. In total 53 papers passed our strict review process and were presented. This impressively shows that rotordynamics is relevant as ever. These contributions cover a very wide spectrum of session topics: fluid bearings and seals; air foil bearings; magnetic bearings; rotor blade interaction; rotor fluid interactions; unbalance and balancing; vibrations in turbomachines; vibration control; instability; electrical machines; monitoring, identification and diagnosis; advanced numerical tools and nonlinearities as well as general rotordynamics. The international character of the conference has been significantly enhanced by the Scientific Board since the 14th SIRM resulting on one hand in an expanded Scientific Committee which meanwhile consists of 31 members from 13 different European countries and on the other hand in the new name “European Conference on Rotordynamics”. This new international profile has also been emphasized by participants of the 15th SIRM coming from 17 different countries out of three continents. We experienced a vital discussion and dialogue between industry and academia at the conference where roughly one third of the papers were presented by industry and two thirds by academia being an excellent basis to follow a bidirectional transfer what we call xchange at Technical University of Darmstadt. At this point we also want to give our special thanks to the eleven industry sponsors for their great support of the conference. On behalf of the Darmstadt Local Committee I welcome you to read the papers of the 15th SIRM giving you further insight into the topics and presentations

    Advances and Applications of DSmT for Information Fusion. Collected Works, Volume 5

    Get PDF
    This fifth volume on Advances and Applications of DSmT for Information Fusion collects theoretical and applied contributions of researchers working in different fields of applications and in mathematics, and is available in open-access. The collected contributions of this volume have either been published or presented after disseminating the fourth volume in 2015 in international conferences, seminars, workshops and journals, or they are new. The contributions of each part of this volume are chronologically ordered. First Part of this book presents some theoretical advances on DSmT, dealing mainly with modified Proportional Conflict Redistribution Rules (PCR) of combination with degree of intersection, coarsening techniques, interval calculus for PCR thanks to set inversion via interval analysis (SIVIA), rough set classifiers, canonical decomposition of dichotomous belief functions, fast PCR fusion, fast inter-criteria analysis with PCR, and improved PCR5 and PCR6 rules preserving the (quasi-)neutrality of (quasi-)vacuous belief assignment in the fusion of sources of evidence with their Matlab codes. Because more applications of DSmT have emerged in the past years since the apparition of the fourth book of DSmT in 2015, the second part of this volume is about selected applications of DSmT mainly in building change detection, object recognition, quality of data association in tracking, perception in robotics, risk assessment for torrent protection and multi-criteria decision-making, multi-modal image fusion, coarsening techniques, recommender system, levee characterization and assessment, human heading perception, trust assessment, robotics, biometrics, failure detection, GPS systems, inter-criteria analysis, group decision, human activity recognition, storm prediction, data association for autonomous vehicles, identification of maritime vessels, fusion of support vector machines (SVM), Silx-Furtif RUST code library for information fusion including PCR rules, and network for ship classification. Finally, the third part presents interesting contributions related to belief functions in general published or presented along the years since 2015. These contributions are related with decision-making under uncertainty, belief approximations, probability transformations, new distances between belief functions, non-classical multi-criteria decision-making problems with belief functions, generalization of Bayes theorem, image processing, data association, entropy and cross-entropy measures, fuzzy evidence numbers, negator of belief mass, human activity recognition, information fusion for breast cancer therapy, imbalanced data classification, and hybrid techniques mixing deep learning with belief functions as well

    Characterisation and State Estimation of Magnetic Soft Continuum Robots

    Get PDF
    Minimally invasive surgery has become more popular as it leads to less bleeding, scarring, pain, and shorter recovery time. However, this has come with counter-intuitive devices and steep surgeon learning curves. Magnetically actuated Soft Continuum Robots (SCR) have the potential to replace these devices, providing high dexterity together with the ability to conform to complex environments and safe human interactions without the cognitive burden for the clinician. Despite considerable progress in the past decade in their development, several challenges still plague SCR hindering their full realisation. This thesis aims at improving magnetically actuated SCR by addressing some of these challenges, such as material characterisation and modelling, and sensing feedback and localisation. Material characterisation for SCR is essential for understanding their behaviour and designing effective modelling and simulation strategies. In this work, the material properties of commonly employed materials in magnetically actuated SCR, such as elastic modulus, hyper-elastic model parameters, and magnetic moment were determined. Additionally, the effect these parameters have on modelling and simulating these devices was investigated. Due to the nature of magnetic actuation, localisation is of utmost importance to ensure accurate control and delivery of functionality. As such, two localisation strategies for magnetically actuated SCR were developed, one capable of estimating the full 6 degrees of freedom (DOFs) pose without any prior pose information, and another capable of accurately tracking the full 6-DOFs in real-time with positional errors lower than 4~mm. These will contribute to the development of autonomous navigation and closed-loop control of magnetically actuated SCR

    Towards a muon collider

    Get PDF
    A muon collider would enable the big jump ahead in energy reach that is needed for a fruitful exploration of fundamental interactions. The challenges of producing muon collisions at high luminosity and 10 TeV centre of mass energy are being investigated by the recently-formed International Muon Collider Collaboration. This Review summarises the status and the recent advances on muon colliders design, physics and detector studies. The aim is to provide a global perspective of the field and to outline directions for future work

    Beam scanning by liquid-crystal biasing in a modified SIW structure

    Get PDF
    A fixed-frequency beam-scanning 1D antenna based on Liquid Crystals (LCs) is designed for application in 2D scanning with lateral alignment. The 2D array environment imposes full decoupling of adjacent 1D antennas, which often conflicts with the LC requirement of DC biasing: the proposed design accommodates both. The LC medium is placed inside a Substrate Integrated Waveguide (SIW) modified to work as a Groove Gap Waveguide, with radiating slots etched on the upper broad wall, that radiates as a Leaky-Wave Antenna (LWA). This allows effective application of the DC bias voltage needed for tuning the LCs. At the same time, the RF field remains laterally confined, enabling the possibility to lay several antennas in parallel and achieve 2D beam scanning. The design is validated by simulation employing the actual properties of a commercial LC medium

    Autonomous Space Surveillance for Arbitrary Domains

    Get PDF
    Space is becoming increasingly congested every day and the task of accurately tracking satellites is paramount for the continued safe operation of both manned and unmanned space missions. In addition to new spacecraft launches, satellite break-up events and collisions generate large amounts of orbital debris dramatically increasing the number of orbiting objects with each such event. In order to prevent collisions and protect both life and property in orbit, accurate knowledge of the position of orbiting objects is necessary. Space Domain Awareness (SDA) used interchangeably with Space Situational Awareness (SSA), are the names given to the daunting task of tracking all orbiting objects. In addition to myriad objects in low-earth-orbit (LEO) up to Geostationary (GEO) orbit, there are a growing number of spacecraft in cislunar space expanding the task of cataloguing and tracking space objects to include the whole of the earth-moon system. This research proposes a series of algorithms to be used in autonomous SSA for earth-orbiting and cislunar objects. The algorithms are autonomous in the sense that once a set of raw measurements (images in this case) are input to the algorithms, no human in the loop input is required to produce an orbit estimate. There are two main components to this research, an image processing and satellite detection component, and a dynamics modeling component for three-body relative motion. For the image processing component, resident space objects, (commonly referred to as RSOs) which are satellites or orbiting debris are identified in optical images. Two methods of identifying RSOs in a set of images are presented. The first method autonomously builds a template image to match a constellation of satellites and proceeds to match RSOs across a set of images. The second method utilizes optical flow to use the image velocities of objects to differentiate between stars and RSOs. Once RSOs have been detected, measurements are generated from the detected RSO locations to estimate the orbit of the observed object. The orbit determination component includes multiple methods capable of handling both earth-orbiting and cislunar observations. The methods used include batch-least squares and unscented Kalman filtering for earth-orbiting objects. For cislunar objects, a novel application of a particle swarm optimizer (PSO) is used to estimate the observed satellite orbit. The PSO algorithm ingests a set of measurements and attempts to match a set of virtual particle measurements to the truth measurements. The PSO orbit determination method is tested using both MATLAB and Python implementations. The second main component of this research develops a novel linear dynamics model of relative motion for satellites in cislunar space. A set of novel linear relative equations of motion are developed with a semi-analytical matrix exponential method. The motion models are tested on various cislunar orbit geometries for both the elliptical restricted three-body problem (ER3BP) and the circular restricted three-body problem (CR3BP) through MATLAB simulations. The linear solution method\u27s accuracy is compared to the non-linear equations of relative motion and are seen to hold to meter level accuracy for deputy position for a variety of orbits and time-spans. Two applications of the linearized motion models are then developed. The first application defines a differential corrector to compute closed relative motion trajectories in a relative three-body frame. The second application uses the exponential matrix solution for the linearized equations of relative motion to develop a method of initial relative orbit determination (IROD) for the CR3BP

    Set-based state estimation and fault diagnosis using constrained zonotopes and applications

    Full text link
    This doctoral thesis develops new methods for set-based state estimation and active fault diagnosis (AFD) of (i) nonlinear discrete-time systems, (ii) discrete-time nonlinear systems whose trajectories satisfy nonlinear equality constraints (called invariants), (iii) linear descriptor systems, and (iv) joint state and parameter estimation of nonlinear descriptor systems. Set-based estimation aims to compute tight enclosures of the possible system states in each time step subject to unknown-but-bounded uncertainties. To address this issue, the present doctoral thesis proposes new methods for efficiently propagating constrained zonotopes (CZs) through nonlinear mappings. Besides, this thesis improves the standard prediction-update framework for systems with invariants using new algorithms for refining CZs based on nonlinear constraints. In addition, this thesis introduces a new approach for set-based AFD of a class of nonlinear discrete-time systems. An affine parametrization of the reachable sets is obtained for the design of an optimal input for set-based AFD. In addition, this thesis presents new methods based on CZs for set-valued state estimation and AFD of linear descriptor systems. Linear static constraints on the state variables can be directly incorporated into CZs. Moreover, this thesis proposes a new representation for unbounded sets based on zonotopes, which allows to develop methods for state estimation and AFD also of unstable linear descriptor systems, without the knowledge of an enclosure of all the trajectories of the system. This thesis also develops a new method for set-based joint state and parameter estimation of nonlinear descriptor systems using CZs in a unified framework. Lastly, this manuscript applies the proposed set-based state estimation and AFD methods using CZs to unmanned aerial vehicles, water distribution networks, and a lithium-ion cell.Comment: My PhD Thesis from Federal University of Minas Gerais, Brazil. Most of the research work has already been published in DOIs 10.1109/CDC.2018.8618678, 10.23919/ECC.2018.8550353, 10.1016/j.automatica.2019.108614, 10.1016/j.ifacol.2020.12.2484, 10.1016/j.ifacol.2021.08.308, 10.1016/j.automatica.2021.109638, 10.1109/TCST.2021.3130534, 10.1016/j.automatica.2022.11042
    corecore