1,183 research outputs found
Regularization of point vortices for the Euler equation in dimension two
In this paper, we construct stationary classical solutions of the
incompressible Euler equation approximating singular stationary solutions of
this equation.
This procedure is carried out by constructing solutions to the following
elliptic problem [ -\ep^2 \Delta
u=(u-q-\frac{\kappa}{2\pi}\ln\frac{1}{\ep})_+^p, \quad & x\in\Omega, u=0, \quad
& x\in\partial\Omega, ] where , is a bounded
domain, is a harmonic function.
We showed that if is simply-connected smooth domain, then for any
given non-degenerate critical point of Kirchhoff-Routh function
with the same strength , there is a
stationary classical solution approximating stationary points vortex
solution of incompressible Euler equations with vorticity .
Existence and asymptotic behavior of single point non-vanishing vortex
solutions were studied by D. Smets and J. Van Schaftingen (2010).Comment: 32page
Desingularization of vortices for the Euler equation
We study the existence of stationary classical solutions of the
incompressible Euler equation in the plane that approximate singular
stationnary solutions of this equation. The construction is performed by
studying the asymptotics of equation -\eps^2 \Delta
u^\eps=(u^\eps-q-\frac{\kappa}{2\pi} \log \frac{1}{\eps})_+^p with Dirichlet
boundary conditions and a given function. We also study the
desingularization of pairs of vortices by minimal energy nodal solutions and
the desingularization of rotating vortices.Comment: 40 page
Adaptive path planning for fusing rapidly exploring random trees and deep reinforcement learning in an agriculture dynamic environment UAVs
Unmanned aerial vehicles (UAV) are a suitable solution for monitoring growing cultures due to the possibility of covering a large area and the necessity of periodic monitoring. In inspection and monitoring tasks, the UAV must find an optimal or near-optimal collision-free route given initial and target positions. In this sense, path-planning strategies are crucial, especially online path planning that can represent the robot’s operational environment or for control purposes. Therefore, this paper proposes an online adaptive path-planning solution based on the fusion of rapidly exploring random trees (RRT) and deep reinforcement learning (DRL) algorithms applied to the generation and control of the UAV autonomous trajectory during an olive-growing fly traps inspection task. The main objective of this proposal is to provide a reliable route for the UAV to reach the inspection points in the tree space to capture an image of the trap autonomously, avoiding possible obstacles present in the environment. The proposed framework was tested in a simulated environment using Gazebo and ROS. The results showed that the proposed solution accomplished the trial for environments up to 300 m3 and with 10 dynamic objects.The authors would like to thank the following Brazilian Agencies CEFET-RJ, CAPES, CNPq, and FAPERJ. The authors also want to thank the Research Centre in Digitalization and Intelligent Robotics (CeDRI), Instituto Politécnico de Bragança–IPB (UIDB/05757/2020 and UIDP/05757/2020), the Foundation for Science and Technology (FCT, Portugal) for financial support through national funds FCT/MCTES (PIDDAC) to CeDRI, and Laboratório Associado para a Sustentabilidade e Tecnologia em Regiões de Montanha (SusTEC) and IPB, Portugal. This work was carried out under the Project “OleaChain: Competências para a sustentabilidade e inovação da cadeia de valor do olival tradicional no Norte Interior de Portugal” (NORTE-06-3559-FSE-000188), an operation to hire highly qualified human resources, funded by NORTE 2020 through the European Social Fund (ESF).info:eu-repo/semantics/publishedVersio
Cooperative heterogeneous robots for autonomous insects trap monitoring system in a precision agriculture scenario
The recent advances in precision agriculture are due to the emergence of modern robotics systems. For instance, unmanned aerial systems (UASs) give new possibilities that advance the solution of existing problems in this area in many different aspects. The reason is due to these platforms’ ability to perform activities at varying levels of complexity. Therefore, this research presents a multiple-cooperative robot solution for UAS and unmanned ground vehicle (UGV) systems for their joint inspection of olive grove inspect traps. This work evaluated the UAS and UGV vision-based navigation based on a yellow fly trap fixed in the trees to provide visual position data using the You Only Look Once (YOLO) algorithms. The experimental setup evaluated the fuzzy control algorithm applied to the UAS to make it reach the trap efficiently. Experimental tests were conducted in a realistic simulation environment using a robot operating system (ROS) and CoppeliaSim platforms to verify the methodology’s performance, and all tests considered specific real-world environmental conditions. A search and landing algorithm based on augmented reality tag (AR-Tag) visual processing was evaluated to allow for the return and landing of the UAS to the UGV base. The outcomes obtained in this work demonstrate the robustness and feasibility of the multiple-cooperative robot architecture for UGVs and UASs applied in the olive inspection scenario.The authors would like to thank the Foundation for Science and Technology (FCT, Portugal) for financial support through national funds FCT/MCTES (PIDDAC) to CeDRI (UIDB/05757/2020 and UIDP/05757/2020) and SusTEC (LA/P/0007/2021). In addition, the authors would like to thank the following Brazilian Agencies CEFET-RJ, CAPES, CNPq, and FAPERJ. In addition, the authors also want to thank the Research Centre in Digitalization and Intelligent Robotics (CeDRI), Instituto Politécnico de Braganca (IPB) - Campus de Santa Apolonia, Portugal, Laboratório Associado para a Sustentabilidade e Tecnologia em Regiões de Montanha (SusTEC), Portugal, INESC Technology and Science - Porto, Portugal and Universidade de Trás-os-Montes e Alto Douro - Vila Real, Portugal. This work was carried out under the Project “OleaChain: Competências para a sustentabilidade e inovação da cadeia de valor do olival tradicional no Norte Interior de Portugal” (NORTE-06-3559-FSE-000188), an operation used to hire highly qualified human resources, funded by NORTE 2020 through the European Social Fund (ESF).info:eu-repo/semantics/publishedVersio
Ab initio Quantum and ab initio Molecular Dynamics of the Dissociative Adsorption of Hydrogen on Pd(100)
The dissociative adsorption of hydrogen on Pd(100) has been studied by ab
initio quantum dynamics and ab initio molecular dynamics calculations. Treating
all hydrogen degrees of freedom as dynamical coordinates implies a high
dimensionality and requires statistical averages over thousands of
trajectories. An efficient and accurate treatment of such extensive statistics
is achieved in two steps: In a first step we evaluate the ab initio potential
energy surface (PES) and determine an analytical representation. Then, in an
independent second step dynamical calculations are performed on the analytical
representation of the PES. Thus the dissociation dynamics is investigated
without any crucial assumption except for the Born-Oppenheimer approximation
which is anyhow employed when density-functional theory calculations are
performed. The ab initio molecular dynamics is compared to detailed quantum
dynamical calculations on exactly the same ab initio PES. The occurence of
quantum oscillations in the sticking probability as a function of kinetic
energy is addressed. They turn out to be very sensitive to the symmetry of the
initial conditions. At low kinetic energies sticking is dominated by the
steering effect which is illustrated using classical trajectories. The steering
effects depends on the kinetic energy, but not on the mass of the molecules.
Zero-point effects lead to strong differences between quantum and classical
calculations of the sticking probability. The dependence of the sticking
probability on the angle of incidence is analysed; it is found to be in good
agreement with experimental data. The results show that the determination of
the potential energy surface combined with high-dimensional dynamical
calculations, in which all relevant degrees of freedon are taken into account,
leads to a detailed understanding of the dissociation dynamics of hydrogen at a
transition metal surface.Comment: 15 pages, 9 figures, subm. to Phys. Rev.
Supersymmetry Without Prejudice at the LHC
The discovery and exploration of Supersymmetry in a model-independent fashion
will be a daunting task due to the large number of soft-breaking parameters in
the MSSM. In this paper, we explore the capability of the ATLAS detector at the
LHC ( TeV, 1 fb) to find SUSY within the 19-dimensional
pMSSM subspace of the MSSM using their standard transverse missing energy and
long-lived particle searches that were essentially designed for mSUGRA. To this
end, we employ a set of k previously generated model points in the
19-dimensional parameter space that satisfy all of the existing experimental
and theoretical constraints. Employing ATLAS-generated SM backgrounds and
following their approach in each of 11 missing energy analyses as closely as
possible, we explore all of these k model points for a possible SUSY
signal. To test our analysis procedure, we first verify that we faithfully
reproduce the published ATLAS results for the signal distributions for their
benchmark mSUGRA model points. We then show that, requiring all sparticle
masses to lie below 1(3) TeV, almost all(two-thirds) of the pMSSM model points
are discovered with a significance in at least one of these 11 analyses
assuming a 50\% systematic error on the SM background. If this systematic error
can be reduced to only 20\% then this parameter space coverage is increased.
These results are indicative that the ATLAS SUSY search strategy is robust
under a broad class of Supersymmetric models. We then explore in detail the
properties of the kinematically accessible model points which remain
unobservable by these search analyses in order to ascertain problematic cases
which may arise in general SUSY searches.Comment: 69 pages, 40 figures, Discussion adde
Fitting the curve in Excel®:Systematic curve fitting of laboratory and remotely sensed planetary spectra
Spectroscopy in planetary science often provides the only information regarding the compositional and mineralogical make up of planetary surfaces. The methods employed when curve fitting and modelling spectra can be confusing and difficult to visualize and comprehend. Researchers who are new to working with spectra may find inadequate help or documentation in the scientific literature or in the software packages available for curve fitting. This problem also extends to the parameterization of spectra and the dissemination of derived metrics. Often, when derived metrics are reported, such as band centres, the discussion of exactly how the metrics were derived, or if there was any systematic curve fitting performed, is not included. Herein we provide both recommendations and methods for curve fitting and explanations of the terms and methods used. Techniques to curve fit spectral data of various types are demonstrated using simple-to-understand mathematics and equations written to be used in Microsoft Excel® software, free of macros, in a cut-and-paste fashion that allows one to curve fit spectra in a reasonably user-friendly manner. The procedures use empirical curve fitting, include visualizations, and ameliorates many of the unknowns one may encounter when using black-box commercial software. The provided framework is a comprehensive record of the curve fitting parameters used, the derived metrics, and is intended to be an example of a format for dissemination when curve fitting data
Ballistic electron transport through magnetic domain walls
Electron transport limited by the rotating exchange-potential of domain walls
is calculated in the ballistic limit for the itinerant ferromagnets Fe, Co, and
Ni. When realistic band structures are used, the domain wall magnetoresistance
is enhanced by orders of magnitude compared to the results for previously
studied two-band models. Increasing the pitch of a domain wall by confinement
in a nano-structured point contact is predicted to give rise to a strongly
enhanced magnetoresistance.Comment: 4 pages, 2 figures; to appear in PRB as a brief repor
A systematic study of J/psi suppression in cold nuclear matter
Based on a Glauber model, a statistical analysis of all mid-rapidity J/psi
hadroproduction and leptoproduction data on nuclear targets is carried out.
This allows us to determine the J/psi-nucleon inelastic cross section, whose
knowledge is crucial to interpret the J/psi suppression observed in heavy-ion
collisions, at SPS and at RHIC. The values of sigma are extracted from each
experiment. A clear tension between the different data sets is reported. The
global fit of all data gives sigma=3.4+/-0.2 mb, which is significantly smaller
than previous estimates. A similar value, sigma=3.5+/-0.2 mb, is obtained when
the nDS nuclear parton densities are included in the analysis, although we
emphasize that the present uncertainties on gluon (anti)shadowing do not allow
for a precise determination of sigma. Finally, no significant energy dependence
of the J/psi-N interaction is observed, unless strong nuclear modifications of
the parton densities are assumed.Comment: 25 pages, 5 figure
Top-squark searches at the Tevatron in models of low-energy supersymmetry breaking
We study the production and decays of top squarks (stops) at the Tevatron
collider in models of low-energy supersymmetry breaking. We consider the case
where the lightest Standard Model (SM) superpartner is a light neutralino that
predominantly decays into a photon and a light gravitino. Considering the
lighter stop to be the next-to-lightest Standard Model superpartner, we analyze
stop signatures associated with jets, photons and missing energy, which lead to
signals naturally larger than the associated SM backgrounds. We consider both
2-body and 3-body decays of the top squarks and show that the reach of the
Tevatron can be significantly larger than that expected within either the
standard supergravity models or models of low-energy supersymmetry breaking in
which the stop is the lightest SM superpartner. For a modest projection of the
final Tevatron luminosity, L = 4 fb-1, stop masses of order 300 GeV are
accessible at the Tevatron collider in both 2-body and 3-body decay modes. We
also consider the production and decay of ten degenerate squarks that are the
supersymmetric partners of the five light quarks. In this case we find that
common squark masses up to 360 GeV are easily accessible at the Tevatron
collider, and that the reach increases further if the gluino is light.Comment: 32 pages, 9 figures; references adde
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