Arbitrary Steady-State Solutions with the K-epsilon Model

Widely-used forms of the K-epsilon turbulence model are shown to yield arbitrary steady-state converged solutions that are highly dependent on numerical considerations such as initial conditions and solution procedure. These solutions contain pseudo-laminar regions of varying size. By applying a nullcline analysis to the equation set, it is possible to clearly demonstrate the reasons for the anomalous behavior. In summary, the degenerate solution acts as a stable fixed point under certain conditions, causing the numerical method to converge there. The analysis also suggests a methodology for preventing the anomalous behavior in steady-state computations

Impact of Escherichia coli on Urine Citrate and Urease-Induced Crystallization

Escherichia coli (E. coli) is usually not a urease producer. It is, however, often cultured in urinary phosphate containing calculi including ammonium magnesium phosphate stones. This suggests the possibility that E. coli might be involved in stone forming process. The effect of E. coli on urine citrate and urease-induced crystallization in human urine has been studied in vitro. E. coli was found to strongly reduce urine citrate (after 48 hours). In the E. coli inoculated samples, the urease-induced crystallization was increased. There was a strong correlation, r = 0.8, between the citrate decrease and the increase in calcium precipitation. The results indicate that E. coli and the reduced urine citrate influences urease-induced crystallization in vitro

The dissipative linear Boltzmann equation for hard spheres

We prove the existence and uniqueness of an equilibrium state with unit mass to the dissipative linear Boltzmann equation with hard--spheres collision kernel describing inelastic interactions of a gas particles with a fixed background. The equilibrium state is a universal Maxwellian distribution function with the same velocity as field particles and with a non--zero temperature lower than the background one, which depends on the details of the binary collision. Thanks to the H--theorem we then prove strong convergence of the solution to the Boltzmann equation towards the equilibrium.Comment: 17 pages, submitted to Journal of Statistical Physic

SOTER on ROS: A Run-Time Assurance Framework on the Robot Operating System

We present an implementation of SOTER, a run-time assurance framework for building safe distributed mobile robotic (DMR) systems, on top of the Robot Operating System (ROS). The safety of DMR systems cannot always be guaranteed at design time, especially when complex, off-the-shelf components are used that cannot be verified easily. SOTER addresses this by providing a language-based approach for run-time assurance for DMR systems. SOTER implements the reactive robotic software using the language P, a domain-specific language designed for implementing asynchronous event-driven systems, along with an integrated run-time assurance system that allows programmers to use unfortified components but still provide safety guarantees. We describe an implementation of SOTER for ROS and demonstrate its efficacy using a multi-robot surveillance case study, with multiple run-time assurance modules. Through rigorous simulation, we show that SOTER enabled systems ensure safety, even when using unknown and untrusted components.Comment: 20th International Conference on Runtime Verificatio