Path Following Using Trajectory Shaping Guidance

Unmanned vehicle path following by pursuing a virtual target moving along the path is considered. Limitations for pure pursuit guidance are analyzed while following the virtual target on curved paths. Trajectory shaping guidance is proposed as an alternate guidance scheme for a general curvature path. It is proven that under certain tenable assumptions trajectory shaping guidance yields an identical path as that of the virtual target. By linear analysis it is shown that the convergence to the path for trajectory shaping guidance is twice as fast as pure pursuit. Simulations highlight significant improvement in position errors by using trajectory shaping guidance. Comparative simulation studies comply with analytic findings and present better performance as compared with pure pursuit and a nonlinear guidance methodology from the literature. Experimental validation supports the analytic and simulations studies as the guidance laws are implemented on a radio-controlled car in a laboratory environment.

Airblast spray in crossflow - Structure, trajectory and droplet sizing

This study reports results of an experimental investigation of airblast spray of water and ethanol in crossflow. Laser shadowgraphy and Particle/Droplet Imaging Analysis (PDIA) are used to derive spray trajectory and drop size information while Particle Tracking Velocimetry (PTV) is used to measure droplet velocities. A new phenomenon of spray bifurcation is observed for low Gas to Liquid Ratio (GLR) cases. The reasons for the spatial bifurcation can be attributed to a combination of reasons. These are (a) presence of large ligaments and droplets in the near-nozzle region for low GLRs (b) secondary breakup experienced by ligaments/droplets leading to formation of a large number of small droplets, and (c) the crossflow causing differential dispersion of the small and large droplets. A novel correlation for spray trajectory is proposed incorporating the momentum ratio and liquid surface tension. This correlation is shown to be effective in predicting the non-linear spray trajectory over a large range of conditions for not only water but ethanol and Jet-A also. It is observed that the larger droplets penetrate further into the crossflow, in the direction of injection. Thus, with increase in height of the measurement location from the injection plane, the droplet Sauter Mean Diameter (SMD) is found to increase. Moreover, as the droplets travel downstream in the crossflow direction, the droplet SMD is observed to decrease. The effect of drag is assessed by comparing velocity of different sizes of droplets at various locations. Smaller droplets are entrained into the crossflow at much lower elevations, whereas larger droplets tend to penetrate further into the crossflow. (C) 2015 Elsevier Ltd. All rights reserved.

Exploring Viral Phenomenon as an Innovative Trajectory

The viral phenomenon has garnered a great deal of attention in the recent years. Although evidence of viral success exists the underlying factors leading to the phenomenon and its measurement still remains a grey area which needs to be explored. The viral phenomenon for a product or information and its distinction based on growth curve trajectory has not been rigorously explored in the previous works. This paper aims to understand the viral phenomenon that makes products or information go viral. The viral phenomenon trajectories that distinguish the viral from a non-viral phenomenon are demonstrated. The curve fitting methodology for viral phenomenon is adopted which has not been looked into in the previous works. TED talks are analyzed to understand the diffusion pattern, essentially one or more spike, within a time period. Insights drawn indicate the characteristic viral growth trajectories and its implication on innovation.

Spatial distribution of aerosol black carbon over India during pre-monsoon season

Aerosol black carbon (BC) mass concentrations ([BC]), measured continuously during a multi-platform field experiment, Integrated Campaign for Aerosols gases and Radiation Budget (ICARB, March-May 2006), from a network of eight observatories spread over geographically distinct environments of India, (which included five mainland stations, one highland station, and two island stations (one each ill Arabian Sea and Bay of Bengal)) are examined for their spatio-temporal characteristics. During the period of study, [BC] showed large variations across the country, with values ranging from 27 mu g m(3) over industrial/urban locations to as low as 0.065 mu g m(-3) over the Arabian Sea. For all mainland stations, [BC] remained high compared to highland as well as island stations. Among the island stations, Port Blair (PBR) had higher concentration of BC, compared to Minicoy (MCY), implying more absorbing nature of Bay of Bengal aerosols than Arabian Sea. The highland station Nainital (NTL), in the central Himalayas, showed low values of [BC], comparable or even lower than that of the island station PBR, indicating the prevalence of cleaner environment over there. An examination of the changes in the mean temporal features, as the season advances from winter (December-February) to pre-monsoon (March-May), revealed that: (a) Diurnal variations were pronounced over all the mainland stations, with all afternoon low and a nighttime high: (b) At the islands, the diurnal variations, though resembled those over the mainlands, were less pronounced; and (c) In contrast to this, highland station showed an opposite pattern with an afternoon high and a late night or early morning low. The diurnal variations at all stations are mainly caused by the dynamics of local Atmospheric Boundary Layer (ABL), At the entire mainland as well as island stations (except HYD and DEL), [BC] showed a decreasing trend from January to May, This is attributed to the increased convective mixing and to the resulting enhanced vertical dispersal of species in the ABL. In addition, large short-period modulations were observed at DEL and HYD, which appeared to be episodic, An examination of this in the light of the MODIS-derived fire count data over India along with the back-trajectory analysis revealed that advection of BC from extensive forest fires and biomass-burning regions upwind were largely responsible for this episodic enhancement in BC at HYD and DEL.

Reconstruction from incomplete data in cone-beam tomography

A method for reconstruction of an object f(x) x=(x,y,z) from a limited set of cone-beam projection data has been developed. This method uses a modified form of convolution back-projection and projection onto convex sets (POCS) for handling the limited (or incomplete) data problem. In cone-beam tomography, one needs to have a complete geometry to completely reconstruct the original three-dimensional object. While complete geometries do exist, they are of little use in practical implementations. The most common trajectory used in practical scanners is circular, which is incomplete. It is, however, possible to recover some of the information of the original signal f(x) based on a priori knowledge of the nature of f(x). If this knowledge can be posed in a convex set framework, then POCS can be utilized. In this report, we utilize this a priori knowledge as convex set constraints to reconstruct f(x) using POCS. While we demonstrate the effectiveness of our algorithm for circular trajectories, it is essentially geometry independent and will be useful in any limited-view cone-beam reconstruction.

Counterclockwise exhumation of a hot orogen: The Paleoproterozoic ultrahigh-temperature granulites in the North China Craton

Regional metamorphic belts provide important constraints on the plate tectonic architecture of orogens. We report here a detailed petrologic examination of the sapphirine-bearing ultra-high temperature (UHT) granulites from the Jining Complex within the Khondalite Belt of the North China Craton (NCC). These granulites carry diagnostic UHT assemblages and their microstructures provide robust evidence to trace the prograde, peak and retrograde metamorphic evolution. The P–T conditions of the granulites estimated from XMgGrt(Mg/Fe + Mg) − XMgSpr isopleth calculations indicate temperature above 970 °C and pressures close to 7 kbar. We present phase diagrams based on thermodynamic computations to evaluate the mineral assemblages and microstructures and trace the metamorphic trajectory of the rocks. The evolution from Spl–Qtz–Ilm–Crd–Grt–Sil to Spr–Qtz–Crd–Opx–Ilm marks the prograde stage. The Spl–Qtz assemblage appears on the low-pressure side of the P–T space with Spr–Qtz stable at the high-pressure side, possibly representing an increase in pressure corresponding to compression. The spectacular development of sapphirine rims around spinel enclosed in quartz supports this inference. An evaluation of the key UHT assemblages based on model proportion calculation suggests a counterclockwise P–T path. With few exceptions, granulite-facies rocks developed along collisional metamorphic zones have generally been characterized by clockwise exhumation trajectories. Recent evaluation of the P–T paths of metamorphic rocks developed within collisional orogens indicates that in many cases the exhumation trajectories follow the model subduction geotherm, in accordance with a tectonic model in which the metamorphic rocks are subducted and exhumed along a plate boundary. The timing of UHT metamorphism in the NCC (c. 1.92 Ga) coincides with the assembly of the NCC within the Paleoproterozoic Columbia supercontinent, a process that would have involved subduction of passive margins sediments and closure of the intervening ocean. Thus, the counterclockwise P–T path obtained in this study correlates well with a tectonic model involving subduction and final collisional suturing, with the UHT granulites representing the core of the hot or ultra-hot orogen developed during Columbia amalgamation.

Aircraft pursuit-evasion problems with variable speeds

Aircraft pursuit-evasion encounters in a plane with variable speeds are analysed as a differential game. An engagement-dependent coordinate system confers open-loop optimality on the game. Each aircraft's optimal motion can be represented by extremel trajectory maps which are independent of role, adversary and capture radius. These maps are used in two different ways to construct the feedback solution. Some examples are given to illustrate these features. The paper draws on earlier results and surveys several existing papers on the subject.

Self-Organization of n-Alkane Chains in Water: Length Dependent Crossover from Helix and Toroid to Molten Globule

We demonstrate a chain length dependent crossover in the structural properties of linear hydrocarbon (n-alkane) chains using detailed atomistic simulations in explicit water. We identify a number of exotic structures of the polymer chain through energy minimization of representative snapshots collected from molecular dynamics trajectory. While the collapsed state is ring-like (circular) for small chains (CnH2n+2; n <= 20) and spherical for very long ones (n = 100), we find the emergence of ordered helical structures at intermediate lengths (n similar to 40). We find different types of disordered helices and toroid-like structures at n = 60. We also report a sharp transition in the stability of the collapsed state as a function of the chain length through relevant free energy calculations. While the collapsed state is only marginally metastable for C20H42, a clear bistable free energy surface emerges only when the chain is about 30 monomers long. For n = 30, the polymer exhibits an intermittent oscillation between the collapsed and the coil structures, characteristic of two stable states separated by a small barrier.

Pressure shocks in relativistic viscous heat-conducting fluids

In this paper we have studied the propagation of pressure shocks in viscous, heat-conducting, relativistic fluids. Velocities of wave fronts and growth equations for the strength of the waves are obtained in the case of low and high temperatures with variable transport coefficients. On the basis of numerical integrations the growth equation results have been discussed. In the case of constant transport coefficients and for all admissible values of ratio of specific heats of the fluid, an analytical solution for the velocity of the wave as a function of distance along the normal trajectory to the wave front, has been obtained.

An Optimal g-Guidance Scheme for Satellite Launch Vehicles

A closed-loop steering logic based on an optimal (2-guidance is developed here. The guidance system drives the satellite launch vehicle along a two- or three- dimensional trajectory for placing the payload into a specified circular orbit. The modified g-guidance algorithm makes use of the optimal required velocity vector, which minimizes the total impulse needed for an equivalent two-impluse transfer from the present state to the final orbit. The required velocity vector is defined as velocity of the vehicle on the hypothetical transfer orbit immediately after the application of the first impulse. For this optimal transfer orbit, a simple and elegant expression for the Q-matrix is derived. A working principle for the guidance algorithm in terms of the major and minor cycles, and also for the generation of the steering command, is outlined.

Distribution of the angle of rotation plane random walks

We study the probability distribution of the angle by which the tangent to the trajectory rotates in the course of a plane random walk. It is shown that the determination of this distribution function can be reduced to an integral equation, which can be rigorously transformed into a differential equation of Hill's type. We derive the asymptotic distribution for very long walks.

Spinorial relativistic rotator: The transformation from quasi-Newtonian to Minkowski coordinates

There exists a remarkably close relationship between the operator algebra of the Dirac equation and the corresponding operators of the spinorial relativistic rotator (an indecomposable object lying on a mass-spin Regge trajectory). The analog of the Foldy-Wouthuysen transformation (more generally, the transformation between quasi-Newtonian and Minkowski coordinates) is constructed and explicit results are discussed for the spin and position operators. Zitterbewegung is shown to exist for a system having only positive energies.

Optical and Physical Properties of Atmospheric Aerosols over the Bay of Bengal during ICARB

Simultaneous and collocated measurements of total and hemispherical backscattering coefficients (σ and β, respectively) at three wavelengths, mass size distributions, and columnar spectral aerosol optical depth (AOD) were made onboard an extensive cruise experiment covering, for the first time, the entire Bay of Bengal (BoB) and northern Indian Ocean. The results are synthesized to understand the optical properties of aerosols in the marine atmospheric boundary layer and their dependence on the size distribution. The observations revealed distinct spatial and spectral variations of all the aerosol parameters over the BoB and the presence of strong latitudinal gradients. The size distributions varied spatially, with the majority of accumulation modes decreasing from north to south. The scattering coefficient decreased from very high values (resembling those reported for continental/urban locations) in the northern BoB to very low values seen over near-pristine environments in the southeastern BoB. The average mass scattering efficiency of BoB aerosols was found to be 2.66 ± 0.1 m2 g−1 at 550 nm. The spectral dependence of columnar AOD deviated significantly from that of the scattering coefficients in the northern BoB, implying vertical heterogeneity in the aerosol type in that region. However, a more homogeneous scenario was observed in the southern BoB. Simultaneous lidar and in situ measurements onboard an aircraft over the ocean revealed the presence of elevated aerosol layers of enhanced extinction at altitudes of 1 to 3 km with an offshore extent of a few hundred kilometers. Back-trajectory analyses showed these layers to be associated with advection from west Asia and western India. The large spatial variations and vertical heterogeneity in aerosol properties, revealed by the present study, need to be included in the regional radiative forcing over the Bay of Bengal.

Planar pursuit-evasion with variable speeds, part 2, barrier sections

An iterative method of constructing sections of the game surfaces from the players'' extremal trajectory maps is discussed. Barrier sections are presented for aircraft pursuit-evasion at constant altitude, with one aircraft flying at sustained speed and the other varying its speed.

An approach for sensitivity-reduced design of linear regulators

A now procedure for the design of sensitivity-reduced control for linear regulators is described. The control is easily computable and implementable since it requires neither the solution of an increased-order augmented system nor the generation and feedback of a trajectory sensitivity vector. The method provides a trade-off between reduction in sensitivity measure and increase in performance index.