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.

A subdivision-based implementation of the hierarchical b-spline finite element method

A novel technique is presented to facilitate the implementation of hierarchical b-splines and their interfacing with conventional finite element implementations. The discrete interpretation of the two-scale relation, as common in subdivision schemes, is used to establish algebraic relations between the basis functions and their coefficients on different levels of the hierarchical b-spline basis. The subdivision projection technique introduced allows us first to compute all element matrices and vectors using a fixed number of same-level basis functions. Their subsequent multiplication with subdivision matrices projects them, during the assembly stage, to the correct levels of the hierarchical b-spline basis. The proposed technique is applied to convergence studies of linear and geometrically nonlinear problems in one, two and three space dimensions. © 2012 Elsevier B.V.

Conditional Moment Closure for Turbulent Premixed Flames

The conditional moment closure (CMC) method has been successfully applied to various non-premixed combustion systems in the past, but its application to premixed flames is not fully tested and validated. The main difficulty is associated with the modeling of conditional scalar dissipation rate of the conditioning scalar, the progress variable. A simple algebraic model for the conditional dissipation rate is validated using DNS results of a V-flame. This model along with the standard k- turbulence modeling is used in computations of stoichiometric pilot stabilized Bunsen flames using the RANS-CMC method. A first-order closure is used for the conditional mean reaction rate. The computed non reacting and reacting scalars are in reasonable agreement with the experimental measurements and are consistent with earlier computations using flamelets and transported PDF methods. Sensitivity to chemical kinetic mechanism is also assessed. The results suggest that the CMC may be applied across the regimes of premixed combustion.

Dynamic programming solutions for decentralized state-feedback LQG problems with communication delays

This paper presents explicit solutions for a class of decentralized LQG problems in which players communicate their states with delays. A method for decomposing the Bellman equation into a hierarchy of independent subproblems is introduced. Using this decomposition, all of the gains for the optimal controller are computed from the solution of a single algebraic Riccati equation. © 2012 AACC American Automatic Control Council).

High-precision digital lock-in measurements of critical current and AC loss in HTS 2G-Tapes

Application of High Temperature Superconducting (HTS) has been increasingly popular since the new superconducting materials were discovered. This paper presents a new high-precision digital lock-in measurement technique which is used for measuring critical current and AC loss of the 2nd Generation HTS tape. Using a lock-in amplifier and nano-voltage meter, we can resolve signals at nano-volt level, while using a specially designed compensation coil we can cancel out inductive by adjusting the coil inductance. Furthermore, a finer correction for the inductive component can be achieved by adjusting the reference phase of the lock-in amplifier. The critical current and AC loss measurement algorithms and hardware layout are described and analyzed, and results for both numerical and experimental data under varieties of frequencies are presented. © 2008 SICE.

Boundary integral technique for the numerical modelling of the air flow for the Aaberg exhaust system

A boundary integral technique has been developed for the numerical simulation of the air flow for the Aaberg exhaust system. For the steady, ideal, irrotational air flow induced by a jet, the air velocity is an analytical function. The solution of the problem is formulated in the form of a boundary integral equation by seeking the solution of a mixed boundary-value problem of an analytical function based on the Riemann-Hilbert technique. The boundary integral equation is numerically solved by converting it into a system of linear algebraic equations, which are solved by the process of the Gaussian elimination. The air velocity vector at any point in the solution domain is then computed from the air velocity on the boundary of the solution domains.

Computations of turbulent lean premixed combustion using conditional moment closure

Conditional Moment Closure (CMC) is a suitable method for predicting scalars such as carbon monoxide with slow chemical time scales in turbulent combustion. Although this method has been successfully applied to non-premixed combustion, its application to lean premixed combustion is rare. In this study the CMC method is used to compute piloted lean premixed combustion in a distributed combustion regime. The conditional scalar dissipation rate of the conditioning scalar, the progress variable, is closed using an algebraic model and turbulence is modelled using the standard k-e{open} model. The conditional mean reaction rate is closed using a first order CMC closure with the GRI-3.0 chemical mechanism to represent the chemical kinetics of methane oxidation. The PDF of the progress variable is obtained using a presumed shape with the Beta function. The computed results are compared with the experimental measurements and earlier computations using the transported PDF approach. The results show reasonable agreement with the experimental measurements and are consistent with the transported PDF computations. When the compounded effects of shear-turbulence and flame are strong, second order closures may be required for the CMC. © 2013 Copyright Taylor and Francis Group, LLC.

Ectopic Six3 expression in the dragon eye goldfish

For goldfish (Carassius auratus), there are many varieties with different eye phenotypes due to artificial selection and adaptive evolution. Dragon eye is a variant eye characterized by a large-size eyeball protruding out of the socket similar to the eye of dragon in Chinese legends. In this study, anatomical structure of the goldfish dragon eye was compared with that of the common eye, and a stretching of the retina was observed in the enlarged dragon eye. Moreover, the homeobox-containing transcription factor Six3 cDNAs were cloned from the two types of goldfish, and the expression patterns were analyzed in both normal eye and dragon eye goldfish. No amino acid sequence differences were observed between the two deduced peptides, and the expression pattern of Six3 protein in dragon eye is quite similar to common eye during embryogenesis, but from 2 days after hatching, ectopic Six3 expression began to occur in the dragon eye, especially in the outer nuclear layer cells. With eye development, more predominant Six3 distribution was detected in the outer nuclear layer cells of dragon eye than that of normal eye, and fewer cell-layers in outer nuclear layer were observed in dragon eye retina than in normal eye retina. The highlight of this study is that higher Six3 expression occurs in dragon eye goldfish than in normal eye goldfish during retinal development of larvae. (C) 2007 Elsevier Inc. All rights reserved.

Floral survey of the diatom genera Cymbella and Gomphonema (Cymbellales, Bacillariophyta) from the Jolmolungma mountain region of China

We report on taxa from the diatom genera Gomphonema and Cymbella (Cymbellales, Bacillariophyta) found in the Jolmolungma Mountain region of China. This region is unique for its diversity of habitats, which include rivers, springs, moist soil, snowfields, swamps and lakes. We re-examine diatom taxa found in samples first documented in 1973 (Jao et A, 1973) and incorporate recent taxonomic revisions from the literature. In the genera Gomphonema and Cymbella we report 113 species and varieties. Of these 113 taxa, 59 are new record for China; 1 new combination, Encyonema jolmolungmensis, is made. Morphometric data and habitat features are reported for each taxon. Their distribution is strongly correlated to their microhabitats.