Aerial navigation in obstructed environments with embedded nonlinear model predictive control

We propose a methodology for autonomous aerial navigation and obstacle avoidance of micro aerial vehicles (MAV) using nonlinear model predictive control (NMPC) and we demonstrate its effectiveness with laboratory experiments. The proposed methodology can accommodate obstacles of arbitrary, potentially non-convex, geometry. The NMPC problem is solved using PANOC: a fast numerical optimization method which is completely matrix-free, is not sensitive to ill conditioning, involves only simple algebraic operations and is suitable for embedded NMPC. A C89 implementation of PANOC solves the NMPC problem at a rate of 20Hz on board a lab-scale MAV. The MAV performs smooth maneuvers moving around an obstacle. For increased autonomy, we propose a simple method to compensate for the reduction of thrust over time, which comes from the depletion of the MAV's battery, by estimating the thrust constant

Clear sky fraction above Indonesia: an analysis for astronomical site selection

We report a study of cloud cover over Indonesia based on meteorological satellite data, spanning over the past 15 years (from 1996 to 2010) in order to be able to select a new astronomical site capable to host a multi-wavelength astronomical observatory. High spatial resolution of meteorological satellite data acquired from {\it Geostationary Meteorological Satellite 5} ({\it GMS 5}), {\it Geostationary Operational Environmental Satellite 9} ({\it GOES 9}), and {\it Multi-functional Transport Satellite-1R} ({\it MTSAT-1R}) are used to derive yearly average clear fractions over the regions of Indonesia. This parameter is determined from temperature measurement of the IR3 channel (water vapor, 6.7 $\mu$m) for high altitude clouds (cirrus) and from the IR1 channel (10.7 $\mu$m) for lower altitude clouds. Accordingly, an algorithm is developed to detect the corresponding clouds. The results of this study are then adopted to select the best possible sites in Indonesia to be analysed further by performing in situ measurements planned for the coming years. The results suggest that regions of East Nusa Tenggara, located in south-eastern part of Indonesia, are the most promising candidates for such an astronomical site. Yearly clear sky fraction of this regions may reach better than 70 per cent with an uncertainty of 10 per cent.Comment: 15 pages, 13 figures, and 4 table

Lie groups in nonequilibrium thermodynamics: Geometric structure behind viscoplasticity

Poisson brackets provide the mathematical structure required to identify the reversible contribution to dynamic phenomena in nonequilibrium thermodynamics. This mathematical structure is deeply linked to Lie groups and their Lie algebras. From the characterization of all the Lie groups associated with a given Lie algebra as quotients of a universal covering group, we obtain a natural classification of rheological models based on the concept of discrete reference states and, in particular, we find a clear-cut and deep distinction between viscoplasticity and viscoelasticity. The abstract ideas are illustrated by a naive toy model of crystal viscoplasticity, but similar kinetic models are also used for modeling the viscoplastic behavior of glasses. We discuss some implications for coarse graining and statistical mechanics.Comment: 11 pages, 1 figure, accepted for publication in J. Non-Newtonian Fluid Mech. Keywords: Elastic-viscoplastic materials, Nonequilibrium thermodynamics, GENERIC, Lie groups, Reference state

Binary Fluids with Long Range Segregating Interaction I: Derivation of Kinetic and Hydrodynamic Equations

We study the evolution of a two component fluid consisting of ``blue'' and ``red'' particles which interact via strong short range (hard core) and weak long range pair potentials. At low temperatures the equilibrium state of the system is one in which there are two coexisting phases. Under suitable choices of space-time scalings and system parameters we first obtain (formally) a mesoscopic kinetic Vlasov-Boltzmann equation for the one particle position and velocity distribution functions, appropriate for a description of the phase segregation kinetics in this system. Further scalings then yield Vlasov-Euler and incompressible Vlasov-Navier-Stokes equations. We also obtain, via the usual truncation of the Chapman-Enskog expansion, compressible Vlasov-Navier-Stokes equations.Comment: TeX, 50 page

The Abundances of Light Neutron-Capture Elements in Planetary Nebulae. II. S-Process Enrichments and Interpretation

We present the results of a large-scale survey of neutron(n)-capture elements in Galactic planetary nebulae (PNe), undertaken to study enrichments from s-process nucleosynthesis in their progenitor stars. From new K-band observations of over 100 PNe supplemented by data from the literature, we have detected the emission lines [Kr III] 2.199 mu m and/or [Se IV] 2.287 mu m in 81 of 120 objects. We determine Se and Kr elemental abundances, employing ionization correction formulae derived in the first paper of this series. We find a significant range in Se and Kr abundances, from near solar (no enrichment) to enhanced by > 1.0 dex relative to solar, which we interpret as self-enrichment due to in situ s-process nucleosynthesis. Kr tends to be more strongly enriched than Se; in 18 objects exhibiting both Se and Kr emission, we find that [Kr/Se] = 0.5 +/- 0.2. Our survey has increased the number of PNe with n-capture element abundance determinations by a factor of 10, enabling us for the first time to search for correlations with other nebular properties. As expected, we find a positive correlation between s-process enrichments and the C/O ratio. Type I and bipolar PNe, which arise from intermediate-mass progenitors (> 3-4 M-circle dot), exhibit little to no s-process enrichments. Finally, PNe with H-deficient Wolf-Rayet central stars do not exhibit systematically larger s-process enrichments than objects with H-rich nuclei. Overall, 44% of the PNe in our sample display significant s-process enrichments (> 0.3 dex). Using an empirical PN luminosity function to correct for incompleteness, we estimate that the true fraction of s-process enriched Galactic PNe is at least 20%.NSF AST 97-31156, AST 04-06809Astronom

Uniaxial strain-induced phase transition in the 2D topological semimetal IrTe2

Strain is ubiquitous in solid-state materials, but despite its fundamental importance and technological relevance, leveraging externally applied strain to gain control over material properties is still in its infancy. In particular, strain control over the diverse phase transitions and topological states in two-dimensional transition metal dichalcogenides remains an open challenge. Here, we exploit uniaxial strain to stabilize the long-debated structural ground state of the 2D topological semimetal IrTe$_{2}$, which is hidden in unstrained samples. Combined angle-resolved photoemission spectroscopy and scanning tunneling microscopy data reveal the strain-stabilized phase has a 6 × 1 periodicity and undergoes a Lifshitz transition, granting unprecedented spectroscopic access to previously inaccessible type-II topological Dirac states that dominate the modified inter-layer hopping. Supported by density functional theory calculations, we show that strain induces an Ir to Te charge transfer resulting in strongly weakened inter-layer Te bonds and a reshaped energetic landscape favoring the 6×1 phase. Our results highlight the potential to exploit strain-engineered properties in layered materials, particularly in the context of tuning inter-layer behavior