Constrained Inverse Optimal Control with Application to a Human Manipulation Task

This paper presents an inverse optimal control methodology and its application to training a predictive model of human motor control from a manipulation task. It introduces a convex formulation for learning both objective function and constraints of an infinite-horizon constrained optimal control problem with nonlinear system dynamics. The inverse approach utilizes Bellman's principle of optimality to formulate the infinite-horizon optimal control problem as a shortest path problem and Lagrange multipliers to identify constraints. We highlight the key benefit of using the shortest path formulation, i.e., the possibility of training the predictive model with short and selected trajectory segments. The method is applied to training a predictive model of movements of a human subject from a manipulation task. The study indicates that individual human movements can be predicted with low error using an infinite-horizon optimal control problem with constraints on shoulder movement

Relating hygroscopicity and composition of organic aerosol particulate matter

A hygroscopicity tandem differential mobility analyzer (HTDMA) was used to measure the water uptake (hygroscopicity) of secondary organic aerosol (SOA) formed during the chemical and photochemical oxidation of several organic precursors in a smog chamber. Electron ionization mass spectra of the non-refractory submicron aerosol were simultaneously determined with an aerosol mass spectrometer (AMS), and correlations between the two different signals were investigated. SOA hygroscopicity was found to strongly correlate with the relative abundance of the ion signal m/z 44 expressed as a fraction of total organic signal (f44). m/z 44 is due mostly to the ion fragment CO2+ for all types of SOA systems studied, and has been previously shown to strongly correlate with organic O/C for ambient and chamber OA. The analysis was also performed on ambient OA from two field experiments at the remote site Jungfraujoch, and the megacity Mexico City, where similar results were found. A simple empirical linear relation between the hygroscopicity of OA at subsaturated RH, as given by the hygroscopic growth factor (GF) or "ϰorg" parameter, and f44 was determined and is given by ϰorg = 2.2 × f44 − 0.13. This approximation can be further verified and refined as the database for AMS and HTDMA measurements is constantly being expanded around the world. The use of this approximation could introduce an important simplification in the parameterization of hygroscopicity of OA in atmospheric models, since f44 is correlated with the photochemical age of an air mass

Relating hygroscopicity and composition of organic aerosol particulate matter

A hygroscopicity tandem differential mobility analyzer (HTDMA) was used to measure the water uptake (hygroscopicity) of secondary organic aerosol (SOA) formed during the chemical and photochemical oxidation of several organic precursors in a smog chamber. Electron ionization mass spectra of the non-refractory submicron aerosol were simultaneously determined with an aerosol mass spectrometer (AMS), and correlations between the two different signals were investigated. SOA hygroscopicity was found to strongly correlate with the relative abundance of the ion signal m/z 44 expressed as a fraction of total organic signal (f44). m/z 44 is due mostly to the ion fragment CO2+ for all types of SOA systems studied, and has been previously shown to strongly correlate with organic O/C for ambient and chamber OA. The analysis was also performed on ambient OA from two field experiments at the remote site Jungfraujoch, and the megacity Mexico City, where similar results were found. A simple empirical linear relation between the hygroscopicity of OA at subsaturated RH, as given by the hygroscopic growth factor (GF) or "κorg" parameter, and f44 was determined and is given by κorg=2.2×f44−0.13. This approximation can be further verified and refined as the database for AMS and HTDMA measurements is constantly being expanded around the world. The use of this approximation could introduce an important simplification in the parameterization of hygroscopicity of OA in atmospheric models, since f44 is correlated with the photochemical age of an air mass

Transmission Efficiency of an Aerodynamic Focusing Lens System: Comparison of Model Calculations and Laboratory Measurements for the Aerodyne Aerosol Mass Spectrometer

The size-dependent particle transmission efficiency of the aerodynamic lens system used in the Aerodyne Aerosol Mass Spectrometer (AMS) was investigated with computational fluid dynamics (CFD) calculations and experimental measurements. The CFD calculations revealed that the entire lens system, including the aerodynamic lens itself, the critical orifice which defines the operating lens pressure, and a valve assembly, needs to be considered. Previous calculations considered only the aerodynamic lens. The calculations also investigated the effect of operating the lens system at two different sampling pressures, 7.8 × 104 Pa (585 torr) and 1.0 × 105 Pa (760 torr). Experimental measurements of transmission efficiency were performed with size-selected diethyl hexyl sebacate (DEHS), NH4NO3, and NaNO3 particles on three different AMS instruments at two different ambient sampling pressures (7.8 × 104 Pa, 585 torr and 1.0 × 105 Pa, 760 torr). Comparisons of the measurements and the calculations showqualitative agreement, but there are significant deviations which are as yet unexplained. On the small size end (30 nm to 150 nm vacuum aerodynamic diameter), the measured transmission efficiency is lower than predicted. On the large size end (\u3e350 nm vacuum aerodynamic diameter

Loading-Dependent Elemental Composition of α-pinene SOA Particles

The chemical composition of secondary organic aerosol (SOA) particles, formed by the dark ozonolysis of α-pinene, was characterized by a high-resolution time-of-flight aerosol mass spectrometer. The experiments were conducted using a continuous-flow chamber, allowing the particle mass loading and chemical composition to be maintained for several days. The organic portion of the particle mass loading was varied from 0.5 to >140 μg/m3 by adjusting the concentration of reacted α-pinene from 0.9 to 91.1 ppbv. The mass spectra of the organic material changed with loading. For loadings below 5 μg/m3 the unit-mass-resolution m/z 44 (CO2+) signal intensity exceeded that of m/z 43 (predominantly C2H3O+), suggesting more oxygenated organic material at lower loadings. The composition varied more for lower loadings (0.5 to 15 μg/m3) compared to higher loadings (15 to >140 μg/m3). The high-resolution mass spectra showed that from >140 to 0.5 μg/m3 the mass percentage of fragments containing carbon and oxygen (CxHyOz+) monotonically increased from 48% to 54%. Correspondingly, the mass percentage of fragments representing CxHy+ decreased from 52% to 46%, and the atomic oxygen-to-carbon ratio increased from 0.29 to 0.45. The atomic ratios were accurately parameterized by a four-product basis set of decadal volatility (viz. 0.1, 1.0, 10, 100 μg/m3) employing products having empirical formulas of C1H1.32O0.48, C1H1.36O0.39, C1H1.57O0.24, and C1H1.76O0.14. These findings suggest considerable caution is warranted in the extrapolation of laboratory results that were obtained under conditions of relatively high loading (i.e., >15 μg/m3) to modeling applications relevant to the atmosphere, for which loadings of 0.1 to 20 μg/m3 are typical. For the lowest loadings, the particle mass spectra resembled observations reported in the literature for some atmospheric particles.Earth and Planetary Science

Viscous organic aerosol particles in the upper troposphere: diffusivity-controlled water uptake and ice nucleation?

Lienhard DM, Huisman AJ, Krieger UK, et al. Viscous organic aerosol particles in the upper troposphere: diffusivity-controlled water uptake and ice nucleation? Atmospheric Chemistry and Physics. 2015;15(23):13599-13613.New measurements of water diffusion in secondary organic aerosol (SOA) material produced by oxidation of alpha-pinene and in a number of organic/inorganic model mixtures (3-methylbutane-1,2,3-tricarboxylic acid (3-MBTCA), levoglucosan, levoglucosan/NH4HSO4, raffinose) are presented. These indicate that water diffusion coefficients are determined by several properties of the aerosol substance and cannot be inferred from the glass transition temperature or bouncing properties. Our results suggest that water diffusion in SOA particles is faster than often assumed and imposes no significant kinetic limitation on water uptake and release at temperatures above 220 K. The fast diffusion of water suggests that heterogeneous ice nucleation on a glassy core is very unlikely in these systems. At temperatures below 220 K, model simulations of SOA particles suggest that heterogeneous ice nucleation may occur in the immersion mode on glassy cores which remain embedded in a liquid shell when experiencing fast updraft velocities. The particles absorb significant quantities of water during these updrafts which plasticize their outer layers such that these layers equilibrate readily with the gas phase humidity before the homogeneous ice nucleation threshold is reached. Glass formation is thus unlikely to restrict homogeneous ice nucleation. Only under most extreme conditions near the very high tropical tropopause may the homogeneous ice nucleation rate coefficient be reduced as a consequence of slow condensed-phase water diffusion. Since the differences between the behavior limited or non limited by diffusion are small even at the very high tropical tropopause, condensed-phase water diffusivity is unlikely to have significant consequences on the direct climatic effects of SOA particles under tropospheric conditions

Observation of viscosity transition in alpha-pinene secondary organic aerosol

Under certain conditions, secondary organic aerosol (SOA) particles can exist in the atmosphere in an amorphous solid or semi-solid state. To determine their relevance to processes such as ice nucleation or chemistry occurring within particles requires knowledge of the temperature and relative humidity (RH) range for SOA to exist in these states. In the Cosmics Leaving Outdoor Droplets (CLOUD) experiment at The European Organisation for Nuclear Research (CERN), we deployed a new in situ optical method to detect the viscous state of alpha-pinene SOA particles and measured their transition from the amorphous highly viscous state to states of lower viscosity. The method is based on the depolarising properties of laboratory-produced non-spherical SOA particles and their transformation to non-depolarising spherical particles at relative humidities near the deliquescence point. We found that particles formed and grown in the chamber developed an asymmetric shape through coagulation. A transition to a spherical shape was observed as the RH was increased to between 35aEuro-% at -10aEuro-A degrees C and 80aEuro-% at -38aEuro-A degrees C, confirming previous calculations of the viscosity-transition conditions. Consequently, alpha-pinene SOA particles exist in a viscous state over a wide range of ambient conditions, including the cirrus region of the free troposphere. This has implications for the physical, chemical, and ice-nucleation properties of SOA and SOA-coated particles in the atmosphere.Peer reviewe

Observation of viscosity transition in α-pinene secondary organic aerosol

Under certain conditions, secondary organic aerosol (SOA) particles can exist in the atmosphere in an amorphous solid or semi-solid state. To determine their relevance to processes such as ice nucleation or chemistry occurring within particles requires knowledge of the temperature and relative humidity (RH) range for SOA to exist in these states. In the Cosmics Leaving Outdoor Droplets (CLOUD) experiment at The European Organisation for Nuclear Research (CERN), we deployed a new in situ optical method to detect the viscous state of α-pinene SOA particles and measured their transition from the amorphous highly viscous state to states of lower viscosity. The method is based on the depolarising properties of laboratory-produced non-spherical SOA particles and their transformation to non-depolarising spherical particles at relative humidities near the deliquescence point. We found that particles formed and grown in the chamber developed an asymmetric shape through coagulation. A transition to a spherical shape was observed as the RH was increased to between 35 % at −10 °C and 80 % at −38 °C, confirming previous calculations of the viscosity-transition conditions. Consequently, α-pinene SOA particles exist in a viscous state over a wide range of ambient conditions, including the cirrus region of the free troposphere. This has implications for the physical, chemical, and ice-nucleation properties of SOA and SOA-coated particles in the atmosphere