Hyla gratiosa

Number of Pages: 2Integrative BiologyGeological Science

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 $\Omega_m^0 \approx 0.3$, $\Omega_{\Lambda}^0 \approx 0.7$, and $w \leq -1/3$ at the present epoch. There are several theoretical suggestions for the cosmological $\Lambda$ 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 ($p_Q = w\epsilon_Q$), and another perfect fluid, which is a mixture of radiation and/or matter components with positive pressure ($p = \beta \epsilon_m$), which define the associated one-fluid model ($p = \gamma \epsilon$). We introduce a useful classification which contains 4 classes of models defined by the presence or absence of energy transfer and by the stationarity ($w = const.$ and $\beta = const.$) or/and non stationarity ($w$ or $\beta$ time dependent) of the equations of state. It is shown that, for given $w$ and $\beta$, the energy transfer defines $\gamma$ 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, $a_E$, $a_{\cal P}$ and $a_{\cal M}$, 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