Mobile robot localization using robust extended H-infinity filtering

This is the author's accepted manuscript. The final published article is available from the link below. Copyright @ 2009 Institution of Mechanical Engineers.In this paper, a novel methodology is provided for accurate localization of a mobile robot using autonomous navigation based on internal and external sensors. A new robust extended H∞ filter is developed to deal with the non-linear kinematic model of the robot and the non-linear distance measurements, together with process and measurement noises. The proposed filter relies on a two-step prediction-correction structure, which is similar to a Kalman filter. Simulations are provided to demonstrate the effectiveness of the proposed method.EPSRC, the Nuffield Foundation, and the Alexander von Humboldt Foundation

A Study of a Reimaging System for Correcting Large-Scale Phase Errors in Reflector Antennas

This thesis investigates a new approach for dealing with the adverse effects of large-scale deformations in the main reflector of large Cassegrain antennas. In this method, the incident aperture distribution is imaged onto a tertiary focal plane. This is accomplished by using an optical imaging system consisting of a lens mounted behind the Cassegrain focus of the antenna. The lens forms a real image of the product of the incident aperture distribution and the pupil function of the antenna. The pupil function describes the profile of the main reflector of the antenna. If the incident aperture distribution is a plane wave, a real image of the pupil function of the main reflector will be produced at the focal plane of the image lens. Any imperfections in the main reflector will be imaged onto the tertiary focal plane but over a smaller area as defined by the magnification of the system. In principle, an active correcting element placed into the tertiary focal plane could compensate for these errors, thus preserving the maximum efficiency of the antenna. Experimental verification of this principle was carried out in the lab using a dielectric lens 152.4mm in diameter. Phase perturbations were simulated by placing dielectric shims in the incident aperture plane. The phase of these shims in most cases was measured to within 10 degrees in the image plane. This degree of accuracy is found to be quite adequate for correcting large-scale errors in the main reflector of the antenna

The increasing temperature as driving force for spatial distribution patterns of Parapenaeus longirostris (Lucas 1846) in the Strait of Sicily (Central Mediterranean Sea)

The deep-water rose shrimp Parapenaeus longirostris (DPS), a demersal decapod representing the most important component of crustacean landings in the Mediterranean Sea, has been suggested as a species that may exhibit temperature-driven changes in the spatio-temporal dynamics. Considering that Mediterranean waters are warming up faster than oceans, understanding the relationships of DPS populations with temperature variations and the related changes in spatial patterns is absolutely key for its management. Using a long-term dataset covering 13-years from scientific surveys (International Bottom Trawl-Surveys in the Mediterranean, MEDITS; Italian national trawl surveys, GRUND) in the Strait of Sicily (central Mediterranean Sea), the annual DPS spatial patches and the depth distribution were investigated using geostatistical and quotient analyses. The patches dimension and depth range occupation were then related to sea temperature by using linear regression analysis. Results showed that both the dimension of DPS spatial patches and the depth distribution range occupied increased concurrently with temperature. Our findings corroborate that the ongoing sea warming widen areas suitable for this species and in which it can expand its spatial distribution

A Probabilistic Approach for the Optimal Sizing of Storage Devices to Increase the Penetration of Plug-in Electric Vehicles in Direct Current Networks

The growing diffusion of electric vehicles connected to distribution networks for charging purposes is an ongoing problem that utilities must deal with. Direct current networks and storage devices have emerged as a feasible means of satisfying the expected increases in the numbers of vehicles while preserving the effective operation of the network. In this paper, an innovative probabilistic methodology is proposed for the optimal sizing of electrical storage devices with the aim of maximizing the penetration of plug-in electric vehicles while preserving efficient and effective operation of the network. The proposed methodology is based on an analytical solution of the problem concerning the power losses minimization in distribution networks equipped with storage devices. The closed-form expression that was obtained is included in a Monte Carlo simulation procedure aimed at handling the uncertainties in loads and renewable generation units. The results of several numerical applications are reported and discussed to demonstrate the validity of the proposed solution. Also, different penetration levels of generation units were analyzed in order to focus on the importance of renewable generation

Synthesis and characterization of squaramide-based supramolecular polymers

Supramolecular polymers are class of materials that are formed by non-covalent interactions such as hydrogen bonding, π-π interactions, electrostatic interactions and the hydrophobic effect. The design and development of supramolecular polymers in aqueous solution gained a particular attention for the wide variety of applications in the biomedical field. In water, the self-assembly of well-defined nanostructures is mainly determined by the combination of hydrophobic effect with hydrogen bonding interactions in the monomer design. When squaramide-based monomer self-assemble, the formation of stable nanostructures in water is determined by the formation of directional hydrogen bonds which are strengthened by the partial aromatic character of the squaramide. In this thesis, the self-assembly properties of a panel of squaramide-based monomers is examined in aqueous solution through modulating the monomer chemical structure, co-assembly and introduction of light responsive chemistries. Supramolecular & Biomaterials Chemistr

Development of the ALMA-North America Sideband-Separating SIS Mixers

As the Atacama Large Millimeter/submillimeter Array (ALMA) nears completion, 73 dual-polarization receivers have been delivered for each of Bands 3 (84-116 GHz) and 6 (211-275 GHz). The receivers use sideband-separating superconducting Nb/Al-AlOx/Nb tunnel-junction (SIS) mixers, developed for ALMA to suppress atmospheric noise in the image band. The mixers were designed taking into account dynamic range, input return loss, and signal-to-image conversion (which can be significant in SIS mixers). Typical SSB receiver noise temperatures in Bands 3 and 6 are 30 K and 60 K, resp., and the image rejection is typically 15 dB.Comment: Submitted to IEEE Trans. Microwave Theory Tech., June 2013. 10 pages, 21 figure

Reversibility and Durability as Potential Indicators for Circular Building Technologies

According to the Circularity Gap Report 2020, a mere 8.6% of the global economy was circular in 2019. The Global Status Report 2018 declares that building construction and operations accounted for 36% of global final energy use and 39% of energy–related carbon dioxide (CO2) emissions. The Paris Agreement demands that the building and construction sector decarbonizes globally by 2050. This requires strategies that minimize the environmental impact of buildings and practices extending the lifecycle of their constituents within a circular resource flow. To ensure that effective measures are applied, a suitable method is needed to assess compliance in materials, processes, and design strategies within circular economy principles. The study’s assumption is that synthetic and reliable indicators for that purpose could be based on reversibility and durability features. The paper provides an overview of building design issues within the circular economy perspective, highlighting the difficulty in finding circular technologies which are suitable to enhance buildings’ service life while closing material loops. The results identify reversibility and durability as potential indicators for assessing circular building technologies. The next research stage aims to further develop the rating of circularity requirements for both building technologies and entire buildings

Discharge coefficients for sluice gates set in weirs at different ustream wall inclination

Laboratory experiments and numerical simulations are performed to measure discharge coecients in the case of a gate located on the upstream wall of a weir for flood storage. The eect of the gate slope and the side contraction have been taken into account. The study was first performed experimentally, when three series of tests were carried out with (and without) a broad crested weir located under the gate, at dierent values of the inclination angle of the weir upstream wall, and at dierent values of the shape ratio and the relative opening. In order to provide useful suggestions for those involved in sluice gate construction and management, three equations were obtained based on multiple regression, relating the discharge coecient to dierent parameters that characterize the phenomenon at hand, separating the case when the broad-crested weir was present. Then numerical simulations were executed by means of the Reynolds-averaged Navier–Stokes (RANS) equations with the k-" turbulence closure model and in conjunction with the volume of fluid (VOF) method, to validate the numerical results against the experimental and to possibly investigate phenomena not caught by the experimental measurements. Simulated discharges were very close to the observed ones showing that the proposed three-dimensional numerical procedure is a favorable option to correctly reproduce the phenomenon

The Power of Negative Reasoning

Semialgebraic proof systems have been studied extensively in proof complexity since the late 1990s to understand the power of Gröbner basis computations, linear and semidefinite programming hierarchies, and other methods. Such proof systems are defined alternately with only the original variables of the problem and with special formal variables for positive and negative literals, but there seems to have been no study how these different definitions affect the power of the proof systems. We show for Nullstellensatz, polynomial calculus, Sherali-Adams, and sums-of-squares that adding formal variables for negative literals makes the proof systems exponentially stronger, with respect to the number of terms in the proofs. These separations are witnessed by CNF formulas that are easy for resolution, which establishes that polynomial calculus, Sherali-Adams, and sums-of-squares cannot efficiently simulate resolution without having access to variables for negative literals

Flow Resistance in Open Channel Due to Vegetation at Reach Scale: A Review

Vegetation on the banks and flooding areas of watercourses significantly affects energy losses. To take the latter into account, computational models make use of resistance coefficients based on the evaluation of bed and walls roughness besides the resistance to flow offered by vegetation. This paper, after summarizing the classical approaches based on descriptions and pictures, considers the recent advancements related to the analytical methods relative both to rigid and flexible vegetation. In particular, emergent rigid vegetation is first analyzed by focusing on the methods for determining the drag coefficient, then submerged rigid vegetation is analyzed, highlighting briefly the principles on which the different models are based and recalling the comparisons made in the literature. Then, the models used in the case of both emergent and submerged rigid vegetation are highlighted. As to flexible vegetation, the paper reminds first the flow conditions that cause the vegetation to lay on the channel bed, and then the classical resistance laws that were developed for the design of irrigation canals. The most recent developments in the case of submerged and emergent flexible vegetation are then presented. Since turbulence studies should be considered as the basis of flow resistance, even though the path toward practical use is still long, the new developments in the field of 3D numerical methods are briefly reviewed, presently used to assess the characteristics of turbulence and the transport of sediments and pollutants. The use of remote sensing to map riparian vegetation and estimating biomechanical parameters is briefly analyzed. Finally, some applications are presented, aimed at highlighting, in real cases, the influence exerted by vegetation on water depth and maintenance interventions