Two fluid numerical model for coastal applications

Wave breaking is an important coastal process, influencing hydro-morphodynamic processes such as turbulence generation and wave energy dissipation, run-up on the beach and overtopping of coastal defence structures. During breaking, waves are complex mixtures of air and water (“white water”) whose properties affect velocity and pressure fields in the vicinity of the free surface and, depending on the breaker characteristics, different mechanisms for air entrainment are usually observed. Several laboratory experiments have been performed to investigate the role of air bubbles in the wave breaking process (Chanson & Cummings, 1994, among others) and in wave loading on vertical wall (Oumeraci et al., 2001; Peregrine et al., 2006, among others), showing that the air phase is not negligible since the turbulent energy dissipation involves air-water mixture. The recent advancement of numerical models has given valuable insights in the knowledge of wave transformation and interaction with coastal structures. Among these models, some solve the RANS equations coupled with a free-surface tracking algorithm and describe velocity, pressure, turbulence and vorticity fields (Lara et al. 2006 a-b, Clementi et al., 2007). The single-phase numerical model, in which the constitutive equations are solved only for the liquid phase, neglects effects induced by air movement and trapped air bubbles in water. Numerical approximations at the free surface may induce errors in predicting breaking point and wave height and moreover, entrapped air bubbles and water splash in air are not properly represented. The aim of the present thesis is to develop a new two-phase model called COBRAS2 (stands for Cornell Breaking waves And Structures 2 phases), that is the enhancement of the single-phase code COBRAS0, originally developed at Cornell University (Lin & Liu, 1998). In the first part of the work, both fluids are considered as incompressible, while the second part will treat air compressibility modelling. The mathematical formulation and the numerical resolution of the governing equations of COBRAS2 are derived and some model-experiment comparisons are shown. In particular, validation tests are performed in order to prove model stability and accuracy. The simulation of the rising of a large air bubble in an otherwise quiescent water pool reveals the model capability to reproduce the process physics in a realistic way. Analytical solutions for stationary and internal waves are compared with corresponding numerical results, in order to test processes involving wide range of density difference. Waves induced by dam-break in different scenarios (on dry and wet beds, as well as on a ramp) are studied, focusing on the role of air as the medium in which the water wave propagates and on the numerical representation of bubble dynamics. Simulations of solitary and regular waves, characterized by both spilling and plunging breakers, are analyzed with comparisons with experimental data and other numerical model in order to investigate air influence on wave breaking mechanisms and underline model capability and accuracy. Finally, modelling of air compressibility is included in the new developed model and is validated, revealing an accurate reproduction of processes. Some preliminary tests on wave impact on vertical walls are performed: since air flow modelling allows to have a more realistic reproduction of breaking wave propagation, the dependence of wave breaker shapes and aeration characteristics on impact pressure values is studied and, on the basis of a qualitative comparison with experimental observations, the numerical simulations achieve good results.

Troposphere Calibration Techniques for Deep Space Probe Tracking

Ground-based Earth troposphere calibration systems play an important role in planetary exploration, especially to carry out radio science experiments aimed at the estimation of planetary gravity fields. In these experiments, the main observable is the spacecraft (S/C) range rate, measured from the Doppler shift of an electromagnetic wave transmitted from ground, received by the spacecraft and coherently retransmitted back to ground. If the solar corona and interplanetary plasma noise is already removed from Doppler data, the Earth troposphere remains one of the main error sources in tracking observables. Current Earth media calibration systems at NASA’s Deep Space Network (DSN) stations are based upon a combination of weather data and multidirectional, dual frequency GPS measurements acquired at each station complex. In order to support Cassini’s cruise radio science experiments, a new generation of media calibration systems were developed, driven by the need to achieve the goal of an end-to-end Allan deviation of the radio link in the order of 3×〖10〗^(-15) at 1000 s integration time. The future ESA’s Bepi Colombo mission to Mercury carries scientific instrumentation for radio science experiments (a Ka-band transponder and a three-axis accelerometer) which, in combination with the S/C telecommunication system (a X/X/Ka transponder) will provide the most advanced tracking system ever flown on an interplanetary probe. Current error budget for MORE (Mercury Orbiter Radioscience Experiment) allows the residual uncalibrated troposphere to contribute with a value of 8×〖10〗^(-15) to the two-way Allan deviation at 1000 s integration time. The current standard ESA/ESTRACK calibration system is based on a combination of surface meteorological measurements and mathematical algorithms, capable to reconstruct the Earth troposphere path delay, leaving an uncalibrated component of about 1-2% of the total delay. In order to satisfy the stringent MORE requirements, the short time-scale variations of the Earth troposphere water vapor content must be calibrated at ESA deep space antennas (DSA) with more precise and stable instruments (microwave radiometers). In parallel to this high performance instruments, ESA ground stations should be upgraded to media calibration systems at least capable to calibrate both troposphere path delay components (dry and wet) at sub-centimetre level, in order to reduce S/C navigation uncertainties. The natural choice is to provide a continuous troposphere calibration by processing GNSS data acquired at each complex by dual frequency receivers already installed for station location purposes. The work presented here outlines the troposphere calibration technique to support both Deep Space probe navigation and radio science experiments. After an introduction to deep space tracking techniques, observables and error sources, in Chapter 2 the troposphere path delay is widely investigated, reporting the estimation techniques and the state of the art of the ESA and NASA troposphere calibrations. Chapter 3 deals with an analysis of the status and the performances of the NASA Advanced Media Calibration (AMC) system referred to the Cassini data analysis. Chapter 4 describes the current release of a developed GNSS software (S/W) to estimate the troposphere calibration to be used for ESA S/C navigation purposes. During the development phase of the S/W a test campaign has been undertaken in order to evaluate the S/W performances. A description of the campaign and the main results are reported in Chapter 5. Chapter 6 presents a preliminary analysis of microwave radiometers to be used to support radio science experiments. The analysis has been carried out considering radiometric measurements of the ESA/ESTEC instruments installed in Cabauw (NL) and compared with the requirements of MORE. Finally, Chapter 7 summarizes the results obtained and defines some key technical aspects to be evaluated and taken into account for the development phase of future instrumentation.

Cooperative Wireless Networks for Localization

This thesis adresses the problem of localization, and analyzes its crucial aspects, within the context of cooperative WSNs. The three main issues discussed in the following are: network synchronization, position estimate and tracking. Time synchronization is a fundamental requirement for every network. In this context, a new approach based on the estimation theory is proposed to evaluate the ultimate performance limit in network time synchronization. In particular the lower bound on the variance of the average synchronization error in a fully connected network is derived by taking into account the statistical characterization of the Message Delivering Time (MDT) . Sensor network localization algorithms estimate the locations of sensors with initially unknown location information by using knowledge of the absolute positions of a few sensors and inter-sensor measurements such as distance and bearing measurements. Concerning this issue, i.e. the position estimate problem, two main contributions are given. The first is a new Semidefinite Programming (SDP) framework to analyze and solve the problem of flip-ambiguity that afflicts range-based network localization algorithms with incomplete ranging information. The occurrence of flip-ambiguous nodes and errors due to flip ambiguity is studied, then with this information a new SDP formulation of the localization problem is built. Finally a flip-ambiguity-robust network localization algorithm is derived and its performance is studied by Monte-Carlo simulations. The second contribution in the field of position estimate is about multihop networks. A multihop network is a network with a low degree of connectivity, in which couples of given any nodes, in order to communicate, they have to rely on one or more intermediate nodes (hops). Two new distance-based source localization algorithms, highly robust to distance overestimates, typically present in multihop networks, are presented and studied. The last point of this thesis discuss a new low-complexity tracking algorithm, inspired by the Fano’s sequential decoding algorithm for the position tracking of a user in a WLAN-based indoor localization system.

New target tracking and monitoring guidance laws for UAV

A pursuer UAV tracking and loitering around a target is the problem analyzed in this thesis. The UAV is assumed to be a fixed-wing vehicle and constant airspeed together with bounded lateral accelerations are the main constraints of the problem. Three different guidance laws are designed for ensuring a continuos overfly on the target. Different proofs are presented to demonstrate the stability properties of the laws. All the algorithms are tested on a 6DoF Pioneer software simulator. Classic control design methods have been adopted to develop autopilots for implementig the simulation platform used for testing the guidance laws.

On-line adaptive visual tracking

Visual tracking is the problem of estimating some variables related to a target given a video sequence depicting the target. Visual tracking is key to the automation of many tasks, such as visual surveillance, robot or vehicle autonomous navigation, automatic video indexing in multimedia databases. Despite many years of research, long term tracking in real world scenarios for generic targets is still unaccomplished. The main contribution of this thesis is the definition of effective algorithms that can foster a general solution to visual tracking by letting the tracker adapt to mutating working conditions. In particular, we propose to adapt two crucial components of visual trackers: the transition model and the appearance model. The less general but widespread case of tracking from a static camera is also considered and a novel change detection algorithm robust to sudden illumination changes is proposed. Based on this, a principled adaptive framework to model the interaction between Bayesian change detection and recursive Bayesian trackers is introduced. Finally, the problem of automatic tracker initialization is considered. In particular, a novel solution for categorization of 3D data is presented. The novel category recognition algorithm is based on a novel 3D descriptors that is shown to achieve state of the art performances in several applications of surface matching.

Analisi di un sistema di tracking per target multipli tramite approccio PHD

Introduzione ai concetti fondamentali che stanno alla base del filtraggio multi-target e alle diverse problematiche connesse, con particolare riguardo alle applicazioni di tracking, cioè di inseguimento del target. In seguito valutazione di un possibile approccio alla realizzazione di un filtro di questo tipo e alla sua implementazione su un calcolatore. Nella seconda parte della tesi sono illustrati i risultati sperimentali che si ottengono dall’implementazione.

Tracking, photometry and spectroscopy of space debris: the Malindi, Loiano, Las Campanas and Cerro Tololo observation campaign results

The main purpose of my thesis has been the analysis of the space debris environment and their characterization through optical measurements. In particular I had the opportunity to contribute to the Italian Space Agency activities in space debris optical observation campaign and I cooperated directly with NASA Orbital Debris Program Office by working at the Astronomy Department of the University of Michigan for six months.

Progetto e realizzazione di un dispositivo di controllo e gestione remoto per un sistema di tracking satellitare (ALMATracker)

La seguente tesi presenta lo sviluppo di un sistema di controllo e gestione remota per il tracking di un satellite. Il progetto, denominato ALMATracker, è sviluppato dal corso di Ingegneria Aerospaziale della scuola di Ingegneria e Architettura Aerospaziale dell’Università di Bologna con sede a Forlì. Consiste nella creazione di una motorizzazione per antenne su due assi, movimentata da un hardware commerciale programmabile. Il posizionamento può essere eseguito sia manualmente, su richiesta di un utente da PC remoto, sia automaticamente secondo un’orbita preimpostata. I setpoint di velocità o posizione sono elaborati dal sistema fino ad ottenere un segnale che procede alla movimentazione in velocità dell’antenna. Il comando automatico, invece, orienta l’antenna in modo tale da mantenerla fissa su una traiettoria orbitale di uno specifico spacecraft. La movimentazione automatica segue funzioni polinomiali fornite dall’utente, ricavate da software di propagazione e predizione esterno al sistema ALMATracker. In questo caso il sistema deve procedere alla rotazione mantenendo la velocità richiesta dalla funzione polinomiale. Il controllo effettuato in catena chiusa è attuato tramite una serie di trasduttori di posizione presenti nel sistema.

Simulazioni Software-In-the-Loop per la verifica funzionale di un sistema di tracking satellitare (ALMATracker)

L'ALMATracker è un sistema di puntamento per la stazione di terra di ALMASat-1. La sua configurazione non segue la classica Azimuth-Elevazione, bensì utilizza gli assi α-β per evitare punti di singolarità nelle posizioni vicino allo zenit. Ancora in fase di progettazione, utilizzando in congiunta SolidWorks e LabVIEW si è creato un Software-in-the-loop per la sua verifica funzionale, grazie all'utilizzo del relativamente nuovo pacchetto NI Softmotion. Data la scarsa esperienza e documentazione che si hanno su questo recente tool, si è prima creato un Case Study che simulasse un sistema di coordinate cilindriche in modo da acquisire competenza. I risultati conseguiti sono poi stati sfruttati per la creazione di un SIL per la simulazione del movimento dell'ALMATracker. L'utilizzo di questa metodologia di progettazione non solo ha confermato la validità del design proposto, ma anche evidenziato i problemi e le potenzialità che caratterizzano questo pacchetto software dandone un analisi approfondita.

Tracking, b-tagging and measurement of the b-jet production cross section with the ATLAS detector

The Standard Model of elementary particle physics was developed to describe the fundamental particles which constitute matter and the interactions between them. The Large Hadron Collider (LHC) at CERN in Geneva was built to solve some of the remaining open questions in the Standard Model and to explore physics beyond it, by colliding two proton beams at world-record centre-of-mass energies. The ATLAS experiment is designed to reconstruct particles and their decay products originating from these collisions. The precise reconstruction of particle trajectories plays an important role in the identification of particle jets which originate from bottom quarks (b-tagging). This thesis describes the step-wise commissioning of the ATLAS track reconstruction and b-tagging software and one of the first measurements of the b-jet production cross section in pp collisions at sqrt(s)=7 TeV with the ATLAS detector. The performance of the track reconstruction software was studied in great detail, first using data from cosmic ray showers and then collisions at sqrt(s)=900 GeV and 7 TeV. The good understanding of the track reconstruction software allowed a very early deployment of the b-tagging algorithms. First studies of these algorithms and the measurement of the b-tagging efficiency in the data are presented. They agree well with predictions from Monte Carlo simulations. The b-jet production cross section was measured with the 2010 dataset recorded by the ATLAS detector, employing muons in jets to estimate the fraction of b-jets. The measurement is in good agreement with the Standard Model predictions.

Characterization of electromagnetic fields in the aSPECT spectrometer and reduction of systematic errors

Das aSPECT Spektrometer wurde entworfen, um das Spektrum der Protonen beimrnZerfall freier Neutronen mit hoher Präzision zu messen. Aus diesem Spektrum kann dann der Elektron-Antineutrino Winkelkorrelationskoeffizient "a" mit hoher Genauigkeit bestimmt werden. Das Ziel dieses Experiments ist es, diesen Koeffizienten mit einem absoluten relativen Fehler von weniger als 0.3% zu ermitteln, d.h. deutlich unter dem aktuellen Literaturwert von 5%.rnrnErste Messungen mit dem aSPECT Spektrometer wurden an der Forschungsneutronenquelle Heinz Maier-Leibnitz in München durchgeführt. Jedoch verhinderten zeitabhängige Instabilitäten des Meßhintergrunds eine neue Bestimmung von "a".rnrnDie vorliegende Arbeit basiert hingegen auf den letzten Messungen mit dem aSPECTrnSpektrometer am Institut Laue-Langevin (ILL) in Grenoble, Frankreich. Bei diesen Messungen konnten die Instabilitäten des Meßhintergrunds bereits deutlich reduziert werden. Weiterhin wurden verschiedene Veränderungen vorgenommen, um systematische Fehler zu minimieren und um einen zuverlässigeren Betrieb des Experiments sicherzustellen. Leider konnte aber wegen zu hohen Sättigungseffekten der Empfängerelektronik kein brauchbares Ergebnis gemessen werden. Trotzdem konnten diese und weitere systematische Fehler identifiziert und verringert, bzw. sogar teilweise eliminiert werden, wovon zukünftigernStrahlzeiten an aSPECT profitieren werden.rnrnDer wesentliche Teil der vorliegenden Arbeit befasst sich mit der Analyse und Verbesserung der systematischen Fehler, die durch das elektromagnetische Feld aSPECTs hervorgerufen werden. Hieraus ergaben sich vielerlei Verbesserungen, insbesondere konnten die systematischen Fehler durch das elektrische Feld verringert werden. Die durch das Magnetfeld verursachten Fehler konnten sogar soweit minimiert werden, dass nun eine Verbesserung des aktuellen Literaturwerts von "a" möglich ist. Darüber hinaus wurde in dieser Arbeit ein für den Versuch maßgeschneidertes NMR-Magnetometer entwickelt und soweit verbessert, dass nun Unsicherheiten bei der Charakterisierung des Magnetfeldes soweit reduziert wurden, dass sie für die Bestimmung von "a" mit einer Genauigkeit von mindestens 0.3% vernachlässigbar sind.

Sviluppo di tecniche di Speckle tracking per la correzione del movimento in ecografia epatica perfusionale

L'ecografia con mezzo di contrasto è una tecnica non invasiva che consente di visualizzare la micro e la macrocircolazione grazie all'utilizzo di microbolle gassose che si distribuiscono in tutto il sistema cardiovascolare. Le informazioni emodinamiche e perfusionali ricavabili dalle immagini eco con contrasto possono essere utilizzate per costruire un modello a grafo dell'albero vascolare epatico. L'analisi della connettività del grafo rappresenta una strategia molto promettente che potrebbe consentire di sostituire la misurazione del gradiente pressorio venoso del fegato, che richiede cateterismo, determinando un notevole miglioramento nella gestione dei pazienti cirrotici. La presente tesi si occupa della correzione dei movimenti del fegato, che deve essere realizzata prima di costruire il grafo per garantire un'accuratezza adeguata. Per correggere i movimenti è proposta una tecnica di Speckle tracking, testata sia in vitro su sequenze eco sintetiche, sia in vivo su sequenze reali fornite dal Policlinico Sant'Orsola.

Tracking di target multipli in reti di sensori radar

Viene proposta una possibile soluzione al problema del tracking multitarget, tramite una rete di sensori radar basata su tecnoligia ultra wide-band. L'area sorvegliata ha una superficie pari a 100 metri quadri e all'interno di essa si vuole tracciare la traiettoria di più persone.