On the convergence of stochastic MPC to terminal modes of operation

The stability of stochastic Model Predictive Control (MPC) subject to additive disturbances is often demonstrated in the literature by constructing Lyapunov-like inequalities that guarantee closed-loop performance bounds and boundedness of the state, but convergence to a terminal control law is typically not shown. In this work we use results on general state space Markov chains to find conditions that guarantee convergence of disturbed nonlinear systems to terminal modes of operation, so that they converge in probability to a priori known terminal linear feedback laws and achieve time-average performance equal to that of the terminal control law. We discuss implications for the convergence of control laws in stochastic MPC formulations, in particular we prove convergence for two formulations of stochastic MPC

High-Performance Integrated Window and Façade Solutions for California

The researchers developed a new generation of high-performance façade systems and supporting design and management tools to support industry in meeting California’s greenhouse gas reduction targets, reduce energy consumption, and enable an adaptable response to minimize real-time demands on the electricity grid. The project resulted in five outcomes: (1) The research team developed an R-5, 1-inch thick, triplepane, insulating glass unit with a novel low-conductance aluminum frame. This technology can help significantly reduce residential cooling and heating loads, particularly during the evening. (2) The team developed a prototype of a windowintegrated local ventilation and energy recovery device that provides clean, dry fresh air through the façade with minimal energy requirements. (3) A daylight-redirecting louver system was prototyped to redirect sunlight 15–40 feet from the window. Simulations estimated that lighting energy use could be reduced by 35–54 percent without glare. (4) A control system incorporating physics-based equations and a mathematical solver was prototyped and field tested to demonstrate feasibility. Simulations estimated that total electricity costs could be reduced by 9-28 percent on sunny summer days through adaptive control of operable shading and daylighting components and the thermostat compared to state-of-the-art automatic façade controls in commercial building perimeter zones. (5) Supporting models and tools needed by industry for technology R&D and market transformation activities were validated. Attaining California’s clean energy goals require making a fundamental shift from today’s ad-hoc assemblages of static components to turnkey, intelligent, responsive, integrated building façade systems. These systems offered significant reductions in energy use, peak demand, and operating cost in California

Reconstruction of cosmological initial conditions from galaxy redshift catalogues

We present and test a new method for the reconstruction of cosmological initial conditions from a full-sky galaxy catalogue. This method, called ZTRACE, is based on a self-consistent solution of the growing mode of gravitational instabilities according to the Zel'dovich approximation and higher order in Lagrangian perturbation theory. Given the evolved redshift-space density field, smoothed on some scale, ZTRACE finds via an iterative procedure, an approximation to the initial density field for any given set of cosmological parameters; real-space densities and peculiar velocities are also reconstructed. The method is tested by applying it to N-body simulations of an Einstein-de Sitter and an open cold dark matter universe. It is shown that errors in the estimate of the density contrast dominate the noise of the reconstruction. As a consequence, the reconstruction of real space density and peculiar velocity fields using non-linear algorithms is little improved over those based on linear theory. The use of a mass-preserving adaptive smoothing, equivalent to a smoothing in Lagrangian space, allows an unbiased (although noisy) reconstruction of initial conditions, as long as the (linearly extrapolated) density contrast does not exceed unity. The probability distribution function of the initial conditions is recovered to high precision, even for Gaussian smoothing scales of ~ 5 Mpc/h, except for the tail at delta >~ 1. This result is insensitive to the assumptions of the background cosmology.Comment: 19 pages, MN style, 12 figures included, revised version. MNRAS, in pres

Gas-Rich Companions of Isolated Galaxies

We have used the VLA to search for gaseous remnants of the galaxy formation process around six extremely isolated galaxies. We found two distinct HI clouds around each of two galaxies in our sample (UGC 9762 & UGC 11124). These clouds are rotating and appear to have optical counterparts, strongly implying that they are typical dwarf galaxies. The companions are currently weakly interacting with the primary galaxy, but have short dynamical friction timescales (~1 Gyr) suggesting that these triple galaxy systems will shortly collapse into one massive galaxy. Given that the companions are consistent with being in circular rotation about the primary galaxy, and that they have small relative masses, the resulting merger will be a minor one. The companions do, however, contain enough gas that the merger will represent a significant infusion of fuel to drive future star formation, bar formation, or central activity, while building up the mass of the disk thus making these systems important pieces of the galaxy formation and evolution process.Comment: Corrected dynamical friction calculation error. Revised discussion & conclusions. 7 pages, 4 tables, 6 figures, to appear in May 1999 Astronomical Journa

Multi-contact Walking Pattern Generation based on Model Preview Control of 3D COM Accelerations

We present a multi-contact walking pattern generator based on preview-control of the 3D acceleration of the center of mass (COM). A key point in the design of our algorithm is the calculation of contact-stability constraints. Thanks to a mathematical observation on the algebraic nature of the frictional wrench cone, we show that the 3D volume of feasible COM accelerations is a always a downward-pointing cone. We reduce its computation to a convex hull of (dual) 2D points, for which optimal O(n log n) algorithms are readily available. This reformulation brings a significant speedup compared to previous methods, which allows us to compute time-varying contact-stability criteria fast enough for the control loop. Next, we propose a conservative trajectory-wide contact-stability criterion, which can be derived from COM-acceleration volumes at marginal cost and directly applied in a model-predictive controller. We finally implement this pipeline and exemplify it with the HRP-4 humanoid model in multi-contact dynamically walking scenarios

Measuring eccentricity in binary black hole inspirals with gravitational waves

When binary black holes form in the field, it is expected that their orbits typically circularize before coalescence. In galactic nuclei and globular clusters, binary black holes can form dynamically. Recent results suggest that $\approx5\%$ of mergers in globular clusters result from three-body interactions. These three-body interactions are expected to induce significant orbital eccentricity $\gtrsim 0.1$ when they enter the Advanced LIGO band at a gravitational-wave frequency of 10 Hz. Measurements of binary black hole eccentricity therefore provide a means for determining whether or not dynamic formation is the primary channel for producing binary black hole mergers. We present a framework for performing Bayesian parameter estimation on gravitational-wave observations of black hole inspirals. Using this framework, and employing the non-spinning, inspiral-only EccentricFD waveform approximant, we determine the minimum detectable eccentricity for an event with masses and distance similar to GW150914. At design sensitivity, we find that the current generation of advanced observatories will be sensitive to orbital eccentricities of $\gtrsim0.05$ at a gravitational-wave frequency of 10 Hz, demonstrating that existing detectors can use eccentricity to distinguish between circular field binaries and globular cluster triples. We compare this result to eccentricity distributions predicted to result from three black hole binary formation channels, showing that measurements of eccentricity could be used to infer the population properties of binary black holes.Comment: 12 pages, 7 figures, 2 table

The signature of dark energy on the local Hubble flow

Using N-body simulations of flat, dark energy dominated cosmologies, we show that galaxies around simulated binary systems resembling the Local Group (LG) have low peculiar velocities, in good agreement with observational data. We have compared results for LG-like systems selected from large, high resolution simulations of three cosmologies: a LCDM model, a LWDM model with a 2 keV warm dark matter candidate and a quintessence model (QCDM) with an equation of state parameter w=-0.6. The Hubble flow is significant colder around LGs selected in a flat, Lambda dominated cosmology than around LGs in open or critical models, showing that a dark energy component manifests itself on the scales of nearby galaxies, cooling galaxy peculiar motions. Flows in the LWDM and QCDM models are marginally colder than in the LCDM one. The results of our simulations have been compared to existing data and a new data set of 28 nearby galaxies with robust distance measures (Cepheids and Surface Brightness Fluctuations). The measured line-of-sight velocity dispersion is sigma = 88 +- 20 km/sec x (R/7 Mpc). The best agreement with observations is found for LGs selected in the $\Lambda$CDM cosmology in environments with -0.1 <delta_rho/rho < 0.6 on scales of 7 Mpc, in agreement with existing observational estimates on the local matter density. These results provide new, independent evidence for the presence of dark energy on scales of few Mpc, corroborating the evidence gathered from observations of distant objects and the early Universe.Comment: 8 pages, 6 figures, minor changes to match the accepted version by MNRA