Navigation, localization and stabilization of formations of unmanned aerial and ground vehicles

A leader-follower formation driving algorithm developed for control of heterogeneous groups of unmanned micro aerial and ground vehicles stabilized under a top-view relative localization is presented in this paper. The core of the proposed method lies in a novel avoidance function, in which the entire 3D formation is represented by a convex hull projected along a desired path to be followed by the group. Such a representation of the formation provides non-collision trajectories of the robots and respects requirements of the direct visibility between the team members in environment with static as well as dynamic obstacles, which is crucial for the top-view localization. The algorithm is suited for utilization of a simple yet stable visual based navigation of the group (referred to as GeNav), which together with the on-board relative localization enables deployment of large teams of micro-scale robots in environments without any available global localization system. We formulate a novel Model Predictive Control (MPC) based concept that enables to respond to the changing environment and that provides a robust solution with team members' failure tolerance included. The performance of the proposed method is verified by numerical and hardware experiments inspired by reconnaissance and surveillance missions

Multifractal metal in a disordered Josephson Junction Array

We report the results of the numerical study of the non-dissipative quantum Josephson junction chain with the focus on the statistics of many-body wave functions and local energy spectra. The disorder in this chain is due to the random offset charges. This chain is one of the simplest physical systems to study many-body localization. We show that the system may exhibit three distinct regimes: insulating, characterized by the full localization of many-body wavefunctions, fully delocalized (metallic) one characterized by the wavefunctions that take all the available phase volume and the intermediate regime in which the volume taken by the wavefunction scales as a non-trivial power of the full Hilbert space volume. In the intermediate, non-ergodic regime the Thouless conductance (generalized to many-body problem) does not change as a function of the chain length indicating a failure of the conventional single-parameter scaling theory of localization transition. The local spectra in this regime display the fractal structure in the energy space which is related with the fractal structure of wave functions in the Hilbert space. A simple theory of fractality of local spectra is proposed and a new scaling relationship between fractal dimensions in the Hilbert and energy space is suggested and numerically tested.Comment: 11 page

Less is More: Real-time Failure Localization in Power Systems

Cascading failures in power systems exhibit non-local propagation patterns which make the analysis and mitigation of failures difficult. In this work, we propose a distributed control framework inspired by the recently proposed concepts of unified controller and network tree-partition that offers strong guarantees in both the mitigation and localization of cascading failures in power systems. In this framework, the transmission network is partitioned into several control areas which are connected in a tree structure, and the unified controller is adopted by generators or controllable loads for fast timescale disturbance response. After an initial failure, the proposed strategy always prevents successive failures from happening, and regulates the system to the desired steady state where the impact of initial failures are localized as much as possible. For extreme failures that cannot be localized, the proposed framework has a configurable design, that progressively involves and coordinates more control areas for failure mitigation and, as a last resort, imposes minimal load shedding. We compare the proposed control framework with Automatic Generation Control (AGC) on the IEEE 118-bus test system. Simulation results show that our novel framework greatly improves the system robustness in terms of the N-1 security standard, and localizes the impact of initial failures in majority of the load profiles that are examined. Moreover, the proposed framework incurs significantly less load loss, if any, compared to AGC, in all of our case studies

Anderson localization in disordered LN photonic crystal slab cavities

We present a detailed theoretical study of the effects of structural disorder on LN photonic crystal slab cavities, ranging from short to long length scales, using a fully-3D Bloch mode expansion technique. We compute the optical density of states, quality factors and effective mode volumes of the cavity modes, with and without disorder, and compare with the localized modes of the corresponding disordered photonic crystal waveguide. We demonstrate how the quality factors and effective mode volumes saturate at a specific cavity length and become bounded by the corresponding values of the Anderson modes appearing in the disordered waveguide. By means of the intensity fluctuation criterion, we observe Anderson localization for cavity lengths larger than around L31, and show that the field confinement in the disordered LN cavities is mainly determined by the local characteristics of the structural disorder as long as the confinement region is far enough from the cavity mirrors and the effective mode localization length is much smaller than the cavity length; under this regime, the disordered cavity system becomes insensitive to changes in the cavity boundaries and a good agreement with the intensity fluctuation criterion is found for localization. Surprisingly, we find that the Anderson localized modes do not appear as new disorder-induced resonances in the main spectral region of the LN cavity modes, and, moreover, the disordered DOS enhancement is largest for the disordered waveguide system with the same length. These results are fundamentally interesting for applications such as lasing and cavity-QED, and provide new insights into the role of the boundary condition on finite-size slow-light waveguides. They also point out the clear failure of using models based on the cavity boundaries/mirrors and a single slow-light Bloch mode to describe cavity systems with large N

Localization in inelastic rate dependent shearing deformations

Metals deformed at high strain rates can exhibit failure through formation of shear bands, a phenomenon often attributed to Hadamard instability and localization of the strain into an emerging coherent structure. We verify formation of shear bands for a nonlinear model exhibiting strain softening and strain rate sensitivity. The effects of strain softening and strain rate sensitivity are first assessed by linearized analysis, indicating that the combined effect leads to Turing instability. For the nonlinear model a class of self-similar solutions is constructed, that depicts a coherent localizing structure and the formation of a shear band. This solution is associated to a heteroclinic orbit of a dynamical system. The orbit is constructed numerically and yields explicit shear localizing solutions.Comment: 25 page

Graph theoretical approaches for the characterization of damage in hierarchical materials

We discuss the relevance of methods of graph theory for the study of damage in simple model materials described by the random fuse model. While such methods are not commonly used when dealing with regular random lattices, which mimic disordered but statistically homogeneous materials, they become relevant in materials with microstructures that exhibit complex multi-scale patterns. We specifically address the case of hierarchical materials, whose failure, due to an uncommon fracture mode, is not well described in terms of either damage percolation or crack nucleation-and-growth. We show that in these systems, incipient failure is accompanied by an increase in eigenvector localization and a drop in topological dimension. We propose these two novel indicators as possible candidates to monitor a system in the approach to failure. As such, they provide alternatives to monitoring changes in the precursory avalanche activity, which is often invoked as a candidate for failure prediction in materials which exhibit critical-like behavior at failure, but may not work in the context of hierarchical materials which exhibit scale-free avalanche statistics even very far from the critical load.Comment: 12 pages, 6 figure

Cracking assessment in concrete structures by distributed optical fiber

In this paper, a method to obtain crack initiation, location and width in concrete structures subjected to bending and instrumented with an optical backscattered reflectometer (OBR) system is proposed. Continuous strain data with high spatial resolution and accuracy are the main advantages of the OBR system. These characteristics make this structural health monitoring technique a useful tool in early damage detection in important structural problems. In the specific case of reinforced concrete structures, which exhibit cracks even in-service loading, the possibility to obtain strain data with high spatial resolution is a main issue. In this way, this information is of paramount importance concerning the durability and long performance and management of concrete structures. The proposed method is based on the results of a test up to failure carried out on a reinforced concrete slab. Using test data and different crack modeling criteria in concrete structures, simple nonlinear finite element models were elaborated to validate its use in the localization and appraisal of the crack width in the testing slab.Peer ReviewedPostprint (author’s final draft