Morphology of coronal mass ejections between the sun and the earth

The theme of my PhD has been to investigate the global shape and size of coronal mass ejections, or CMEs, as they propagate from the Sun towards the Earth. CMEs are large eruptive events originating from previously magnetically confined structures in the solar atmosphere. These phenomena are the single biggest drivers for geomagnetic disturbances at Earth. My research is focused on analysing spacecraft data obtained both by imaging observations and in situ instrumentation. The three pieces of work presented in this thesis are summarised below: Using the NASA STEREO mission, launched in 2006, I have analysed data from the Heliospheric Imager (HI) instruments. This new instrument is uniquely positioned to observe CMEs as they propagate away from the Sun into the inner heliosphere between 0.1 and 1 AU. Using this data I have been able to estimate the radial expansion of a single CME as it propagates in the inner heliosphere. Investigating another case study event seen by STEREO-B in November 2007, I have been able to show that the distortion of a CME can be directly attributed to a structured solar wind. By using a 3D MHD simulation of the solar wind in the vicinity of the CME, it has been shown that a bimodal velocity structure within this solar wind was driving the CME from behind and distorting it from a circular to a concave morphology. Using in situ data, I have also attempted to deduce the shape of CMEs in the inner heliosphere. To do this I analysed the shock wave driven ahead of the propagating CME, applying a technique previously used to predict the distance of the shock upstream of Earth’s magnetosphere - this distance can be predicted when the object’s shape (Earth) is known. I have carried out a statistical survey of many CMEs over a range of distances from the Sun, and compared them to theoretical predictions of their shape based on geometry

Comprehensive rotorcraft analysis methods

The development and application of comprehensive rotorcraft analysis methods in the field of rotorcraft technology are described. These large scale analyses and the resulting computer programs are intended to treat the complex aeromechanical phenomena that describe the behavior of rotorcraft. They may be used to predict rotor aerodynamics, acoustic, performance, stability and control, handling qualities, loads and vibrations, structures, dynamics, and aeroelastic stability characteristics for a variety of applications including research, preliminary and detail design, and evaluation and treatment of field problems. The principal comprehensive methods developed or under development in recent years and generally available to the rotorcraft community because of US Army Aviation Research and Technology Activity (ARTA) sponsorship of all or part of the software systems are the Rotorcraft Flight Simulation (C81), Dynamic System Coupler (DYSCO), Coupled Rotor/Airframe Vibration Analysis Program (SIMVIB), Comprehensive Analytical Model of Rotorcraft Aerodynamics and Dynamics (CAMRAD), General Rotorcraft Aeromechanical Stability Program (GRASP), and Second Generation Comprehensive Helicopter Analysis System (2GCHAS)

From visuomotor control to latent space planning for robot manipulation

Deep visuomotor control is emerging as an active research area for robot manipulation. Recent advances in learning sensory and motor systems in an end-to-end manner have achieved remarkable performance across a range of complex tasks. Nevertheless, a few limitations restrict visuomotor control from being more widely adopted as the de facto choice when facing a manipulation task on a real robotic platform. First, imitation learning-based visuomotor control approaches tend to suffer from the inability to recover from an out-of-distribution state caused by compounding errors. Second, the lack of versatility in task definition limits skill generalisability. Finally, the training data acquisition process and domain transfer are often impractical. In this thesis, individual solutions are proposed to address each of these issues. In the first part, we find policy uncertainty to be an effective indicator of potential failure cases, in which the robot is stuck in out-of-distribution states. On this basis, we introduce a novel uncertainty-based approach to detect potential failure cases and a recovery strategy based on action-conditioned uncertainty predictions. Then, we propose to employ visual dynamics approximation to our model architecture to capture the motion of the robot arm instead of the static scene background, making it possible to learn versatile skill primitives. In the second part, taking inspiration from the recent progress in latent space planning, we propose a gradient-based optimisation method operating within the latent space of a deep generative model for motion planning. Our approach bypasses the traditional computational challenges encountered by established planning algorithms, and has the capability to specify novel constraints easily and handle multiple constraints simultaneously. Moreover, the training data comes from simple random motor-babbling of kinematically feasible robot states. Our real-world experiments further illustrate that our latent space planning approach can handle both open and closed-loop planning in challenging environments such as heavily cluttered or dynamic scenes. This leads to the first, to our knowledge, closed-loop motion planning algorithm that can incorporate novel custom constraints, and lays the foundation for more complex manipulation tasks

GAIA: Composition, Formation and Evolution of the Galaxy

The GAIA astrometric mission has recently been approved as one of the next two `cornerstones' of ESA's science programme, with a launch date target of not later than mid-2012. GAIA will provide positional and radial velocity measurements with the accuracies needed to produce a stereoscopic and kinematic census of about one billion stars throughout our Galaxy (and into the Local Group), amounting to about 1 per cent of the Galactic stellar population. GAIA's main scientific goal is to clarify the origin and history of our Galaxy, from a quantitative census of the stellar populations. It will advance questions such as when the stars in our Galaxy formed, when and how it was assembled, and its distribution of dark matter. The survey aims for completeness to V=20 mag, with accuracies of about 10 microarcsec at 15 mag. Combined with astrophysical information for each star, provided by on-board multi-colour photometry and (limited) spectroscopy, these data will have the precision necessary to quantify the early formation, and subsequent dynamical, chemical and star formation evolution of our Galaxy. Additional products include detection and orbital classification of tens of thousands of extra-Solar planetary systems, and a comprehensive survey of some 10^5-10^6 minor bodies in our Solar System, through galaxies in the nearby Universe, to some 500,000 distant quasars. It will provide a number of stringent new tests of general relativity and cosmology. The complete satellite system was evaluated as part of a detailed technology study, including a detailed payload design, corresponding accuracy assesments, and results from a prototype data reduction development.Comment: Accepted by A&A: 25 pages, 8 figure

The CLIC Programme: Towards a Staged e+e- Linear Collider Exploring the Terascale : CLIC Conceptual Design Report

This report describes the exploration of fundamental questions in particle physics at the energy frontier with a future TeV-scale e+e- linear collider based on the Compact Linear Collider (CLIC) two-beam acceleration technology. A high-luminosity high-energy e+e- collider allows for the exploration of Standard Model physics, such as precise measurements of the Higgs, top and gauge sectors, as well as for a multitude of searches for New Physics, either through direct discovery or indirectly, via high-precision observables. Given the current state of knowledge, following the observation of a 125 GeV Higgs-like particle at the LHC, and pending further LHC results at 8 TeV and 14 TeV, a linear e+e- collider built and operated in centre-of-mass energy stages from a few-hundred GeV up to a few TeV will be an ideal physics exploration tool, complementing the LHC. In this document, an overview of the physics potential of CLIC is given. Two example scenarios are presented for a CLIC accelerator built in three main stages of 500 GeV, 1.4 (1.5) TeV, and 3 TeV, together with operating schemes that will make full use of the machine capacity to explore the physics. The accelerator design, construction, and performance are presented, as well as the layout and performance of the experiments. The proposed staging example is accompanied by cost estimates of the accelerator and detectors and by estimates of operating parameters, such as power consumption. The resulting physics potential and measurement precisions are illustrated through detector simulations under realistic beam conditions.Comment: 84 pages, published as CERN Yellow Report https://cdsweb.cern.ch/record/147522

Determination of masses of the central black holes in NGC524 and NGC2549 using Laser Guide Star Adaptive Optics

[abridged] We present observations of NGC524 and NGC2549 with LGS AO obtained at GEMINI North telescope using the NIFS IFU in the K band. The purpose of these observations, together with previously obtained observations with the SAURON IFU, is to determine the masses (Mbh) of the supermassive black holes (SMBH). The targeted galaxies were chosen to have central light profiles showing a core (NGC524) and a cusp (NGC2549), to probe the feasibility of using the galaxy centre as the NGS required for LGS AO. We employ an innovative `open loop' technique. The data have spatial resolution of 0.23" and 0.17" FWHM, showing that high quality LGS AO observations of these objects are possible. We construct axisymmetric three-integral dynamical models which are constrained with both the NIFS and SAURON data. The best fitting models yield Mbh=(8.3 +2.7 -1.3) x 10^8 Msun for NGC524 and Mbh=(1.4 +0.2 -1.3) x 10^7 Msun for NGC2549 (all errors are at the 3 sigma CL). We demonstrate that the wide-field SAURON data play a crucial role in the M/L determination increasing the accuracy of M/L by a factor of at least 5, and constraining the upper limits on Mbh. The NIFS data are crucial in constraining the lower limits of Mbh and in combination with the large scale data reducing the uncertainty by a factor of 2 or more. We find that the orbital structure of NGC524 shows significant tangential anisotropy, while at larger radii both galaxies are consistent with having almost perfectly oblate velocity ellipsoids. Tangential anisotropy in NGC524 coincides with the size of SMBH sphere of influence and the core region in the light profile. We test the accuracy to which Mbh can be measured using seeings obtained from typical LGS AO observations, and conclude that for a typical conditions and Mbh the expected uncertainty is of the order of 50%.Comment: 19 pages, 14 figure

Improving the validity of shod human footstrike modelling with dynamic loading conditions determined from biomechanical motion capture trials

This thesis presents and evaluates a number of finite element footstrike models developed to allow the performance of prospective athletic footwear designs to be evaluated in a virtual environment. Successful implementation of such models would reduce the industry’s traditional reliance on physical prototyping and therefore reduce the time and associated costs required to develop a product. All boundary conditions defined in each of the footstrike models reported were directly determined from biomechanical motion capture trials to ensure that the loading applied was representative of shod human running. Similarly, the results obtained with each model were compared to digitised high speed video footage of experimental trials and validated against biomechanical measures such as foot segment kinematics, ground reaction force and centre of pressure location. A simple model loaded with triaxial force profiles determined from the analysis of plantar pressure data was found to be capable of applying highly representative load magnitudes but the distribution of applied loading was found to be less accurate. Greater success at emulating the deformation that occurs in the footwear during an entire running footstrike was achieved with models employing kinematic foot segment boundary conditions although this approach was found to be highly sensitive to the initial orientation of the foot and footwear components, thus limiting the predictive capacity of such a methodology. A subsequent model was therefore developed to utilise exclusively kinetic load conditions determined from an inverse dynamic analysis of an experimental trial and demonstrated the greatest predictive capacity of all reported models. This was because the kinematics of the foot were allowed to adapt to the footwear conditions defined in the analysis with this approach. Finally, the reported finite element footstrike models were integrated with automated product optimisation techniques. A topology optimisation approach was first utilised to generate lightweight midsole components optimised for subject‐specific loading conditions whilst a similar shape optimisation methodology was subsequently used to refine the geometry of a novel footwear design in order to minimise the peak material strains predicted

PhysCap: Physically Plausible Monocular 3D Motion Capture in Real Time

Marker-less 3D human motion capture from a single colour camera has seen significant progress. However, it is a very challenging and severely ill-posed problem. In consequence, even the most accurate state-of-the-art approaches have significant limitations. Purely kinematic formulations on the basis of individual joints or skeletons, and the frequent frame-wise reconstruction in state-of-the-art methods greatly limit 3D accuracy and temporal stability compared to multi-view or marker-based motion capture. Further, captured 3D poses are often physically incorrect and biomechanically implausible, or exhibit implausible environment interactions (floor penetration, foot skating, unnatural body leaning and strong shifting in depth), which is problematic for any use case in computer graphics. We, therefore, present PhysCap, the first algorithm for physically plausible, real-time and marker-less human 3D motion capture with a single colour camera at 25 fps. Our algorithm first captures 3D human poses purely kinematically. To this end, a CNN infers 2D and 3D joint positions, and subsequently, an inverse kinematics step finds space-time coherent joint angles and global 3D pose. Next, these kinematic reconstructions are used as constraints in a real-time physics-based pose optimiser that accounts for environment constraints (e.g., collision handling and floor placement), gravity, and biophysical plausibility of human postures. Our approach employs a combination of ground reaction force and residual force for plausible root control, and uses a trained neural network to detect foot contact events in images. Our method captures physically plausible and temporally stable global 3D human motion, without physically implausible postures, floor penetrations or foot skating, from video in real time and in general scenes. The video is available at http://gvv.mpi-inf.mpg.de/projects/PhysCapComment: 16 pages, 11 figure