Sensor graphs for guaranteed cooperative localization performance

A group of mobile robots can localize cooperatively, using relative position and absolute orientation measurements, fused through an extended Kalman filter (ekf). The topology of the graph of relative measurements is known to affect the steady-state value of the position error covariance matrix. Classes of sensor graphs are identified, for which tight bounds for the trace of the covariance matrix can be obtained based on the algebraic properties of the underlying relative measurement graph. The string and the star graph topologies are considered, and the explicit form of the eigenvalues of error covariance matrix is given. More general sensor graph topologies are considered as combinations of the string and star topologies, when additional edges are added. It is demonstrated how the addition of edges increases the trace of the steady-state value of the position error covariance matrix, and the theoretical predictions are verified through simulation analysis.

Development of realistic liquid equations of state for multi-phase CFD modelling

Several equations of state (EOS) have been incorporated into a novel algorithm to solve a system of multi-phase equations in which all phases are assumed to be compressible to varying degrees. The EOSs are used to both supply functional relationships to couple the conservative variables to the primitive variables and to calculate accurately thermodynamic quantities of interest, such as the speed of sound. Each EOS has a defined balance of accuracy, robustness and computational speed; selection of an appropriate EOS is generally problem-dependent. This work employs an AUSM+-up method for accurate discretisation of the convective flux terms with modified low-Mach number dissipation for added robustness of the solver. In this paper we show a newly-developed time-marching formulation for temporal discretisation of the governing equations with incorporated time-dependent source terms, as well as considering the system of eigenvalues that render the governing equations hyperbolic.

Swirling mean flow effect on fan-trailing edge broadband noise in a lined annular duct

The present study aims at investigating the effect of a swirling mean flow and a lined annular duct on rotor trailing-edge noise. The objectives are to investigate these effects on the eigenvalues and a tailored Green's function on one hand and on the realistic case of the fan trailing-edge noise on the other hand. Indeed, the mean flow in between the rotor and the stator of the fan is highly swirling. Moreover, interstage liners are used to reduce the noise produced by the fan stage. The extension of Ffowcs-Williams & Hawkings' acoustic analogy in a medium at rest with moving surfaces, of Goldstein's acoustic analogy in a hardwall circular duct with uniform mean flow and of Rienstra & Tester's Green's function in an annular lined duct with uniform mean flow to a swirling mean flow in an annular duct with liner is introduced. First, the eigenvalues and the Green's function are investigated showing a strong effect of the swirl and of the liner. Second, a rotor trailing-edge noise model accounting for both the effects of the annular duct with lined walls and the swirling mean flow is developed and applied to a realistic fan rotor with different swirling mean flows (and as a result different associated blade stagger angles). The benchmark cases are built from the Boeing 18-inch Fan Rig Broadband Noise Test. In all cases the swirling mean flow has a strong effect on the absolute noise level. The overall liner insertion loss is little changed by the swirl in the studied cases.

Shock amplification, curve veering and the role of damping

The circumstances are investigated under which high peak acceleration can occur in the internal parts of a system when subjected to impulsive driving on the outside. Previous work using a coupled beam model has highlighted the importance of veering pairs of modes. Such a veering pair can be approximated by a lumped system with two degrees of freedom. The worst case of acceleration amplification is shown to occur when the two oscillators are tuned to the same frequency, and for this case closed-form expressions are derived to show the parameter dependence of the acceleration ratio on the mass ratio and coupling strength. Sensitivity analysis of the eigenvalues and eigenvectors indicates that mass ratio is the most sensitive parameter for altering the veering behaviour in an undamped system. Non-proportional damping is also shown to have a strong influence on the veering behaviour. The study gives design guidelines to allow permissible acceleration levels to be achieved by the choice of the effective mass and damping of the indirectly driven subsystem relative to the directly driven subsystem. © 2013 Elsevier Ltd.

Electronic structures of wurtzite ZnO, BeO, MgO and p-type doping in Zn1-xYxO (Y = Mg, Be)

Using the density function theory within the generalized gradient approximation, the band structures of wurtzite ZnO, BeO and MgO have been calculated. The effective-mass parameters are fitted using the calculated eigenvalues. The Dresselhaus spin-orbit effect appears in the k[1 00] direction, and is zero in the high symmetry direction k[00 1]. The orderings of valence band split by the crystal-field and spin-orbit coupling in wurtzite ZnO, BeO and MgO are identified by analyzing the wave function characters calculated by projecting the wave functions onto p-state in the spherical harmonics. For wurtzite ZnO, the ordering of valence band is Still Gamma(7) > Gamma(9) > Gamma(7) due to the negative spin-orbit coupling splitting energy and the positive crystal-field splitting energy. Thus, the Thomas' conclusion is confirmed. For wurtzite BeO and MgO, although their orderings of valence bands are Gamma(7) > Gamma(9) > Gamma(7) too, the origins of their orderings are different from that of wurtzite ZnO. Zn1-x,YxO (Y = Mg, Be) doped with N and P atoms have been studied using first-principles method. The calculated results show that N atom doped in Zn1-x BexO has more shallow acceptor energy level with increasing the concentration of Be atom. (C) 2008 Elsevier B.V. All rights reserved.

Entanglement degree of electron pairs out of Andreev reflection

We study the entanglement degree of electron pairs emitted from an s-wave Superconductor, which Couples to two normal leads via a single-level quantum dot. Within the framework of scattering matrix theory. the concurrence is used to quantify the entanglement. And the result shows that the entanglement degree is generally influenced by the initial separation of the two electrons in a Cooper pair and the normal transmission eigenvalues T-1, T-2. But it is only determined by the eigenvalues in the tunnelling limit, T-1. T-2 << 1, what is more. it is measurable. (C) 2008 Elsevier B.V. All rights reserved.

Noiseless method for checking the Peres separability criterion by local operations and classical communication

We present a method for checking the Peres separability criterion in an arbitrary bipartite quantum state rho(AB) within local operations and classical communication scenario. The method does not require noise operation which is needed in making the partial transposition map physically implementable. The main task for the two observers, Alice and Bob, is to measure some specific functions of the partial transposed matrix. With these functions, they can determine the eigenvalues of rho(T)(AB)(B), among which the minimum serves as an entanglement witness.

Calculation of energy levels in InGaAs/GaAs quantum dot array

The subbands of the ground state E-c1, the first excited state E-c2 and heavy hole state E-HH1 are calculated by solving the eigenvalues of effective-mass Hamiltonian H-0 which is derived from eight-band k . p theory and the calculations are performed at k(x) = k, = k = 0 for the three-dimensional array of InGaAs/GaAs quantum dots (QDs). With indium content in InGaAs QDs gradually increasing from 30% to 100%,the intersubband transition wavelength of E-c2 to E-c1, blue-shifts from 18.50 to 11.87 mu m,while the transition wavelength of E-c1, to E-HH1, red-shifts from 1. 04 to 1. 73 mu m. With the sizes of Ir-0.5 Ga-0.5 As and InAs QDs increasing from 1.0 to 5.0 nm, the intersubband transition from E-c1, to E-C2 transforms from bound-state-to-continuum-state to bound-state-to-bound-state, and the corresponding intersubband transition wavelengths red-shift from 8.12 pm (5.90 pm) to 53.47 mu m (31.87 pm), respectively, and the transition wavelengths of E-C1 to E-HH1 red-shift from 1. 13 mu m (1.60 mu m) to 1.27 mu m (2.01 mu m), respectively.

Analysis and numerical simulation of eigenmode characteristics for semiconductor lasers with an equilateral triangle micro-resonator

The eigenmodes confined in the equilateral triangle resonator (ETR) are analyzed by deriving the eigenvalues and the mode field distributions and by the finite difference time domain (FDTD) technique. The analytical results show that the one-period-length for the mode light rays inside the ETR is the perimeter of the ETR, and the number of transverse modes is limited by the condition of total internal reflection. In addition, the sum of the longitudinal mode index and the transverse mode index should be an even number, which limits the number of confined modes again. Based on the FDTD technique and the Pade approximation, we calculate the mode resonant frequencies and the quality factors from the local maximum and the width of the spectral distribution of the intensity The numerical results of mode frequencies agree very well with the analytical results, and the quality factor of the fundamental mode is usually higher than that of the higher order transverse modes. The results show that the ETR is suitable to realize single-made operation as semiconductor microcavity lasers.

Calculation of Valence Subband Structures for Strained Quantum-Wells by Plane Wave Expansion Method Within 6 * 6 Luttinger-Kohn Model

The valence subband energies and wave functions of a tensile strained quantum well are calculated by the plane wave expansion method within the 6 * 6 Luttinger-Kohn model. The effect of the number and period of plane-waves used for expansion on the stability of energy eigenvalues is examined. For practical calculation, it should choose the period large sufficiently to ensure the envelope functions vanish at the boundary and the number of plane waves large enough to ensure the energy eigenvalues keep unchanged within a prescribed range.

Non-modal instabilities of two-dimensional disturbances in plane Couette flow of a power-law fluid

Instabilities of fluid flows have traditionally been investigated by normal mode analysis, i.e. by linearizing the equations of flow and testing for unstable eigenvalues of the linearized problem. However, the results of eigenvalue analysis agree poorly in many cases with experiments, especially for shear flows. In this paper we study the instabilities of two-dimensional Couette flow of a polymeric fluid in the framework of non-modal stability theory rather than normal mode analysis. A power-law model is used to describe the polymeric liquid. We focus on the response to external excitations and initial conditions by examining the pseudospectra structures and the transient energy growths. For both Newtonian and non-Newtonian flows, the results show that there can be a rather large transient growth even though the linear operator of Couette flow has no unstable eigenvalue. The effects of non-Newtonian viscosity on the transient behaviors are examined in this study. The results show that the "shear-thinning/shear-thickening" effect increases/decreases the amplitude of responses to external excitations and initial conditions. (C) 2010 Elsevier B.V. All rights reserved.

Instabilities and transient behaviors of a liquid film flowing down a porous inclined plane

The nonmodal linear stability of a falling film over a porous inclined plane has been investigated. The base flow is driven by gravity. We use Darcy's law to describe the flow in the porous medium. A simplified one-sided model is used to describe the fluid flow. In this model, the influence of the porous layer on the flow in the film can be identified by a parameter beta. The instabilities of a falling film have traditionally been investigated by linearizing the governing equations and testing for unstable eigenvalues of the linearized problem. However, the results of eigenvalue analysis agree poorly in many cases with experiments, especially for shear flows. In the present paper, we have studied the linear stability of three-dimensional disturbances using the nonmodal stability theory. Particular attentions are paid to the transient behavior rather than the long time behavior of eigenmodes predicted by traditional normal mode analysis. The transient behaviors of the response to external excitations and the response to initial conditions are studied by examining the pseudospectral structures and the energy growth function G(t) Before we study the nonmodal stability of the system, we extend the results of long-wave analysis in previous works by examining the linear stabilities for streamwise and spanwise disturbances. Results show that the critical conditions of both the surface mode and the shear mode instabilities are dependent on beta for streamwise disturbances. However, the spanwise disturbances have no unstable eigenvalue. 2010 American Institute of Physics. [doi:10.1063/1.3455503]

地震偏移宽角吸收边界条件和Toeplitz矩阵反演中的边界效应研究

The content of this paper is based on the research work while the author took part in the key project of NSFC and the key project of Knowledge Innovation of CAS. The whole paper is expanded by introduction of the inevitable boundary problem during seismic migration and inversion. Boundary problem is a popular issue in seismic data processing. At the presence of artificial boundary, reflected wave which does not exist in reality comes to presence when the incident seismic wave arrives at the artificial boundary. That will interfere the propagation of seismic wave and cause alias information on the processed profile. Furthermore, the quality of the whole seismic profile will decrease and the subsequent work will fail.This paper has also made a review on the development of seismic migration, expatiated temporary seismic migration status and predicted the possible break through. Aiming at the absorbing boundary problem in migration, we have deduced the wide angle absorbing boundary condition and made a compare with the boundary effect of Toepiitz matrix fast approximate computation.During the process of fast approximate inversion computation of Toepiitz system, we have introduced the pre-conditioned conjugate gradient method employing co circulant extension to construct pre-conditioned matrix. Especially, employment of combined preconditioner will reduce the boundary effect during computation.Comparing the boundary problem in seismic migration with that in Toepiitz matrix inversion we find that the change of boundary condition will lead to the change of coefficient matrix eigenvalues and the change of coefficient matrix eigenvalues will cause boundary effect. In this paper, the author has made an qualitative analysis of the relationship between the coefficient matrix eigenvalues and the boundary effect. Quantitative analysis is worthy of further research.

Scattering poles near the real axis for two strictly convex obstacles

Iantchenko, A., (2007) 'Scattering poles near the real axis for two strictly convex obstacles', Annales of the Institute Henri Poincar? 8 pp.513-568 RAE2008

On the Origin of Power Laws in Internet Topologies

Recent empirical studies have shown that Internet topologies exhibit power laws of the form for the following relationships: (P1) outdegree of node (domain or router) versus rank; (P2) number of nodes versus outdegree; (P3) number of node pairs y = x^α within a neighborhood versus neighborhood size (in hops); and (P4) eigenvalues of the adjacency matrix versus rank. However, causes for the appearance of such power laws have not been convincingly given. In this paper, we examine four factors in the formation of Internet topologies. These factors are (F1) preferential connectivity of a new node to existing nodes; (F2) incremental growth of the network; (F3) distribution of nodes in space; and (F4) locality of edge connections. In synthetically generated network topologies, we study the relevance of each factor in causing the aforementioned power laws as well as other properties, namely diameter, average path length and clustering coefficient. Different kinds of network topologies are generated: (T1) topologies generated using our parametrized generator, we call BRITE; (T2) random topologies generated using the well-known Waxman model; (T3) Transit-Stub topologies generated using GT-ITM tool; and (T4) regular grid topologies. We observe that some generated topologies may not obey power laws P1 and P2. Thus, the existence of these power laws can be used to validate the accuracy of a given tool in generating representative Internet topologies. Power laws P3 and P4 were observed in nearly all considered topologies, but different topologies showed different values of the power exponent α. Thus, while the presence of power laws P3 and P4 do not give strong evidence for the representativeness of a generated topology, the value of α in P3 and P4 can be used as a litmus test for the representativeness of a generated topology. We also find that factors F1 and F2 are the key contributors in our study which provide the resemblance of our generated topologies to that of the Internet.