Secant and conjugate direction methods in optimisation

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Nonlinear energy-maximising optimal control of wave energy systems: A moment-based approach

Linear dynamics are virtually always assumed when designing optimal controllers for wave energy converters (WECs), motivated by both their simplicity and computational convenience. Nevertheless, unlike traditional tracking control applications, the assumptions under which the linearization of WEC models is performed are challenged by the energy-maximizing controller itself, which intrinsically enhances device motion to maximize power extraction from incoming ocean waves. \GSIn this article, we present a moment-based energy-maximizing control strategy for WECs subject to nonlinear dynamics. We develop a framework under which the objective function (and system variables) can be mapped to a finite-dimensional tractable nonlinear program, which can be efficiently solved using state-of-the-art nonlinear programming solvers. Moreover, we show that the objective function belongs to a class of generalized convex functions when mapped to the moment domain, guaranteeing the existence of a global energy-maximizing solution and giving explicit conditions for when a local solution is, effectively, a global maximizer. The performance of the strategy is demonstrated through a case study, where we consider (state and input-constrained) energy maximization for a state-of-the-art CorPower-like WEC, subject to different hydrodynamic nonlinearities

On the approximation of moments for nonlinear systems

Model reduction by moment-matching relies upon the availability of the so-called moment. If the system is nonlinear, the computation of moments depends on an underlying specific invariance equation, which can be difficult or impossible to solve. This note presents four technical contributions related to the theory of moment matching: first, we identify a connection between moment-based theory and weighted residual methods. Second, we exploit this relation to provide an approximation technique for the computation of nonlinear moments. Third, we extend the definition of nonlinear moment to the case in which the generator is described in explicit form. Finally, we provide an approximation technique to compute the moments in this scenario. The results are illustrated by means of two examples

Energy-maximising moment-based constrained optimal control of ocean wave energy farms

Successful commercialisation of wave energy technology inherently incorporates the concept of an array of wave energy converters (WECs). These devices, which constantly interact via hydrodynamic effects, require optimised control that can guarantee maximum energy extraction from incoming ocean waves while ensuring, at the same time, that any physical limitations associated with device and actuator systems are being consistently respected. This paper presents a moment-based energy-maximising optimal control framework for WECs arrays subject to state and input constraints. The authors develop a framework under which the objective function (and system variables) can be mapped to a finite-dimensional tractable quadratic program (QP), which can be efficiently solved using state-of-the-art solvers. Moreover, the authors show that this QP is always concave, i.e. existence and uniqueness of a globally optimal solution is guaranteed under this moment-based framework. The performance of the proposed strategy is demonstrated through a case study, where (state and input constrained) energy-maximisation for a WEC farm composed of CorPower-like WEC devices is considered

Consistency analysis of Kaluza-Klein geometric sigma models

Geometric sigma models are purely geometric theories of scalar fields coupled to gravity. Geometrically, these scalars represent the very coordinates of space-time, and, as such, can be gauged away. A particular theory is built over a given metric field configuration which becomes the vacuum of the theory. Kaluza-Klein theories of the kind have been shown to be free of the classical cosmological constant problem, and to give massless gauge fields after dimensional reduction. In this paper, the consistency of dimensional reduction, as well as the stability of the internal excitations, are analyzed. Choosing the internal space in the form of a group manifold, one meets no inconsistencies in the dimensional reduction procedure. As an example, the SO(n) groups are analyzed, with the result that the mass matrix of the internal excitations necessarily possesses negative modes. In the case of coset spaces, the consistency of dimensional reduction rules out all but the stable mode, although the full vacuum stability remains an open problem.Comment: 13 pages, RevTe

Model reduction by moment matching: beyond linearity a review of the last 10 years

We present a review of some recent contributions to the theory and application of nonlinear model order reduction by moment matching. The tutorial paper is organized in four parts: 1) Moments of Nonlinear Systems; 2) Playing with Moments: Time-Delay, Hybrid, Stochastic, Data-Driven and Beyond; 3) The Loewner Framework; 4) Applications to Optimal Control and Wave Energy Conversion

First principles simulations of liquid Fe-S under Earth's core conditions

First principles electronic structure calculations, based upon density functional theory within the generalized gradient approximation and ultra-soft Vanderbilt pseudopotentials, have been used to simulate a liquid alloy of iron and sulfur at Earth's core conditions. We have used a sulfur concentration of $\approx 12$wt, in line with the maximum recent estimates of the sulfur abundance in the Earth's outer core. The analysis of the structural, dynamical and electronic structure properties has been used to report on the effect of the sulfur impurities on the behavior of the liquid. Although pure sulfur is known to form chains in the liquid phase, we have not found any tendency towards polymerization in our liquid simulation. Rather, a net S-S repulsion is evident, and we propose an explanation for this effect in terms of the electronic structure. The inspection of the dynamical properties of the system suggests that the sulfur impurities have a negligible effect on the viscosity of Earth's liquid core.Comment: 24 pages (including 8 figures

Iron under Earth's core conditions: Liquid-state thermodynamics and high-pressure melting curve

{\em Ab initio} techniques based on density functional theory in the projector-augmented-wave implementation are used to calculate the free energy and a range of other thermodynamic properties of liquid iron at high pressures and temperatures relevant to the Earth's core. The {\em ab initio} free energy is obtained by using thermodynamic integration to calculate the change of free energy on going from a simple reference system to the {\em ab initio} system, with thermal averages computed by {\em ab initio} molecular dynamics simulation. The reference system consists of the inverse-power pair-potential model used in previous work. The liquid-state free energy is combined with the free energy of hexagonal close packed Fe calculated earlier using identical {\em ab initio} techniques to obtain the melting curve and volume and entropy of melting. Comparisons of the calculated melting properties with experimental measurement and with other recent {\em ab initio} predictions are presented. Experiment-theory comparisons are also presented for the pressures at which the solid and liquid Hugoniot curves cross the melting line, and the sound speed and Gr\"{u}neisen parameter along the Hugoniot. Additional comparisons are made with a commonly used equation of state for high-pressure/high-temperature Fe based on experimental data.Comment: 16 pages including 6 figures and 5 table

Mid-mantle deformation inferred from seismic anisotropy

With time, convective processes in the Earth's mantle will tend to align crystals, grains and inclusions. This mantle fabric is detectable seismologically, as it produces an anisotropy in material properties—in particular, a directional dependence in seismic-wave velocity. This alignment is enhanced at the boundaries of the mantle where there are rapid changes in the direction and magnitude of mantle flow, and therefore most observations of anisotropy are confined to the uppermost mantle or lithosphere and the lowermost-mantle analogue of the lithosphere, the D" region. Here we present evidence from shear-wave splitting measurements for mid-mantle anisotropy in the vicinity of the 660-km discontinuity, the boundary between the upper and lower mantle. Deep-focus earthquakes in the Tonga–Kermadec and New Hebrides subduction zones recorded at Australian seismograph stations record some of the largest values of shear-wave splitting hitherto reported. The results suggest that, at least locally, there may exist a mid-mantle boundary layer, which could indicate the impediment of flow between the upper and lower mantle in this region

The wave energy converter control competition (WECCCOMP): Wave energy control algorithms compared in both simulation and tank testing

The wave energy control competition established a benchmark problem which was offered as an open challenge to the wave energy system control community. The competition had two stages: In the first stage, competitors used a standard wave energy simulation platform (WEC-Sim) to evaluate their controllers while, in the second stage, competitors were invited to test their controllers in a real-time implementation on a prototype system in a wave tank. The performance function used was based on converted energy across a range of standard sea states, but also included aspects related to economic performance, such as peak/average power, peak force, etc. This paper compares simulated and experimental results and, in particular, examines if the results obtained in a linear system simulation are borne out in reality. Overall, within the scope of the device tested, the range of sea states employed, and the performance metric used, the conclusion is that high-performance WEC controllers work well in practice, with good carry-over from simulation to experimentation. However, the availability of a good WEC mathematical model is deemed to be crucial