13,360 research outputs found
Improving the energy efficiency of autonomous underwater vehicles by learning to model disturbances
Energy efficiency is one of the main challenges for long-term autonomy of AUVs (Autonomous Underwater Vehicles). We propose a novel approach for improving the energy efficiency of AUV controllers based on the ability to learn which external disturbances can safely be ignored. The proposed learning approach uses adaptive oscillators that are able to learn online the frequency, amplitude and phase of zero-mean periodic external disturbances. Such disturbances occur naturally in open water due to waves, currents, and gravity, but also can be caused by the dynamics and hydrodynamics of the AUV itself. We formulate the theoretical basis of the approach, and demonstrate its abilities on a number of input signals. Further experimental evaluation is conducted using a dynamic model of the Girona 500 AUV in simulation on two important underwater scenarios: hovering and trajectory tracking. The proposed approach shows significant energy-saving capabilities while at the same time maintaining high controller gains. The approach is generic and applicable not only for AUV control, but also for other type of control where periodic disturbances exist and could be accounted for by the controller. © 2013 IEEE
The Limits of Quintessence
We present evidence that the simplest particle-physics scalar-field models of
dynamical dark energy can be separated into distinct behaviors based on the
acceleration or deceleration of the field as it evolves down its potential
towards a zero minimum. We show that these models occupy narrow regions in the
phase-plane of w and w', the dark energy equation-of-state and its
time-derivative in units of the Hubble time. Restricting an energy scale of the
dark energy microphysics limits how closely a scalar field can resemble a
cosmological constant. These results, indicating a desired measurement
resolution of order \sigma(w')\approx (1+w), define firm targets for
observational tests of the physics of dark energy.Comment: 4 pages, 2 figure
Two-fluid matter-quintessence FLRW models: energy transfer and the equation of state of the universe
Recent observations support the view that the universe is described by a FLRW
model with , , and at the present epoch. There are several theoretical suggestions for
the cosmological component and for the particular form of the energy
transfer between this dark energy and matter. This gives a strong motive for a
systematic study of general properties of two-fluid FLRW models. We consider a
combination of one perfect fluid, which is quintessence with negative pressure
(), and another perfect fluid, which is a mixture of
radiation and/or matter components with positive pressure (), which define the associated one-fluid model (). We introduce a useful classification which contains 4 classes of
models defined by the presence or absence of energy transfer and by the
stationarity ( and ) or/and non stationarity (
or time dependent) of the equations of state. It is shown that, for
given and , the energy transfer defines and, therefore, the
total gravitating mass and dynamics of the model. We study important examples
of two-fluid FLRW models within the new classification. The behaviour of the
energy content, gravitating mass, pressure, and the energy transfer are given
as functions of the scale factor. We point out three characteristic scales,
, and , which separate periods of time in which
quintessence energy, pressure and gravitating mass dominate. Each sequence of
the scales defines one of 6 evolution types
On big rip singularities
In this comment we discuss big rip singularities occurring in typical phantom
models by violation of the weak energy condition. After that, we compare them
with future late-time singularities arising in models where the scale factor
ends in a constant value and there is no violation of the strong energy
condition. In phantom models the equation of state is well defined along the
whole evolution, even at the big rip. However, both the pressure and the energy
density of the phantom field diverge. In contrast, in the second kind of model
the equation of state is not defined at the big rip because the pressure bursts
at a finite value of the energy density.Comment: 8 page
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