An IMU and USBL-aided buoy for underwater localization

Autonomous underwater navigation remains, as of today, a challenging task. The marine environment limits the number of sensors available for precise localization, hence Au- tonomous Underwater Vehicles (AUVs) usually rely on inertial and velocity sensors to obtain an estimate of their position either through dead reckoning or by means of more sophisticated navigation filters (such as Kalman filters and its extensions [1]). On the other hand, acoustic localization makes possible the determination of a reliable vehicles pose estimate exploiting suit- able acoustic modems [3]; such estimate can even be integrated within the navigation filter of the vehicle in order to increase its accuracy. In this paper, the authors discuss the development and the performance of an Ultra-Short BaseLine (USBL)-aided buoy to improve the localization of underwater vehicles. At first, the components and the physical realization of the buoy will be discussed; then, the procedure to compute the position of the target will be analyzed. The following part of the paper will be focused on the development of a recursive state estimation algorithm to process the measurements computed by the buoy; specifically, Extended Kalman Filter [4] has been adopted to deal with the nonlinearities of the sensors housed on the buoy. A validation of the measurement filtering through experimental tests is also proposed

An IMU and USBL-aided buoy for underwater localization

Autonomous underwater navigation remains, as of today, a challenging task. The marine environment limits the number of sensors available for precise localization, hence Au- tonomous Underwater Vehicles (AUVs) usually rely on inertial and velocity sensors to obtain an estimate of their position either through dead reckoning or by means of more sophisticated navigation filters (such as Kalman filters and its extensions [1]). On the other hand, acoustic localization makes possible the determination of a reliable vehicles pose estimate exploiting suit- able acoustic modems [3]; such estimate can even be integrated within the navigation filter of the vehicle in order to increase its accuracy. In this paper, the authors discuss the development and the performance of an Ultra-Short BaseLine (USBL)-aided buoy to improve the localization of underwater vehicles. At first, the components and the physical realization of the buoy will be discussed; then, the procedure to compute the position of the target will be analyzed. The following part of the paper will be focused on the development of a recursive state estimation algorithm to process the measurements computed by the buoy; specifically, Extended Kalman Filter [4] has been adopted to deal with the nonlinearities of the sensors housed on the buoy. A validation of the measurement filtering through experimental tests is also proposed

Probing the statistical decay and alpha-clustering effects in 12c+12c and 14n+10b reactions

An experimental campaign has been undertaken at INFN Laboratori Nazionali di Legnaro, Italy, in order to progress in our understanding of the statistical properties of light nuclei at excitation energies above particle emission threshold, by measuring exclusive data from fusion-evaporation reactions. A first reaction 12C+12C at 7.9 AMeV beam energy has been measured, using the GARFIELD+Ring Counter experimental setup. Fusion-evaporation events have been exclusively selected. The comparison to a dedicated Hauser-Feshbach calculation allows us to give constraints on the nuclear level density at high excitation energy for light systems ranging from C up to Mg. Out-of-equilibrium emission has been evidenced and attributed both to entrance channel effects favoured by the cluster nature of reaction partners and, in more dissipative events, to the persistence of cluster correlations well above the 24Mg threshold for 6 alphas decay. The 24Mg compound nucleus has been studied with a new measurement 14N + 10B at 5.7 AMeV. The comparison between the two datasets would allow us to further constrain the level density of light nuclei. Deviations from a statistical behaviour can be analyzed to get information on nuclear clustering.Comment: 4 pages, 2 figures, Contribution to conference proceedings of the 25th International Nuclear Physics Conference (INPC 2013

Micro-beam and pulsed laser beam techniques for the micro-fabrication of diamond surface and bulk structures

Micro-fabrication in diamond is involved in a wide set of emerging technologies, exploiting the exceptional characteristics of diamond for application in bio-physics, photonics, radiation detection. Micro ion-beam irradiation and pulsed laser irradiation are complementary techniques, which permit the implementation of complex geometries, by modification and functionalization of surface and/or bulk material, modifying the optical, electrical and mechanical characteristics of the material. In this article we summarize the work done in Florence (Italy) concerning ion beam and pulsed laser beam micro-fabrication in diamond.Comment: 14 pages, 5 figure

Examination of isospin effects in multi-dimensional Langevin fission dynamics

Abstract One-dimensional and three-dimensional dynamical fission calculations based on Langevin equations are performed for the compound nuclei 194 Pb, 200 Pb, 206 Pb, 182 Hg, and 204 Hg to investigate the influence of the compound nucleus isospin on the prescission particle multiplicities and on the fission fragment mass–energy distribution. It is found that the prescission neutron, proton, and alpha particle multiplicities have approximately the same sensitivity to the dissipation strength for a given nucleus. This is at variance with conclusions of recent papers. The sensitivity of the calculated prescission particle multiplicities to the dissipation strength becomes higher with decreasing isospin of fissioning compound nucleus, and the increase of prescission particle multiplicities could reach 200%, when the reduction coefficient of one-body viscosity k s increases from 0.1 to 1, for the most neutron deficient nuclei considered. The variances of fission fragment mass and kinetic energy distributions are less sensitive to the change of dissipation strength than the prescission light particle multiplicities. A comparison to experimental data concerning 200 Pb nucleus is also presented

Examination of isospin effects in multi-dimensional Langevin fission dynamics

One-dimensional and three-dimensional dynamical fission calculations based on Langevin equations are performed for the compound nuclei Pb-194, Pb-200, Pb-206, Hg-182, and Hg-204 to investigate the influence of the compound nucleus isospin on the prescission particle multiplicities and oil the fission fragment mass-energy distribution It is found that the prescission neutron, proton, and alpha particle multiplicities have approximately the same sensitivity to the dissipation strength for a given nucleus This is at variance with Conclusions of recent papers The sensitivity of the calculated prescission particle Multiplicities to the dissipation strength becomes higher with decreasing isospin of fissioning compound nucleus, and the increase of prescission particle multiplicities could reach 200%, when the reduction coefficient of one-body viscosity k(s) increases from 0 1 to 1, for the most neutron deficient nuclei considered The variances of fission fragment mass and kinetic energy distributions are less sensitive to the change of dissipation strength than the prescission light particle multiplicities A comparison to experimental data concerning Pb-200 nucleus is also presented

Clustering effects in 48Cr composite nuclei produced via 24Mg + 24Mg reaction

In the framework of studying clustering effects in N=Z light nuclei, an experiment was carried out to get information on the properties of the 48 Cr composite nuclei produced via the 24 Mg +24 Mg reaction. In particular, the study regards the 48 Cr at 60 MeV of excitation energy where a resonance with a narrow width (170 KeV) has been found by measuring the elastic and anelastic channels. To determine the deformation of this state, evaporative Light Charged Particles (LCP) are measured and compared to the Statistical Model (SM) predictions, which are very sensitive to nuclear deformation. The experiment was performed at LNL using the 8ĒLP apparatus to select LCPs and a Parallel Plate Avalanche Counter (PPAC) system to detect the Evaporation Residues (ER). Preliminary results on the measurements of ER – LCP and LCP – LCP angular correlations are presented which indicate the presence of a very large deformation.The analysis will proceed with the extraction of the LCP energy spectra and with the angular correlations for high multiplicity channels to determine the deformation