Collision analysis for an UAV

International audienceThe Sense and Avoid capacity of Unmanned Aerial Vehicles (UAV) is one of the key elements to open the access to airspace for UAVs. In order to replace a pilot's See and Avoid capacity such a system has to be certified "as safe as a human pilot on-board". The problem is to prove that an unmanned aircraft equipped with a S and A system can comply with the actual air transportation regulations. This paper aims to provide mathematical and numerical tools to link together the safety objectives and sensors specifications. Our approach starts with the natural idea of a specified "safety volume" around the aircraft: the safety objective is to guarantee that no other aircraft can penetrate this volume. We use a general reachability and viability concepts to define nested sets which are meaningful to allocate sensor performances and manoeuvring capabilities necessary to protect the safety volume. Using the general framework of HJB equations for the optimal control and differential games, we give a rigorous mathematical characterization of these sets. Our approach allows also to take into account some uncertainties in the measures of the parameters of the incoming traffic. We also provide numerical tools to compute the defined sets, so that the technical specifications of a S and A system can be derived in accordance with a small set of intuitive parameters. We consider several dynamical models corresponding to the different choices of maneuvers (lateral, longitudinal and mixed). Our numerical simulations show clearly that the nature of used maneuvers is an important factor in the specifications of sensor's performances

A Semi-Lagrangian scheme for a modified version of the Hughes model for pedestrian flow

In this paper we present a Semi-Lagrangian scheme for a regularized version of the Hughes model for pedestrian flow. Hughes originally proposed a coupled nonlinear PDE system describing the evolution of a large pedestrian group trying to exit a domain as fast as possible. The original model corresponds to a system of a conservation law for the pedestrian density and an Eikonal equation to determine the weighted distance to the exit. We consider this model in presence of small diffusion and discuss the numerical analysis of the proposed Semi-Lagrangian scheme. Furthermore we illustrate the effect of small diffusion on the exit time with various numerical experiments

Neutrino masses and mixings in a seesaw framework

Assuming the seesaw mechanism for hierarchical neutrino masses, we calculate the heavy neutrino masses under the hypotheses that the mixing in the Dirac leptonic sector is similar to the quark mixing ($V_D \sim V_{CKM}$) and that $M_{\nu} \sim M_u$ or $M_e$, where $M_{\nu}$ is the Dirac mass matrix of neutrinos. As a result we find that for $M_{\nu} \sim M_u$ the vacuum oscillation solution of the solar neutrino problem leads to a scale for the heavy neutrino mass well above the unification scale, while for the MSW solutions there is agreement with this scale. For $M_{\nu} \sim M_e$ the vacuum solution is consistent with the unification scale, and the MSW solutions with an intermediate scale. The mass of the lightest heavy neutrino can be as small as $10^5$ GeV.Comment: 13 pages RevTex, no figures. Revised versio

A Comprehensive Survey of 'Metamaterial Transmission-Line Based Antennas: Design, Challenges, and Applications'

In this review paper, a comprehensive study on the concept, theory, and applications of composite right/left-handed transmission lines (CRLH-TLs) by considering their use in antenna system designs have been provided. It is shown that CRLH-TLs with negative permittivity (epsilon < 0) and negative permeability (mu < 0) have unique properties that do not occur naturally. Therefore, they are referred to as artificial structures called "metamaterials". These artificial structures include series left-handed (LH) capacitances (C-L), shunt LH inductances (L-L), series right-handed (RH) inductances (L-R), and shunt RH capacitances (C-R) that are realized by slots or interdigital capacitors, stubs or via-holes, unwanted current flowing on the surface, and gap distance between the surface and ground-plane, respectively. In the most cases, it is also shown that structures based on CRLH metamaterial-TLs are superior than their conventional alternatives, since they have smaller dimensions, lower-profile, wider bandwidth, better radiation patterns, higher gain and efficiency, which make them easier and more cost-effective to manufacture and mass produce. Hence, a broad range of metamaterial-based design possibilities are introduced to highlight the improvement of the performance parameters that are rare and not often discussed in available literature. Therefore, this survey provides a wide overview of key early-stage concepts of metematerial-based designs as a thorough reference for specialist antennas and microwave circuits designers. To analyze the critical features of metamaterial theory and concept, several examples are used. Comparisons on the basis of physical size, bandwidth, materials, gain, efficiency, and radiation patterns are made for all the examples that are based on CRLH metamaterial-TLs. As revealed in all the metematerial design examples, foot-print area decrement is an important issue of study that have a strong impact for the enlargement of the next generation wireless communication systems

The July 2010 outburst of the NLS1 PMN J0948+0022

We report about the multiwavelength campaign on the Narrow-Line Seyfert 1 (NLS1) Galaxy PMN J0948+0022 (z = 0.5846) performed in 2010 July-September and triggered by high activity as measured by Fermi/LAT. The peak luminosity in the 0.1-100 GeV energy band exceeded, for the first time in this type of source, the value of 10^48 erg/s, a level comparable to the most powerful blazars. The comparison of the spectral energy distribution of the NLS1 PMN J0948+0022 with that of a typical blazar - like 3C 273 - shows that the power emitted at gamma rays is extreme.Comment: 2011 Fermi Symposium proceedings - eConf C11050

Observation of TeV Gamma Rays from the Crab Nebula with Milagro Using a New Background Rejection Technique

The recent advances in TeV gamma-ray astronomy are largely the result of the ability to differentiate between extensive air showers generated by gamma rays and hadronic cosmic rays. Air Cherenkov telescopes have developed and perfected the "imaging" technique over the past several decades. However until now no background rejection method has been successfully used in an air shower array to detect a source of TeV gamma rays. We report on a method to differentiate hadronic air showers from electromagnetic air showers in the Milagro gamma ray observatory, based on the ability to detect the energetic particles in an extensive air shower. The technique is used to detect TeV emission from the Crab nebula. The flux from the Crab is estimated to be 2.68(+-0.42stat +- 1.4sys) x10^{-7} (E/1TeV)^{-2.59} m^{-2} s^{-1} TeV^{-1}, where the spectral index is assumed to be as given by the HEGRA collaboration.Comment: 22 pages, 11 figures, submitted to Astrophysical Journa

Modelling the spectral response of the Swift-XRT CCD camera: Experience learnt from in-flight calibration

(Abbreviated) We show that the XRT spectral response calibration was complicated by various energy offsets in photon counting (PC) and windowed timing (WT) modes related to the way the CCD is operated in orbit (variation in temperature during observations, contamination by optical light from the sunlit Earth and increase in charge transfer inefficiency). We describe how these effects can be corrected for in the ground processing software. We show that the low-energy response, the redistribution in spectra of absorbed sources, and the modelling of the line profile have been significantly improved since launch by introducing empirical corrections in our code when it was not possible to use a physical description. We note that the increase in CTI became noticeable in June 2006 (i.e. 14 months after launch), but the evidence of a more serious degradation in spectroscopic performance (line broadening and change in the low-energy response) due to large charge traps (i.e. faults in the Si crystal) became more significant after March 2007. We describe efforts to handle such changes in the spectral response. Finally, we show that the commanded increase in the substrate voltage from 0 to 6V on 2007 August 30 reduced the dark current, enabling the collection of useful science data at higher CCD temperature (up to -50C). We also briefly describe the plan to recalibrate the XRT response files at this new voltage.Comment: 27 pages, 29 figures (many in colour), accepted for publication in A&

First results of a study of TeV emission from GRBs in Milagrito

Milagrito, a detector sensitive to γ-rays at TeV energies, monitored the northern sky during the period February 1997 through May 1998. With a large field of view and high duty cycle, this instrument was used to perform a search for TeV counterparts to γ-ray bursts. Within the Milagrito field of view 54 γ-ray bursts at keV energies were observed by the Burst And Transient Satellite Experiment (BATSE) aboard the Compton Gamma-Ray Observatory. This paper describes the results of a preliminary analysis to search for TeV emission correlated with BATSE detected bursts. Milagrito detected an excess of events coincident both spatially and temporally with GRB 970417a, with chance probability 2.8×10−5 within the BATSE error radius. No other significant correlations were detected. Since 54 bursts were examined the chance probability of observing an excess with this significance in any of these bursts is 1.5×10−3. The statistical aspects and physical implications of this result are discussed

Calibration of the Milagro Cosmic Ray Telescope

The Milagro detector is an air shower array which uses the water Cherenkov technique and is capable of continuously monitoring the sky at energies near 1 TeV. The detector consists of 20000 metric tons of pure water instrumented with 723 photo-multiplier tubes (PMTs). The PMTs are arranged in a two-layer structure on a lattice of 3 m spacing covering 5000 $m^2$ area. The direction of the shower is determined from the relative timing of the PMT signals, necessitating a common time reference and amplitude slewing corrections to improve the time resolution. The calibration system to provide these consists of a pulsed laser driving 30 diffusing light sources deployed in the pond to allow cross-calibration of the PMTs. The system is capable of calibrating times and the pulse-heights from the PMTs using the time-over-threshold technique. The absolute energy scale is provided using single muons passing through the detector. The description of the calibration system of the Milagro detector and its prototype Milagrito will be presented.Comment: 4 pages, submitted to the XXVI International Cosmic Ray Conferenc