Design, Modeling, and Experimental Drag Characterization of a Bio-Inspired, Shape-Adapting Underwater Vehicle

2018 ◽  
Author(s):  
Levi D. DeVries ◽  
Michael D. M. Kutzer ◽  
Rebecca E. Richmond ◽  
Archie C. Bass
Keyword(s):  
Spatial Scales ◽  
Autonomous Underwater Vehicles ◽  
Major Axis ◽  
Underwater Vehicle ◽  
Great Promise ◽  
Hydrodynamic Drag ◽  
Control Input ◽  
Semi Major Axis ◽  
Generative Modeling

Autonomous underwater vehicles (AUVs) have shown great promise in fulfilling surveillance, scavenging, and monitoring tasks, but can be hindered in expansive, cluttered or obstacle ridden environments. Traditional gliders and streamlined AUVs are designed for long term operational efficiency in expansive environments, but are hindered in cluttered spaces due to their shape and control authority; agile AUVs can penetrate cluttered or sensitive environments but are limited in operational endurance at large spatial scales. This paper presents the prototype testbed design, modeling, and experimental hydrodynamic drag characterization of a novel self-propelled underwater vehicle capable of actuating its shape morphology. The vehicle prototype incorporates flexible, buckled fiberglass ribs to ensure a rigid shape that can be actuated by modulating the length of the semi-major axis. Tools from generative modeling are used to represent the vehicle shape by using a single control input actuating the vehicles length-to-diameter ratio. By actuating the length and width characteristics of the vehicle’s shape to produce a desired drag profile, we derive the feasible speeds achievable by shape actuation control. Tow-tank experiments with an experimental proto-type suggest shape actuation can be used to manipulate the drag by a factor between 2.15 and 5.8 depending on the vehicle’s operating speed.

scholarly journals Hull Shape Actuation for Speed Regulation in an Underwater Vehicle

2019 ◽  
Vol 12 (1) ◽  
Author(s):  
Levi DeVries ◽  
Michael D. M. Kutzer ◽  
Archie Bass ◽  
Rebecca Richmond
Keyword(s):  
Spatial Scales ◽  
Autonomous Underwater Vehicles ◽  
Major Axis ◽  
Great Promise ◽  
Control Input ◽  
Vehicle Speed ◽  
Semi Major Axis ◽  
Modeling And Control ◽  
Speed Regulation ◽  
And Control

Abstract Autonomous underwater vehicles (AUVs) have shown great promise in fulfilling surveillance, scavenging, and monitoring tasks. Traditional gliders and streamlined AUVs are designed for long-term operational efficiency in expansive environments but are limited in cluttered spaces due to their shape and control authority; agile AUVs can penetrate cluttered or sensitive environments but are limited in operational endurance at large spatial scales. This paper presents the dynamic modeling and control design of an underwater hull capable of actuating its shape morphology. The prototype hull incorporates flexible, buckled fiberglass ribs to ensure a rigid shape that is actuated by modulating the length of the body’s semi-major axis. We represent the vehicle shape using a single control input actuating the vehicle’s length-to-diameter ratio. Hydrodynamic modeling of the flexible hull suggests that dynamic shape actuation can modulate the mass and drag properties of the hull to improve control of the vehicle’s forward speed. Using tools from nonlinear control theory, this paper presents the derivation of a shape-actuating autonomous control algorithm regulating the vehicle speed to a time-varying reference speed, subject to the actuator limits. The theoretical control results are illustrated using numerical simulations of the vehicle model.

scholarly journals Extended photometric survey of near-Earth objects

2020 ◽  
Vol 644 ◽  
pp. A23
Author(s):  
S. Ieva ◽  
E. Dotto ◽  
E. Mazzotta Epifani ◽  
D. Perna ◽  
C. Fanasca ◽  
...  
Keyword(s):  
Major Axis ◽  
Semi Major Axis ◽  
Yarkovsky Effect ◽  
La Palma ◽  
Physical Information ◽  
Interesting Correlation ◽  
Rapid Characterization ◽  
First Time ◽  
Near Earth Objects

Context. The near-Earth objects (NEOs), whose proximity makes them the most accessible bodies in the Solar System, allow us to sample asteroids from tens of kilometers down to objects of a few meters in size. However, while the physical properties for the largest bodies are mostly known, we have very little physical information regarding the small NEOs. These objects today represent the overall majority among the ~2500 new discoveries each year, but they are usually only bright enough to be observable during their close approaches. Aims. Our aim was to extend our survey that started in 2015 on the NEO population, using ground-based observations to characterize the fainter (and typically smaller) NEOs observable each night. Methods. We performed BVRIz photometry of NEOs, making use of the DOLORES instrument at the Telescopio Nazionale Galileo (TNG, La Palma, Spain) and the Asiago Schmidt telescope (Italy), in order to derive visible color indexes and the taxonomic classification for each target in our sample. Results. We taxonomically classified 51 new NEOs for the first time. Together with data obtained in our previous work and collected by other surveys available online, we analyzed an extended sample of 1081 individual NEOs. While the overall majority of them belong to the S-complex, our analysis of the taxonomic distribution found a larger contribution for dark bodies going toward larger H, suggesting that they could be more abundant among the fainter NEOs. Moreover, we find an interesting correlation between semi-major axis and diameter, which could be in part related to the Yarkovsky effect. Rapid characterization of the fainter NEO population shortly after their discovery will be crucial in the future, before those bodies become too faint to be observed, or lost forever.

scholarly journals A Self-triggered Position Based Visual Servoing Model Predictive Control Scheme for Underwater Robotic Vehicles

Machines ◽  
2020 ◽  
Vol 8 (2) ◽  
pp. 33 ◽  
Author(s):  
Shahab Heshmati-alamdari ◽  
Alina Eqtami ◽  
George C. Karras ◽  
Dimos V. Dimarogonas ◽  
Kostas J. Kyriakopoulos
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Visual Servoing ◽  
Autonomous Underwater Vehicles ◽  
Input Saturation ◽  
Underwater Vehicle ◽  
Tracking Algorithm ◽  
Stability And Convergence ◽  
Control Input ◽  
Non Linear

An efficient position based visual sevroing control approach for Autonomous Underwater Vehicles (AUVs) by employing Non-linear Model Predictive Control (N-MPC) is designed and presented in this work. In the proposed scheme, a mechanism is incorporated within the vision-based controller that determines when the Visual Tracking Algorithm (VTA) should be activated and new control inputs should be calculated. More specifically, the control loop does not close periodically, i.e., between two consecutive activations (triggering instants), the control inputs calculated by the N-MPC at the previous triggering time instant are applied to the underwater robot in an open-loop mode. This results in a significantly smaller number of requested measurements from the vision tracking algorithm, as well as less frequent computations of the non-linear predictive control law. This results in a reduction in processing time as well as energy consumption and, therefore, increases the accuracy and autonomy of the Autonomous Underwater Vehicle. The latter is of paramount importance for persistent underwater inspection tasks. Moreover, the Field of View constraints (FoV), control input saturation, the kinematic limitations due to the underactuated degree of freedom in sway direction, and the effect of the model uncertainties as well as external disturbances have been considered during the control design. In addition, the stability and convergence of the closed-loop system has been guaranteed analytically. Finally, the efficiency and performance of the proposed vision-based control framework is demonstrated through a comparative real-time experimental study while using a small underwater vehicle.

Detection and Characterization of earth-like Planets

1997 ◽  
Vol 161 ◽  
pp. 299-311 ◽  
Author(s):  
Jean Marie Mariotti ◽  
Alain Léger ◽  
Bertrand Mennesson ◽  
Marc Ollivier
Keyword(s):  
Direct Detection ◽  
Contrast Ratio ◽  
Angular Size ◽  
Physical Nature ◽  
Major Axis ◽  
Infrared Emission ◽  
Space Technology ◽  
Semi Major Axis ◽  
Earth Like Planets ◽  
Visible Wavelengths

AbstractIndirect methods of detection of exo-planets (by radial velocity, astrometry, occultations,...) have revealed recently the first cases of exo-planets, and will in the near future expand our knowledge of these systems. They will provide statistical informations on the dynamical parameters: semi-major axis, eccentricities, inclinations,... But the physical nature of these planets will remain mostly unknown. Only for the larger ones (exo-Jupiters), an estimate of the mass will be accessible. To characterize in more details Earth-like exo-planets, direct detection (i.e., direct observation of photons from the planet) is required. This is a much more challenging observational program. The exo-planets are extremely faint with respect to their star: the contrast ratio is about 10−10at visible wavelengths. Also the angular size of the apparent orbit is small, typically 0.1 second of arc. While the first point calls for observations in the infrared (where the contrast goes up to 10−7) and with a coronograph, the latter implies using an interferometer. Several space projects combining these techniques have been recently proposed. They aim at surveying a few hundreds of nearby single solar-like stars in search for Earth-like planets, and at performing a low resolution spectroscopic analysis of their infrared emission in order to reveal the presence in the atmosphere of the planet of CO H2O and O3. The latter is a good tracer of the presence of oxygen which could be, like on our Earth, released by biological activity. Although extremely ambitious, these projects could be realized using space technology either already available or in development for others missions. They could be built and launched during the first decades on the next century.

scholarly journals Design, Construction, and Control for an Underwater Vehicle Type Sepiida

Robotica ◽  
2020 ◽  
pp. 1-18
Author(s):  
M. Garcia ◽  
P. Castillo ◽  
E. Campos ◽  
R. Lozano
Keyword(s):  
Embedded System ◽  
Closed Loop ◽  
Underwater Vehicle ◽  
Mathematical Representation ◽  
Closed Loop System ◽  
Vehicle Type ◽  
Mathematical Equations ◽  
And Control ◽  
Design Construction

SUMMARY A novel underwater vehicle configuration with an operating principle as the Sepiida animal is presented and developed in this paper. The mathematical equations describing the movements of the vehicle are obtained using the Newton–Euler approach. An analysis of the dynamic model is done for control purposes. A prototype and its embedded system are developed for validating analytically and experimentally the proposed mathematical representation. A real-time characterization of one mass is done to relate the pitch angle with the radio of displacement of the mass. In addition, first validation of the closed-loop system is done using a linear controller.

scholarly journals Clonal approaches to understanding the impact of mutations on hematologic disease development

Blood ◽  
2019 ◽  
Vol 133 (13) ◽  
pp. 1436-1445 ◽  
Author(s):  
Jyoti Nangalia ◽  
Emily Mitchell ◽  
Anthony R. Green
Keyword(s):  
Somatic Mutations ◽  
Clonal Selection ◽  
Single Cells ◽  
Driver Mutations ◽  
Great Promise ◽  
Tumor Evolution ◽  
Disease Development ◽  
Hematopoietic Tissue ◽  
The Impact

Abstract Interrogation of hematopoietic tissue at the clonal level has a rich history spanning over 50 years, and has provided critical insights into both normal and malignant hematopoiesis. Characterization of chromosomes identified some of the first genetic links to cancer with the discovery of chromosomal translocations in association with many hematological neoplasms. The unique accessibility of hematopoietic tissue and the ability to clonally expand hematopoietic progenitors in vitro has provided fundamental insights into the cellular hierarchy of normal hematopoiesis, as well as the functional impact of driver mutations in disease. Transplantation assays in murine models have enabled cellular assessment of the functional consequences of somatic mutations in vivo. Most recently, next-generation sequencing–based assays have shown great promise in allowing multi-“omic” characterization of single cells. Here, we review how clonal approaches have advanced our understanding of disease development, focusing on the acquisition of somatic mutations, clonal selection, driver mutation cooperation, and tumor evolution.

scholarly journals Some Special Types of Orbits around Jupiter

Aerospace ◽  
2021 ◽  
Vol 8 (7) ◽  
pp. 183
Author(s):  
Yongjie Liu ◽  
Yu Jiang ◽  
Hengnian Li ◽  
Hui Zhang
Keyword(s):  
Gravity Model ◽  
Small Perturbation ◽  
Equilibrium Points ◽  
Major Axis ◽  
Semi Major Axis ◽  
Ground Track ◽  
The Earth ◽  
Degenerate Equilibrium ◽  
The Mean ◽  
Element Theory

This paper intends to show some special types of orbits around Jupiter based on the mean element theory, including stationary orbits, sun-synchronous orbits, orbits at the critical inclination, and repeating ground track orbits. A gravity model concerning only the perturbations of J2 and J4 terms is used here. Compared with special orbits around the Earth, the orbit dynamics differ greatly: (1) There do not exist longitude drifts on stationary orbits due to non-spherical gravity since only J2 and J4 terms are taken into account in the gravity model. All points on stationary orbits are degenerate equilibrium points. Moreover, the satellite will oscillate in the radial and North-South directions after a sufficiently small perturbation of stationary orbits. (2) The inclinations of sun-synchronous orbits are always bigger than 90 degrees, but smaller than those for satellites around the Earth. (3) The critical inclinations are no-longer independent of the semi-major axis and eccentricity of the orbits. The results show that if the eccentricity is small, the critical inclinations will decrease as the altitudes of orbits increase; if the eccentricity is larger, the critical inclinations will increase as the altitudes of orbits increase. (4) The inclinations of repeating ground track orbits are monotonically increasing rapidly with respect to the altitudes of orbits.

scholarly journals Dynamical properties of the Molniya satellite constellation: long-term evolution of the semi-major axis

2021 ◽  
Author(s):  
Jérôme Daquin ◽  
Elisa Maria Alessi ◽  
Joseph O’Leary ◽  
Anne Lemaitre ◽  
Alberto Buzzoni
Keyword(s):  
Major Axis ◽  
Long Term Evolution ◽  
Semi Major Axis ◽  
Satellite Constellation ◽  
Term Evolution ◽  
Dynamical Properties

scholarly journals Creation/destruction of ultra-wide binaries in tidal streams

2020 ◽  
Author(s):  
Jorge Peñarrubia
Keyword(s):  
Globular Clusters ◽  
Galactic Halo ◽  
Local Density ◽  
Formation Rate ◽  
Semimajor Axis ◽  
Major Axis ◽  
Binding Energies ◽  
Semi Major Axis ◽  
The Mean ◽  
Tidal Streams

Abstract This paper uses statistical and N-body methods to explore a new mechanism to form binary stars with extremely large separations (≳ 0.1 pc), whose origin is poorly understood. Here, ultra-wide binaries arise via chance entrapment of unrelated stars in tidal streams of disrupting clusters. It is shown that (i) the formation of ultra-wide binaries is not limited to the lifetime of a cluster, but continues after the progenitor is fully disrupted, (ii) the formation rate is proportional to the local phase-space density of the tidal tails, (iii) the semimajor axis distribution scales as p(a)da ∼ a1/2da at a ≪ D, where D is the mean interstellar distance, and (vi) the eccentricity distribution is close to thermal, p(e)de = 2ede. Owing to their low binding energies, ultra-wide binaries can be disrupted by both the smooth tidal field and passing substructures. The time-scale on which tidal fluctuations dominate over the mean field is inversely proportional to the local density of compact substructures. Monte-Carlo experiments show that binaries subject to tidal evaporation follow p(a)da ∼ a−1da at a ≳ apeak, known as Öpik’s law, with a peak semi-major axis that contracts with time as apeak ∼ t−3/4. In contrast, a smooth Galactic potential introduces a sharp truncation at the tidal radius, p(a) ∼ 0 at a ≳ rt. The scaling relations of young clusters suggest that most ultra-wide binaries arise from the disruption of low-mass systems. Streams of globular clusters may be the birthplace of hundreds of ultra-wide binaries, making them ideal laboratories to probe clumpiness in the Galactic halo.

scholarly journals Cardiac Computed Tomography Radiomics for the Non-Invasive Assessment of Coronary Inflammation

Cells ◽  
2021 ◽  
Vol 10 (4) ◽  
pp. 879
Author(s):  
Kevin Cheng ◽  
Andrew Lin ◽  
Jeremy Yuvaraj ◽  
Stephen J. Nicholls ◽  
Dennis T.L. Wong
Keyword(s):  
Cardiac Computed Tomography ◽  
Quantitative Information ◽  
Imaging Biomarkers ◽  
Great Promise ◽  
Non Invasive ◽  
Quantitative Image ◽  
Artery Disease ◽  
Therapeutic Decision Making ◽  
Underlying Pathophysiology

Radiomics, via the extraction of quantitative information from conventional radiologic images, can identify imperceptible imaging biomarkers that can advance the characterization of coronary plaques and the surrounding adipose tissue. Such an approach can unravel the underlying pathophysiology of atherosclerosis which has the potential to aid diagnostic, prognostic and, therapeutic decision making. Several studies have demonstrated that radiomic analysis can characterize coronary atherosclerotic plaques with a level of accuracy comparable, if not superior, to current conventional qualitative and quantitative image analysis. While there are many milestones still to be reached before radiomics can be integrated into current clinical practice, such techniques hold great promise for improving the imaging phenotyping of coronary artery disease.

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