Leader-Follower Formation Control for Underwater Transportation using Multiple Autonomous Underwater Vehicles

The successful ability to conduct underwater transportation using multiple autonomous underwater vehicles (AUVs) is important for the commercial sector to undertake precise underwater installations on large modules, whilst for the military sector it has the added advantage of improved secrecy for clandestine operations. The technical requirements are the stability of the payload and internal collision avoidance while keeping track of the desired trajectory considering the underwater effects. Here, a leader-follower formation control strategy was developed and implemented on the transportation system of AUVs. PID controllers were used for the vehicles and a linear feedback controller for maintaining the formation. A Kalman Filter (KF) was designed to estimate the full state of the leader under disturbance, noise and limited sensor readings. The results demonstrate that though the technical requirements are met, the thrust oscillations under disturbance and noise produce the undesired heading angles

Assessment of Collision Avoidance Strategies for an Underwater Transportation System

Transportation using multiple autonomous vehicles with detection avoidance capability is useful for military applications. It is important for such systems to avoid collisions with underwater obstacles in an effective way, while keeping track of the target location. In this paper, sensor-based and path-planning methods of external collision avoidance were investigated for an underwater transportation system. In particular, sensor-based wall-following and hard-switching collision avoidance strategies and an offline RRT* path-planning method was implemented on the simulation model of the transportation system of four Hovering Autonomous Underwater Vehicles (HAUVs). Time-domain motion simulations were performed with each method and their ability to avoid obstacles was compared. The hard-switching method resulted in high yaw moments which caused the vehicle to travel towards the goal by a longer distance. Conversely, in the wall-following method, the yaw moment was kept to zero. Moreover, the wall-following method was found to be better than the hard-switching method in terms of time and power efficiency. The comparison between the offline RRT* path-planning and wall-following methods showed that the fuel efficiency of the former is higher whilst its time efficiency is poorer. The major drawback of RRT* is that it can only avoid the previously known obstacles. In future, offline RRT* and wall following can be blended for a better solution. The outcome of this paper provides guidance for the selection of the most appropriate method for collision avoidance for an underwater transportation system

A kg-mass prototype demonstrator for DUAL gravitational wave detector: opto-mechanical excitation and cooling

The next generation of gravitational wave (gw) detectors is expected to fully enter into the quantum regime of force and displacement detection. With this aim, it is important to scale up the experiments on opto-mechanical effects from the microscopic regime to large mass systems and test the schemes that should be applied to reach the quantum regime of detection. In this work we present the experimental characterization of a prototype of massive gw detector, composed of two oscillators with a mass of the order of the kg, whose distance is read by a high finesse optical cavity. The mechanical response function is measured by exciting the oscillators though modulated radiation pressure. We demonstrate two effects crucial for the next generation of massive, cryogenic gw detectors (DUAL detectors): a) the reduction of the contribution of 'local' susceptibility thanks to an average over a large interrogation area. Such effect is measured on the photo-thermal response thanks to the first implementation of a folded-Fabry-Perot cavity; b) the 'back-action reduction' due to negative interference between acoustic modes. Moreover, we obtain the active cooling of an oscillation mode through radiation pressure, on the described mechanical device which is several orders of magnitude heavier than previously demonstrated radiation-pressure cooled systems

Hydrodynamic Modelling for a Transportation System of Two Unmanned Underwater Vehicles: Semi-Empirical, Numerical and Experimental Analyses

Underwater transportation is an essential approach for scientific exploration, maritime construction and military operations. Determining the hydrodynamic coefficients for a complex underwater transportation system comprising multiple vehicles is challenging. Here, the suitability of a quick and less costly semi-empirical approach to obtain the hydrodynamic coefficients for a complex transportation system comprising two Unmanned Underwater Vehicles (UUVs) is investigated, where the interaction effects between UUVs are assumed to be negligible. The drag results were verified by Computational Fluid Dynamics (CFD) analysis at the steady state. The semi-empirical results agree with CFD in heave and sway; however, they were overpredicted in surge due to ignoring the wake effects. Furthermore, experiments were performed for the validation of the time-domain motion simulations with semi-empirical and CFD results. The simulations which were performed with the CFD drags were close to the experiments. The semi-empirical approach could be relied on once a correction parameter is included to account for the interactive effect between multiple UUVs. Overall, this work makes a contribution by deriving a semi-empirical approach for the dynamic and controlling system of dual UUVs, with CFD and experiments applied to ascertain its accuracy and potential improvement

Driven Macroscopic Quantum Tunneling of Ultracold Atoms in Engineered Optical Lattices

Coherent macroscopic tunneling of a Bose-Einstein condensate between two parts of an optical lattice separated by an energy barrier is theoretically investigated. We show that by a pulsewise change of the barrier height, it is possible to switch between tunneling regime and a self-trapped state of the condensate. This property of the system is explained by effectively reducing the dynamics to the nonlinear problem of a particle moving in a double square well potential. The analysis is made for both attractive and repulsive interatomic forces, and it highlights the experimental relevance of our findings

The novel CXCR4 antagonist POL5551 mobilizes hematopoietic stem and progenitor cells with greater efficiency than Plerixafor

Mobilized blood has supplanted bone marrow (BM) as the primary source of hematopoietic stem cells for autologous and allogeneic stem cell transplantation. Pharmacologically enforced egress of hematopoietic stem cells from BM, or mobilization, has been achieved by directly or indirectly targeting the CXCL12/CXCR4 axis. Shortcomings of the standard mobilizing agent, granulocyte colony-stimulating factor (G-CSF), administered alone or in combination with the only approved CXCR4 antagonist, Plerixafor, continue to fuel the quest for new mobilizing agents. Using Protein Epitope Mimetics technology, a novel peptidic CXCR4 antagonist, POL5551, was developed. In vitro data presented herein indicate high affinity to and specificity for CXCR4. POL5551 exhibited rapid mobilization kinetics and unprecedented efficiency in C57BL/6 mice, exceeding that of Plerixafor and at higher doses also of G-CSF. POL5551-mobilized stem cells demonstrated adequate transplantation properties. In contrast to G-CSF, POL5551 did not induce major morphological changes in the BM of mice. Moreover, we provide evidence of direct POL5551 binding to hematopoietic stem and progenitor cells (HSPCs) in vivo, strengthening the hypothesis that CXCR4 antagonists mediate mobilization by direct targeting of HSPCs. In summary, POL5551 is a potent mobilizing agent for HSPCs in mice with promising therapeutic potential if these data can be orroborated in humans

Development of a Simulation Platform for Underwater Transportation using Two Hovering Autonomous Underwater Vehicles (HAUVs)

This paper considers two HAUVs undertaking underwater transportation of a spherical payload via cylindrical manipulators. The rigid body connection method of transportation is explored. In this analysis, the nonlinear coupled dynamic model is developed to get an accurate representation of the actual system. Hydrodynamic parameters for all the part bodies are calculated about the centre of the combined system. The hydrostatic terms of the HAUVs and manipulators are selected such that their weight is slightly less than the buoyancy, in order to bring the entire system to surface in case of an emergency. The weight of the payload is selected such that the difference between weight and buoyancy is within the thrust limit of the vertical thrusters on the two HAUVs. The propulsion model is developed taking the effect of all the thrusters on the two HAUVs about the combined centre of body. The simulation platform is developed to observe the response of the entire system and of the individual HAUVs in the system at different revolutions of the thrusters. The stability of the entire system is ensured by maintaining the connection between the vehicles and payload. The simulation results show that stability and motion accuracy are compromised in the axial direction due to the opposite revolutions of the axial thrusters on the two HAUVs

Optimal control of atom transport for quantum gates in optical lattices

By means of optimal control techniques we model and optimize the manipulation of the external quantum state (center-of-mass motion) of atoms trapped in adjustable optical potentials. We consider in detail the cases of both non interacting and interacting atoms moving between neighboring sites in a lattice of a double-well optical potentials. Such a lattice can perform interaction-mediated entanglement of atom pairs and can realize two-qubit quantum gates. The optimized control sequences for the optical potential allow transport faster and with significantly larger fidelity than is possible with processes based on adiabatic transport.Comment: revised version: minor changes, 2 references added, published versio

Muon identification for LHCb Run 3

Muon identification is of paramount importance for the physics programme of LHCb. In the upgrade phase, starting from Run 3 of the LHC, the trigger of the experiment will be solely based on software. The luminosity increase to $2\times10^{33}$ cm$^{-2}$s$^{-1}$ will require an improvement of the muon identification criteria, aiming at performances equal or better than those of Run 2, but in a much more challenging environment. In this paper, two new muon identification algorithms developed in view of the LHCb upgrade are presented, and their performance in terms of signal efficiency versus background reduction is shown