Trajectory generation for road vehicle obstacle avoidance using convex optimization

This paper presents a method for trajectory generation using convex optimization to find a feasible, obstacle-free path for a road vehicle. Consideration of vehicle rotation is shown to be necessary if the trajectory is to avoid obstacles specified in a fixed Earth axis system. The paper establishes that, despite the presence of significant non-linearities, it is possible to articulate the obstacle avoidance problem in a tractable convex form using multiple optimization passes. Finally, it is shown by simulation that an optimal trajectory that accounts for the vehicle’s changing velocity throughout the manoeuvre is superior to a previous analytical method that assumes constant speed

Improving the operating efficiency of the more electric aircraft concept through optimised flight procedures

The increasing awareness of the environmental risks and costs due to the growing demand in aviation has prompted both academic and industrial research into short-term and long-term technologies which could help address the challenges. Among these, the more electric aircraft has been identified as a key design concept which would make aircraft more environmentally friendly and cost effective in the long run. Moreover, the notion of free-flight and optimised trajectories has been identified as a key operational concept which would help curb the environmental effects of aircraft as well as reduce overall costs. The research in this paper presents a methodology in which these two concepts can be coupled to study the benefits of more electric aircraft (MEA) flying optimised trajectories. A wide range of issues from aircraft performance, engine performance, airframe systems operation, power off-take penalties, emission modelling, optimisation algorithms and optimisation frameworks has been addressed throughout the study. The case study is based on a popular short haul flight between London Heathrow and Amsterdam Schiphol. The culmination of the study establishes the advantage of the MEA over conventional aircraft and also addresses the enhanced approach to the classical aircraft trajectory optimisation problem. The study shows that the operation procedures to achieve a minimum fuel burn are significantly different for a conventional aircraft and MEA. Trajectory optimisation reduced the fuel burn by 17.4% for the conventional aircraft and 12.2% for the more electric compared to the respective baseline cases. Within the constraints of the study, the minimum fuel burn trajectory for the MEA consumed 9.9% less fuel than the minimum fuel burn trajectory for the conventional aircraft

Response of Laryngeal and Tracheo-Bronchial Surface Lining to Inhaled Cigarette Smoke in Normal and Vitamin A-Deficient Rats: A Scanning Electron Microscopic Study.

The effects on surface morphology of airway epithelium of cigarette smoke (CS) inhalation alone (experiments one and two) or of CS in combination with hypovitaminosis A (experiment two) was investigated using specific pathogen free rats. Eight morphologically distinct cell types were distinguished overall. Apart from atypical squamous lesions each of the other cell types could be found in varying proportions in all experimental groups. CS alone caused an increase in the frequency with which intra-lumenal mucus was seen and an increase in the occurrence of secretory cells of types IV (i.e.,\u27merocrine\u27) and V (i.e.,\u27apocrine\u27). In experiment one, the area of trachea covered by cilia as determined by point counting increased significantly (P\u3c0.01). Hypovitaminosis A was induced by lowering the dietary intake of vitamin A to a minimum, defined level. Rats showed an approximately 75% decrease in plasma retinol levels and a 95-100% decrease in hepatic stores of vitamin A. At this level, hypovitaminosis A alone had no significant effect on airway epithelial morphology. Foci of squamous metaplasia (squamous cells of type VIIIa) were found in all groups but extensive squamous metaplasia of the larynx and squamous lesions of atypical appearance (type VIIIb) were found only in the vitamin deficient group exposed to CS. The results suggest the synergistic effects of reduced vitamin A and CS may be important in the induction of atypical squamous changes which may predispose the airway to the development of squamous carcinoma

Correcting a bias in a climate model with an augmented emulator

This is the final version. Available from Copernicus Publications via the DOI in this record. A key challenge in developing flagship climate model configurations is the process of setting uncertain input parameters at values that lead to credible climate simulations. Setting these parameters traditionally relies heavily on insights from those involved in parameterisation of the underlying climate processes. Given the many degrees of freedom and computational expense involved in evaluating such a selection, this can be imperfect leaving open questions about whether any subsequent simulated biases result from mis-set parameters or wider structural model errors (such as missing or partially parameterised processes). Here, we present a complementary approach to identifying plausible climate model parameters, with a method of bias correcting subcomponents of a climate model using a Gaussian process emulator that allows credible values of model input parameters to be found even in the presence of a significant model bias. A previous study (McNeall et al., 2016) found that a climate model had to be run using land surface input parameter values from very different, almost non-overlapping, parts of parameter space to satisfactorily simulate the Amazon and other forests respectively. As the forest fraction of modelled non-Amazon forests was broadly correct at the default parameter settings and the Amazon too low, that study suggested that the problem most likely lay in the model's treatment of non-plant processes in the Amazon region. This might be due to modelling errors such as missing deep rooting in the Amazon in the land surface component of the climate model, to a warm-dry bias in the Amazon climate of the model or a combination of both. In this study, we bias correct the climate of the Amazon in the climate model from McNeall et al. (2016) using an "augmented" Gaussian process emulator, where temperature and precipitation, variables usually regarded as model outputs, are treated as model inputs alongside land surface input parameters. A sensitivity analysis finds that the forest fraction is nearly as sensitive to climate variables as it is to changes in its land surface parameter values. Bias correcting the climate in the Amazon region using the emulator corrects the forest fraction to tolerable levels in the Amazon at many candidates for land surface input parameter values, including the default ones, and increases the valid input space shared with the other forests. We need not invoke a structural model error in the land surface model, beyond having too dry and hot a climate in the Amazon region. The augmented emulator allows bias correction of an ensemble of climate model runs and reduces the risk of choosing poor parameter values because of an error in a subcomponent of the model. We discuss the potential of the augmented emulator to act as a translational layer between model subcomponents, simplifying the process of model tuning when there are compensating errors and helping model developers discover and prioritise model errors to target.Alan Turing Institut

The role of parental alcohol use, parental discipline and antisocial behaviour on adolescent drinking trajectories

Backgrounds: : Parental drinking, harsh parental discipline and adolescent antisocial behaviour have been independently implicated in adolescent alcohol use. Robust prospective studies are required to examine developmental relationships between these factors and their effect on trajectories of alcohol use across adolescence

Low-Lying Excited States of Quantum Antiferromagnets on a Triangular Lattice

We study low-lying states of the XY and Heisenberg antiferromagnets on a triangular lattice to clarify whether spontaneous symmetry breaking occurs at $T=0$ in the thermodynamic limit. Approximate forms of low-lying states are proposed, in which degrees of freedom of the sublattice magnetization and of the chirality are separated. It is shown that low-lying states can be accurately described with the present approximation. It was argued that low-lying states play an important role in symmetry breaking. With help of this approximation, we discuss the contribution of low-lying states to symmetry breaking of two types, namely creation of the spontaneous sublattice magnetization and the spontaneous chirality. Furthermore, to show an evidence for the occurrence of the symmetry breaking, we numerically study the low-lying states of finite systems of the XY and Heisenberg antiferromagnets. It is found that the necessary conditions for the symmetry breaking to occur are satisfied in these models.Comment: LaTex 22 pages, figures included in uuencoded form, to be published in J.Stat.Phy

Spin-1/2 J1-J2 model on the body-centered cubic lattice

Using exact diagonalization (ED) and linear spin wave theory (LSWT) we study the influence of frustration and quantum fluctuations on the magnetic ordering in the ground state of the spin-1/2 J1-J2 Heisenberg antiferromagnet (J1-J2 model) on the body-centered cubic (bcc) lattice. Contrary to the J1-J2 model on the square lattice, we find for the bcc lattice that frustration and quantum fluctuations do not lead to a quantum disordered phase for strong frustration. The results of both approaches (ED, LSWT) suggest a first order transition at J2/J1 $\approx$ 0.7 from the two-sublattice Neel phase at low J2 to a collinear phase at large J2.Comment: 6.1 pages 7 figure