8,016 research outputs found
Predictive Control of Autonomous Kites in Tow Test Experiments
In this paper we present a model-based control approach for autonomous flight
of kites for wind power generation. Predictive models are considered to
compensate for delay in the kite dynamics. We apply Model Predictive Control
(MPC), with the objective of guiding the kite to follow a figure-of-eight
trajectory, in the outer loop of a two level control cascade. The tracking
capabilities of the inner-loop controller depend on the operating conditions
and are assessed via a frequency domain robustness analysis. We take the
limitations of the inner tracking controller into account by encoding them as
optimisation constraints in the outer MPC. The method is validated on a kite
system in tow test experiments.Comment: The paper has been accepted for publication in the IEEE Control
Systems Letters and is subject to IEEE Control Systems Society copyright.
Upon publication, the copy of record will be available at
http://ieeexplore.ieee.or
The first INTEGRAL-OMC catalogue of optically variable sources
The Optical Monitoring Camera (OMC) onboard INTEGRAL provides photometry in
the Johnson V-band. With an aperture of 50 mm and a field of view of 5deg x
5deg, OMC is able to detect optical sources brighter than V~18, from a
previously selected list of potential targets of interest. After more than nine
years of observations, the OMC database contains light curves for more than
70000 sources (with more than 50 photometric points each). The objectives of
this work have been to characterize the potential variability of the objects
monitored by OMC, to identify periodic sources and to compute their periods,
taking advantage of the stability and long monitoring time of the OMC. To
detect potential variability, we have performed a chi-squared test, finding
5263 variable sources out of an initial sample of 6071 objects with good
photometric quality and more than 300 data points each. We have studied the
periodicity of these sources using a method based on the phase dispersion
minimization technique, optimized to handle light curves with very different
shapes.In this first catalogue of variable sources observed by OMC, we provide
for each object the median of the visual magnitude, the magnitude at maximum
and minimum brightness in the light curve during the window of observations,
the period, when found, as well as the complete intrinsic and period-folded
light curves, together with some additional ancillary data.Comment: Accepted by Astronomy & Astrophysics; 13 pages, 16 figures. Figures'
resolution has been degraded to fit astro-ph constraint
State Estimation for Kite Power Systems with Delayed Sensor Measurements
We present a novel estimation approach for airborne wind energy systems with ground-based control and energy generation. The estimator fuses measurements from an inertial measurement unit attached to a tethered wing and position measurements from a camera as well as line angle sensors in an unscented Kalman filter. We have developed a novel kinematic description for tethered wings to specifically address tether dynamics. The presented approach simultaneously estimates feedback variables for a flight controller as well as model parameters, such as a time-varying delay. We demonstrate the performance of the estimator for experimental flight data and compare it to a state-of-the-art estimator based on inertial measurements
Variational Estimates using a Discrete Variable Representation
The advantage of using a Discrete Variable Representation (DVR) is that the
Hamiltonian of two interacting particles can be constructed in a very simple
form. However the DVR Hamiltonian is approximate and, as a consequence, the
results cannot be considered as variational ones. We will show that the
variational character of the results can be restored by performing a reduced
number of integrals.
In practice, for a variational description of the lowest n bound states only
n(n+1)/2 integrals are necessary whereas D(D+1)/2 integrals are enough for the
scattering states (D is the dimension of the S matrix). Applications of the
method to the study of dimers of He, Ne and Ar, for both bound and scattering
states, are presented.Comment: 30 pages, 7 figures. Minor changes (title modified, typos corrected,
1 reference added). To be published in PR
Activity Identification and Local Linear Convergence of Douglas--Rachford/ADMM under Partial Smoothness
Convex optimization has become ubiquitous in most quantitative disciplines of
science, including variational image processing. Proximal splitting algorithms
are becoming popular to solve such structured convex optimization problems.
Within this class of algorithms, Douglas--Rachford (DR) and alternating
direction method of multipliers (ADMM) are designed to minimize the sum of two
proper lower semi-continuous convex functions whose proximity operators are
easy to compute. The goal of this work is to understand the local convergence
behaviour of DR (resp. ADMM) when the involved functions (resp. their
Legendre-Fenchel conjugates) are moreover partly smooth. More precisely, when
both of the two functions (resp. their conjugates) are partly smooth relative
to their respective manifolds, we show that DR (resp. ADMM) identifies these
manifolds in finite time. Moreover, when these manifolds are affine or linear,
we prove that DR/ADMM is locally linearly convergent. When and are
locally polyhedral, we show that the optimal convergence radius is given in
terms of the cosine of the Friedrichs angle between the tangent spaces of the
identified manifolds. This is illustrated by several concrete examples and
supported by numerical experiments.Comment: 17 pages, 1 figure, published in the proceedings of the Fifth
International Conference on Scale Space and Variational Methods in Computer
Visio
A Case Study on Critical Consciousness in Dual Language Bilingual Education
This ethnographic case study explores how dual language bilingual education (DLBE) educators understand, enact, and acquire their perceptions of and tools to educate for critical consciousness, especially in relation to culturally and linguistically diverse students who are often labeled as âemergent bilingualsâ, ânative Spanish speakersâ and/or âELLsâ. The present study responds to Cervantes-Soonâs (2014) call for attention to critical consciousness in DLBE. Hence, the purpose is to gain insight into the role of critical consciousness in DLBE educatorsâ work. The findings inform practitionersâ as well as scholarsâ work, and lend insight for those who study critical consciousness, social justice in education, and/or DLBE programming
Parasites from freshwater fishes and Mollusca; a new species of Capillaria from the minnow and five new Cercariae from Limnaea
Since the discovery of sporocysts and
rediae "by Steenstrup in 1842, the study of the life
histories of different Trematodes has received much
attention by investigators, for instance Wagener in
1857, leuckart in 1882, Thomas in 1883, Heckert in
1889, Greutzberg in 1890 and Looss in recent times.
It was from the observations of these workers that
the life cycle of Trematodes was put on a firm basis.
But no real importance was attached to the study of
miracidia, sporocysts, rediaeand cercariae until after the classical work of Thomas in 1883, which resulted in a thorough explanation of the life history
of the liver fluke and its transmission from sheep to
sheep.Since 1883 numerous investigations have
been carried out from the economical and medical
point of view, and the bulk of the contributions to
the knowledge of cerca.riae consists of the results
of observations and experiments on the cercariee of
the Trematodes infecting man and the domestic animals Particular attention was paid to the different intermediate hosts and the conditions under which they are
capable of causing the infection of the definitive
hosts.A serious study of the organisation of cercariae
was long neglected and in spite of the numerous cercariae described by many investigators, it is
impossible to identify many of the species correctly.
It was only after the study of the cercariae of the
Schistosomidae infecting man that the study of the
morphology and histology of other cercariae was adequately undertaken, and authors began to attach importance to features of the internal organisation, which
may throw light on the structure of the adult. The
systems which have been carefully studied are the alimentary tract, the excretory and genital systems, and
specific differences were observed even among cercariae closely resembling one another. Certain
glands in the body have also been observed, and have
proved in many cases to play an important part in the
process of infection of the definitive host.If the external and internal structures of
a cercaria be considered, we may divide the characters into two sets:(A) 'Those structures such as the suckers,
the alimentary tract, the excretorysystem,
the genital system, and some
parenchymatous cells which form the
basis or are the miniatures of the
corresponding adult structures,(B) Those structures such as tails, spines,
processes, stylets, eye spots, salivary glands, cystogenous cells and
parenchymatous cells,which are purely
larval structures and are not carried
over to the adult. The structures
belonging to the former group are relatively well known but in the case
of the larval structures there is
much yet to be explained.What are termed salivary glands may have the
same structure but different functions in different
cases. The cystogenous cells are distinguishable
from parenchymatous cells by possessing larger nuclei
poor in chromatin, and cytoplasm which may contain obvious granules or may be faintly granular, but their
function is not always demonstrable. Lastly the
parenchymatous cells are indistinguishable from other
cells such as those surrounding the nerve ganglia,
those under the cuticle, which have received the
name of cuticular cells and from cells which are destined to give rise to other structures such as vitelline glands. Looss emphasized the fact that thesecells are at first indistinguishable cytologically
and maintained that many of these mesodermal cells
remain findifferentiated for a considerable time.
There is also reason to believe that some cells in
the parenchyma form the basis of other structures
such as the excretory system, for the collecting
ducts are not bounded by cellular walls, but are
merely lumina among certain cells. Certain other
parenchymatous cells both in the body and in the
tail of some cerc&riae are more vacuolated and distended and their function appears to be that of
buoyancy
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