Optimal Trajectory Generation for Convergence to a Rectilinear Path

This paper presents a strategy to determine the shortest path of a fixed-wing Miniature Air Vehicle (MAV), constrained by a bounded turning rate, to eventually fly along a given straight line, starting from an arbitrary but known initial position and orientation. Unlike the work available in the literature that solves the problem using the Pontryagin's Minimum Principle (PMP) the trajectory generation algorithm presented here considers a geometrical approach which is intuitive and easy to understand. This also computes the explicit solution for the length of the optimal path as a function of the initial configuration. Further, using a 6-DOF model of a MAV the generated optimal path is tracked by an autopilot consisting of proportional-integral-derivative (PID) controllers. The simulation results show the path generation and tracking for different cases.

An extended finite-element model coupled with level set method for analysis of growth of corrosion pits in metallic structures

Mass balance between metal and electrolytic solution, separated by a moving interface, in stable pit growth results in a set of governing equations which are solved for concentration field and interface position (pit boundary evolution). The interface experiences a jump discontinuity in metal concentration. The extended finite-element model (XFEM) handles this jump discontinuity by using discontinuous-derivative enrichment formulation, eliminating the requirement of using front conforming mesh and re-meshing after each time step as in the conventional finite-element method. However, prior interface location is required so as to solve the governing equations for concentration field for which a numerical technique, the level set method, is used for tracking the interface explicitly and updating it over time. The level set method is chosen as it is independent of shape and location of the interface. Thus, a combined XFEM and level set method is developed in this paper. Numerical analysis for pitting corrosion of stainless steel 304 is presented. The above proposed model is validated by comparing the numerical results with experimental results, exact solutions and some other approximate solutions. An empirical model for pitting potential is also derived based on the finite-element results. Studies show that pitting profile depends on factors such as ion concentration, solution pH and temperature to a large extent. Studying the individual and combined effects of these factors on pitting potential is worth knowing, as pitting potential directly influences corrosion rate.

Pressure Dependence of Glass Transition in As2Te3 Glass

Amorphous solids prepared from their melt state exhibit glass transition phenomenon upon heating. Viscosity, specific heat, and thermal expansion coefficient of the amorphous solids show rapid changes at the glass transition temperature (T-g). Generally, application of high pressure increases the T-g and this increase (a positive dT(g)/dP) has been understood adequately with free volume and entropy models which are purely thermodynamic in origin. In this study, the electrical resistivity of semiconducting As2Te3 glass at high pressures as a function of temperature has been measured in a Bridgman anvil apparatus. Electrical resistivity showed a pronounced change at T-g. The T-g estimated from the slope change in the resistivity-temperature plot shows a decreasing trend (negative dT(g)/dP). The dT(g)/dP was found to be -2.36 degrees C/kbar for a linear fit and -2.99 degrees C/kbar for a polynomial fit in the pressure range 1 bar to 9 kbar. Chalcogenide glasses like Se, As2Se3, and As30Se30Te40 show a positive dT(g)/dP which is very well understood in terms of the thermodynamic models. The negative dT(g)/dP (which is generally uncommon in liquids) observed for As2Te3 glass is against the predictions of the thermodynamic models. The Adam-Gibbs model of viscosity suggests a direct relationship between the isothermal pressure derivative of viscosity and the relaxational expansion coefficient. When the sign of the thermal expansion coefficient is negative, dT(g)/dP = Delta k/Delta alpha will be less than zero, which can result in a negative dT(g)/dP. In general, chalcogenides rich in tellurium show a negative thermal expansion coefficient (NTE) in the supercooled and stable liquid states. Hence, the negative dT(g)/dP observed in this study can be understood on the basis of the Adams-Gibbs model. An electronic model proposed by deNeufville and Rockstad finds a linear relation between T-g and the optical band gap (E-g for covalent semiconducting glasses when they are grouped according to their average coordination number. The electrical band gap (Delta E) of As2Te3 glass decreases with pressure. The optical and electrical band gaps are related as Delta E-g = 2 Delta E; thus, a negative dT(g)/dP is expected when As2Te3 glass is subjected to high pressures. In this sense, As2Te3 is a unique glass where its variation of T-g with pressure can be understood by both electronic and thermodynamic models.

Holographic stress tensor at finite coupling

We calculate one, two and three point functions of the holographic stress tensor for any bulk Lagrangian of the form L (g(ab), R-abcd, del(e) R-abcd). Using the first law of entanglement, a simple method has recently been proposed to compute the holographic stress tensor arising from a higher derivative gravity dual. The stress tensor is proportional to a dimension dependent factor which depends on the higher derivative couplings. In this paper, we identify this proportionality constant with a B-type trace anomaly in even dimensions for any bulk Lagrangian of the above form. This in turn relates to C-T, the coefficient appearing in the two point function of stress tensors. We use a background field method to compute the two and three point function of stress tensors for any bulk Lagrangian of the above form in arbitrary dimensions. As an application we consider general situations where eta/s for holographic plasmas is less than the KSS bound.

Dense shallow granular flows

Simplified equations are derived for a granular flow in the `dense' limit where the volume fraction is close to that for dynamical arrest, and the `shallow' limit where the stream-wise length for flow development (L) is large compared with the cross-stream height (h). The mass and diameter of the particles are set equal to 1 in the analysis without loss of generality. In the dense limit, the equations are simplified by taking advantage of the power-law divergence of the pair distribution function chi proportional to (phi(ad) - phi)(-alpha), and a faster divergence of the derivativ rho(d chi/d rho) similar to (d chi/d phi), where rho and phi are the density and volume fraction, and phi(ad) is the volume fraction for arrested dynamics. When the height h is much larger than the conduction length, the energy equation reduces to an algebraic balance between the rates of production and dissipation of energy, and the stress is proportional to the square of the strain rate (Bagnold law). In the shallow limit, the stress reduces to a simplified Bagnold stress, where all components of the stress are proportional to (partial derivative u(x)/partial derivative y)(2), which is the cross-stream (y) derivative of the stream-wise (x) velocity. In the simplified equations for dense shallow flows, the inertial terms are neglected in the y momentum equation in the shallow limit because the are O(h/L) smaller than the divergence of the stress. The resulting model contains two equations, a mass conservation equations which reduces to a solenoidal condition on the velocity in the incompressible limit, and a stream-wise momentum equation which contains just one parameter B which is a combination of the Bagnold coefficients and their derivatives with respect to volume fraction. The leading-order dense shallow flow equations, as well as the first correction due to density variations, are analysed for two representative flows. The first is the development from a plug flow to a fully developed Bagnold profile for the flow down an inclined plane. The analysis shows that the flow development length is ((rho) over barh(3)/B) , where (rho) over bar is the mean density, and this length is numerically estimated from previous simulation results. The second example is the development of the boundary layer at the base of the flow when a plug flow (with a slip condition at the base) encounters a rough base, in the limit where the momentum boundary layer thickness is small compared with the flow height. Analytical solutions can be found only when the stream-wise velocity far from the surface varies as x(F), where x is the stream-wise distance from the start of the rough base and F is an exponent. The boundary layer thickness increases as (l(2)x)(1/3) for all values of F, where the length scale l = root 2B/(rho) over bar. The analysis reveals important differences between granular flows and the flows of Newtonian fluids. The Reynolds number (ratio of inertial and viscous terms) turns out to depend only on the layer height and Bagnold coefficients, and is independent of the flow velocity, because both the inertial terms in the conservation equations and the divergence of the stress depend on the square of the velocity/velocity gradients. The compressibility number (ratio of the variation in volume fraction and mean volume fraction) is independent of the flow velocity and layer height, and depends only on the volume fraction and Bagnold coefficients.

Regioselective Deiodination of Iodothyronamines, Endogenous Thyroid Hormone Derivatives, by Deiodinase Mimics

Iodothyronine deiodinases (IDs) are mammalian selenoenzymes that play an important role in the activation and inactivation pound of thyroid hormones. It is known that iodothyronamines (TnAMs), produced by the decarboxylation of thyroid hormones, act as substrates for deiodinases. To understand whether decarboxylation alters the rate and/or regioselectivity of deiodination by using synthetic deiodinase mimics, we studied the deiodination of different iodothyronamines. The triiodo derivative 3,3',5-triiodothyronamine (T3AM) is deiodinated at the inner ring by naphthyl-based deiodinase mimics, which is similar to the deiodination of 3,3',5-triiodothyronine (T3). However, T3AM under-goes much slower deiodination than T3. Detailed experimental and theoretical investigations suggest that T3AM forms a weaker halogen bond with selenium donors than T3. Kinetic studies and single-crystal X-ray structures of T3 and T3AM reveal that intermolecular I center dot center dot center dot I interactions may play an important role in deiodination. The formation of hydrogen- and halogen-bonding assemblies, which leads to the formation of a dimeric species of T3 in solution, facilitates the interactions between the selenium and iodine atoms. In contrast, T3AM, which does not have I center dot center dot I interactions, undergoes much slower deiodination.

Mycobacterium tuberculosis Rho Is an NTPase with Distinct Kinetic Properties and a Novel RNA-Binding Subdomain

Two mechanisms - factor independent and dependent termination - ensure the completion of RNA synthesis in eubacteria. Factor-dependent mechanism relies on the Rho protein to terminate transcription by interacting with RNA polymerase. Although well studied in Escherichia coli, the properties of the Rho homologs from most bacteria are not known. The rho gene is unusually large in genus Mycobacterium and other members of actinobacteria, having,150 additional residues towards the amino terminal end. We describe the distinct properties of Rho from Mycobacterium tuberculosis. It is an NTPase with a preference for purine nucleoside triphosphates with kinetic properties different from E. coli homolog and an ability to use various RNA substrates. The N-terminal subdomain of MtbRho can bind to RNA by itself, and appears to contribute to the interaction of the termination factor with RNAs. Furthermore, the interaction with RNA induces changes in conformation and oligomerization of MtbRho.

DIMENSION FREE BOUNDEDNESS OF RIESZ TRANSFORMS FOR THE GRUSHIN OPERATOR

Let G = -Delta(xi) - vertical bar xi vertical bar(2) partial derivative(2)/partial derivative eta(2) be the Grushin operator on R-n x R. We prove that the Riesz transforms associated to this operator are bounded on L-p(Rn+1), 1 < p < infinity, and their norms are independent of dimension n.

A perturbed martingale approach to global optimization

A new global stochastic search, guided mainly through derivative-free directional information computable from the sample statistical moments of the design variables within a Monte Carlo setup, is proposed. The search is aided by imparting to the directional update term additional layers of random perturbations referred to as `coalescence' and `scrambling'. A selection step, constituting yet another avenue for random perturbation, completes the global search. The direction-driven nature of the search is manifest in the local extremization and coalescence components, which are posed as martingale problems that yield gain-like update terms upon discretization. As anticipated and numerically demonstrated, to a limited extent, against the problem of parameter recovery given the chaotic response histories of a couple of nonlinear oscillators, the proposed method appears to offer a more rational, more accurate and faster alternative to most available evolutionary schemes, prominently the particle swarm optimization. (C) 2014 Elsevier B.V. All rights reserved.