Linear control of the flywheel inverted pendulum.

PubMed

Olivares, Manuel; Albertos, Pedro

2014-09-01

The flywheel inverted pendulum is an underactuated mechanical system with a nonlinear model but admitting a linear approximation around the unstable equilibrium point in the upper position. Although underactuated systems usually require nonlinear controllers, the easy tuning and understanding of linear controllers make them more attractive for designers and final users. In a recent paper, a simple PID controller was proposed by the authors, leading to an internally unstable controlled plant. To achieve global stability, two options are developed here: first by introducing an internal stabilizing controller and second by replacing the PID controller by an observer-based state feedback control. Simulation and experimental results show the effectiveness of the design. Copyright © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

Design and analysis of an underactuated anthropomorphic finger for upper limb prosthetics.

PubMed

Omarkulov, Nurdos; Telegenov, Kuat; Zeinullin, Maralbek; Begalinova, Ainur; Shintemirov, Almas

2015-01-01

This paper presents the design of a linkage based finger mechanism ensuring extended range of anthropomorphic gripping motions. The finger design is done using a path-point generation method based on geometrical dimensions and motion of a typical index human finger. Following the design description, and its kinematics analysis, the experimental evaluation of the finger gripping performance is presented using the finger 3D printed prototype. The finger underactuation is achieved by utilizing mechanical linkage system, consisting of two crossed four-bar linkage mechanisms. It is shown that the proposed finger design can be used to design a five-fingered anthropomorphic hand and has the potential for upper limb prostheses development.

Trajectory tracking control for underactuated stratospheric airship

NASA Astrophysics Data System (ADS)

Zheng, Zewei; Huo, Wei; Wu, Zhe

2012-10-01

Stratospheric airship is a new kind of aerospace system which has attracted worldwide developing interests for its broad application prospects. Based on the trajectory linearization control (TLC) theory, a novel trajectory tracking control method for an underactuated stratospheric airship is presented in this paper. Firstly, the TLC theory is described sketchily, and the dynamic model of the stratospheric airship is introduced with kinematics and dynamics equations. Then, the trajectory tracking control strategy is deduced in detail. The designed control system possesses a cascaded structure which consists of desired attitude calculation, position control loop and attitude control loop. Two sub-loops are designed for the position and attitude control loops, respectively, including the kinematics control loop and dynamics control loop. Stability analysis shows that the controlled closed-loop system is exponentially stable. Finally, simulation results for the stratospheric airship to track typical trajectories are illustrated to verify effectiveness of the proposed approach.

Underactuated Spacecraft Control with Disturbance Compensation

DTIC Science & Technology

2015-08-31

fuel, which shortens the spacecraft’s life. Hence with RW failures, the spacecraft becomes underactuated. Recent missions, such as Kepler and...R. Cowen, "The wheels come off Kepler ," URL: http://www.nature.com/news/ the-wheels- come-off- kepler -1.13032 [cited 18 October 2013]. [2] Moos

Hybrid switched time-optimal control of underactuated spacecraft

NASA Astrophysics Data System (ADS)

Olivares, Alberto; Staffetti, Ernesto

2018-04-01

This paper studies the time-optimal control problem for an underactuated rigid spacecraft equipped with both reaction wheels and gas jet thrusters that generate control torques about two of the principal axes of the spacecraft. Since a spacecraft equipped with two reaction wheels is not controllable, whereas a spacecraft equipped with two gas jet thrusters is controllable, this mixed actuation ensures controllability in the case in which one of the control axes is unactuated. A novel control logic is proposed for this hybrid actuation in which the reaction wheels are the main actuators and the gas jet thrusters act only after saturation or anticipating future saturation of the reaction wheels. The presence of both reaction wheels and gas jet thrusters gives rise to two operating modes for each actuated axis and therefore the spacecraft can be regarded as a switched dynamical system. The time-optimal control problem for this system is reformulated using the so-called embedding technique and the resulting problem is a classical optimal control problem. The main advantages of this technique are that integer or binary variables do not have to be introduced to model switching decisions between modes and that assumptions about the number of switches are not necessary. It is shown in this paper that this general method for the solution of optimal control problems for switched dynamical systems can efficiently deal with time-optimal control of an underactuated rigid spacecraft in which bound constraints on the torque of the actuators and on the angular momentum of the reaction wheels are taken into account.

Torque Control of Underactuated Tendon-driven Robotic Fingers

NASA Technical Reports Server (NTRS)

Ihrke, Chris A. (Inventor); Wampler, Charles W. (Inventor); Abdallah, Muhammad E. (Inventor); Reiland, Matthew J. (Inventor); Diftler, Myron A. (Inventor); Bridgwater, Lyndon (Inventor); Platt, Robert (Inventor)

2013-01-01

A robotic system includes a robot having a total number of degrees of freedom (DOF) equal to at least n, an underactuated tendon-driven finger driven by n tendons and n DOF, the finger having at least two joints, being characterized by an asymmetrical joint radius in one embodiment. A controller is in communication with the robot, and controls actuation of the tendon-driven finger using force control. Operating the finger with force control on the tendons, rather than position control, eliminates the unconstrained slack-space that would have otherwise existed. The controller may utilize the asymmetrical joint radii to independently command joint torques. A method of controlling the finger includes commanding either independent or parameterized joint torques to the controller to actuate the fingers via force control on the tendons.

Position and attitude tracking control for a quadrotor UAV.

PubMed

Xiong, Jing-Jing; Zheng, En-Hui

2014-05-01

A synthesis control method is proposed to perform the position and attitude tracking control of the dynamical model of a small quadrotor unmanned aerial vehicle (UAV), where the dynamical model is underactuated, highly-coupled and nonlinear. Firstly, the dynamical model is divided into a fully actuated subsystem and an underactuated subsystem. Secondly, a controller of the fully actuated subsystem is designed through a novel robust terminal sliding mode control (TSMC) algorithm, which is utilized to guarantee all state variables converge to their desired values in short time, the convergence time is so small that the state variables are acted as time invariants in the underactuated subsystem, and, a controller of the underactuated subsystem is designed via sliding mode control (SMC), in addition, the stabilities of the subsystems are demonstrated by Lyapunov theory, respectively. Lastly, in order to demonstrate the robustness of the proposed control method, the aerodynamic forces and moments and air drag taken as external disturbances are taken into account, the obtained simulation results show that the synthesis control method has good performance in terms of position and attitude tracking when faced with external disturbances. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

A new formation control of multiple underactuated surface vessels

NASA Astrophysics Data System (ADS)

Xie, Wenjing; Ma, Baoli; Fernando, Tyrone; Iu, Herbert Ho-Ching

2018-05-01

This work investigates a new formation control problem of multiple underactuated surface vessels. The controller design is based on input-output linearisation technique, graph theory, consensus idea and some nonlinear tools. The proposed smooth time-varying distributed control law guarantees that the multiple underactuated surface vessels globally exponentially converge to some desired geometric shape, which is especially centred at the initial average position of vessels. Furthermore, the stability analysis of zero dynamics proves that the orientations of vessels tend to some constants that are dependent on the initial values of vessels, and the velocities and control inputs of the vessels decay to zero. All the results are obtained under the communication scenarios of static directed balanced graph with a spanning tree. Effectiveness of the proposed distributed control scheme is demonstrated using a simulation example.

Analysis of Underactuated Dynamic Locomotion Systems Using Perturbation Expansion: The Twistcar Toy Example

NASA Astrophysics Data System (ADS)

Chakon, Ofir; Or, Yizhar

2017-08-01

Underactuated robotic locomotion systems are commonly represented by nonholonomic constraints where in mixed systems, these constraints are also combined with momentum evolution equations. Such systems have been analyzed in the literature by exploiting symmetries and utilizing advanced geometric methods. These works typically assume that the shape variables are directly controlled, and obtain the system's solutions only via numerical integration. In this work, we demonstrate utilization of the perturbation expansion method for analyzing a model example of mixed locomotion system—the twistcar toy vehicle, which is a variant of the well-studied roller-racer model. The system is investigated by assuming small-amplitude oscillatory inputs of either steering angle (kinematic) or steering torque (mechanical), and explicit expansions for the system's solutions under both types of actuation are obtained. These expressions enable analyzing the dependence of the system's dynamic behavior on the vehicle's structural parameters and actuation type. In particular, we study the reversal in direction of motion under steering angle oscillations about the unfolded configuration, as well as influence of the choice of actuation type on convergence properties of the motion. Some of the findings are demonstrated qualitatively by reporting preliminary motion experiments with a modular robotic prototype of the vehicle.

Leader-follower formation control of underactuated surface vehicles based on sliding mode control and parameter estimation.

PubMed

Sun, Zhijian; Zhang, Guoqing; Lu, Yu; Zhang, Weidong

2018-01-01

This paper studies the leader-follower formation control of underactuated surface vehicles with model uncertainties and environmental disturbances. A parameter estimation and upper bound estimation based sliding mode control scheme is proposed to solve the problem of the unknown plant parameters and environmental disturbances. For each of these leader-follower formation systems, the dynamic equations of position and attitude are analyzed using coordinate transformation with the aid of the backstepping technique. All the variables are guaranteed to be uniformly ultimately bounded stable in the closed-loop system, which is proven by the distribution design Lyapunov function synthesis. The main advantages of this approach are that: first, parameter estimation based sliding mode control can enhance the robustness of the closed-loop system in presence of model uncertainties and environmental disturbances; second, a continuous function is developed to replace the signum function in the design of sliding mode scheme, which devotes to reduce the chattering of the control system. Finally, numerical simulations are given to demonstrate the effectiveness of the proposed method. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Rapid prototyping prosthetic hand acting by a low-cost shape-memory-alloy actuator.

PubMed

Soriano-Heras, Enrique; Blaya-Haro, Fernando; Molino, Carlos; de Agustín Del Burgo, José María

2018-06-01

The purpose of this article is to develop a new concept of modular and operative prosthetic hand based on rapid prototyping and a novel shape-memory-alloy (SMA) actuator, thus minimizing the manufacturing costs. An underactuated mechanism was needed for the design of the prosthesis to use only one input source. Taking into account the state of the art, an underactuated mechanism prosthetic hand was chosen so as to implement the modifications required for including the external SMA actuator. A modular design of a new prosthesis was developed which incorporated a novel SMA actuator for the index finger movement. The primary objective of the prosthesis is achieved, obtaining a modular and functional low-cost prosthesis based on additive manufacturing executed by a novel SMA actuator. The external SMA actuator provides a modular system which allows implementing it in different systems. This paper combines rapid prototyping and a novel SMA actuator to develop a new concept of modular and operative low-cost prosthetic hand.

Predictor-based control for an inverted pendulum subject to networked time delay.

PubMed

Ghommam, J; Mnif, F

2017-03-01

The inverted pendulum is considered as a special class of underactuated mechanical systems with two degrees of freedom and a single control input. This mechanical configuration allows to transform the underactuated system into a nonlinear system that is referred to as the normal form, whose control design techniques for stabilization are well known. In the presence of time delays, these control techniques may result in inadequate behavior and may even cause finite escape time in the controlled system. In this paper, a constructive method is presented to design a controller for an inverted pendulum characterized by a time-delayed balance control. First, the partial feedback linearization control for the inverted pendulum is modified and coupled with a state predictor to compensate for the delay. Several coordinate transformations are processed to transform the estimated partial linearized system into an upper-triangular form. Second, nested saturation and backstepping techniques are combined to derive the control law of the transformed system that would complete the design of the whole control input. The effectiveness of the proposed technique is illustrated by numerical simulations. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Design of a bistable electromagnetic coupling mechanism for underactuated manipulators

NASA Astrophysics Data System (ADS)

Miyuranga Kaluarachchi, Malaka; Ho, Jee-Hou; Yahya, Samer; Teh, Sze-Hong

2018-07-01

Electromagnetic clutches have been widely used in underactuated lightweight manipulator designs as a coupling mechanism due to their advantages of fast activation and electrical controllability. However, an electromagnetic clutch consumes electrical energy continuously during its operation. Furthermore, conventional electromagnetic clutches are not fail-safe in unexpected power failure conditions. These factors have a significant impact on the energy efficiency and the safety of the design, and these are vital aspects for underactuated lightweight manipulators. This paper introduces a bistable electromagnetic coupling mechanism design, with reduced energy consumption and with a fail-safe mechanism. The concept of a bistable electromagnetic mechanism consists of an electromagnet with two permanent magnets. The design has the capability to maintain stable mechanism states, either engaged or disengaged, without a continuous electrical power supply, thus enhancing fail-safety and efficiency. Moreover, the design incorporates the advantages of conventional electromagnetic clutches such as rapid activation and electrical controllability. The experimental results highlight the effectiveness of the proposed mechanism in reducing electric energy consumption. Besides this, a theoretical model is developed and a good correlation is achieved between the theoretical and experimental results. The reduced electric energy consumption and fail-safe design make the bistable electromagnetic mechanism a promising concept for underactuated lightweight manipulators.

An under-actuated origami gripper with adjustable stiffness joints for multiple grasp modes

NASA Astrophysics Data System (ADS)

Firouzeh, Amir; Paik, Jamie

2017-05-01

Under-actuated robots offer multiple degrees of freedom without much added complexity to the actuation and control. Utilizing adjustable stiffness joints in these robots allows us to control their stable configurations and their mode of interaction with the environment. In this paper, we present the design of tendon-driven robotic origami (robogami) joints with adjustable stiffness. The proposed designs allow us to place joints along any direction in the plane of the robot and in the normal direction to the plane. The layer-by-layer manufacturing of robogamis facilitates the design and manufacturing of robots with different arrangement of joints for different applications. We use thermally activated shape memory polymer to control the joint stiffness. The manufacturing of the polymer layer is compatible with the layer-by-layer manufacturing process of the robogamis which results in scalable and customizable robots. To demonstrate, we prototyped an under-actuated gripper with three fingers and only one input actuation. The grasp mode of the gripper is set by adjusting the configuration of the locked joints and modulating the stiffness of the active joints. We present a model to estimate the configuration and the contact forces of the gripper at different settings that will assist us in design and control of future generation of under-actuated robogamis.

Frequency-tuning input-shaped manifold-based switching control for underactuated space robot equipped with flexible appendages

NASA Astrophysics Data System (ADS)

Kojima, Hirohisa; Ieda, Shoko; Kasai, Shinya

2014-08-01

Underactuated control problems, such as the control of a space robot without actuators on the main body, have been widely investigated. However, few studies have examined attitude control problems of underactuated space robots equipped with a flexible appendage, such as solar panels. In order to suppress vibration in flexible appendages, a zero-vibration input-shaping technique was applied to the link motion of an underactuated planar space robot. However, because the vibrational frequency depends on the link angles, simple input-shaping control methods cannot sufficiently suppress the vibration. In this paper, the dependency of the vibrational frequency on the link angles is measured experimentally, and the time-delay interval of the input shaper is then tuned based on the frequency estimated from the link angles. The proposed control method is referred to as frequency-tuning input-shaped manifold-based switching control (frequency-tuning IS-MBSC). The experimental results reveal that frequency-tuning IS-MBSC is capable of controlling the link angles and the main body attitude to maintain the target angles and that the vibration suppression performance of the proposed frequency-tuning IS-MBSC is better than that of a non-tuning IS-MBSC, which does not take the frequency variation into consideration.

A composite controller for trajectory tracking applied to the Furuta pendulum.

PubMed

Aguilar-Avelar, Carlos; Moreno-Valenzuela, Javier

2015-07-01

In this paper, a new composite scheme is proposed, where the total control action is composed of the sum of a feedback-linearization-based controller and an energy-based compensation. This new proposition is applied to the rotary inverted pendulum or Furuta pendulum. The Furuta pendulum is a well-known underactuated mechanical system with two degrees of freedom. The control objective in this case is the tracking of a desired periodic trajectory in the actuated joint, while the unactuated link is regulated at the upward position. The closed-loop system is analyzed showing uniformly ultimately boundedness of the error trajectories. The design procedure is shown in a constructive form, such that it may be applied to other underactuated mechanical systems, with the proper definitions of the output function and the energy function. Numerical simulations and real-time experiments show the practical viability of the controller. Finally, the proposed algorithm is compared with a tracking controller previously reported in the literature. The new algorithm shows better performance in both arm trajectory tracking and pendulum regulation. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Analysis and Experimentation of Control Strategies for Underactuated Spacecraft

DTIC Science & Technology

2009-09-01

control techniques that provide time -invariant global asymptotic stability of the fully actuated spacecraft system of equations. Although these control ...momentum wheel actuators in finite time under the restriction that the total angular momentum vector of the system is zero. This control methodology...can be stabilizable to an arbitrarily small region about the equilibrium of the system via time -invariant smooth state feedback control

A close examination of under-actuated attitude control subsystem design for future satellite missions' life extension

NASA Astrophysics Data System (ADS)

Lam, Quang M.; Barkana, Itzhak

2014-12-01

Satellite mission life, maintained and prolonged beyond its typical norm of their expectancy, are primarily dictated by the state of health of its Reaction Wheel Assembly (RWA), especially for commercial GEO satellites since torquer bars are no longer applicable while thruster assistant is unacceptable due to pointing accuracy impact during jet firing. The RWA is the primary set of actuators (as compared to thrusters for orbit maintenance and maneuvering) mainly responsible for the satellite mission for accurately and precisely pointing its payloads to the right targets to conduct its mission operations. The RWA consisting of either a set of four in pyramid or three in orthogonal is the primary set of actuators to allow the satellite to achieve accurate and precise pointing of the satellite payloads towards the desired targets. Future space missions will be required to achieve much longer lives and are currently perceived by the GEO satellite community as an "expected norm" of 20 years or longer. Driven by customers' demands/goals and competitive market have challenged Attitude Control Subsystems (ACS) engineers to develop better ACS algorithms to address such an emerging need. There are two main directions to design satellite's under-actuated control subsystem: (1) Attitude Feedback with Zero Momentum Principle and (2) Attitude Control by Angular Velocity Tracking via Small Time Local Controllability concept. Successful applications of these control laws have been largely demonstrated via simulation for the rest to rest case. Limited accuracy and oscillatory behaviors are observed in three axes for non-zero wheel momentum while realistic loss of a wheel scenario (i.e., fully actuated to under-actuated) has not been closely examined! This study revisits the under-actuated control design with detailed set ups of multiple scenarios reflecting real life operating conditions which have put current under-actuated control laws mentioned earlier into a re-evaluation mode since rest to rest case is not adequate to truly represent an on orbit failure of a single wheel. The study is intended to facilitate the ACS community to further develop a more practical under-actuated control law and present a path to extend these current thinking to address a more realistic reconfigurable ACS subject to a dynamic transition from a 3 RWs mode to 2 RWs mode.

Wake topology of under-actuated rajiform batoid robots

NASA Astrophysics Data System (ADS)

Valdivia Y Alvarado, Pablo; Weymouth, Gabriel; Thekoodan, Dilip; Patrikalakis, Nicholas

2011-11-01

Under-actuated continuous soft robots are designed to have modes of vibration that match desired body motions using minimal actuation. The desired modes of vibration are enabled by flexible continuous bodies with heterogenous material distributions. Errors or intentional approximations in the manufactured material distributions alter the achieved body motions and influence the resulting locomotion performance. An under-actuated continuous soft robot designed to mimic rajiform batoids such as stingrays is used to investigate the influence that fin kinematics variations have on wake topology, and the trade-offs that simplifying the body material structure has on achievable swimming performance. Pectoral fin kinematics in rajiform batoids are defined by traveling waves along the fin cord with particular amplitude envelopes along both the fin cord and span. Digital particle image velocimetry (DPIV) analysis of a prototype's wake structure and immersed-boundary numerical simulations are used to clarify the role of traveling wave wavelength, fin flapping frequency, and amplitude envelope characteristics on the resulting wake topology and swimming performance.

Optimal reorientation of asymmetric underactuated spacecraft using differential flatness and receding horizon control

NASA Astrophysics Data System (ADS)

Cai, Wei-wei; Yang, Le-ping; Zhu, Yan-wei

2015-01-01

This paper presents a novel method integrating nominal trajectory optimization and tracking for the reorientation control of an underactuated spacecraft with only two available control torque inputs. By employing a pseudo input along the uncontrolled axis, the flatness property of a general underactuated spacecraft is extended explicitly, by which the reorientation trajectory optimization problem is formulated into the flat output space with all the differential constraints eliminated. Ultimately, the flat output optimization problem is transformed into a nonlinear programming problem via the Chebyshev pseudospectral method, which is improved by the conformal map and barycentric rational interpolation techniques to overcome the side effects of the differential matrix's ill-conditions on numerical accuracy. Treating the trajectory tracking control as a state regulation problem, we develop a robust closed-loop tracking control law using the receding-horizon control method, and compute the feedback control at each control cycle rapidly via the differential transformation method. Numerical simulation results show that the proposed control scheme is feasible and effective for the reorientation maneuver.

Design and development of a bio-inspired, under-actuated soft gripper.

PubMed

Hassan, Taimoor; Manti, Mariangela; Passetti, Giovanni; d'Elia, Nicolò; Cianchetti, Matteo; Laschi, Cecilia

2015-08-01

The development of robotic devices able to perform manipulation tasks mimicking the human hand has been assessed on large scale. This work stands in the challenging scenario where soft materials are combined with bio-inspired design in order to develop soft grippers with improved grasping and holding capabilities. We are going to show a low-cost, under-actuated and adaptable soft gripper, highlighting the design and the manufacturing process. In particular, a critical analysis is made among three versions of the gripper with same design and actuation mechanism, but based on different materials. A novel actuation principle has been implemented in both cases, in order to reduce the encumbrance of the entire system and improve its aesthetics. Grasping and holding capabilities have been tested for each device, with target objects varying in shape, size and material. Results highlight synergy between the geometry and the intrinsic properties of the soft material, showing the way to novel design principles for soft grippers.

An energy-optimal solution for transportation control of cranes with double pendulum dynamics: Design and experiments

NASA Astrophysics Data System (ADS)

Sun, Ning; Wu, Yiming; Chen, He; Fang, Yongchun

2018-03-01

Underactuated cranes play an important role in modern industry. Specifically, in most situations of practical applications, crane systems exhibit significant double pendulum characteristics, which makes the control problem quite challenging. Moreover, most existing planners/controllers obtained with standard methods/techniques for double pendulum cranes cannot minimize the energy consumption when fulfilling the transportation tasks. Therefore, from a practical perspective, this paper proposes an energy-optimal solution for transportation control of double pendulum cranes. By applying the presented approach, the transportation objective, including fast trolley positioning and swing elimination, is achieved with minimized energy consumption, and the residual oscillations are suppressed effectively with all the state constrains being satisfied during the entire transportation process. As far as we know, this is the first energy-optimal solution for transportation control of underactuated double pendulum cranes with various state and control constraints. Hardware experimental results are included to verify the effectiveness of the proposed approach, whose superior performance is reflected by being experimentally compared with some comparative controllers.

Principal components analysis based control of a multi-DoF underactuated prosthetic hand.

PubMed

Matrone, Giulia C; Cipriani, Christian; Secco, Emanuele L; Magenes, Giovanni; Carrozza, Maria Chiara

2010-04-23

Functionality, controllability and cosmetics are the key issues to be addressed in order to accomplish a successful functional substitution of the human hand by means of a prosthesis. Not only the prosthesis should duplicate the human hand in shape, functionality, sensorization, perception and sense of body-belonging, but it should also be controlled as the natural one, in the most intuitive and undemanding way. At present, prosthetic hands are controlled by means of non-invasive interfaces based on electromyography (EMG). Driving a multi degrees of freedom (DoF) hand for achieving hand dexterity implies to selectively modulate many different EMG signals in order to make each joint move independently, and this could require significant cognitive effort to the user. A Principal Components Analysis (PCA) based algorithm is used to drive a 16 DoFs underactuated prosthetic hand prototype (called CyberHand) with a two dimensional control input, in order to perform the three prehensile forms mostly used in Activities of Daily Living (ADLs). Such Principal Components set has been derived directly from the artificial hand by collecting its sensory data while performing 50 different grasps, and subsequently used for control. Trials have shown that two independent input signals can be successfully used to control the posture of a real robotic hand and that correct grasps (in terms of involved fingers, stability and posture) may be achieved. This work demonstrates the effectiveness of a bio-inspired system successfully conjugating the advantages of an underactuated, anthropomorphic hand with a PCA-based control strategy, and opens up promising possibilities for the development of an intuitively controllable hand prosthesis.

Hydrodynamics of an Under-actuated Plesiosaur-inspired robot

NASA Astrophysics Data System (ADS)

Weymouth, Gabriel; Devereux, Kate; Copsey, Nick; Muscutt, Luke; Downes, Jon; Ganapathisubramani, Bharath

2017-11-01

Underwater vehicles are increasingly important tools for use in science and engineering, but maneuverability and mission life seem to be mutually exclusive goals. Inspired by the unique swimming method of the plesiosaur, which used four flippers of essentially equal size and musculature, we analyzed designed and built an underwater vehicle with the potential for both gliding and active maneuvering modes. Using 2D simulations and strip theory approximation to account for the changing arc length along the flipper span, we studied the wake and forces on the foils and determined the optimum flipper geometry, spacing and kinematics. To reduce mechanical and control complexity and cost, we next studied the impact of under-actuated kinematics. Even after optimizing pivot location and range of motion, leaving the foils free to pitch was found to reduce efficiency by approximately 50%. Based on these specifications, the vehicle was built and tested over a range of free swimming and maneuvering cases using motion tracking equipment. The excellent maneuverability of the under-actuated vehicle validates the concept, and the new platform should enable further detailed experimental measurements in the future.

Learn the Lagrangian: A Vector-Valued RKHS Approach to Identifying Lagrangian Systems.

PubMed

Cheng, Ching-An; Huang, Han-Pang

2016-12-01

We study the modeling of Lagrangian systems with multiple degrees of freedom. Based on system dynamics, canonical parametric models require ad hoc derivations and sometimes simplification for a computable solution; on the other hand, due to the lack of prior knowledge in the system's structure, modern nonparametric models in machine learning face the curse of dimensionality, especially in learning large systems. In this paper, we bridge this gap by unifying the theories of Lagrangian systems and vector-valued reproducing kernel Hilbert space. We reformulate Lagrangian systems with kernels that embed the governing Euler-Lagrange equation-the Lagrangian kernels-and show that these kernels span a subspace capturing the Lagrangian's projection as inverse dynamics. By such property, our model uses only inputs and outputs as in machine learning and inherits the structured form as in system dynamics, thereby removing the need for the mundane derivations for new systems as well as the generalization problem in learning from scratches. In effect, it learns the system's Lagrangian, a simpler task than directly learning the dynamics. To demonstrate, we applied the proposed kernel to identify the robot inverse dynamics in simulations and experiments. Our results present a competitive novel approach to identifying Lagrangian systems, despite using only inputs and outputs.

A novel anti-windup framework for cascade control systems: an application to underactuated mechanical systems.

PubMed

Mehdi, Niaz; Rehan, Muhammad; Malik, Fahad Mumtaz; Bhatti, Aamer Iqbal; Tufail, Muhammad

2014-05-01

This paper describes the anti-windup compensator (AWC) design methodologies for stable and unstable cascade plants with cascade controllers facing actuator saturation. Two novel full-order decoupling AWC architectures, based on equivalence of the overall closed-loop system, are developed to deal with windup effects. The decoupled architectures have been developed, to formulate the AWC synthesis problem, by assuring equivalence of the coupled and the decoupled architectures, instead of using an analogy, for cascade control systems. A comparison of both AWC architectures from application point of view is provided to consolidate their utilities. Mainly, one of the architecture is better in terms of computational complexity for implementation, while the other is suitable for unstable cascade systems. On the basis of the architectures for cascade systems facing stability and performance degradation problems in the event of actuator saturation, the global AWC design methodologies utilizing linear matrix inequalities (LMIs) are developed. These LMIs are synthesized by application of the Lyapunov theory, the global sector condition and the ℒ2 gain reduction of the uncertain decoupled nonlinear component of the decoupled architecture. Further, an LMI-based local AWC design methodology is derived by utilizing a local sector condition by means of a quadratic Lyapunov function to resolve the windup problem for unstable cascade plants under saturation. To demonstrate effectiveness of the proposed AWC schemes, an underactuated mechanical system, the ball-and-beam system, is considered, and details of the simulation and practical implementation results are described. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Robust leader-follower formation tracking control of multiple underactuated surface vessels

NASA Astrophysics Data System (ADS)

Peng, Zhou-hua; Wang, Dan; Lan, Wei-yao; Sun, Gang

2012-09-01

This paper is concerned with the formation control problem of multiple underactuated surface vessels moving in a leader-follower formation. The formation is achieved by the follower to track a virtual target defined relative to the leader. A robust adaptive target tracking law is proposed by using neural network and backstepping techniques. The advantage of the proposed control scheme is that the uncertain nonlinear dynamics caused by Coriolis/centripetal forces, nonlinear damping, unmodeled hydrodynamics and disturbances from the environment can be compensated by on line learning. Based on Lyapunov analysis, the proposed controller guarantees the tracking errors converge to a small neighborhood of the origin. Simulation results demonstrate the effectiveness of the control strategy.

Development of an Underactuated 2-DOF Wrist Joint using McKibben PAMs

NASA Astrophysics Data System (ADS)

Rajagopal, S. P.; Jain, S.; Ramasubramanian, S. N.; Johnson, B. V.; Dwivedy, S. K.

2014-10-01

In this work, model of an underactuated 2-DOF wrist joint with pneumatically actuated muscles is proposed. For the joint, McKibben-type artificial muscles are used in parallel configuration for the actuation. For each Degree of Freedom (DOF) one agonist-antagonist pair arrangement is usually used with a pulley mechanism. A mathematical model of wrist joint is derived using conventional forward kinematic analysis. The static model relating pressure in the muscle with the orientation of the wrist joint is obtained by combining the experimental data and mathematical model. Regulation of pressure can be achieved by pulse width modulation control of on/off solenoid valves. A set of free vibration experiments are done for the dynamic identification of the muscle characteristics.

Lagrangians and Systems They Describe-How Not to Treat Dissipation in Quantum Mechanics.

ERIC Educational Resources Information Center

Ray, John R.

1979-01-01

The author argues that a Lagrangian that yields equations of motion for a damped simple harmonic oscillator does not describe this system, but a completely different physical system, and constructs a physical system that the Lagrangian describes and derives some of its properties. (Author/GA)

Planning and Control for Microassembly of Structures Composed of Stress-Engineered MEMS Microrobots

PubMed Central

Donald, Bruce R.; Levey, Christopher G.; Paprotny, Igor; Rus, Daniela

2013-01-01

We present control strategies that implement planar microassembly using groups of stress-engineered MEMS microrobots (MicroStressBots) controlled through a single global control signal. The global control signal couples the motion of the devices, causing the system to be highly underactuated. In order for the robots to assemble into arbitrary planar shapes despite the high degree of underactuation, it is desirable that each robot be independently maneuverable (independently controllable). To achieve independent control, we fabricated robots that behave (move) differently from one another in response to the same global control signal. We harnessed this differentiation to develop assembly control strategies, where the assembly goal is a desired geometric shape that can be obtained by connecting the chassis of individual robots. We derived and experimentally tested assembly plans that command some of the robots to make progress toward the goal, while other robots are constrained to remain in small circular trajectories (closed-loop orbits) until it is their turn to move into the goal shape. Our control strategies were tested on systems of fabricated MicroStressBots. The robots are 240–280 μm × 60 μm × 7–20 μm in size and move simultaneously within a single operating environment. We demonstrated the feasibility of our control scheme by accurately assembling five different types of planar microstructures. PMID:23580796

S-Lagrangian dynamics of many-body systems and behavior of social groups: Dominance and hierarchy formation

NASA Astrophysics Data System (ADS)

Sandler, U.

2017-11-01

In this paper, we extend our generalized Lagrangian dynamics (i.e., S-Lagrangian dynamics, which can be applied equally to physical and non-physical systems as per Sandler (2014)) to many-body systems. Unlike common Lagrangian dynamics, this is not a trivial task. For many-body systems with S-dependent Lagrangians, the Lagrangian and the corresponding Hamiltonian or energy become vector functions, conjugated momenta become second-order tensors, and the system inevitably develops a hierarchical structure, even if all bodies initially have similar status and Lagrangians. As an application of our theory, we consider dominance and hierarchy formation, which is present in almost all communities of living species. As a biological basis for this application, we assume that the primary motivation of a groups activity is to attempt to cope with stress arising as pressure from the environment and from intrinsic unmet needs of individuals. It has been shown that the S-Lagrangian approach to a group's evolution naturally leads to formation of linear or despotic dominance hierarchies, depending on differences between individuals in coping with stress. That is, individuals that cope more readily with stress take leadership roles during the evolution. Experimental results in animal groups which support our assumption and findings are considered.

The S-Lagrangian and a theory of homeostasis in living systems

NASA Astrophysics Data System (ADS)

Sandler, U.; Tsitolovsky, L.

2017-04-01

A major paradox of living things is their ability to actively counteract degradation in a continuously changing environment or being injured through homeostatic protection. In this study, we propose a dynamic theory of homeostasis based on a generalized Lagrangian approach (S-Lagrangian), which can be equally applied to physical and nonphysical systems. Following discoverer of homeostasis Cannon (1935), we assume that homeostasis results from tendency of the organisms to decrease of the stress and avoid of death. We show that the universality of homeostasis is a consequence of analytical properties of the S-Lagrangian, while peculiarities of the biochemical and physiological mechanisms of homeostasis determine phenomenological parameters of the S-Lagrangian. Additionally, we reveal that plausible assumptions about S-Lagrangian features lead to good agreement between theoretical descriptions and observed homeostatic behavior. Here, we have focused on homeostasis of living systems, however, the proposed theory is also capable of being extended to social systems.

Backstepping-based cooperative and adaptive tracking control design for a group of underactuated AUVs in horizontal plan

NASA Astrophysics Data System (ADS)

Ghommam, Jawhar; Saad, Maarouf

2014-05-01

In this paper, we investigate new implementable cooperative adaptive backstepping controllers for a group of underactuated autonomous vehicles that are communicating with their local neighbours to track a time-varying virtual leader of which the relative position may only be available to a portion of the team members. At the kinematic cooperative control level of the autonomous underwater vehicle, the virtual cooperative controller is basically designed on a proportional and derivative consensus algorithm presented in Ren (2010), which involves velocity information from local neighbours. In this paper, we propose a new design algorithm based on singular perturbation theory that precludes the use of the neighbours' velocity information in the cooperative design. At the dynamic cooperative control level, calculation of the partial derivatives of some stabilising functions which in turn will contain velocity information from the local neighbours is required. To facilitate the implementation of the cooperative controllers, we propose a command filter approach technique to avoid analytic differentiation of the virtual cooperative control laws. We show how Lyapunov-based techniques and graph theory can be combined together to yield a robust cooperative controller where the uncertain dynamics of the cooperating vehicles and the constraints on the communication topology which contains a directed spanning tree are explicitly taken into account. Simulation results with a dynamic model of underactuated autonomous underwater vehicles moving on the horizontal plane are presented and discussed.

Lagrangian-Hamiltonian unified formalism for autonomous higher order dynamical systems

NASA Astrophysics Data System (ADS)

Prieto-Martínez, Pedro Daniel; Román-Roy, Narciso

2011-09-01

The Lagrangian-Hamiltonian unified formalism of Skinner and Rusk was originally stated for autonomous dynamical systems in classical mechanics. It has been generalized for non-autonomous first-order mechanical systems, as well as for first-order and higher order field theories. However, a complete generalization to higher order mechanical systems is yet to be described. In this work, after reviewing the natural geometrical setting and the Lagrangian and Hamiltonian formalisms for higher order autonomous mechanical systems, we develop a complete generalization of the Lagrangian-Hamiltonian unified formalism for these kinds of systems, and we use it to analyze some physical models from this new point of view.

Communication: A simplified coupled-cluster Lagrangian for polarizable embedding.

PubMed

Krause, Katharina; Klopper, Wim

2016-01-28

A simplified coupled-cluster Lagrangian, which is linear in the Lagrangian multipliers, is proposed for the coupled-cluster treatment of a quantum mechanical system in a polarizable environment. In the simplified approach, the amplitude equations are decoupled from the Lagrangian multipliers and the energy obtained from the projected coupled-cluster equation corresponds to a stationary point of the Lagrangian.

Communication: A simplified coupled-cluster Lagrangian for polarizable embedding

DOE Office of Scientific and Technical Information (OSTI.GOV)

Krause, Katharina; Klopper, Wim, E-mail: klopper@kit.edu

A simplified coupled-cluster Lagrangian, which is linear in the Lagrangian multipliers, is proposed for the coupled-cluster treatment of a quantum mechanical system in a polarizable environment. In the simplified approach, the amplitude equations are decoupled from the Lagrangian multipliers and the energy obtained from the projected coupled-cluster equation corresponds to a stationary point of the Lagrangian.

Alternative kinetic energy metrics for Lagrangian systems

NASA Astrophysics Data System (ADS)

Sarlet, W.; Prince, G.

2010-11-01

We examine Lagrangian systems on \\ {R}^n with standard kinetic energy terms for the possibility of additional, alternative Lagrangians with kinetic energy metrics different to the Euclidean one. Using the techniques of the inverse problem in the calculus of variations we find necessary and sufficient conditions for the existence of such Lagrangians. We illustrate the problem in two and three dimensions with quadratic and cubic potentials. As an aside we show that the well-known anomalous Lagrangians for the Coulomb problem can be removed by switching on a magnetic field, providing an appealing resolution of the ambiguous quantizations of the hydrogen atom.

A Vertically Lagrangian Finite-Volume Dynamical Core for Global Models

NASA Technical Reports Server (NTRS)

Lin, Shian-Jiann

2003-01-01

A finite-volume dynamical core with a terrain-following Lagrangian control-volume discretization is described. The vertically Lagrangian discretization reduces the dimensionality of the physical problem from three to two with the resulting dynamical system closely resembling that of the shallow water dynamical system. The 2D horizontal-to-Lagrangian-surface transport and dynamical processes are then discretized using the genuinely conservative flux-form semi-Lagrangian algorithm. Time marching is split- explicit, with large-time-step for scalar transport, and small fractional time step for the Lagrangian dynamics, which permits the accurate propagation of fast waves. A mass, momentum, and total energy conserving algorithm is developed for mapping the state variables periodically from the floating Lagrangian control-volume to an Eulerian terrain-following coordinate for dealing with physical parameterizations and to prevent severe distortion of the Lagrangian surfaces. Deterministic baroclinic wave growth tests and long-term integrations using the Held-Suarez forcing are presented. Impact of the monotonicity constraint is discussed.

Compact and low-cost humanoid hand powered by nylon artificial muscles.

PubMed

Wu, Lianjun; Jung de Andrade, Monica; Saharan, Lokesh Kumar; Rome, Richard Steven; Baughman, Ray H; Tadesse, Yonas

2017-02-03

This paper focuses on design, fabrication and characterization of a biomimetic, compact, low-cost and lightweight 3D printed humanoid hand (TCP Hand) that is actuated by twisted and coiled polymeric (TCP) artificial muscles. The TCP muscles were recently introduced and provided unprecedented strain, mechanical work, and lifecycle (Haines et al 2014 Science 343 868-72). The five-fingered humanoid hand is under-actuated and has 16 degrees of freedom (DOF) in total (15 for fingers and 1 at the palm). In the under-actuated hand designs, a single actuator provides coupled motions at the phalanges of each finger. Two different designs are presented along with the essential elements consisting of actuators, springs, tendons and guide systems. Experiments were conducted to investigate the performance of the TCP muscles in response to the power input (power magnitude, type of wave form such as pulsed or square wave, and pulse duration) and the resulting actuation stroke and force generation. A kinematic model of the flexor tendons was developed to simulate the flexion motion and compare with experimental results. For fast finger movements, short high-power pulses were employed. Finally, we demonstrated the grasping of various objects using the humanoid TCP hand showing an array of functions similar to a natural hand.

Coordinated path following of multiple underacutated marine surface vehicles along one curve.

PubMed

Liu, Lu; Wang, Dan; Peng, Zhouhua

2016-09-01

This paper investigates the coordinated path following problem for a fleet of underactuated marine surface vehicles (MSVs) along one curve. The dedicated control design is divided into two tasks. One is to steer individual underactuated MSV to track the given spatial path, and the other is to force the vehicles dispersed on a parameterized path subject to the constraints of a communication network. Specifically, a robust individual path following controller is developed based on a line-of-sight (LOS) guidance law and a reduced-order extended state observer (ESO). The vehicle sideslip angle due to environmental disturbances can be exactly identified. Then, the vehicle coordination is achieved by a path variable containment approach, under which the path variables are evenly dispersed between two virtual leaders. Another reduced-order ESO is developed to identify the composite disturbance related to the speed of virtual leaders and neighboring vehicles. The proposed coordination design is distributed since the reference speed does not need to be known by all vehicles as a priori. The input-to-state stability of the closed-loop network system is established via cascade theory. Simulation results demonstrate the effectiveness of the proposed design method. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Design and control of five fingered under-actuated robotic hand

NASA Astrophysics Data System (ADS)

Sahoo, Biswojit; Parida, Pramod Kumar

2018-04-01

Now a day's research regarding humanoid robots and its application in different fields (industry, household, rehabilitation and exploratory) is going on entire the globe. Among which a challenging topic is to design a dexterous robotic hand which not only can perform as a hand of a robot but also can be used in re habilitation. The basic key concern is a dexterous robot hand which can be able to mimic the function of biological hand to perform different operations. This thesis work is regarding design and control of a under-actuated robotic hand consisting of four under actuated fingers (index finger, middle finger, little finger and ring finger ) , a thumb and a dexterous palm which can copy the motions and grasp type of human hand which having 21degrees of freedom instead of 25Degree Of Freedom.

Some Lagrangians for systems without a Lagrangian

NASA Astrophysics Data System (ADS)

Nucci, M. C.; Leach, P. G. L.

2011-03-01

We demonstrate how to construct many different Lagrangians for two famous examples that were deemed by Douglas (1941 Trans. Am. Math. Soc. 50 71-128) not to have a Lagrangian. Following Bateman's dictum (1931 Phys. Rev. 38 815-9), we determine different sets of equations that are compatible with those of Douglas and derivable from a variational principle.

Current-Sensitive Path Planning for an Underactuated Free-Floating Ocean Sensorweb

NASA Technical Reports Server (NTRS)

Dahl, Kristen P.; Thompson, David R.; McLaren, David; Chao, Yi; Chien, Steve

2011-01-01

This work investigates multi-agent path planning in strong, dynamic currents using thousands of highly under-actuated vehicles. We address the specific task of path planning for a global network of ocean-observing floats. These submersibles are typified by the Argo global network consisting of over 3000 sensor platforms. They can control their buoyancy to float at depth for data collection or rise to the surface for satellite communications. Currently, floats drift at a constant depth regardless of the local currents. However, accurate current forecasts have become available which present the possibility of intentionally controlling floats' motion by dynamically commanding them to linger at different depths. This project explores the use of these current predictions to direct float networks to some desired final formation or position. It presents multiple algorithms for such path optimization and demonstrates their advantage over the standard approach of constant-depth drifting.

Bayesian Nonlinear Assimilation of Eulerian and Lagrangian Coastal Flow Data

DTIC Science & Technology

2015-09-30

Lagrangian Coastal Flow Data Dr. Pierre F.J. Lermusiaux Department of Mechanical Engineering Center for Ocean Science and Engineering Massachusetts...Develop and apply theory, schemes and computational systems for rigorous Bayesian nonlinear assimilation of Eulerian and Lagrangian coastal flow data...coastal ocean fields, both in Eulerian and Lagrangian forms. - Further develop and implement our GMM-DO schemes for robust Bayesian nonlinear estimation

Lagrangian formulation of irreversible thermodynamics and the second law of thermodynamics.

PubMed

Glavatskiy, K S

2015-05-28

We show that the equations which describe irreversible evolution of a system can be derived from a variational principle. We suggest a Lagrangian, which depends on the properties of the normal and the so-called "mirror-image" system. The Lagrangian is symmetric in time and therefore compatible with microscopic reversibility. The evolution equations in the normal and mirror-imaged systems are decoupled and describe therefore independent irreversible evolution of each of the systems. The second law of thermodynamics follows from a symmetry of the Lagrangian. Entropy increase in the normal system is balanced by the entropy decrease in the mirror-image system, such that there exists an "integral of evolution" which is a constant. The derivation relies on the property of local equilibrium, which states that the local relations between the thermodynamic quantities in non-equilibrium are the same as in equilibrium.

Lagrangian formulation of irreversible thermodynamics and the second law of thermodynamics

DOE Office of Scientific and Technical Information (OSTI.GOV)

Glavatskiy, K. S.

We show that the equations which describe irreversible evolution of a system can be derived from a variational principle. We suggest a Lagrangian, which depends on the properties of the normal and the so-called “mirror-image” system. The Lagrangian is symmetric in time and therefore compatible with microscopic reversibility. The evolution equations in the normal and mirror-imaged systems are decoupled and describe therefore independent irreversible evolution of each of the systems. The second law of thermodynamics follows from a symmetry of the Lagrangian. Entropy increase in the normal system is balanced by the entropy decrease in the mirror-image system, such thatmore » there exists an “integral of evolution” which is a constant. The derivation relies on the property of local equilibrium, which states that the local relations between the thermodynamic quantities in non-equilibrium are the same as in equilibrium.« less

Forms of null Lagrangians in field theories of continuum mechanics

NASA Astrophysics Data System (ADS)

Kovalev, V. A.; Radaev, Yu. N.

2012-02-01

The divergence representation of a null Lagrangian that is regular in a star-shaped domain is used to obtain its general expression containing field gradients of order ≤ 1 in the case of spacetime of arbitrary dimension. It is shown that for a static three-component field in the three-dimensional space, a null Lagrangian can contain up to 15 independent elements in total. The general form of a null Lagrangian in the four-dimensional Minkowski spacetime is obtained (the number of physical field variables is assumed arbitrary). A complete theory of the null Lagrangian for the n-dimensional spacetime manifold (including the four-dimensional Minkowski spacetime as a special case) is given. Null Lagrangians are then used as a basis for solving an important variational problem of an integrating factor. This problem involves searching for factors that depend on the spacetime variables, field variables, and their gradients and, for a given system of partial differential equations, ensure the equality between the scalar product of a vector multiplier by the system vector and some divergence expression for arbitrary field variables and, hence, allow one to formulate a divergence conservation law on solutions to the system.

Near-Surface Monsoonal Circulation of the Vietnam East Sea from Lagrangian Drifters

DTIC Science & Technology

2015-09-30

Sea from Lagrangian Drifters Luca Centurioni Scripps Institution of Oceanography 9500 Gilman Drive Mail Code 0213 La Jolla, California 92103...Contribute to the study of coastal and open ocean current systems in sparsely sampled regions such us the South China Sea (SCS), using a Lagrangian ...We intend to make new Lagrangian and Eulerian observations to measure the seasonal circulation 1) in the coastal waters of Vietnam and 2) in the SCS

Formation Control for Water-Jet USV Based on Bio-Inspired Method

NASA Astrophysics Data System (ADS)

Fu, Ming-yu; Wang, Duan-song; Wang, Cheng-long

2018-03-01

The formation control problem for underactuated unmanned surface vehicles (USVs) is addressed by a distributed strategy based on virtual leader strategy. The control system takes account of disturbance induced by external environment. With the coordinate transformation, the advantage of the proposed scheme is that the control point can be any point of the ship instead of the center of gravity. By introducing bio-inspired model, the formation control problem is addressed with backstepping method. This avoids complicated computation, simplifies the control law, and smoothes the input signals. The system uniform ultimate boundness is proven by Lyapunov stability theory with Young inequality. Simulation results are presented to verify the effectiveness and robust of the proposed controller.

Examination of Eulerian and Lagrangian Coordinate Systems.

ERIC Educational Resources Information Center

Remillard, Wilfred J.

1978-01-01

Studies the relationship between Eulerian and Lagrangian coordinate systems with the help of computer plots of variables such as density and particle displacement. Gives examples which illustrate the differences in the shape of a traveling wave as seen by observers in the two systems. (Author/GA)

Field-antifield and BFV formalisms for quadratic systems with open gauge algebras

DOE Office of Scientific and Technical Information (OSTI.GOV)

Nirov, K.S.; Razumov, A.V.

1992-09-20

In this paper the Lagrangian field-antifield (BV) and Hamiltonian (BFV) BRST formalisms for the general quadratic systems with open gauge algebra are considered. The equivalence between the Lagrangian and Hamiltonian formalisms is proven.

Dirac structures in vakonomic mechanics

NASA Astrophysics Data System (ADS)

Jiménez, Fernando; Yoshimura, Hiroaki

2015-08-01

In this paper, we explore dynamics of the nonholonomic system called vakonomic mechanics in the context of Lagrange-Dirac dynamical systems using a Dirac structure and its associated Hamilton-Pontryagin variational principle. We first show the link between vakonomic mechanics and nonholonomic mechanics from the viewpoints of Dirac structures as well as Lagrangian submanifolds. Namely, we clarify that Lagrangian submanifold theory cannot represent nonholonomic mechanics properly, but vakonomic mechanics instead. Second, in order to represent vakonomic mechanics, we employ the space TQ ×V∗, where a vakonomic Lagrangian is defined from a given Lagrangian (possibly degenerate) subject to nonholonomic constraints. Then, we show how implicit vakonomic Euler-Lagrange equations can be formulated by the Hamilton-Pontryagin variational principle for the vakonomic Lagrangian on the extended Pontryagin bundle (TQ ⊕T∗ Q) ×V∗. Associated with this variational principle, we establish a Dirac structure on (TQ ⊕T∗ Q) ×V∗ in order to define an intrinsic vakonomic Lagrange-Dirac system. Furthermore, we also establish another construction for the vakonomic Lagrange-Dirac system using a Dirac structure on T∗ Q ×V∗, where we introduce a vakonomic Dirac differential. Finally, we illustrate our theory of vakonomic Lagrange-Dirac systems by some examples such as the vakonomic skate and the vertical rolling coin.

Reductions of topologically massive gravity I: Hamiltonian analysis of second order degenerate Lagrangians

NASA Astrophysics Data System (ADS)

Ćaǧatay Uçgun, Filiz; Esen, Oǧul; Gümral, Hasan

2018-01-01

We present Skinner-Rusk and Hamiltonian formalisms of second order degenerate Clément and Sarıoğlu-Tekin Lagrangians. The Dirac-Bergmann constraint algorithm is employed to obtain Hamiltonian realizations of Lagrangian theories. The Gotay-Nester-Hinds algorithm is used to investigate Skinner-Rusk formalisms of these systems.

A macroscopic plasma Lagrangian and its application to wave interactions and resonances

NASA Technical Reports Server (NTRS)

Peng, Y. K. M.

1974-01-01

The derivation of a macroscopic plasma Lagrangian is considered, along with its application to the description of nonlinear three-wave interaction in a homogeneous plasma and linear resonance oscillations in a inhomogeneous plasma. One approach to obtain the Lagrangian is via the inverse problem of the calculus of variations for arbitrary first and second order quasilinear partial differential systems. Necessary and sufficient conditions for the given equations to be Euler-Lagrange equations of a Lagrangian are obtained. These conditions are then used to determine the transformations that convert some classes of non-Euler-Lagrange equations to Euler-Lagrange equation form. The Lagrangians for a linear resistive transmission line and a linear warm collisional plasma are derived as examples. Using energy considerations, the correct macroscopic plasma Lagrangian is shown to differ from the velocity-integrated low Lagrangian by a macroscopic potential energy that equals twice the particle thermal kinetic energy plus the energy lost by heat conduction.

Multi-Lagrangians for integrable systems

NASA Astrophysics Data System (ADS)

Nutku, Y.; Pavlov, M. V.

2002-03-01

We propose a general scheme to construct multiple Lagrangians for completely integrable nonlinear evolution equations that admit multi-Hamiltonian structure. The recursion operator plays a fundamental role in this construction. We use a conserved quantity higher/lower than the Hamiltonian in the potential part of the new Lagrangian and determine the corresponding kinetic terms by generating the appropriate momentum map. This leads to some remarkable new developments. We show that nonlinear evolutionary systems that admit N-fold first order local Hamiltonian structure can be cast into variational form with 2N-1 Lagrangians which will be local functionals of Clebsch potentials. This number increases to 3N-2 when the Miura transformation is invertible. Furthermore we construct a new Lagrangian for polytropic gas dynamics in 1+1 dimensions which is a free, local functional of the physical field variables, namely density and velocity, thus dispensing with the necessity of introducing Clebsch potentials entirely. This is a consequence of bi-Hamiltonian structure with a compatible pair of first and third order Hamiltonian operators derived from Sheftel's recursion operator.

LINKING THE CMAQ AND HYSPLIT MODELING SYSTEM INTERFACE PROGRAM AND EXAMPLE APPLICATION

EPA Science Inventory

A new software tool has been developed to link the Eulerian-based Community Multiscale Air Quality (CMAQ) modeling system with the Lagrangian-based HYSPLIT (HYbrid Single-Particle Lagrangian Integrated Trajectory) model. Both models require many of the same hourly meteorological...

Functional integral for non-Lagrangian systems

NASA Astrophysics Data System (ADS)

Kochan, Denis

2010-02-01

A functional integral formulation of quantum mechanics for non-Lagrangian systems is presented. The approach, which we call “stringy quantization,” is based solely on classical equations of motion and is free of any ambiguity arising from Lagrangian and/or Hamiltonian formulation of the theory. The functionality of the proposed method is demonstrated on several examples. Special attention is paid to the stringy quantization of systems with a general A-power friction force -κq˙A. Results for A=1 are compared with those obtained in the approaches by Caldirola-Kanai, Bateman, and Kostin. Relations to the Caldeira-Leggett model and to the Feynman-Vernon approach are discussed as well.

Ghost free systems with coexisting bosons and fermions

NASA Astrophysics Data System (ADS)

Kimura, Rampei; Sakakihara, Yuki; Yamaguchi, Masahide

2017-08-01

We study the coexistence system of both bosonic and fermionic degrees of freedom. Even if a Lagrangian does not include higher derivatives, fermionic ghosts exist. For a Lagrangian with up to first derivatives, we find the fermionic ghost free condition in Hamiltonian analysis, which is found to be the same as requiring that the equations of motion of fermions be first order in Lagrangian formulation. When fermionic degrees of freedom are present, the uniqueness of time evolution is not guaranteed a priori because of the Grassmann property. We confirm that the additional condition, which is introduced to close Hamiltonian analysis, also ensures the uniqueness of the time evolution of the system.

Option volatility and the acceleration Lagrangian

NASA Astrophysics Data System (ADS)

Baaquie, Belal E.; Cao, Yang

2014-01-01

This paper develops a volatility formula for option on an asset from an acceleration Lagrangian model and the formula is calibrated with market data. The Black-Scholes model is a simpler case that has a velocity dependent Lagrangian. The acceleration Lagrangian is defined, and the classical solution of the system in Euclidean time is solved by choosing proper boundary conditions. The conditional probability distribution of final position given the initial position is obtained from the transition amplitude. The volatility is the standard deviation of the conditional probability distribution. Using the conditional probability and the path integral method, the martingale condition is applied, and one of the parameters in the Lagrangian is fixed. The call option price is obtained using the conditional probability and the path integral method.

From Least Action in Electrodynamics to Magnetomechanical Energy--A Review

ERIC Educational Resources Information Center

Essen, Hanno

2009-01-01

The equations of motion for electromechanical systems are traced back to the fundamental Lagrangian of particles and electromagnetic fields, via the Darwin Lagrangian. When dissipative forces can be neglected the systems are conservative and one can study them in a Hamiltonian formalism. The central concepts of generalized capacitance and…

Unified formalism for the generalized kth-order Hamilton-Jacobi problem

NASA Astrophysics Data System (ADS)

Colombo, Leonardo; de Léon, Manuel; Prieto-Martínez, Pedro Daniel; Román-Roy, Narciso

2014-08-01

The geometric formulation of the Hamilton-Jacobi theory enables us to generalize it to systems of higher-order ordinary differential equations. In this work we introduce the unified Lagrangian-Hamiltonian formalism for the geometric Hamilton-Jacobi theory on higher-order autonomous dynamical systems described by regular Lagrangian functions.

Neural network-based motion control of an underactuated wheeled inverted pendulum model.

PubMed

Yang, Chenguang; Li, Zhijun; Cui, Rongxin; Xu, Bugong

2014-11-01

In this paper, automatic motion control is investigated for one of wheeled inverted pendulum (WIP) models, which have been widely applied for modeling of a large range of two wheeled modern vehicles. First, the underactuated WIP model is decomposed into a fully actuated second order subsystem Σa consisting of planar movement of vehicle forward and yaw angular motions, and a nonactuated first order subsystem Σb of pendulum motion. Due to the unknown dynamics of subsystem Σa and the universal approximation ability of neural network (NN), an adaptive NN scheme has been employed for motion control of subsystem Σa . The model reference approach has been used whereas the reference model is optimized by the finite time linear quadratic regulation technique. The pendulum motion in the passive subsystem Σb is indirectly controlled using the dynamic coupling with planar forward motion of subsystem Σa , such that satisfactory tracking of a set pendulum tilt angle can be guaranteed. Rigours theoretic analysis has been established, and simulation studies have been performed to demonstrate the developed method.

A novel algorithm for fast grasping of unknown objects using C-shape configuration

NASA Astrophysics Data System (ADS)

Lei, Qujiang; Chen, Guangming; Meijer, Jonathan; Wisse, Martijn

2018-02-01

Increasing grasping efficiency is very important for the robots to grasp unknown objects especially subjected to unfamiliar environments. To achieve this, a new algorithm is proposed based on the C-shape configuration. Specifically, the geometric model of the used under-actuated gripper is approximated as a C-shape. To obtain an appropriate graspable position, this C-shape configuration is applied to fit geometric model of an unknown object. The geometric model of unknown object is constructed by using a single-view partial point cloud. To examine the algorithm using simulations, a comparison of the commonly used motion planners is made. The motion planner with the highest number of solved runs, lowest computing time and the shortest path length is chosen to execute grasps found by this grasping algorithm. The simulation results demonstrate that excellent grasping efficiency is achieved by adopting our algorithm. To validate this algorithm, experiment tests are carried out using a UR5 robot arm and an under-actuated gripper. The experimental results show that steady grasping actions are obtained. Hence, this research provides a novel algorithm for fast grasping of unknown objects.

Time-optimal trajectory planning for underactuated spacecraft using a hybrid particle swarm optimization algorithm

NASA Astrophysics Data System (ADS)

Zhuang, Yufei; Huang, Haibin

2014-02-01

A hybrid algorithm combining particle swarm optimization (PSO) algorithm with the Legendre pseudospectral method (LPM) is proposed for solving time-optimal trajectory planning problem of underactuated spacecrafts. At the beginning phase of the searching process, an initialization generator is constructed by the PSO algorithm due to its strong global searching ability and robustness to random initial values, however, PSO algorithm has a disadvantage that its convergence rate around the global optimum is slow. Then, when the change in fitness function is smaller than a predefined value, the searching algorithm is switched to the LPM to accelerate the searching process. Thus, with the obtained solutions by the PSO algorithm as a set of proper initial guesses, the hybrid algorithm can find a global optimum more quickly and accurately. 200 Monte Carlo simulations results demonstrate that the proposed hybrid PSO-LPM algorithm has greater advantages in terms of global searching capability and convergence rate than both single PSO algorithm and LPM algorithm. Moreover, the PSO-LPM algorithm is also robust to random initial values.

Quantization of Non-Lagrangian Systems

NASA Astrophysics Data System (ADS)

Kochan, Denis

A novel method for quantization of non-Lagrangian (open) systems is proposed. It is argued that the essential object, which provides both classical and quantum evolution, is a certain canonical two-form defined in extended velocity space. In this setting classical dynamics is recovered from the stringy-type variational principle, which employs umbilical surfaces instead of histories of the system. Quantization is then accomplished in accordance with the introduced variational principle. The path integral for the transition probability amplitude (propagator) is rearranged to a surface functional integral. In the standard case of closed (Lagrangian) systems the presented method reduces to the standard Feynman's approach. The inverse problem of the calculus of variation, the problem of quantization ambiguity and the quantum mechanics in the presence of friction are analyzed in detail.

A purely Lagrangian method for computing linearly-perturbed flows in spherical geometry

NASA Astrophysics Data System (ADS)

Jaouen, Stéphane

2007-07-01

In many physical applications, one wishes to control the development of multi-dimensional instabilities around a one-dimensional (1D) complex flow. For predicting the growth rates of these perturbations, a general numerical approach is viable which consists in solving simultaneously the one-dimensional equations and their linearized form for three-dimensional perturbations. In Clarisse et al. [J.-M. Clarisse, S. Jaouen, P.-A. Raviart, A Godunov-type method in Lagrangian coordinates for computing linearly-perturbed planar-symmetric flows of gas dynamics, J. Comp. Phys. 198 (2004) 80-105], a class of Godunov-type schemes for planar-symmetric flows of gas dynamics has been proposed. Pursuing this effort, we extend these results to spherically symmetric flows. A new method to derive the Lagrangian perturbation equations, based on the canonical form of systems of conservation laws with zero entropy flux [B. Després, Lagrangian systems of conservation laws. Invariance properties of Lagrangian systems of conservation laws, approximate Riemann solvers and the entropy condition, Numer. Math. 89 (2001) 99-134; B. Després, C. Mazeran, Lagrangian gas dynamics in two dimensions and Lagrangian systems, Arch. Rational Mech. Anal. 178 (2005) 327-372] is also described. It leads to many advantages. First of all, many physical problems we are interested in enter this formalism (gas dynamics, two-temperature plasma equations, ideal magnetohydrodynamics, etc.) whatever is the geometry. Secondly, a class of numerical entropic schemes is available for the basic flow [11]. Last, linearizing and devising numerical schemes for the perturbed flow is straightforward. The numerical capabilities of these methods are illustrated on three test cases of increasing difficulties and we show that - due to its simplicity and its low computational cost - the Linear Perturbations Code (LPC) is a powerful tool to understand and predict the development of hydrodynamic instabilities in the linear regime.

A novel approach to study effects of asymmetric stiffness on parametric instabilities of multi-rotor-system

NASA Astrophysics Data System (ADS)

Jain, Anuj Kumar; Rastogi, Vikas; Agrawal, Atul Kumar

2018-01-01

The main focus of this paper is to study effects of asymmetric stiffness on parametric instabilities of multi-rotor-system through extended Lagrangian formalism, where symmetries are broken in terms of the rotor stiffness. The complete insight of dynamic behaviour of multi-rotor-system with asymmetries is evaluated through extension of Lagrangian equation with a case study. In this work, a dynamic mathematical model of a multi-rotor-system through a novel approach of extension of Lagrangian mechanics is developed, where the system is having asymmetries due to varying stiffness. The amplitude and the natural frequency of the rotor are obtained analytically through the proposed methodology. The bond graph modeling technique is used for modeling the asymmetric rotor. Symbol-shakti® software is used for the simulation of the model. The effects of the stiffness of multi-rotor-system on amplitude and frequencies are studied using numerical simulation. Simulation results show a considerable agreement with the theoretical results obtained through extended Lagrangian formalism. It is further shown that amplitude of the rotor increases inversely the stiffness of the rotor up to a certain limit, which is also affirmed theoretically.

Intermittent Lagrangian velocities and accelerations in three-dimensional porous medium flow.

PubMed

Holzner, M; Morales, V L; Willmann, M; Dentz, M

2015-07-01

Intermittency of Lagrangian velocity and acceleration is a key to understanding transport in complex systems ranging from fluid turbulence to flow in porous media. High-resolution optical particle tracking in a three-dimensional (3D) porous medium provides detailed 3D information on Lagrangian velocities and accelerations. We find sharp transitions close to pore throats, and low flow variability in the pore bodies, which gives rise to stretched exponential Lagrangian velocity and acceleration distributions characterized by a sharp peak at low velocity, superlinear evolution of particle dispersion, and double-peak behavior in the propagators. The velocity distribution is quantified in terms of pore geometry and flow connectivity, which forms the basis for a continuous-time random-walk model that sheds light on the observed Lagrangian flow and transport behaviors.

Spatial curvilinear path following control of underactuated AUV with multiple uncertainties.

PubMed

Miao, Jianming; Wang, Shaoping; Zhao, Zhiping; Li, Yuan; Tomovic, Mileta M

2017-03-01

This paper investigates the problem of spatial curvilinear path following control of underactuated autonomous underwater vehicles (AUVs) with multiple uncertainties. Firstly, in order to design the appropriate controller, path following error dynamics model is constructed in a moving Serret-Frenet frame, and the five degrees of freedom (DOFs) dynamic model with multiple uncertainties is established. Secondly, the proposed control law is separated into kinematic controller and dynamic controller via back-stepping technique. In the case of kinematic controller, to overcome the drawback of dependence on the accurate vehicle model that are present in a number of path following control strategies described in the literature, the unknown side-slip angular velocity and attack angular velocity are treated as uncertainties. Whereas in the case of dynamic controller, the model parameters perturbations, unknown external environmental disturbances and the nonlinear hydrodynamic damping terms are treated as lumped uncertainties. Both kinematic and dynamic uncertainties are estimated and compensated by designed reduced-order linear extended state observes (LESOs). Thirdly, feedback linearization (FL) based control law is implemented for the control model using the estimates generated by reduced-order LESOs. For handling the problem of computational complexity inherent in the conventional back-stepping method, nonlinear tracking differentiators (NTDs) are applied to construct derivatives of the virtual control commands. Finally, the closed loop stability for the overall system is established. Simulation and comparative analysis demonstrate that the proposed controller exhibits enhanced performance in the presence of internal parameter variations, external unknown disturbances, unmodeled nonlinear damping terms, and measurement noises. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Modeling of R/C Servo Motor and Application to Underactuated Mechanical Systems

NASA Astrophysics Data System (ADS)

Ishikawa, Masato; Kitayoshi, Ryohei; Wada, Takashi; Maruta, Ichiro; Sugie, Toshiharu

An R/C servo motor is a compact package of a DC geard-motor associated with a position servo controller. They are widely used in small-sized robotics and mechatronics by virtue of their compactness, easiness-to-use and high/weight ratio. However, it is crucial to clarify their internal model (including the embedded position servo) in order to improve control performance of mechatronic systems using R/C servo motors, such as biped robots or underactuted sysyems. In this paper, we propose a simple and realistic internal model of the R/C servo motors including the embedded servo controller, and estimate their physical parameters using continuous-time system identification method. We also provide a model of reference-to-torque transfer function so that we can estimate the internal torque acting on the load.

The geometrical theory of constraints applied to the dynamics of vakonomic mechanical systems: The vakonomic bracket

NASA Astrophysics Data System (ADS)

Martínez, Sonia; Cortés, Jorge; de León, Manuel

2000-04-01

A vakonomic mechanical system can be alternatively described by an extended Lagrangian using the Lagrange multipliers as new variables. Since this extended Lagrangian is singular, the constraint algorithm can be applied and a Dirac bracket giving the evolution of the observables can be constructed.

V-ONSET: Introducing turbulent multiphase flow facility focusing on Lagrangian interfacial transfer dynamics

NASA Astrophysics Data System (ADS)

Salibindla, Ashwanth; Masuk, Ashik Ullah Mohammad; Ni, Rui

2017-11-01

We have designed and constructed a new vertical water tunnel, V-ONSET, to investigate interfacial mass, momentum and energy transfer between two phases in a Lagrangian frame. This system features an independent control of mean flow and turbulence level. The mean flow opposes the rising/falling velocity of the second phase, ``suspending'' the particles and increasing tracking time in the view area. Strong turbulence is generated by shooting 88 digitally-controlled water jets into the test section. The second phase, either bubbles or oil droplets, can be introduced into the test section through a capillary island. In addition to this flow control system, V-ONSET comes with a 3D two-phase visualization system, consisting of high-speed cameras, two-colored LED system, and in-house Lagrangian particle tracking algorithm. This enables us to acquire the Lagrangian evolution of both phases and the interfacial transfer dynamics in between, paving the way for new closure models for two-phase simulations. Financial support for this project was provided by National Science Foundation under Grant Number: 1653389 and 1705246.

Shear and shearless Lagrangian structures in compound channels

NASA Astrophysics Data System (ADS)

Enrile, F.; Besio, G.; Stocchino, A.

2018-03-01

Transport processes in a physical model of a natural stream with a composite cross-section (compound channel) are investigated by means of a Lagrangian analysis based on nonlinear dynamical system theory. Two-dimensional free surface Eulerian experimental velocity fields of a uniform flow in a compound channel form the basis for the identification of the so-called Lagrangian Coherent Structures. Lagrangian structures are recognized as the key features that govern particle trajectories. We seek for two particular class of Lagrangian structures: Shear and shearless structures. The former are generated whenever the shear dominates the flow whereas the latter behave as jet-cores. These two type of structures are detected as ridges and trenches of the Finite-Time Lyapunov Exponents fields, respectively. Besides, shearlines computed applying the geodesic theory of transport barriers mark Shear Lagrangian Coherent Structures. So far, the detection of these structures in real experimental flows has not been deeply investigated. Indeed, the present results obtained in a wide range of the controlling parameters clearly show a different behaviour depending on the shallowness of the flow. Shear and Shearless Lagrangian Structures detected from laboratory experiments clearly appear as the flow develops in shallow conditions. The presence of these Lagrangian Structures tends to fade in deep flow conditions.

System Design and Locomotion of Superball, an Untethered Tensegrity Robot

NASA Technical Reports Server (NTRS)

Sabelhaus, Andrew P.; Bruce, Jonathan; Caluwaerts, Ken; Manovi, Pavlo; Firoozi, Roya Fallah; Dobi, Sarah; Agogino, Alice M.; Sunspiral, Vytas

2015-01-01

The Spherical Underactuated Planetary Exploration Robot ball (SUPERball) is an ongoing project within NASA Ames Research Center's Intelligent Robotics Group and the Dynamic Tensegrity Robotics Lab (DTRL). The current SUPERball is the first full prototype of this tensegrity robot platform, eventually destined for space exploration missions. This work, building on prior published discussions of individual components, presents the fully-constructed robot. Various design improvements are discussed, as well as testing results of the sensors and actuators that illustrate system performance. Basic low-level motor position controls are implemented and validated against sensor data, which show SUPERball to be uniquely suited for highly dynamic state trajectory tracking. Finally, SUPERball is shown in a simple example of locomotion. This implementation of a basic motion primitive shows SUPERball in untethered control.

Stabilization and synchronization for a mechanical system via adaptive sliding mode control.

PubMed

Song, Zhankui; Sun, Kaibiao; Ling, Shuai

2017-05-01

In this paper, we investigate the synchronization problem of chaotic centrifugal flywheel governor with parameters uncertainty and lumped disturbances. A slave centrifugal flywheel governor system is considered as an underactuated following-system which a control input is designed to follow a master centrifugal flywheel governor system. To tackle lumped disturbances and uncertainty parameters, a novel synchronization control law is developed by employing sliding mode control strategy and Nussbaum gain technique. Adaptation updating algorithms are derived in the sense of Lyapunov stability analysis such that the lumped disturbances can be suppressed and the adverse effect caused by uncertainty parameters can be compensated. In addition, the synchronization tracking-errors are proven to converge to a small neighborhood of the origin. Finally, simulation results demonstrate the effectiveness of the proposed control scheme. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Symmetry-preserving perturbations of the Bateman Lagrangian and dissipative systems

NASA Astrophysics Data System (ADS)

Campoamor-Stursberg, Rutwig

2017-03-01

Perturbations of the classical Bateman Lagrangian preserving a certain subalgebra of Noether symmetries are studied, and conservative perturbations are characterized by the Lie algebra sl(2, ℝ) ⊕ so(2). Non-conservative albeit integrable perturbations are determined by the simple Lie algebra sl(2,ℝ), showing further the relation of the corresponding non-linear systems with the notion of generalized Ermakov systems.

Symmetry-preserving perturbations of the Bateman Lagrangian and dissipative systems

DOE Office of Scientific and Technical Information (OSTI.GOV)

Campoamor-Stursberg, Rutwig, E-mail: rutwig@ucm.es

Perturbations of the classical Bateman Lagrangian preserving a certain subalgebra of Noether symmetries are studied, and conservative perturbations are characterized by the Lie algebra sl(2, ℝ) ⊕ so(2). Non-conservative albeit integrable perturbations are determined by the simple Lie algebra sl(2,ℝ), showing further the relation of the corresponding non-linear systems with the notion of generalized Ermakov systems.

Uncertainty quantification in Eulerian-Lagrangian models for particle-laden flows

NASA Astrophysics Data System (ADS)

Fountoulakis, Vasileios; Jacobs, Gustaaf; Udaykumar, Hs

2017-11-01

A common approach to ameliorate the computational burden in simulations of particle-laden flows is to use a point-particle based Eulerian-Lagrangian model, which traces individual particles in their Lagrangian frame and models particles as mathematical points. The particle motion is determined by Stokes drag law, which is empirically corrected for Reynolds number, Mach number and other parameters. The empirical corrections are subject to uncertainty. Treating them as random variables renders the coupled system of PDEs and ODEs stochastic. An approach to quantify the propagation of this parametric uncertainty to the particle solution variables is proposed. The approach is based on averaging of the governing equations and allows for estimation of the first moments of the quantities of interest. We demonstrate the feasibility of our proposed methodology of uncertainty quantification of particle-laden flows on one-dimensional linear and nonlinear Eulerian-Lagrangian systems. This research is supported by AFOSR under Grant FA9550-16-1-0008.

Cooperative Convex Optimization in Networked Systems: Augmented Lagrangian Algorithms With Directed Gossip Communication

NASA Astrophysics Data System (ADS)

Jakovetic, Dusan; Xavier, João; Moura, José M. F.

2011-08-01

We study distributed optimization in networked systems, where nodes cooperate to find the optimal quantity of common interest, x=x^\\star. The objective function of the corresponding optimization problem is the sum of private (known only by a node,) convex, nodes' objectives and each node imposes a private convex constraint on the allowed values of x. We solve this problem for generic connected network topologies with asymmetric random link failures with a novel distributed, decentralized algorithm. We refer to this algorithm as AL-G (augmented Lagrangian gossiping,) and to its variants as AL-MG (augmented Lagrangian multi neighbor gossiping) and AL-BG (augmented Lagrangian broadcast gossiping.) The AL-G algorithm is based on the augmented Lagrangian dual function. Dual variables are updated by the standard method of multipliers, at a slow time scale. To update the primal variables, we propose a novel, Gauss-Seidel type, randomized algorithm, at a fast time scale. AL-G uses unidirectional gossip communication, only between immediate neighbors in the network and is resilient to random link failures. For networks with reliable communication (i.e., no failures,) the simplified, AL-BG (augmented Lagrangian broadcast gossiping) algorithm reduces communication, computation and data storage cost. We prove convergence for all proposed algorithms and demonstrate by simulations the effectiveness on two applications: l_1-regularized logistic regression for classification and cooperative spectrum sensing for cognitive radio networks.

What is integrability of discrete variational systems?

PubMed

Boll, Raphael; Petrera, Matteo; Suris, Yuri B

2014-02-08

We propose a notion of a pluri-Lagrangian problem, which should be understood as an analogue of multi-dimensional consistency for variational systems. This is a development along the line of research of discrete integrable Lagrangian systems initiated in 2009 by Lobb and Nijhoff, however, having its more remote roots in the theory of pluriharmonic functions, in the Z -invariant models of statistical mechanics and their quasiclassical limit, as well as in the theory of variational symmetries going back to Noether. A d -dimensional pluri-Lagrangian problem can be described as follows: given a d -form [Formula: see text] on an m -dimensional space (called multi-time, m > d ), whose coefficients depend on a sought-after function x of m independent variables (called field), find those fields x which deliver critical points to the action functionals [Formula: see text] for any d -dimensional manifold Σ in the multi-time. We derive the main building blocks of the multi-time Euler-Lagrange equations for a discrete pluri-Lagrangian problem with d =2, the so-called corner equations, and discuss the notion of consistency of the system of corner equations. We analyse the system of corner equations for a special class of three-point two-forms, corresponding to integrable quad-equations of the ABS list. This allows us to close a conceptual gap of the work by Lobb and Nijhoff by showing that the corresponding two-forms are closed not only on solutions of (non-variational) quad-equations, but also on general solutions of the corresponding corner equations. We also find an example of a pluri-Lagrangian system not coming from a multi-dimensionally consistent system of quad-equations.

What is integrability of discrete variational systems?

PubMed Central

Boll, Raphael; Petrera, Matteo; Suris, Yuri B.

2014-01-01

We propose a notion of a pluri-Lagrangian problem, which should be understood as an analogue of multi-dimensional consistency for variational systems. This is a development along the line of research of discrete integrable Lagrangian systems initiated in 2009 by Lobb and Nijhoff, however, having its more remote roots in the theory of pluriharmonic functions, in the Z-invariant models of statistical mechanics and their quasiclassical limit, as well as in the theory of variational symmetries going back to Noether. A d-dimensional pluri-Lagrangian problem can be described as follows: given a d-form on an m-dimensional space (called multi-time, m>d), whose coefficients depend on a sought-after function x of m independent variables (called field), find those fields x which deliver critical points to the action functionals for any d-dimensional manifold Σ in the multi-time. We derive the main building blocks of the multi-time Euler–Lagrange equations for a discrete pluri-Lagrangian problem with d=2, the so-called corner equations, and discuss the notion of consistency of the system of corner equations. We analyse the system of corner equations for a special class of three-point two-forms, corresponding to integrable quad-equations of the ABS list. This allows us to close a conceptual gap of the work by Lobb and Nijhoff by showing that the corresponding two-forms are closed not only on solutions of (non-variational) quad-equations, but also on general solutions of the corresponding corner equations. We also find an example of a pluri-Lagrangian system not coming from a multi-dimensionally consistent system of quad-equations. PMID:24511254

Canonical-ensemble extended Lagrangian Born-Oppenheimer molecular dynamics for the linear scaling density functional theory.

PubMed

Hirakawa, Teruo; Suzuki, Teppei; Bowler, David R; Miyazaki, Tsuyoshi

2017-10-11

We discuss the development and implementation of a constant temperature (NVT) molecular dynamics scheme that combines the Nosé-Hoover chain thermostat with the extended Lagrangian Born-Oppenheimer molecular dynamics (BOMD) scheme, using a linear scaling density functional theory (DFT) approach. An integration scheme for this canonical-ensemble extended Lagrangian BOMD is developed and discussed in the context of the Liouville operator formulation. Linear scaling DFT canonical-ensemble extended Lagrangian BOMD simulations are tested on bulk silicon and silicon carbide systems to evaluate our integration scheme. The results show that the conserved quantity remains stable with no systematic drift even in the presence of the thermostat.

Generalized Roche potential for misaligned binary systems - Properties of the critical lobe

NASA Technical Reports Server (NTRS)

Avni, Y.; Schiller, N.

1982-01-01

The paper considers the Roche potential for binary systems where the stellar rotation axis is not aligned with the orbital revolution axis. It is shown that, as the degree of misalignment varies, internal Lagrangian points and external Lagrangian points may switch their roles. A systematic method to identify the internal Lagrangian point and to calculate the volume of the critical lobe is developed, and numerical results for a wide range of parameters of binary systems with circular orbits are presented. For binary systems with large enough misalignment, discrete changes occur in the topological structure of the equipotential surfaces as the orbital phase varies. The volume of the critical lobe has minima, as a function of orbital phase, at the two instances when the secondary crosses the equatorial plane of the primary. In semidetached systems, mass transfer may be confined to the vicinity of these two instances.

Dissipative inertial transport patterns near coherent Lagrangian eddies in the ocean.

PubMed

Beron-Vera, Francisco J; Olascoaga, María J; Haller, George; Farazmand, Mohammad; Triñanes, Joaquín; Wang, Yan

2015-08-01

Recent developments in dynamical systems theory have revealed long-lived and coherent Lagrangian (i.e., material) eddies in incompressible, satellite-derived surface ocean velocity fields. Paradoxically, observed drifting buoys and floating matter tend to create dissipative-looking patterns near oceanic eddies, which appear to be inconsistent with the conservative fluid particle patterns created by coherent Lagrangian eddies. Here, we show that inclusion of inertial effects (i.e., those produced by the buoyancy and size finiteness of an object) in a rotating two-dimensional incompressible flow context resolves this paradox. Specifically, we obtain that anticyclonic coherent Lagrangian eddies attract (repel) negatively (positively) buoyant finite-size particles, while cyclonic coherent Lagrangian eddies attract (repel) positively (negatively) buoyant finite-size particles. We show how these results explain dissipative-looking satellite-tracked surface drifter and subsurface float trajectories, as well as satellite-derived Sargassum distributions.

The augmented Lagrangian method for parameter estimation in elliptic systems

NASA Technical Reports Server (NTRS)

Ito, Kazufumi; Kunisch, Karl

1990-01-01

In this paper a new technique for the estimation of parameters in elliptic partial differential equations is developed. It is a hybrid method combining the output-least-squares and the equation error method. The new method is realized by an augmented Lagrangian formulation, and convergence as well as rate of convergence proofs are provided. Technically the critical step is the verification of a coercivity estimate of an appropriately defined Lagrangian functional. To obtain this coercivity estimate a seminorm regularization technique is used.

Neural network-based optimal adaptive output feedback control of a helicopter UAV.

PubMed

Nodland, David; Zargarzadeh, Hassan; Jagannathan, Sarangapani

2013-07-01

Helicopter unmanned aerial vehicles (UAVs) are widely used for both military and civilian operations. Because the helicopter UAVs are underactuated nonlinear mechanical systems, high-performance controller design for them presents a challenge. This paper introduces an optimal controller design via an output feedback for trajectory tracking of a helicopter UAV, using a neural network (NN). The output-feedback control system utilizes the backstepping methodology, employing kinematic and dynamic controllers and an NN observer. The online approximator-based dynamic controller learns the infinite-horizon Hamilton-Jacobi-Bellman equation in continuous time and calculates the corresponding optimal control input by minimizing a cost function, forward-in-time, without using the value and policy iterations. Optimal tracking is accomplished by using a single NN utilized for the cost function approximation. The overall closed-loop system stability is demonstrated using Lyapunov analysis. Finally, simulation results are provided to demonstrate the effectiveness of the proposed control design for trajectory tracking.

Insights into the three-dimensional Lagrangian geometry of the Antarctic polar vortex

NASA Astrophysics Data System (ADS)

Curbelo, Jezabel; José García-Garrido, Víctor; Mechoso, Carlos Roberto; Mancho, Ana Maria; Wiggins, Stephen; Niang, Coumba

2017-07-01

In this paper we study the three-dimensional (3-D) Lagrangian structures in the stratospheric polar vortex (SPV) above Antarctica. We analyse and visualize these structures using Lagrangian descriptor function M. The procedure for calculation with reanalysis data is explained. Benchmarks are computed and analysed that allow us to compare 2-D and 3-D aspects of Lagrangian transport. Dynamical systems concepts appropriate to 3-D, such as normally hyperbolic invariant curves, are discussed and applied. In order to illustrate our approach we select an interval of time in which the SPV is relatively undisturbed (August 1979) and an interval of rapid SPV changes (October 1979). Our results provide new insights into the Lagrangian structure of the vertical extension of the stratospheric polar vortex and its evolution. Our results also show complex Lagrangian patterns indicative of strong mixing processes in the upper troposphere and lower stratosphere. Finally, during the transition to summer in the late spring, we illustrate the vertical structure of two counterrotating vortices, one the polar and the other an emerging one, and the invariant separatrix that divides them.

Chaotic micromixer utilizing electro-osmosis and induced charge electro-osmosis in eccentric annulus

NASA Astrophysics Data System (ADS)

Feng, Huicheng; Wong, Teck Neng; Che, Zhizhao; Marcos

2016-06-01

Efficient mixing is of significant importance in numerous chemical and biomedical applications but difficult to realize rapidly in microgeometries due to the lack of turbulence. We propose to enhance mixing by introducing Lagrangian chaos through electro-osmosis (EO) or induced charge electro-osmosis (ICEO) in an eccentric annulus. The analysis reveals that the created Lagrangian chaos can achieve a homogeneous mixing much more rapidly than either the pure EO or the pure ICEO. Our systematic investigations on the key parameters, ranging from the eccentricity, the alternating time period, the number of flow patterns in one time period, to the specific flow patterns utilized for the Lagrangian chaos creation, present that the Lagrangian chaos is considerably robust. The system can obtain a good mixing effect with wide ranges of eccentricity, alternating time period, and specific flow patterns utilized for the Lagrangian chaos creation as long as the number of flow patterns in one time period is two. As the electric field increases, the time consumption for homogenous mixing is reduced more remarkably for the Lagrangian chaos of the ICEO than that of the EO.

Accuracy Progressive Calculation of Lagrangian Trajectories from Gridded Velocity Field

DTIC Science & Technology

2014-01-01

traced (Vries and Doos 2001). The two types of velocity are convertible. Routine ocean data 36 assimilation systems (Galanis et al. 2006; Lozano et...1b) 54 The position of each fluid particle, R(t) = [x(t), y(t), z(t)], is specified in the Lagrangian system . 55 The connection...coordinate 233 system at the southwest corner (Fig. 6). The x*- and y*- axes point eastward and northward, 234 respectively. Here, the superscript

Extended Lagrangian Density Functional Tight-Binding Molecular Dynamics for Molecules and Solids.

PubMed

Aradi, Bálint; Niklasson, Anders M N; Frauenheim, Thomas

2015-07-14

A computationally fast quantum mechanical molecular dynamics scheme using an extended Lagrangian density functional tight-binding formulation has been developed and implemented in the DFTB+ electronic structure program package for simulations of solids and molecular systems. The scheme combines the computational speed of self-consistent density functional tight-binding theory with the efficiency and long-term accuracy of extended Lagrangian Born-Oppenheimer molecular dynamics. For systems without self-consistent charge instabilities, only a single diagonalization or construction of the single-particle density matrix is required in each time step. The molecular dynamics simulation scheme can be applied to a broad range of problems in materials science, chemistry, and biology.

Lateral eddy diffusivity estimates from simulated and observed drifter trajectories: a case study for the Agulhas Current system

NASA Astrophysics Data System (ADS)

Rühs, Siren; Zhurbas, Victor; Durgadoo, Jonathan V.; Biastoch, Arne

2017-04-01

The Lagrangian description of fluid motion by sets of individual particle trajectories is extensively used to characterize connectivity between distinct oceanic locations. One important factor influencing the connectivity is the average rate of particle dispersal, generally quantified as Lagrangian diffusivity. In addition to Lagrangian observing programs, Lagrangian analyses are performed by advecting particles with the simulated flow field of ocean general circulation models (OGCMs). However, depending on the spatio-temporal model resolution, not all scale-dependent processes are explicitly resolved in the simulated velocity fields. Consequently, the dispersal of advective Lagrangian trajectories has been assumed not to be sufficiently diffusive compared to observed particle spreading. In this study we present a detailed analysis of the spatially variable lateral eddy diffusivity characteristics of advective drifter trajectories simulated with realistically forced OGCMs and compare them with estimates based on observed drifter trajectories. The extended Agulhas Current system around South Africa, known for its intricate mesoscale dynamics, serves as a test case. We show that a state-of-the-art eddy-resolving OGCM indeed features theoretically derived dispersion characteristics for diffusive regimes and realistically represents Lagrangian eddy diffusivity characteristics obtained from observed surface drifter trajectories. The estimates for the maximum and asymptotic lateral single-particle eddy diffusivities obtained from the observed and simulated drifter trajectories show a good agreement in their spatial pattern and magnitude. We further assess the sensitivity of the simulated lateral eddy diffusivity estimates to the temporal and lateral OGCM output resolution and examine the impact of the different eddy diffusivity characteristics on the Lagrangian connectivity between the Indian Ocean and the South Atlantic.

Evaluation of the HF-Radar network system around Taiwan using normalized cumulative Lagrangian separation.

NASA Astrophysics Data System (ADS)

Fredj, Erick; Kohut, Josh; Roarty, Hugh; Lai, Jian-Wu

2017-04-01

The Lagrangian separation distance between the endpoints of simulated and observed drifter trajectories is often used to assess the performance of numerical particle trajectory models. However, the separation distance fails to indicate relative model performance in weak and strong current regions, such as over continental shelves and the adjacent deep ocean. A skill score described in detail by (Lui et.al. 2011) was applied to estimate the cumulative Lagrangian separation distances normalized by the associated cumulative trajectory lengths. In contrast, the Lagrangian separation distance alone gives a misleading result. The proposed dimensionless skill score is particularly useful when the number of drifter trajectories is limited and neither a conventional Eulerian-based velocity nor a Lagrangian based probability density function may be estimated. The skill score assesses The Taiwan Ocean Radar Observing System (TOROS) performance. TOROS consists of 17 SeaSonde type radars around the Taiwan Island. The currents off Taiwan are significantly influenced by the nearby Kuroshio current. The main stream of the Kuroshio flows along the east coast of Taiwan to the north throughout the year. Sometimes its branch current also bypasses the south end of Taiwan and goes north along the west coast of Taiwan. The Kuroshio is also prone to seasonal change in its speed of flow, current capacity, distribution width, and depth. The evaluations of HF-Radar National Taiwanese network performance using Lagrangian drifter records demonstrated the high quality and robustness of TOROS HF-Radar data using a purely trajectory-based non-dimensional index. Yonggang Liu and Robert H. Weisberg, "Evaluation of trajectory modeling in different dynamic regions using normalized cumulative Lagrangian separation", Journal of Geophysical Research, Vol. 116, C09013, doi:10.1029/2010JC006837, 2011

Alternative Transfer to the Earth-Moon Lagrangian Points L4 and L5 Using Lunar Gravity assist

NASA Astrophysics Data System (ADS)

Salazar, Francisco; Winter, Othon; Macau, Elbert; Bertachini de Almeida Prado, Antonio Fernando

2012-07-01

Lagrangian points L4 and L5 lie at 60 degrees ahead of and behind Moon in its orbit with respect to the Earth. Each one of them is a third point of an equilateral triangle with the base of the line defined by those two bodies. These Lagrangian points are stable for the Earth-Moon mass ratio. Because of their distance electromagnetic radiations from the Earth arrive on them substantially attenuated. As so, these Lagrangian points represent remarkable positions to host astronomical observatories. However, this same distance characteristic may be a challenge for periodic servicing mission. This paper studies transfer orbits in the planar restricted three-body problem. To avoid solving a two-boundary problem, the patched-conic approximation is used to find initial conditions to transfer a spacecraft between an Earth circular parking orbit and the Lagrangian points L4, L5 (in the Earth-Moon system), such that a swing-by maneuver is applied using the lunar gravity. We also found orbits that can be used to make a tour to the Lagrangian points L4, L5 based on the theorem of image trajectories. Keywords: Stable Lagrangian points, L4, L5, Three-Body problem, Patched Conic, Swing-by

Neural Network-Based Self-Tuning PID Control for Underwater Vehicles

PubMed Central

Hernández-Alvarado, Rodrigo; García-Valdovinos, Luis Govinda; Salgado-Jiménez, Tomás; Gómez-Espinosa, Alfonso; Fonseca-Navarro, Fernando

2016-01-01

For decades, PID (Proportional + Integral + Derivative)-like controllers have been successfully used in academia and industry for many kinds of plants. This is thanks to its simplicity and suitable performance in linear or linearized plants, and under certain conditions, in nonlinear ones. A number of PID controller gains tuning approaches have been proposed in the literature in the last decades; most of them off-line techniques. However, in those cases wherein plants are subject to continuous parametric changes or external disturbances, online gains tuning is a desirable choice. This is the case of modular underwater ROVs (Remotely Operated Vehicles) where parameters (weight, buoyancy, added mass, among others) change according to the tool it is fitted with. In practice, some amount of time is dedicated to tune the PID gains of a ROV. Once the best set of gains has been achieved the ROV is ready to work. However, when the vehicle changes its tool or it is subject to ocean currents, its performance deteriorates since the fixed set of gains is no longer valid for the new conditions. Thus, an online PID gains tuning algorithm should be implemented to overcome this problem. In this paper, an auto-tune PID-like controller based on Neural Networks (NN) is proposed. The NN plays the role of automatically estimating the suitable set of PID gains that achieves stability of the system. The NN adjusts online the controller gains that attain the smaller position tracking error. Simulation results are given considering an underactuated 6 DOF (degrees of freedom) underwater ROV. Real time experiments on an underactuated mini ROV are conducted to show the effectiveness of the proposed scheme. PMID:27608018

Neural Network-Based Self-Tuning PID Control for Underwater Vehicles.

PubMed

Hernández-Alvarado, Rodrigo; García-Valdovinos, Luis Govinda; Salgado-Jiménez, Tomás; Gómez-Espinosa, Alfonso; Fonseca-Navarro, Fernando

2016-09-05

For decades, PID (Proportional + Integral + Derivative)-like controllers have been successfully used in academia and industry for many kinds of plants. This is thanks to its simplicity and suitable performance in linear or linearized plants, and under certain conditions, in nonlinear ones. A number of PID controller gains tuning approaches have been proposed in the literature in the last decades; most of them off-line techniques. However, in those cases wherein plants are subject to continuous parametric changes or external disturbances, online gains tuning is a desirable choice. This is the case of modular underwater ROVs (Remotely Operated Vehicles) where parameters (weight, buoyancy, added mass, among others) change according to the tool it is fitted with. In practice, some amount of time is dedicated to tune the PID gains of a ROV. Once the best set of gains has been achieved the ROV is ready to work. However, when the vehicle changes its tool or it is subject to ocean currents, its performance deteriorates since the fixed set of gains is no longer valid for the new conditions. Thus, an online PID gains tuning algorithm should be implemented to overcome this problem. In this paper, an auto-tune PID-like controller based on Neural Networks (NN) is proposed. The NN plays the role of automatically estimating the suitable set of PID gains that achieves stability of the system. The NN adjusts online the controller gains that attain the smaller position tracking error. Simulation results are given considering an underactuated 6 DOF (degrees of freedom) underwater ROV. Real time experiments on an underactuated mini ROV are conducted to show the effectiveness of the proposed scheme.

Lagrangian Descriptors: A Method for Revealing Phase Space Structures of General Time Dependent Dynamical Systems

NASA Astrophysics Data System (ADS)

Mancho, Ana M.; Wiggins, Stephen; Curbelo, Jezabel; Mendoza, Carolina

2013-11-01

Lagrangian descriptors are a recent technique which reveals geometrical structures in phase space and which are valid for aperiodically time dependent dynamical systems. We discuss a general methodology for constructing them and we discuss a ``heuristic argument'' that explains why this method is successful. We support this argument by explicit calculations on a benchmark problem. Several other benchmark examples are considered that allow us to assess the performance of Lagrangian descriptors with both finite time Lyapunov exponents (FTLEs) and finite time averages of certain components of the vector field (``time averages''). In all cases Lagrangian descriptors are shown to be both more accurate and computationally efficient than these methods. We thank CESGA for computing facilities. This research was supported by MINECO grants: MTM2011-26696, I-Math C3-0104, ICMAT Severo Ochoa project SEV-2011-0087, and CSIC grant OCEANTECH. SW acknowledges the support of the ONR (Grant No. N00014-01-1-0769).

Exploiting short-term memory in soft body dynamics as a computational resource

PubMed Central

Nakajima, K.; Li, T.; Hauser, H.; Pfeifer, R.

2014-01-01

Soft materials are not only highly deformable, but they also possess rich and diverse body dynamics. Soft body dynamics exhibit a variety of properties, including nonlinearity, elasticity and potentially infinitely many degrees of freedom. Here, we demonstrate that such soft body dynamics can be employed to conduct certain types of computation. Using body dynamics generated from a soft silicone arm, we show that they can be exploited to emulate functions that require memory and to embed robust closed-loop control into the arm. Our results suggest that soft body dynamics have a short-term memory and can serve as a computational resource. This finding paves the way towards exploiting passive body dynamics for control of a large class of underactuated systems. PMID:25185579

Vorticity and symplecticity in multi-symplectic, Lagrangian gas dynamics

NASA Astrophysics Data System (ADS)

Webb, G. M.; Anco, S. C.

2016-02-01

The Lagrangian, multi-dimensional, ideal, compressible gas dynamic equations are written in a multi-symplectic form, in which the Lagrangian fluid labels, m i (the Lagrangian mass coordinates) and time t are the independent variables, and in which the Eulerian position of the fluid element {x}={x}({m},t) and the entropy S=S({m},t) are the dependent variables. Constraints in the variational principle are incorporated by means of Lagrange multipliers. The constraints are: the entropy advection equation S t = 0, the Lagrangian map equation {{x}}t={u} where {u} is the fluid velocity, and the mass continuity equation which has the form J=τ where J={det}({x}{ij}) is the Jacobian of the Lagrangian map in which {x}{ij}=\\partial {x}i/\\partial {m}j and τ =1/ρ is the specific volume of the gas. The internal energy per unit volume of the gas \\varepsilon =\\varepsilon (ρ ,S) corresponds to a non-barotropic gas. The Lagrangian is used to define multi-momenta, and to develop de Donder-Weyl Hamiltonian equations. The de Donder-Weyl equations are cast in a multi-symplectic form. The pullback conservation laws and the symplecticity conservation laws are obtained. One class of symplecticity conservation laws give rise to vorticity and potential vorticity type conservation laws, and another class of symplecticity laws are related to derivatives of the Lagrangian energy conservation law with respect to the Lagrangian mass coordinates m i . We show that the vorticity-symplecticity laws can be derived by a Lie dragging method, and also by using Noether’s second theorem and a fluid relabelling symmetry which is a divergence symmetry of the action. We obtain the Cartan-Poincaré form describing the equations and we discuss a set of differential forms representing the equation system.

Unified formalism for higher order non-autonomous dynamical systems

NASA Astrophysics Data System (ADS)

Prieto-Martínez, Pedro Daniel; Román-Roy, Narciso

2012-03-01

This work is devoted to giving a geometric framework for describing higher order non-autonomous mechanical systems. The starting point is to extend the Lagrangian-Hamiltonian unified formalism of Skinner and Rusk for these kinds of systems, generalizing previous developments for higher order autonomous mechanical systems and first-order non-autonomous mechanical systems. Then, we use this unified formulation to derive the standard Lagrangian and Hamiltonian formalisms, including the Legendre-Ostrogradsky map and the Euler-Lagrange and the Hamilton equations, both for regular and singular systems. As applications of our model, two examples of regular and singular physical systems are studied.

Parent formulation at the Lagrangian level

NASA Astrophysics Data System (ADS)

Grigoriev, Maxim

2011-07-01

The recently proposed first-order parent formalism at the level of equations of motion is specialized to the case of Lagrangian systems. It is shown that for diffeomorphism-invariant theories the parent formulation takes the form of an AKSZ-type sigma model. The proposed formulation can be also seen as a Lagrangian version of the BV-BRST extension of the Vasiliev unfolded approach. We also discuss its possible interpretation as a multidimensional generalization of the Hamiltonian BFV-BRST formalism. The general construction is illustrated by examples of (parametrized) mechanics, relativistic particle, Yang-Mills theory, and gravity.

Extended Lagrangian Density Functional Tight-Binding Molecular Dynamics for Molecules and Solids

DOE Office of Scientific and Technical Information (OSTI.GOV)

Aradi, Bálint; Niklasson, Anders M. N.; Frauenheim, Thomas

A computationally fast quantum mechanical molecular dynamics scheme using an extended Lagrangian density functional tight-binding formulation has been developed and implemented in the DFTB+ electronic structure program package for simulations of solids and molecular systems. The scheme combines the computational speed of self-consistent density functional tight-binding theory with the efficiency and long-term accuracy of extended Lagrangian Born–Oppenheimer molecular dynamics. Furthermore, for systems without self-consistent charge instabilities, only a single diagonalization or construction of the single-particle density matrix is required in each time step. The molecular dynamics simulation scheme can also be applied to a broad range of problems in materialsmore » science, chemistry, and biology.« less

Extended Lagrangian Density Functional Tight-Binding Molecular Dynamics for Molecules and Solids

DOE PAGES

Aradi, Bálint; Niklasson, Anders M. N.; Frauenheim, Thomas

2015-06-26

A computationally fast quantum mechanical molecular dynamics scheme using an extended Lagrangian density functional tight-binding formulation has been developed and implemented in the DFTB+ electronic structure program package for simulations of solids and molecular systems. The scheme combines the computational speed of self-consistent density functional tight-binding theory with the efficiency and long-term accuracy of extended Lagrangian Born–Oppenheimer molecular dynamics. Furthermore, for systems without self-consistent charge instabilities, only a single diagonalization or construction of the single-particle density matrix is required in each time step. The molecular dynamics simulation scheme can also be applied to a broad range of problems in materialsmore » science, chemistry, and biology.« less

BRST Formalism for Systems with Higher Order Derivatives of Gauge Parameters

NASA Astrophysics Data System (ADS)

Nirov, Kh. S.

For a wide class of mechanical systems, invariant under gauge transformations with arbitrary higher order time derivatives of gauge parameters, the equivalence of Lagrangian and Hamiltonian BRST formalisms is proved. It is shown that the Ostrogradsky formalism establishes the natural rules to relate the BFV ghost canonical pairs with the ghosts and antighosts introduced by the Lagrangian approach. Explicit relation between corresponding gauge-fixing terms is obtained.

Variational Lagrangian data assimilation in open channel networks

NASA Astrophysics Data System (ADS)

Wu, Qingfang; Tinka, Andrew; Weekly, Kevin; Beard, Jonathan; Bayen, Alexandre M.

2015-04-01

This article presents a data assimilation method in a tidal system, where data from both Lagrangian drifters and Eulerian flow sensors were fused to estimate water velocity. The system is modeled by first-order, hyperbolic partial differential equations subject to periodic forcing. The estimation problem can then be formulated as the minimization of the difference between the observed variables and model outputs, and eventually provide the velocity and water stage of the hydrodynamic system. The governing equations are linearized and discretized using an implicit discretization scheme, resulting in linear equality constraints in the optimization program. Thus, the flow estimation can be formed as an optimization problem and efficiently solved. The effectiveness of the proposed method was substantiated by a large-scale field experiment in the Sacramento-San Joaquin River Delta in California. A fleet of 100 sensors developed at the University of California, Berkeley, were deployed in Walnut Grove, CA, to collect a set of Lagrangian data, a time series of positions as the sensors moved through the water. Measurements were also taken from Eulerian sensors in the region, provided by the United States Geological Survey. It is shown that the proposed method can effectively integrate Lagrangian and Eulerian measurement data, resulting in a suited estimation of the flow variables within the hydraulic system.

Geometric Lagrangian approach to the physical degree of freedom count in field theory

NASA Astrophysics Data System (ADS)

Díaz, Bogar; Montesinos, Merced

2018-05-01

To circumvent some technical difficulties faced by the geometric Lagrangian approach to the physical degree of freedom count presented in the work of Díaz, Higuita, and Montesinos [J. Math. Phys. 55, 122901 (2014)] that prevent its direct implementation to field theory, in this paper, we slightly modify the geometric Lagrangian approach in such a way that its resulting version works perfectly for field theory (and for particle systems, of course). As in previous work, the current approach also allows us to directly get the Lagrangian constraints, a new Lagrangian formula for the counting of the number of physical degrees of freedom, the gauge transformations, and the number of first- and second-class constraints for any action principle based on a Lagrangian depending on the fields and their first derivatives without performing any Dirac's canonical analysis. An advantage of this approach over the previous work is that it also allows us to handle the reducibility of the constraints and to get the off-shell gauge transformations. The theoretical framework is illustrated in 3-dimensional generalized general relativity (Palatini and Witten's exotic actions), Chern-Simons theory, 4-dimensional BF theory, and 4-dimensional general relativity given by Palatini's action with a cosmological constant.

Chaotic micromixer utilizing electro-osmosis and induced charge electro-osmosis in eccentric annulus

DOE Office of Scientific and Technical Information (OSTI.GOV)

Feng, Huicheng; Wong, Teck Neng, E-mail: mtnwong@ntu.edu.sg; Marcos

Efficient mixing is of significant importance in numerous chemical and biomedical applications but difficult to realize rapidly in microgeometries due to the lack of turbulence. We propose to enhance mixing by introducing Lagrangian chaos through electro-osmosis (EO) or induced charge electro-osmosis (ICEO) in an eccentric annulus. The analysis reveals that the created Lagrangian chaos can achieve a homogeneous mixing much more rapidly than either the pure EO or the pure ICEO. Our systematic investigations on the key parameters, ranging from the eccentricity, the alternating time period, the number of flow patterns in one time period, to the specific flow patternsmore » utilized for the Lagrangian chaos creation, present that the Lagrangian chaos is considerably robust. The system can obtain a good mixing effect with wide ranges of eccentricity, alternating time period, and specific flow patterns utilized for the Lagrangian chaos creation as long as the number of flow patterns in one time period is two. As the electric field increases, the time consumption for homogenous mixing is reduced more remarkably for the Lagrangian chaos of the ICEO than that of the EO.« less

Dynamics of Multibody Systems Near Lagrangian Points

NASA Astrophysics Data System (ADS)

Wong, Brian

This thesis examines the dynamics of a physically connected multi-spacecraft system in the vicinity of the Lagrangian points of a Circular Restricted Three-Body System. The spacecraft system is arranged in a wheel-spoke configuration with smaller and less massive satellites connected to a central hub using truss/beams or tether connectors. The kinematics of the system is first defined, and the kinetic, gravitational potential energy and elastic potential energy of the system are derived. The Assumed Modes Method is used to discretize the continuous variables of the system, and a general set of ordinary differential equations describing the dynamics of the connectors and the central hub are obtained using the Lagrangian method. The flexible body dynamics of the tethered and truss connected systems are examined using numerical simulations. The results show that these systems experienced only small elastic deflections when they are naturally librating or rotating at moderate angular velocities, and these deflections have relatively small effect on the attitude dynamics of the systems. Based on these results, it is determined that the connectors can be modeled as rigid when only the attitude dynamics of the system is of interest. The equations of motion of rigid satellites stationed at the Lagrangian points are linearized, and the stability conditions of the satellite are obtained from the linear equations. The required conditions are shown to be similar to those of geocentric satellites. Study of the linear equations also revealed the resonant conditions of rigid Lagrangian point satellites, when a librational natural frequency of the satellite matches the frequency of its station-keeping orbit leading to large attitude motions. For tethered satellites, the linear analysis shows that the tethers are in stable equilibrium when they lie along a line joining the two primary celestial bodies of the Three-Body System. Numerical simulations are used to study the long term dynamics of two sample rigid bodies when they are in different periodic orbits around a collinear point, and the tether librations of a two-tether system in the same orbits. The results show that the rigid satellites and the tethered system experience greater attitude motions when they are in larger periodic orbits. The dynamics of variable length systems are also studied in order to determine the control cost associated with moving the end bodies in a gapless spiral to cover the area spanned by the system. The control cost is relatively low during tether deployment, and negligible effort is required to maintain the angular velocity of the tethered system after deployment. A set of recommendations for the applications of Lagrangian-point physically-connected systems are presented as well as some future research directions are suggested.

Hamiltonian vs Lagrangian Embedding of a Massive Spin-One Theory Involving Two-Form Field

NASA Astrophysics Data System (ADS)

Harikumar, E.; Sivakumar, M.

We consider the Hamiltonian and Lagrangian embedding of a first-order, massive spin-one, gauge noninvariant theory involving antisymmetric tensor field. We apply the BFV-BRST generalized canonical approach to convert the model to a first class system and construct nilpotent BFV-BRST charge and a unitarizing Hamiltonian. The canonical analysis of the Stückelberg formulation of this model is presented. We bring out the contrasting feature in the constraint structure, specifically with respect to the reducibility aspect, of the Hamiltonian and the Lagrangian embedded model. We show that to obtain manifestly covariant Stückelberg Lagrangian from the BFV embedded Hamiltonian, phase space has to be further enlarged and show how the reducible gauge structure emerges in the embedded model.

Detecting reactive islands using Lagrangian descriptors and the relevance to transition path sampling.

PubMed

Patra, Sarbani; Keshavamurthy, Srihari

2018-02-14

It has been known for sometime now that isomerization reactions, classically, are mediated by phase space structures called reactive islands (RI). RIs provide one possible route to correct for the nonstatistical effects in the reaction dynamics. In this work, we map out the reactive islands for the two dimensional Müller-Brown model potential and show that the reactive islands are intimately linked to the issue of rare event sampling. In particular, we establish the sensitivity of the so called committor probabilities, useful quantities in the transition path sampling technique, to the hierarchical RI structures. Mapping out the RI structure for high dimensional systems, however, is a challenging task. Here, we show that the technique of Lagrangian descriptors is able to effectively identify the RI hierarchy in the model system. Based on our results, we suggest that the Lagrangian descriptors can be useful for detecting RIs in high dimensional systems.

A Finite-Volume "Shaving" Method for Interfacing NASA/DAO''s Physical Space Statistical Analysis System to the Finite-Volume GCM with a Lagrangian Control-Volume Vertical Coordinate

NASA Technical Reports Server (NTRS)

Lin, Shian-Jiann; DaSilva, Arlindo; Atlas, Robert (Technical Monitor)

2001-01-01

Toward the development of a finite-volume Data Assimilation System (fvDAS), a consistent finite-volume methodology is developed for interfacing the NASA/DAO's Physical Space Statistical Analysis System (PSAS) to the joint NASA/NCAR finite volume CCM3 (fvCCM3). To take advantage of the Lagrangian control-volume vertical coordinate of the fvCCM3, a novel "shaving" method is applied to the lowest few model layers to reflect the surface pressure changes as implied by the final analysis. Analysis increments (from PSAS) to the upper air variables are then consistently put onto the Lagrangian layers as adjustments to the volume-mean quantities during the analysis cycle. This approach is demonstrated to be superior to the conventional method of using independently computed "tendency terms" for surface pressure and upper air prognostic variables.

Three dimensional Lagrangian structures in the Antarctic Polar Vortex.

NASA Astrophysics Data System (ADS)

Mancho, Ana M.; Garcia-Garrido, Victor J.; Curbelo, Jezabel; Niang, Coumba; Mechoso, Carlos R.; Wiggins, Stephen

2017-04-01

Dynamical systems theory has supported the description of transport processes in fluid dynamics. For understanding trajectory patterns in chaotic advection the geometrical approach by Poincaré seeks for spatial structures that separate regions corresponding to qualitatively different types of trajectories. These structures have been referred to as Lagrangian Coherent Structures (LCS), which typically in geophysical flows are well described under the approach of incompressible 2D flows. Different tools have been used to visualize LCS. In this presentation we use Lagrangian Descriptors [1,2,3,4] (function M) for visualizing 3D Lagrangian structures in the atmosphere, in particular in the Antarctic Polar Vortex. The function M is computed in a fully 3D incompressible flow obtained from data provided by the European Centre for Medium-Range Weather Forecast and it is represented in 2D surfaces. We discuss the findings during the final warming that took place in the spring of 1979 [5]. This research is supported by MINECO grant MTM2014-56392-R. Support is acknowledged also from CSIC grant COOPB20265, U.S. NSF grant AGS-1245069 and ONR grant No. N00014- 01-1-0769. C. Niang acknowledges Fundacion Mujeres por Africa and ICMAT Severo Ochoa project SEV-2011-0087 for financial support. [1] C. Mendoza, A. M. Mancho. The hidden geometry of ocean flows. Physical Review Letters 105 (2010), 3, 038501-1-038501-4. [2] A. M. Mancho, S. Wiggins, J. Curbelo, C. Mendoza. Lagrangian Descriptors: A Method for Revealing Phase Space Structures of General Time Dependent Dynamical Systems. Communications in Nonlinear Science and Numerical Simulation. 18 (2013) 3530-3557. [3] C. Lopesino, F. Balibrea-Iniesta, S. Wiggins and A. M. Mancho. Lagrangian descriptors for two dimensional, area preserving autonomous and nonautonomous maps. Communications in Nonlinear Science and Numerical Simulations, 27 (2015) (1-3), 40-51. [4] C. Lopesino, F. Balibrea-Iniesta, V. J. García-Garrido, S. Wiggins, and A. M. Mancho, A. M. A theoretical framework for lagrangian descriptors. International Journal of Bifurcation and Chaos (2017) to appear. [5] The three-dimensional Lagrangian geometry of the Antarctic Polar Vortex circulation. Preprint.

Parallel Decomposition of the Fictitious Lagrangian Algorithm and its Accuracy for Molecular Dynamics Simulations of Semiconductors.

NASA Astrophysics Data System (ADS)

Yeh, Mei-Ling

We have performed a parallel decomposition of the fictitious Lagrangian method for molecular dynamics with tight-binding total energy expression into the hypercube computer. This is the first time in literature that the dynamical simulation of semiconducting systems containing more than 512 silicon atoms has become possible with the electrons treated as quantum particles. With the utilization of the Intel Paragon system, our timing analysis predicts that our code is expected to perform realistic simulations on very large systems consisting of thousands of atoms with time requirements of the order of tens of hours. Timing results and performance analysis of our parallel code are presented in terms of calculation time, communication time, and setup time. The accuracy of the fictitious Lagrangian method in molecular dynamics simulation is also investigated, especially the energy conservation of the total energy of ions. We find that the accuracy of the fictitious Lagrangian scheme in small silicon cluster and very large silicon system simulations is good for as long as the simulations proceed, even though we quench the electronic coordinates to the Born-Oppenheimer surface only in the beginning of the run. The kinetic energy of electrons does not increase as time goes on, and the energy conservation of the ionic subsystem remains very good. This means that, as far as the ionic subsystem is concerned, the electrons are on the average in the true quantum ground states. We also tie up some odds and ends regarding a few remaining questions about the fictitious Lagrangian method, such as the difference between the results obtained from the Gram-Schmidt and SHAKE method of orthonormalization, and differences between simulations where the electrons are quenched to the Born -Oppenheimer surface only once compared with periodic quenching.

Decentralized Feedback Controllers for Robust Stabilization of Periodic Orbits of Hybrid Systems: Application to Bipedal Walking.

PubMed

Hamed, Kaveh Akbari; Gregg, Robert D

2017-07-01

This paper presents a systematic algorithm to design time-invariant decentralized feedback controllers to exponentially and robustly stabilize periodic orbits for hybrid dynamical systems against possible uncertainties in discrete-time phases. The algorithm assumes a family of parameterized and decentralized nonlinear controllers to coordinate interconnected hybrid subsystems based on a common phasing variable. The exponential and [Formula: see text] robust stabilization problems of periodic orbits are translated into an iterative sequence of optimization problems involving bilinear and linear matrix inequalities. By investigating the properties of the Poincaré map, some sufficient conditions for the convergence of the iterative algorithm are presented. The power of the algorithm is finally demonstrated through designing a set of robust stabilizing local nonlinear controllers for walking of an underactuated 3D autonomous bipedal robot with 9 degrees of freedom, impact model uncertainties, and a decentralization scheme motivated by amputee locomotion with a transpelvic prosthetic leg.

Decentralized Feedback Controllers for Robust Stabilization of Periodic Orbits of Hybrid Systems: Application to Bipedal Walking

PubMed Central

Hamed, Kaveh Akbari; Gregg, Robert D.

2016-01-01

This paper presents a systematic algorithm to design time-invariant decentralized feedback controllers to exponentially and robustly stabilize periodic orbits for hybrid dynamical systems against possible uncertainties in discrete-time phases. The algorithm assumes a family of parameterized and decentralized nonlinear controllers to coordinate interconnected hybrid subsystems based on a common phasing variable. The exponential and H2 robust stabilization problems of periodic orbits are translated into an iterative sequence of optimization problems involving bilinear and linear matrix inequalities. By investigating the properties of the Poincaré map, some sufficient conditions for the convergence of the iterative algorithm are presented. The power of the algorithm is finally demonstrated through designing a set of robust stabilizing local nonlinear controllers for walking of an underactuated 3D autonomous bipedal robot with 9 degrees of freedom, impact model uncertainties, and a decentralization scheme motivated by amputee locomotion with a transpelvic prosthetic leg. PMID:28959117

Generalized extended Lagrangian Born-Oppenheimer molecular dynamics

DOE PAGES

Niklasson, Anders M. N.; Cawkwell, Marc J.

2014-10-29

Extended Lagrangian Born-Oppenheimer molecular dynamics based on Kohn-Sham density functional theory is generalized in the limit of vanishing self-consistent field optimization prior to the force evaluations. The equations of motion are derived directly from the extended Lagrangian under the condition of an adiabatic separation between the nuclear and the electronic degrees of freedom. We show how this separation is automatically fulfilled and system independent. The generalized equations of motion require only one diagonalization per time step and are applicable to a broader range of materials with improved accuracy and stability compared to previous formulations.

Arbitrary Symmetric Running Gait Generation for an Underactuated Biped Model.

PubMed

Dadashzadeh, Behnam; Esmaeili, Mohammad; Macnab, Chris

2017-01-01

This paper investigates generating symmetric trajectories for an underactuated biped during the stance phase of running. We use a point mass biped (PMB) model for gait analysis that consists of a prismatic force actuator on a massless leg. The significance of this model is its ability to generate more general and versatile running gaits than the spring-loaded inverted pendulum (SLIP) model, making it more suitable as a template for real robots. The algorithm plans the necessary leg actuator force to cause the robot center of mass to undergo arbitrary trajectories in stance with any arbitrary attack angle and velocity angle. The necessary actuator forces follow from the inverse kinematics and dynamics. Then these calculated forces become the control input to the dynamic model. We compare various center-of-mass trajectories, including a circular arc and polynomials of the degrees 2, 4 and 6. The cost of transport and maximum leg force are calculated for various attack angles and velocity angles. The results show that choosing the velocity angle as small as possible is beneficial, but the angle of attack has an optimum value. We also find a new result: there exist biped running gaits with double-hump ground reaction force profiles which result in less maximum leg force than single-hump profiles.

Arbitrary Symmetric Running Gait Generation for an Underactuated Biped Model

PubMed Central

Esmaeili, Mohammad; Macnab, Chris

2017-01-01

This paper investigates generating symmetric trajectories for an underactuated biped during the stance phase of running. We use a point mass biped (PMB) model for gait analysis that consists of a prismatic force actuator on a massless leg. The significance of this model is its ability to generate more general and versatile running gaits than the spring-loaded inverted pendulum (SLIP) model, making it more suitable as a template for real robots. The algorithm plans the necessary leg actuator force to cause the robot center of mass to undergo arbitrary trajectories in stance with any arbitrary attack angle and velocity angle. The necessary actuator forces follow from the inverse kinematics and dynamics. Then these calculated forces become the control input to the dynamic model. We compare various center-of-mass trajectories, including a circular arc and polynomials of the degrees 2, 4 and 6. The cost of transport and maximum leg force are calculated for various attack angles and velocity angles. The results show that choosing the velocity angle as small as possible is beneficial, but the angle of attack has an optimum value. We also find a new result: there exist biped running gaits with double-hump ground reaction force profiles which result in less maximum leg force than single-hump profiles. PMID:28118401

Controlling under-actuated robot arms using a high speed dynamics process

NASA Technical Reports Server (NTRS)

Jain, Abhinandan (Inventor); Rodriguez, Guillermo (Inventor)

1994-01-01

The invention controls an under-actuated manipulator by first obtaining predetermined active joint accelerations of the active joints and the passive joint friction forces of the passive joints, then computing articulated body qualities for each of the joints from the current positions of the links, and finally computing from the articulated body qualities and from the active joint accelerations and the passive joint forces, active joint forces of the active joints. Ultimately, the invention transmits servo commands to the active joint forces thus computed to the respective ones of the joint servos. The computation of the active joint forces is accomplished using a recursive dynamics algorithm. In this computation, an inward recursion is first carried out for each link, beginning with the outermost link in order to compute the residual link force of each link from the active joint acceleration if the corresponding joint is active, or from the known passive joint force if the corresponding joint is passive. Then, an outward recursion is carried out for each link in which the active joint force is computed from the residual link force if the corresponding joint is active or the passive joint acceleration is computed from the residual link force if the corresponding joint is passive.

Higher-Order Advection-Based Remap of Magnetic Fields in an Arbitrary Lagrangian-Eulerian Code

NASA Astrophysics Data System (ADS)

Cornille, Brian; White, Dan

2017-10-01

We will present methods formulated for the Eulerian advection stage of an arbitrary Lagrangian-Eulerian code for the new addition of magnetohydrodynamic (MHD) effects. The various physical fields are advanced in time using a Lagrangian formulation of the system. When this Lagrangian motion produces substantial distortion of the mesh, it can be difficult or impossible to progress the simulation forward. This is overcome by relaxation of the mesh while the physical fields are frozen. The code has already successfully been extended to include evolution of magnetic field diffusion during the Lagrangian motion stage. This magnetic field is discretized using an H(div) compatible finite element basis. The advantage of this basis is that the divergence-free constraint of magnetic fields is maintained exactly during the Lagrangian motion evolution. Our goal is to preserve this property during Eulerian advection as well. We will demonstrate this property and the importance of MHD effects in several numerical experiments. In pulsed-power experiments magnetic fields may be imposed or spontaneously generated. When these magnetic fields are present, the evolution of the experiment may differ from a comparable configuration without magnetic fields. Prepared by LLNL under Contract DE-AC52-07NA27344. Supported by DOE CSGF under Grant Number DE-FG02-97ER25308.

Development of CO2 inversion system based on the adjoint of the global coupled transport model

NASA Astrophysics Data System (ADS)

Belikov, Dmitry; Maksyutov, Shamil; Chevallier, Frederic; Kaminski, Thomas; Ganshin, Alexander; Blessing, Simon

2014-05-01

We present the development of an inverse modeling system employing an adjoint of the global coupled transport model consisting of the National Institute for Environmental Studies (NIES) Eulerian transport model (TM) and the Lagrangian plume diffusion model (LPDM) FLEXPART. NIES TM is a three-dimensional atmospheric transport model, which solves the continuity equation for a number of atmospheric tracers on a grid spanning the entire globe. Spatial discretization is based on a reduced latitude-longitude grid and a hybrid sigma-isentropic coordinate in the vertical. NIES TM uses a horizontal resolution of 2.5°×2.5°. However, to resolve synoptic-scale tracer distributions and to have the ability to optimize fluxes at resolutions of 0.5° and higher we coupled NIES TM with the Lagrangian model FLEXPART. The Lagrangian component of the forward and adjoint models uses precalculated responses of the observed concentration to the surface fluxes and 3-D concentrations field simulated with the FLEXPART model. NIES TM and FLEXPART are driven by JRA-25/JCDAS reanalysis dataset. Construction of the adjoint of the Lagrangian part is less complicated, as LPDMs calculate the sensitivity of measurements to the surrounding emissions field by tracking a large number of "particles" backwards in time. Developing of the adjoint to Eulerian part was performed with automatic differentiation tool the Transformation of Algorithms in Fortran (TAF) software (http://www.FastOpt.com). This method leads to the discrete adjoint of NIES TM. The main advantage of the discrete adjoint is that the resulting gradients of the numerical cost function are exact, even for nonlinear algorithms. The overall advantages of our method are that: 1. No code modification of Lagrangian model is required, making it applicable to combination of global NIES TM and any Lagrangian model; 2. Once run, the Lagrangian output can be applied to any chemically neutral gas; 3. High-resolution results can be obtained over limited regions close to the monitoring sites (using the LPDM part), and at coarse resolution for the rest of the globe (using the Eulerian part), minimizing aggregation errors and computation cost. The adjoint of the coupled high-resolution Eulerian-Lagrangian model will be incorporated into the PYVAR CO2 variational inverse system (Chevallier et al., 2005). Chevallier, F., Fisher, M., Peylin, P., Serrar, S., Bousquet, P., Bréon, F.-M., Chédin, A., and Ciais, P.: Inferring CO2 sources and sinks from satellite observations: method and application to TOVS data, J. Geophys. Res., 110, D24309, doi:10.1029/2005JD006390, 2005.

Chaotic Lagrangian models for turbulent relative dispersion.

PubMed

Lacorata, Guglielmo; Vulpiani, Angelo

2017-04-01

A deterministic multiscale dynamical system is introduced and discussed as a prototype model for relative dispersion in stationary, homogeneous, and isotropic turbulence. Unlike stochastic diffusion models, here trajectory transport and mixing properties are entirely controlled by Lagrangian chaos. The anomalous "sweeping effect," a known drawback common to kinematic simulations, is removed through the use of quasi-Lagrangian coordinates. Lagrangian dispersion statistics of the model are accurately analyzed by computing the finite-scale Lyapunov exponent (FSLE), which is the optimal measure of the scaling properties of dispersion. FSLE scaling exponents provide a severe test to decide whether model simulations are in agreement with theoretical expectations and/or observation. The results of our numerical experiments cover a wide range of "Reynolds numbers" and show that chaotic deterministic flows can be very efficient, and numerically low-cost, models of turbulent trajectories in stationary, homogeneous, and isotropic conditions. The mathematics of the model is relatively simple, and, in a geophysical context, potential applications may regard small-scale parametrization issues in general circulation models, mixed layer, and/or boundary layer turbulence models as well as Lagrangian predictability studies.

Chaotic Lagrangian models for turbulent relative dispersion

NASA Astrophysics Data System (ADS)

Lacorata, Guglielmo; Vulpiani, Angelo

2017-04-01

A deterministic multiscale dynamical system is introduced and discussed as a prototype model for relative dispersion in stationary, homogeneous, and isotropic turbulence. Unlike stochastic diffusion models, here trajectory transport and mixing properties are entirely controlled by Lagrangian chaos. The anomalous "sweeping effect," a known drawback common to kinematic simulations, is removed through the use of quasi-Lagrangian coordinates. Lagrangian dispersion statistics of the model are accurately analyzed by computing the finite-scale Lyapunov exponent (FSLE), which is the optimal measure of the scaling properties of dispersion. FSLE scaling exponents provide a severe test to decide whether model simulations are in agreement with theoretical expectations and/or observation. The results of our numerical experiments cover a wide range of "Reynolds numbers" and show that chaotic deterministic flows can be very efficient, and numerically low-cost, models of turbulent trajectories in stationary, homogeneous, and isotropic conditions. The mathematics of the model is relatively simple, and, in a geophysical context, potential applications may regard small-scale parametrization issues in general circulation models, mixed layer, and/or boundary layer turbulence models as well as Lagrangian predictability studies.

NATIONAL AND REGIONAL AIR AND DEPOSITION MODELING OF STATIONARY AND MOBILE SOURCE EMISSIONS OF DIOXINS USING THE RELMAP MODELING SYSTEM

EPA Science Inventory

The purpose of this study is to estimate the atmospheric transport, fate and deposition flux of air releases of CDDs and CDFs from known sources within the continental United States using the Regional Lagrangian Model of Air Pollution (RELMAP). RELMAP is a Lagrangian air model th...

Adaptive Neural Network Control for the Trajectory Tracking of the Furuta Pendulum.

PubMed

Moreno-Valenzuela, Javier; Aguilar-Avelar, Carlos; Puga-Guzman, Sergio A; Santibanez, Victor

2016-12-01

The purpose of this paper is to introduce a novel adaptive neural network-based control scheme for the Furuta pendulum, which is a two degree-of-freedom underactuated system. Adaptation laws for the input and output weights are also provided. The proposed controller is able to guarantee tracking of a reference signal for the arm while the pendulum remains in the upright position. The key aspect of the derivation of the controller is the definition of an output function that depends on the position and velocity errors. The internal and external dynamics are rigorously analyzed, thereby proving the uniform ultimate boundedness of the error trajectories. By using real-time experiments, the new scheme is compared with other control methodologies, therein demonstrating the improved performance of the proposed adaptive algorithm.

A Theoretical Framework for Lagrangian Descriptors

NASA Astrophysics Data System (ADS)

Lopesino, C.; Balibrea-Iniesta, F.; García-Garrido, V. J.; Wiggins, S.; Mancho, A. M.

This paper provides a theoretical background for Lagrangian Descriptors (LDs). The goal of achieving rigorous proofs that justify the ability of LDs to detect invariant manifolds is simplified by introducing an alternative definition for LDs. The definition is stated for n-dimensional systems with general time dependence, however we rigorously prove that this method reveals the stable and unstable manifolds of hyperbolic points in four particular 2D cases: a hyperbolic saddle point for linear autonomous systems, a hyperbolic saddle point for nonlinear autonomous systems, a hyperbolic saddle point for linear nonautonomous systems and a hyperbolic saddle point for nonlinear nonautonomous systems. We also discuss further rigorous results which show the ability of LDs to highlight additional invariants sets, such as n-tori. These results are just a simple extension of the ergodic partition theory which we illustrate by applying this methodology to well-known examples, such as the planar field of the harmonic oscillator and the 3D ABC flow. Finally, we provide a thorough discussion on the requirement of the objectivity (frame-invariance) property for tools designed to reveal phase space structures and their implications for Lagrangian descriptors.

Adaptive control of a quadrotor aerial vehicle with input constraints and uncertain parameters

NASA Astrophysics Data System (ADS)

Tran, Trong-Toan; Ge, Shuzhi Sam; He, Wei

2018-05-01

In this paper, we address the problem of adaptive bounded control for the trajectory tracking of a Quadrotor Aerial Vehicle (QAV) while the input saturations and uncertain parameters with the known bounds are simultaneously taken into account. First, to deal with the underactuated property of the QAV model, we decouple and construct the QAV model as a cascaded structure which consists of two fully actuated subsystems. Second, to handle the input constraints and uncertain parameters, we use a combination of the smooth saturation function and smooth projection operator in the control design. Third, to ensure the stability of the overall system of the QAV, we develop the technique for the cascaded system in the presence of both the input constraints and uncertain parameters. Finally, the region of stability of the closed-loop system is constructed explicitly, and our design ensures the asymptotic convergence of the tracking errors to the origin. The simulation results are provided to illustrate the effectiveness of the proposed method.

Ghost-Free Theory with Third-Order Time Derivatives

NASA Astrophysics Data System (ADS)

Motohashi, Hayato; Suyama, Teruaki; Yamaguchi, Masahide

2018-06-01

As the first step to extend our understanding of higher-derivative theories, within the framework of analytic mechanics of point particles, we construct a ghost-free theory involving third-order time derivatives in Lagrangian. While eliminating linear momentum terms in the Hamiltonian is necessary and sufficient to kill the ghosts associated with higher derivatives for Lagrangian with at most second-order derivatives, we find that this is necessary but not sufficient for the Lagrangian with higher than second-order derivatives. We clarify a set of ghost-free conditions under which we show that the Hamiltonian is bounded, and that equations of motion are reducible into a second-order system.

Nonconservative Lagrangian Mechanics: Purely Causal Equations of Motion

NASA Astrophysics Data System (ADS)

Dreisigmeyer, David W.; Young, Peter M.

2015-06-01

This work builds on the Volterra series formalism presented in Dreisigmeyer and Young (J Phys A 36: 8297, 2003) to model nonconservative systems. Here we treat Lagrangians and actions as `time dependent' Volterra series. We present a new family of kernels to be used in these Volterra series that allow us to derive a single retarded equation of motion using a variational principle.

Preserving Lagrangian Structure in Nonlinear Model Reduction with Application to Structural Dynamics

DOE PAGES

Carlberg, Kevin; Tuminaro, Ray; Boggs, Paul

2015-03-11

Our work proposes a model-reduction methodology that preserves Lagrangian structure and achieves computational efficiency in the presence of high-order nonlinearities and arbitrary parameter dependence. As such, the resulting reduced-order model retains key properties such as energy conservation and symplectic time-evolution maps. We focus on parameterized simple mechanical systems subjected to Rayleigh damping and external forces, and consider an application to nonlinear structural dynamics. To preserve structure, the method first approximates the system's “Lagrangian ingredients''---the Riemannian metric, the potential-energy function, the dissipation function, and the external force---and subsequently derives reduced-order equations of motion by applying the (forced) Euler--Lagrange equation with thesemore » quantities. Moreover, from the algebraic perspective, key contributions include two efficient techniques for approximating parameterized reduced matrices while preserving symmetry and positive definiteness: matrix gappy proper orthogonal decomposition and reduced-basis sparsification. Our results for a parameterized truss-structure problem demonstrate the practical importance of preserving Lagrangian structure and illustrate the proposed method's merits: it reduces computation time while maintaining high accuracy and stability, in contrast to existing nonlinear model-reduction techniques that do not preserve structure.« less

Preserving Lagrangian Structure in Nonlinear Model Reduction with Application to Structural Dynamics

DOE Office of Scientific and Technical Information (OSTI.GOV)

Carlberg, Kevin; Tuminaro, Ray; Boggs, Paul

Our work proposes a model-reduction methodology that preserves Lagrangian structure and achieves computational efficiency in the presence of high-order nonlinearities and arbitrary parameter dependence. As such, the resulting reduced-order model retains key properties such as energy conservation and symplectic time-evolution maps. We focus on parameterized simple mechanical systems subjected to Rayleigh damping and external forces, and consider an application to nonlinear structural dynamics. To preserve structure, the method first approximates the system's “Lagrangian ingredients''---the Riemannian metric, the potential-energy function, the dissipation function, and the external force---and subsequently derives reduced-order equations of motion by applying the (forced) Euler--Lagrange equation with thesemore » quantities. Moreover, from the algebraic perspective, key contributions include two efficient techniques for approximating parameterized reduced matrices while preserving symmetry and positive definiteness: matrix gappy proper orthogonal decomposition and reduced-basis sparsification. Our results for a parameterized truss-structure problem demonstrate the practical importance of preserving Lagrangian structure and illustrate the proposed method's merits: it reduces computation time while maintaining high accuracy and stability, in contrast to existing nonlinear model-reduction techniques that do not preserve structure.« less

Transport induced by mean-eddy interaction: I. Theory, and relation to Lagrangian lobe dynamics

NASA Astrophysics Data System (ADS)

Ide, Kayo; Wiggins, Stephen

2015-02-01

In this paper we develop a method for the estimation of Transport Induced by the Mean-Eddy interaction (TIME) in two-dimensional unsteady flows. The method is based on the dynamical systems approach to fluid transport and can be viewed as a hybrid combination of Lagrangian and Eulerian methods. The (Eulerian) boundaries across which we consider (Lagrangian) transport are kinematically defined by appropriately chosen streamlines of the mean flow. By evaluating the impact of the mean-eddy interaction on transport, the TIME method can be used as a diagnostic tool for transport processes that occur during a specified time interval along a specified boundary segment. We introduce two types of TIME functions: one that quantifies the accumulation of flow properties and another that measures the displacement of the transport geometry. The spatial geometry of transport is described by the so-called pseudo-lobes, and temporal evolution of transport by their dynamics. In the case where the TIME functions are evaluated along a separatrix, the pseudo-lobes have a relationship to the lobes of Lagrangian transport theory. In fact, one of the TIME functions is identical to the Melnikov function that is used to measure the distance, at leading order in a small parameter, between the two invariant manifolds that define the Lagrangian lobes. We contrast the similarities and differences between the TIME and Lagrangian lobe dynamics in detail. An application of the TIME method is carried out for inter-gyre transport in the wind-driven oceanic circulation model and a comparison with the Lagrangian transport theory is made.

A Hamilton-Jacobi theory for implicit differential systems

NASA Astrophysics Data System (ADS)

Esen, Oǧul; de León, Manuel; Sardón, Cristina

2018-02-01

In this paper, we propose a geometric Hamilton-Jacobi theory for systems of implicit differential equations. In particular, we are interested in implicit Hamiltonian systems, described in terms of Lagrangian submanifolds of TT*Q generated by Morse families. The implicit character implies the nonexistence of a Hamiltonian function describing the dynamics. This fact is here amended by a generating family of Morse functions which plays the role of a Hamiltonian. A Hamilton-Jacobi equation is obtained with the aid of this generating family of functions. To conclude, we apply our results to singular Lagrangians by employing the construction of special symplectic structures.

Normal Modes of a Lagrangian System Constrained in a Potential Well.

DTIC Science & Technology

1983-12-01

A’ -137 948 NORMAL MODES OF A LFHbRANGIAN SYSTEM CONSTRAINED INvi P0TENTIAL WELL(U WISCONSNN UNIV-MADISON MATHEMATICS RESEARCH CENTER V EN DEC F1...Carolina 27709 DT FLE OP Y UNIVERSITY OF WISCONSIN-MADISON MATHEMATICS RESEARCH CENTER NORMAL MODES OF A LAGRANGIAN SYSTEM CONSTRAINED IN A POTENTIAL WELL...respect to the norm lYE [f i + 2 yi )dtl/ 0 Since H I(S’ 1 n’) C CO(S, fle ), then the set A 1 0 is an open set in H1 (lf’) The periodic solution of

Solvability of the Initial Value Problem to the Isobe-Kakinuma Model for Water Waves

NASA Astrophysics Data System (ADS)

Nemoto, Ryo; Iguchi, Tatsuo

2017-09-01

We consider the initial value problem to the Isobe-Kakinuma model for water waves and the structure of the model. The Isobe-Kakinuma model is the Euler-Lagrange equations for an approximate Lagrangian which is derived from Luke's Lagrangian for water waves by approximating the velocity potential in the Lagrangian. The Isobe-Kakinuma model is a system of second order partial differential equations and is classified into a system of nonlinear dispersive equations. Since the hypersurface t=0 is characteristic for the Isobe-Kakinuma model, the initial data have to be restricted in an infinite dimensional manifold for the existence of the solution. Under this necessary condition and a sign condition, which corresponds to a generalized Rayleigh-Taylor sign condition for water waves, on the initial data, we show that the initial value problem is solvable locally in time in Sobolev spaces. We also discuss the linear dispersion relation to the model.

Explicit construction of BRST charge of noncommutative D-brane system

NASA Astrophysics Data System (ADS)

Hong, Soon-Tae

2006-01-01

In the BRST BFV scheme for noncommutative D-branes with constant NS B-field, introducing ghost degrees of freedom we construct the gauge-fixed Hamiltonian and corresponding effective Lagrangian invariant under nilpotent BRST charge. It is also shown that the presence of auxiliary variables introduced via the improved Dirac formalism plays a crucial role in the construction of the BRST invariant Lagrangian.

Classical-Quantum Correspondence by Means of Probability Densities

NASA Technical Reports Server (NTRS)

Vegas, Gabino Torres; Morales-Guzman, J. D.

1996-01-01

Within the frame of the recently introduced phase space representation of non relativistic quantum mechanics, we propose a Lagrangian from which the phase space Schrodinger equation can be derived. From that Lagrangian, the associated conservation equations, according to Noether's theorem, are obtained. This shows that one can analyze quantum systems completely in phase space as it is done in coordinate space, without additional complications.

Symmetries of relativistic world lines

NASA Astrophysics Data System (ADS)

Koch, Benjamin; Muñoz, Enrique; Reyes, Ignacio A.

2017-10-01

Symmetries are essential for a consistent formulation of many quantum systems. In this paper we discuss a fundamental symmetry, which is present for any Lagrangian term that involves x˙2. As a basic model that incorporates the fundamental symmetries of quantum gravity and string theory, we consider the Lagrangian action of the relativistic point particle. A path integral quantization for this seemingly simple system has long presented notorious problems. Here we show that those problems are overcome by taking into account the additional symmetry, leading directly to the exact Klein-Gordon propagator.

Exploiting short-term memory in soft body dynamics as a computational resource.

PubMed

Nakajima, K; Li, T; Hauser, H; Pfeifer, R

2014-11-06

Soft materials are not only highly deformable, but they also possess rich and diverse body dynamics. Soft body dynamics exhibit a variety of properties, including nonlinearity, elasticity and potentially infinitely many degrees of freedom. Here, we demonstrate that such soft body dynamics can be employed to conduct certain types of computation. Using body dynamics generated from a soft silicone arm, we show that they can be exploited to emulate functions that require memory and to embed robust closed-loop control into the arm. Our results suggest that soft body dynamics have a short-term memory and can serve as a computational resource. This finding paves the way towards exploiting passive body dynamics for control of a large class of underactuated systems. © 2014 The Author(s) Published by the Royal Society. All rights reserved.

About non standard Lagrangians in cosmology

DOE Office of Scientific and Technical Information (OSTI.GOV)

Dimitrijevic, Dragoljub D.; Milosevic, Milan

A review of non standard Lagrangians present in modern cosmological models will be considered. Well known example of non standard Lagrangian is Dirac-Born-Infeld (DBI) type Lagrangian for tachyon field. Another type of non standard Lagrangian under consideration contains scalar field which describes open p-adic string tachyon and is called p-adic string theory Lagrangian. We will investigate homogenous cases of both DBI and p-adic fields and obtain Lagrangians of the standard type which have the same equations of motions as aforementioned non standard one.

Mass and tracer transport within oceanic Lagrangian coherent vortices as diagnosed in a global mesoscale eddying climate model

NASA Astrophysics Data System (ADS)

Tarshish, Nathaniel; Abernathey, Ryan; Dufour, Carolina; Frenger, Ivy; Griffies, Stephen

2017-04-01

Transient ocean mesoscale fluctuations play a central role in the global climate system, transporting climate relevant tracers such as heat and carbon. In satellite observations and numerical simulations, mesoscale vortices feature prominently as collectively rotating regions that remain visibly coherent. Prior studies on transport from ocean vortices typically rely on Eulerian identification methods, in which vortices are identified by selecting closed contours of Eulerian fields (e.g. sea surface height, or the Okubo-Weiss parameter) that satisfy geometric criteria and anomaly thresholds. In contrast, recent studies employ Lagrangian analysis of virtual particle trajectories initialized within the selected Eulerian contours, revealing significant discrepancies between the advection of the contour's material interior and the evolution of the Eulerian field contour. This work investigates the global mass and tracer transport associated with materially coherent surface ocean vortices. Further, it addresses differences between Eulerian and Lagrangian analyses for the detection of vortices. To do so, we use GFDL's CM2.6 coupled climate model with 5-10km horizontal grid spacing. We identify coherent vortices in CM2.6 by implementing the Rotationally Coherent Lagrangian Vortex (RCLV) framework, which recently emerged from dynamical systems theory. This approach involves the numerical advection of millions of Lagrangian particles and guarantees material coherence by construction. We compute the statistics, spatial distribution, and lifetimes of coherent vortices in addition to calculating the associated mass and tracer transports. We offer compelling evidence that Eulerian vortex methods are poorly suited to answer questions of mass and tracer transport.

Hybrid finite difference/finite element immersed boundary method.

PubMed

E Griffith, Boyce; Luo, Xiaoyu

2017-12-01

The immersed boundary method is an approach to fluid-structure interaction that uses a Lagrangian description of the structural deformations, stresses, and forces along with an Eulerian description of the momentum, viscosity, and incompressibility of the fluid-structure system. The original immersed boundary methods described immersed elastic structures using systems of flexible fibers, and even now, most immersed boundary methods still require Lagrangian meshes that are finer than the Eulerian grid. This work introduces a coupling scheme for the immersed boundary method to link the Lagrangian and Eulerian variables that facilitates independent spatial discretizations for the structure and background grid. This approach uses a finite element discretization of the structure while retaining a finite difference scheme for the Eulerian variables. We apply this method to benchmark problems involving elastic, rigid, and actively contracting structures, including an idealized model of the left ventricle of the heart. Our tests include cases in which, for a fixed Eulerian grid spacing, coarser Lagrangian structural meshes yield discretization errors that are as much as several orders of magnitude smaller than errors obtained using finer structural meshes. The Lagrangian-Eulerian coupling approach developed in this work enables the effective use of these coarse structural meshes with the immersed boundary method. This work also contrasts two different weak forms of the equations, one of which is demonstrated to be more effective for the coarse structural discretizations facilitated by our coupling approach. © 2017 The Authors International  Journal  for  Numerical  Methods  in  Biomedical  Engineering Published by John Wiley & Sons Ltd.

Lagrangian formulation of the general relativistic Poynting-Robertson effect

NASA Astrophysics Data System (ADS)

De Falco, Vittorio; Battista, Emmanuele; Falanga, Maurizio

2018-04-01

We propose the Lagrangian formulation for describing the motion of a test particle in a general relativistic, stationary, and axially symmetric spacetime. The test particle is also affected by a radiation field, modeled as a coherent flux of photons traveling along the null geodesics of the background spacetime, including the general relativistic Poynting-Robertson effect. The innovative part of this work is to prove the existence of the potential linked to the dissipative action caused by the Poynting-Robertson effect in general relativity through the help of an integrating factor, depending on the energy of the system. Generally, such kinds of inverse problems involving dissipative effects might not admit a Lagrangian formulation; especially, in general relativity, there are no examples of such attempts in the literature so far. We reduce this general relativistic Lagrangian formulation to the classic case in the weak-field limit. This approach facilitates further studies in improving the treatment of the radiation field, and it contains, for example, some implications for a deeper comprehension of the gravitational waves.

Integration of the shallow water equations on the sphere using a vector semi-Lagrangian scheme with a multigrid solver

NASA Technical Reports Server (NTRS)

Bates, J. R.; Semazzi, F. H. M.; Higgins, R. W.; Barros, Saulo R. M.

1990-01-01

A vector semi-Lagrangian semi-implicit two-time-level finite-difference integration scheme for the shallow water equations on the sphere is presented. A C-grid is used for the spatial differencing. The trajectory-centered discretization of the momentum equation in vector form eliminates pole problems and, at comparable cost, gives greater accuracy than a previous semi-Lagrangian finite-difference scheme which used a rotated spherical coordinate system. In terms of the insensitivity of the results to increasing timestep, the new scheme is as successful as recent spectral semi-Lagrangian schemes. In addition, the use of a multigrid method for solving the elliptic equation for the geopotential allows efficient integration with an operation count which, at high resolution, is of lower order than in the case of the spectral models. The properties of the new scheme should allow finite-difference models to compete with spectral models more effectively than has previously been possible.

Palmprint verification using Lagrangian decomposition and invariant interest points

NASA Astrophysics Data System (ADS)

Gupta, P.; Rattani, A.; Kisku, D. R.; Hwang, C. J.; Sing, J. K.

2011-06-01

This paper presents a palmprint based verification system using SIFT features and Lagrangian network graph technique. We employ SIFT for feature extraction from palmprint images whereas the region of interest (ROI) which has been extracted from wide palm texture at the preprocessing stage, is considered for invariant points extraction. Finally, identity is established by finding permutation matrix for a pair of reference and probe palm graphs drawn on extracted SIFT features. Permutation matrix is used to minimize the distance between two graphs. The propsed system has been tested on CASIA and IITK palmprint databases and experimental results reveal the effectiveness and robustness of the system.

Lagrangian descriptors in dissipative systems.

PubMed

Junginger, Andrej; Hernandez, Rigoberto

2016-11-09

The reaction dynamics of time-dependent systems can be resolved through a recrossing-free dividing surface associated with the transition state trajectory-that is, the unique trajectory which is bound to the barrier region for all time in response to a given time-dependent potential. A general procedure based on the minimization of Lagrangian descriptors has recently been developed by Craven and Hernandez [Phys. Rev. Lett., 2015, 115, 148301] to construct this particular trajectory without requiring perturbative expansions relative to the naive transition state point at the top of the barrier. The extension of the method to account for dissipation in the equations of motion requires additional considerations established in this paper because the calculation of the Lagrangian descriptor involves the integration of trajectories in forward and backward time. The two contributions are in general very different because the friction term can act as a source (in backward time) or sink (in forward time) of energy, leading to the possibility that information about the phase space structure may be lost due to the dominance of only one of the terms. To compensate for this effect, we introduce a weighting scheme within the Lagrangian descriptor and demonstrate that for thermal Langevin dynamics it preserves the essential phase space structures, while they are lost in the nonweighted case.

The initial value problem in Lagrangian drift kinetic theory

NASA Astrophysics Data System (ADS)

Burby, J. W.

2016-06-01

> Existing high-order variational drift kinetic theories contain unphysical rapidly varying modes that are not seen at low orders. These unphysical modes, which may be rapidly oscillating, damped or growing, are ushered in by a failure of conventional high-order drift kinetic theory to preserve the structure of its parent model's initial value problem. In short, the (infinite dimensional) system phase space is unphysically enlarged in conventional high-order variational drift kinetic theory. I present an alternative, `renormalized' variational approach to drift kinetic theory that manifestly respects the parent model's initial value problem. The basic philosophy underlying this alternate approach is that high-order drift kinetic theory ought to be derived by truncating the all-orders system phase-space Lagrangian instead of the usual `field particle' Lagrangian. For the sake of clarity, this story is told first through the lens of a finite-dimensional toy model of high-order variational drift kinetics; the analogous full-on drift kinetic story is discussed subsequently. The renormalized drift kinetic system, while variational and just as formally accurate as conventional formulations, does not support the troublesome rapidly varying modes.

CELFE: Coupled Eulerian-Lagrangian Finite Element program for high velocity impact. Part 1: Theory and formulation. [hydroelasto-viscoplastic model

NASA Technical Reports Server (NTRS)

Lee, C. H.

1978-01-01

A 3-D finite element program capable of simulating the dynamic behavior in the vicinity of the impact point, together with predicting the dynamic response in the remaining part of the structural component subjected to high velocity impact is discussed. The finite algorithm is formulated in a general moving coordinate system. In the vicinity of the impact point contained by a moving failure front, the relative velocity of the coordinate system will approach the material particle velocity. The dynamic behavior inside the region is described by Eulerian formulation based on a hydroelasto-viscoplastic model. The failure front which can be regarded as the boundary of the impact zone is described by a transition layer. The layer changes the representation from the Eulerian mode to the Lagrangian mode outside the failure front by varying the relative velocity of the coordinate system to zero. The dynamic response in the remaining part of the structure described by the Lagrangian formulation is treated using advanced structural analysis. An interfacing algorithm for coupling CELFE with NASTRAN is constructed to provide computational capabilities for large structures.

Three dimensional N=4 supersymmetric mechanics with Wu-Yang monopole

DOE Office of Scientific and Technical Information (OSTI.GOV)

Bellucci, Stefano; Krivonos, Sergey; Sutulin, Anton

2010-05-15

We propose Lagrangian and Hamiltonian formulations of a N=4 supersymmetric three-dimensional isospin-carrying particle moving in the non-Abelian field of a Wu-Yang monopole and in some specific scalar potential. This additional potential is completely fixed by N=4 supersymmetry, and in the simplest case of flat metrics it coincides with that which provides the existence of the Runge-Lenz vector for the bosonic subsector. The isospin degrees of freedom are described on the Lagrangian level by bosonic auxiliary variables forming N=4 supermultiplet with additional, also auxiliary, fermions. Being quite general, the constructed systems include such interesting cases as N=4 superconformally invariant systems withmore » Wu-Yang monopole, the particles living in the flat R{sup 3} and in the RxS{sup 2} spaces and interacting with the monopole, and also the particles moving on three-dimensional sphere and pseudosphere with the Wu-Yang monopole sitting in the center. The superfield Lagrangian description of these systems is so simple that one could wonder to see how all couplings and the proper coefficients arise while passing to the component action.« less

Implementation of extended Lagrangian dynamics in GROMACS for polarizable simulations using the classical Drude oscillator model.

PubMed

Lemkul, Justin A; Roux, Benoît; van der Spoel, David; MacKerell, Alexander D

2015-07-15

Explicit treatment of electronic polarization in empirical force fields used for molecular dynamics simulations represents an important advancement in simulation methodology. A straightforward means of treating electronic polarization in these simulations is the inclusion of Drude oscillators, which are auxiliary, charge-carrying particles bonded to the cores of atoms in the system. The additional degrees of freedom make these simulations more computationally expensive relative to simulations using traditional fixed-charge (additive) force fields. Thus, efficient tools are needed for conducting these simulations. Here, we present the implementation of highly scalable algorithms in the GROMACS simulation package that allow for the simulation of polarizable systems using extended Lagrangian dynamics with a dual Nosé-Hoover thermostat as well as simulations using a full self-consistent field treatment of polarization. The performance of systems of varying size is evaluated, showing that the present code parallelizes efficiently and is the fastest implementation of the extended Lagrangian methods currently available for simulations using the Drude polarizable force field. © 2015 Wiley Periodicals, Inc.

Linear active disturbance rejection control of underactuated systems: the case of the Furuta pendulum.

PubMed

Ramírez-Neria, M; Sira-Ramírez, H; Garrido-Moctezuma, R; Luviano-Juárez, A

2014-07-01

An Active Disturbance Rejection Control (ADRC) scheme is proposed for a trajectory tracking problem defined on a nonfeedback linearizable Furuta Pendulum example. A desired rest to rest angular position reference trajectory is to be tracked by the horizontal arm while the unactuated vertical pendulum arm stays around its unstable vertical position without falling down during the entire maneuver and long after it concludes. A linear observer-based linear controller of the ADRC type is designed on the basis of the flat tangent linearization of the system around an arbitrary equilibrium. The advantageous combination of flatness and the ADRC method makes it possible to on-line estimate and cancels the undesirable effects of the higher order nonlinearities disregarded by the linearization. These effects are triggered by fast horizontal arm tracking maneuvers driving the pendulum substantially away from the initial equilibrium point. Convincing experimental results, including a comparative test with a sliding mode controller, are presented. © 2013 ISA. Published by ISA. All rights reserved.

Hardware Design and Testing of SUPERball, A Modular Tensegrity Robot

NASA Technical Reports Server (NTRS)

Sabelhaus, Andrew P.; Bruce, Jonathan; Caluwaerts, Ken; Chen, Yangxin; Lu, Dizhou; Liu, Yuejia; Agogino, Adrian K.; SunSpiral, Vytas; Agogino, Alice M.

2014-01-01

We are developing a system of modular, autonomous "tensegrity end-caps" to enable the rapid exploration of untethered tensegrity robot morphologies and functions. By adopting a self-contained modular approach, different end-caps with various capabilities (such as peak torques, or motor speeds), can be easily combined into new tensegrity robots composed of rods, cables, and actuators of different scale (such as in length, mass, peak loads, etc). As a first step in developing this concept, we are in the process of designing and testing the end-caps for SUPERball (Spherical Underactuated Planetary Exploration Robot), a project at the Dynamic Tensegrity Robotics Lab (DTRL) within NASA Ames's Intelligent Robotics Group. This work discusses the evolving design concepts and test results that have gone into the structural, mechanical, and sensing aspects of SUPERball. This representative tensegrity end-cap design supports robust and repeatable untethered mobility tests of the SUPERball, while providing high force, high displacement actuation, with a low-friction, compliant cabling system.

A Lagrangian Transport Eulerian Reaction Spatial (LATERS) Markov Model for Prediction of Effective Bimolecular Reactive Transport

NASA Astrophysics Data System (ADS)

Sund, Nicole; Porta, Giovanni; Bolster, Diogo; Parashar, Rishi

2017-11-01

Prediction of effective transport for mixing-driven reactive systems at larger scales, requires accurate representation of mixing at small scales, which poses a significant upscaling challenge. Depending on the problem at hand, there can be benefits to using a Lagrangian framework, while in others an Eulerian might have advantages. Here we propose and test a novel hybrid model which attempts to leverage benefits of each. Specifically, our framework provides a Lagrangian closure required for a volume-averaging procedure of the advection diffusion reaction equation. This hybrid model is a LAgrangian Transport Eulerian Reaction Spatial Markov model (LATERS Markov model), which extends previous implementations of the Lagrangian Spatial Markov model and maps concentrations to an Eulerian grid to quantify closure terms required to calculate the volume-averaged reaction terms. The advantage of this approach is that the Spatial Markov model is known to provide accurate predictions of transport, particularly at preasymptotic early times, when assumptions required by traditional volume-averaging closures are least likely to hold; likewise, the Eulerian reaction method is efficient, because it does not require calculation of distances between particles. This manuscript introduces the LATERS Markov model and demonstrates by example its ability to accurately predict bimolecular reactive transport in a simple benchmark 2-D porous medium.

Mobile Manipulation and Mobility as Manipulation: Design and Algorithms of RoboSimian

DTIC Science & Technology

2014-05-01

feature was left out for the competition hands. The hand has three under-actuated fingers, each with a braided Dyneema R© tendon wrapped around pulleys at...models of objects (e.g. valves, ladders, hoses , etc.) into the world manually so that RoboSimian could interact with objects for manipulation. The remote...with a single button press (e.g. “rotate-valve”, “insert- hose ”, “push-open-door”), depending on the task. Note that since the plan module was run on

Imposing a Lagrangian Particle Framework on an Eulerian Hydrodynamics Infrastructure in Flash

NASA Technical Reports Server (NTRS)

Dubey, A.; Daley, C.; ZuHone, J.; Ricker, P. M.; Weide, K.; Graziani, C.

2012-01-01

In many astrophysical simulations, both Eulerian and Lagrangian quantities are of interest. For example, in a galaxy cluster merger simulation, the intracluster gas can have Eulerian discretization, while dark matter can be modeled using particles. FLASH, a component-based scientific simulation code, superimposes a Lagrangian framework atop an adaptive mesh refinement Eulerian framework to enable such simulations. The discretization of the field variables is Eulerian, while the Lagrangian entities occur in many different forms including tracer particles, massive particles, charged particles in particle-in-cell mode, and Lagrangian markers to model fluid structure interactions. These widely varying roles for Lagrangian entities are possible because of the highly modular, flexible, and extensible architecture of the Lagrangian framework. In this paper, we describe the Lagrangian framework in FLASH in the context of two very different applications, Type Ia supernovae and galaxy cluster mergers, which use the Lagrangian entities in fundamentally different ways.

Lagrangian description of warm plasmas

NASA Technical Reports Server (NTRS)

Kim, H.

1970-01-01

Efforts are described to extend the averaged Lagrangian method of describing small signal wave propagation and nonlinear wave interaction, developed by earlier workers for cold plasmas, to the more general conditions of warm collisionless plasmas, and to demonstrate particularly the effectiveness of the method in analyzing wave-wave interactions. The theory is developed for both the microscopic description and the hydrodynamic approximation to plasma behavior. First, a microscopic Lagrangian is formulated rigorously, and expanded in terms of perturbations about equilibrium. Two methods are then described for deriving a hydrodynamic Lagrangian. In the first of these, the Lagrangian is obtained by velocity integration of the exact microscopic Lagrangian. In the second, the expanded hydrodynamic Lagrangian is obtained directly from the expanded microscopic Lagrangian. As applications of the microscopic Lagrangian, the small-signal dispersion relations and the coupled mode equations are derived for all possible waves in a warm infinite, weakly inhomogeneous magnetoplasma, and their interactions are examined.

Imposing a Lagrangian Particle Framework on an Eulerian Hydrodynamics Infrastructure in FLASH

NASA Astrophysics Data System (ADS)

Dubey, A.; Daley, C.; ZuHone, J.; Ricker, P. M.; Weide, K.; Graziani, C.

2012-08-01

In many astrophysical simulations, both Eulerian and Lagrangian quantities are of interest. For example, in a galaxy cluster merger simulation, the intracluster gas can have Eulerian discretization, while dark matter can be modeled using particles. FLASH, a component-based scientific simulation code, superimposes a Lagrangian framework atop an adaptive mesh refinement Eulerian framework to enable such simulations. The discretization of the field variables is Eulerian, while the Lagrangian entities occur in many different forms including tracer particles, massive particles, charged particles in particle-in-cell mode, and Lagrangian markers to model fluid-structure interactions. These widely varying roles for Lagrangian entities are possible because of the highly modular, flexible, and extensible architecture of the Lagrangian framework. In this paper, we describe the Lagrangian framework in FLASH in the context of two very different applications, Type Ia supernovae and galaxy cluster mergers, which use the Lagrangian entities in fundamentally different ways.

Distributed Containment Control for Multiple Unknown Second-Order Nonlinear Systems With Application to Networked Lagrangian Systems.

PubMed

Mei, Jie; Ren, Wei; Li, Bing; Ma, Guangfu

2015-09-01

In this paper, we consider the distributed containment control problem for multiagent systems with unknown nonlinear dynamics. More specifically, we focus on multiple second-order nonlinear systems and networked Lagrangian systems. We first study the distributed containment control problem for multiple second-order nonlinear systems with multiple dynamic leaders in the presence of unknown nonlinearities and external disturbances under a general directed graph that characterizes the interaction among the leaders and the followers. A distributed adaptive control algorithm with an adaptive gain design based on the approximation capability of neural networks is proposed. We present a necessary and sufficient condition on the directed graph such that the containment error can be reduced as small as desired. As a byproduct, the leaderless consensus problem is solved with asymptotical convergence. Because relative velocity measurements between neighbors are generally more difficult to obtain than relative position measurements, we then propose a distributed containment control algorithm without using neighbors' velocity information. A two-step Lyapunov-based method is used to study the convergence of the closed-loop system. Next, we apply the ideas to deal with the containment control problem for networked unknown Lagrangian systems under a general directed graph. All the proposed algorithms are distributed and can be implemented using only local measurements in the absence of communication. Finally, simulation examples are provided to show the effectiveness of the proposed control algorithms.

Lagrangian turbulence near walls: Structures and mixing in admissible model flows

NASA Astrophysics Data System (ADS)

Ottino, J. M.

1989-05-01

The general objective of work during this period was to bridge the gap between modern ideas from dynamical systems and chaos and more traditional approaches to turbulence. In order to reach this objective we conducted theoretical and computational work on two systems: a perturbed Kelvin cat eyes flow, and prototype solutions of the Navier-Stokes equations near solid walls. The main results obtained are two-fold: production flows capable of producing complex distributions of vorticity, and constructed flow fields, based on solutions of the Navier Stokes equations, which are capable of displaying both Eulerian and Lagrangian turbulence.

A semi-Lagrangian approach to the shallow water equation

NASA Technical Reports Server (NTRS)

Bates, J. R.; Mccormick, Stephen F.; Ruge, John; Sholl, David S.; Yavneh, Irad

1993-01-01

We present a formulation of the shallow water equations that emphasizes the conservation of potential vorticity. A locally conservative semi-Lagrangian time-stepping scheme is developed, which leads to a system of three coupled PDE's to be solved at each time level. We describe a smoothing analysis of these equations, on which an effective multigrid solver is constructed. Some results from applying this solver to the static version of these equations are presented.

A subgradient approach for constrained binary optimization via quantum adiabatic evolution

NASA Astrophysics Data System (ADS)

Karimi, Sahar; Ronagh, Pooya

2017-08-01

Outer approximation method has been proposed for solving the Lagrangian dual of a constrained binary quadratic programming problem via quantum adiabatic evolution in the literature. This should be an efficient prescription for solving the Lagrangian dual problem in the presence of an ideally noise-free quantum adiabatic system. However, current implementations of quantum annealing systems demand methods that are efficient at handling possible sources of noise. In this paper, we consider a subgradient method for finding an optimal primal-dual pair for the Lagrangian dual of a constrained binary polynomial programming problem. We then study the quadratic stable set (QSS) problem as a case study. We see that this method applied to the QSS problem can be viewed as an instance-dependent penalty-term approach that avoids large penalty coefficients. Finally, we report our experimental results of using the D-Wave 2X quantum annealer and conclude that our approach helps this quantum processor to succeed more often in solving these problems compared to the usual penalty-term approaches.

Multi-phase CFD modeling of solid sorbent carbon capture system

DOE Office of Scientific and Technical Information (OSTI.GOV)

Ryan, E. M.; DeCroix, D.; Breault, R.

2013-07-01

Computational fluid dynamics (CFD) simulations are used to investigate a low temperature post-combustion carbon capture reactor. The CFD models are based on a small scale solid sorbent carbon capture reactor design from ADA-ES and Southern Company. The reactor is a fluidized bed design based on a silica-supported amine sorbent. CFD models using both Eulerian–Eulerian and Eulerian–Lagrangian multi-phase modeling methods are developed to investigate the hydrodynamics and adsorption of carbon dioxide in the reactor. Models developed in both FLUENT® and BARRACUDA are presented to explore the strengths and weaknesses of state of the art CFD codes for modeling multi-phase carbon capturemore » reactors. The results of the simulations show that the FLUENT® Eulerian–Lagrangian simulations (DDPM) are unstable for the given reactor design; while the BARRACUDA Eulerian–Lagrangian model is able to simulate the system given appropriate simplifying assumptions. FLUENT® Eulerian–Eulerian simulations also provide a stable solution for the carbon capture reactor given the appropriate simplifying assumptions.« less

Multi-Phase CFD Modeling of Solid Sorbent Carbon Capture System

DOE Office of Scientific and Technical Information (OSTI.GOV)

Ryan, Emily M.; DeCroix, David; Breault, Ronald W.

2013-07-30

Computational fluid dynamics (CFD) simulations are used to investigate a low temperature post-combustion carbon capture reactor. The CFD models are based on a small scale solid sorbent carbon capture reactor design from ADA-ES and Southern Company. The reactor is a fluidized bed design based on a silica-supported amine sorbent. CFD models using both Eulerian-Eulerian and Eulerian-Lagrangian multi-phase modeling methods are developed to investigate the hydrodynamics and adsorption of carbon dioxide in the reactor. Models developed in both FLUENT® and BARRACUDA are presented to explore the strengths and weaknesses of state of the art CFD codes for modeling multi-phase carbon capturemore » reactors. The results of the simulations show that the FLUENT® Eulerian-Lagrangian simulations (DDPM) are unstable for the given reactor design; while the BARRACUDA Eulerian-Lagrangian model is able to simulate the system given appropriate simplifying assumptions. FLUENT® Eulerian-Eulerian simulations also provide a stable solution for the carbon capture reactor given the appropriate simplifying assumptions.« less

KAM tori and whiskered invariant tori for non-autonomous systems

NASA Astrophysics Data System (ADS)

Canadell, Marta; de la Llave, Rafael

2015-08-01

We consider non-autonomous dynamical systems which converge to autonomous (or periodic) systems exponentially fast in time. Such systems appear naturally as models of many physical processes affected by external pulses. We introduce definitions of non-autonomous invariant tori and non-autonomous whiskered tori and their invariant manifolds and we prove their persistence under small perturbations, smooth dependence on parameters and several geometric properties (if the systems are Hamiltonian, the tori are Lagrangian manifolds). We note that such definitions are problematic for general time-dependent systems, but we show that they are unambiguous for systems converging exponentially fast to autonomous. The proof of persistence relies only on a standard Implicit Function Theorem in Banach spaces and it does not require that the rotations in the tori are Diophantine nor that the systems we consider preserve any geometric structure. We only require that the autonomous system preserves these objects. In particular, when the autonomous system is integrable, we obtain the persistence of tori with rational rotational. We also discuss fast and efficient algorithms for their computation. The method also applies to infinite dimensional systems which define a good evolution, e.g. PDE's. When the systems considered are Hamiltonian, we show that the time dependent invariant tori are isotropic. Hence, the invariant tori of maximal dimension are Lagrangian manifolds. We also obtain that the (un)stable manifolds of whiskered tori are Lagrangian manifolds. We also include a comparison with the more global theory developed in Blazevski and de la Llave (2011).

Enhancements to the Branched Lagrangian Transport Modeling System

USGS Publications Warehouse

Jobson, Harvey E.

1997-01-01

The Branched Lagrangian Transport Model (BLTM) has received wide use within the U.S. Geological Survey over the past 10 years. This report documents the enhancements and modifications that have been made to this modeling system since it was first introduced. The programs in the modeling system are arranged into five levels?programs to generate time-series of meteorological data (EQULTMP, SOLAR), programs to process time-series data (INTRP, MRG), programs to build input files for transport model (BBLTM, BQUAL2E), the model with defined reaction kinetics (BLTM, QUAL2E), and post processor plotting programs (CTPLT, CXPLT). An example application is presented to illustrate how the modeling system can be used to simulate 10 water-quality constituents in the Chattahoochee River below Atlanta, Georgia.

Next generation extended Lagrangian first principles molecular dynamics

NASA Astrophysics Data System (ADS)

Niklasson, Anders M. N.

2017-08-01

Extended Lagrangian Born-Oppenheimer molecular dynamics [A. M. N. Niklasson, Phys. Rev. Lett. 100, 123004 (2008)] is formulated for general Hohenberg-Kohn density-functional theory and compared with the extended Lagrangian framework of first principles molecular dynamics by Car and Parrinello [Phys. Rev. Lett. 55, 2471 (1985)]. It is shown how extended Lagrangian Born-Oppenheimer molecular dynamics overcomes several shortcomings of regular, direct Born-Oppenheimer molecular dynamics, while improving or maintaining important features of Car-Parrinello simulations. The accuracy of the electronic degrees of freedom in extended Lagrangian Born-Oppenheimer molecular dynamics, with respect to the exact Born-Oppenheimer solution, is of second-order in the size of the integration time step and of fourth order in the potential energy surface. Improved stability over recent formulations of extended Lagrangian Born-Oppenheimer molecular dynamics is achieved by generalizing the theory to finite temperature ensembles, using fractional occupation numbers in the calculation of the inner-product kernel of the extended harmonic oscillator that appears as a preconditioner in the electronic equations of motion. Material systems that normally exhibit slow self-consistent field convergence can be simulated using integration time steps of the same order as in direct Born-Oppenheimer molecular dynamics, but without the requirement of an iterative, non-linear electronic ground-state optimization prior to the force evaluations and without a systematic drift in the total energy. In combination with proposed low-rank and on the fly updates of the kernel, this formulation provides an efficient and general framework for quantum-based Born-Oppenheimer molecular dynamics simulations.

Next generation extended Lagrangian first principles molecular dynamics.

PubMed

Niklasson, Anders M N

2017-08-07

Extended Lagrangian Born-Oppenheimer molecular dynamics [A. M. N. Niklasson, Phys. Rev. Lett. 100, 123004 (2008)] is formulated for general Hohenberg-Kohn density-functional theory and compared with the extended Lagrangian framework of first principles molecular dynamics by Car and Parrinello [Phys. Rev. Lett. 55, 2471 (1985)]. It is shown how extended Lagrangian Born-Oppenheimer molecular dynamics overcomes several shortcomings of regular, direct Born-Oppenheimer molecular dynamics, while improving or maintaining important features of Car-Parrinello simulations. The accuracy of the electronic degrees of freedom in extended Lagrangian Born-Oppenheimer molecular dynamics, with respect to the exact Born-Oppenheimer solution, is of second-order in the size of the integration time step and of fourth order in the potential energy surface. Improved stability over recent formulations of extended Lagrangian Born-Oppenheimer molecular dynamics is achieved by generalizing the theory to finite temperature ensembles, using fractional occupation numbers in the calculation of the inner-product kernel of the extended harmonic oscillator that appears as a preconditioner in the electronic equations of motion. Material systems that normally exhibit slow self-consistent field convergence can be simulated using integration time steps of the same order as in direct Born-Oppenheimer molecular dynamics, but without the requirement of an iterative, non-linear electronic ground-state optimization prior to the force evaluations and without a systematic drift in the total energy. In combination with proposed low-rank and on the fly updates of the kernel, this formulation provides an efficient and general framework for quantum-based Born-Oppenheimer molecular dynamics simulations.

Error tracking control for underactuated overhead cranes against arbitrary initial payload swing angles

NASA Astrophysics Data System (ADS)

Zhang, Menghua; Ma, Xin; Rong, Xuewen; Tian, Xincheng; Li, Yibin

2017-02-01

This paper exploits an error tracking control method for overhead crane systems for which the error trajectories for the trolley and the payload swing can be pre-specified. The proposed method does not require that the initial payload swing angle remains zero, whereas this requirement is usually assumed in conventional methods. The significant feature of the proposed method is its superior control performance as well as its strong robustness over different or uncertain rope lengths, payload masses, desired positions, initial payload swing angles, and external disturbances. Owing to the same attenuation behavior, the desired error trajectory for the trolley for each traveling distance is not needed to be reset, which is easy to implement in practical applications. By converting the error tracking overhead crane dynamics to the objective system, we obtain the error tracking control law for arbitrary initial payload swing angles. Lyapunov techniques and LaSalle's invariance theorem are utilized to prove the convergence and stability of the closed-loop system. Simulation and experimental results are illustrated to validate the superior performance of the proposed error tracking control method.

A new look at the robust control of discrete-time Markov jump linear systems

NASA Astrophysics Data System (ADS)

Todorov, M. G.; Fragoso, M. D.

2016-03-01

In this paper, we make a foray in the role played by a set of four operators on the study of robust H2 and mixed H2/H∞ control problems for discrete-time Markov jump linear systems. These operators appear in the study of mean square stability for this class of systems. By means of new linear matrix inequality (LMI) characterisations of controllers, which include slack variables that, to some extent, separate the robustness and performance objectives, we introduce four alternative approaches to the design of controllers which are robustly stabilising and at the same time provide a guaranteed level of H2 performance. Since each operator provides a different degree of conservatism, the results are unified in the form of an iterative LMI technique for designing robust H2 controllers, whose convergence is attained in a finite number of steps. The method yields a new way of computing mixed H2/H∞ controllers, whose conservatism decreases with iteration. Two numerical examples illustrate the applicability of the proposed results for the control of a small unmanned aerial vehicle, and for an underactuated robotic arm.

BRST theory without Hamiltonian and Lagrangian

NASA Astrophysics Data System (ADS)

Lyakhovich, S. L.; Sharapov, A. A.

2005-03-01

We consider a generic gauge system, whose physical degrees of freedom are obtained by restriction on a constraint surface followed by factorization with respect to the action of gauge transformations; in so doing, no Hamiltonian structure or action principle is supposed to exist. For such a generic gauge system we construct a consistent BRST formulation, which includes the conventional BV Lagrangian and BFV Hamiltonian schemes as particular cases. If the original manifold carries a weak Poisson structure (a bivector field giving rise to a Poisson bracket on the space of physical observables) the generic gauge system is shown to admit deformation quantization by means of the Kontsevich formality theorem. A sigma-model interpretation of this quantization algorithm is briefly discussed.

BRST-BV approach to continuous-spin field

NASA Astrophysics Data System (ADS)

Metsaev, R. R.

2018-06-01

Using BRST-BV approach, massless and massive continuous-spin fields propagating in the flat space are studied. For such fields, BRST-BV gauge invariant Lagrangian is obtained. The Lagrangian and gauge transformations are constructed out of traceless gauge fields and traceless gauge transformation parameters. Interrelation between the BRST-BV Lagrangian and the Lagrangian for the continuous-spin fields in metric-like approach is demonstrated. Considering the BRST-BV Lagrangian in the Siegel gauge, we get gauge-fixed Lagrangian which is invariant under global BRST and antiBRST transformations.

On the lagrangian 1-form structure of the hyperbolic calogero-moser system

NASA Astrophysics Data System (ADS)

Jairuk, Umpon; Tanasittikosol, Monsit; Yoo-Kong, Sikarin

2017-06-01

In this work, we present the Lagrangian 1-form structure of the hyperbolic Calogero-Moser system in both discrete-time level and continuous-time level. The discrete-time hyperbolic Calogero-Moser system is obtained by considering pole reduction of the semi-discrete Kadomtsev-Petviashvili (KP) equation. Furthermore, it is shown that the hyperbolic Calogero-Moser system possesses the key relation, known as the discrete-time closure relation. This relation is a consequence of the compatibility property of the temporal Lax matrices. The continuous-time hierarchy of the hyperbolic Calogero-Moser system is obtained by taking two successive continuum limits, namely, the skewed limit and full limit. With these successive limits, the continuous-time closure relation is also obtained and is shown to hold at the continuous level.

Trajectory tracking in quadrotor platform by using PD controller and LQR control approach

NASA Astrophysics Data System (ADS)

Islam, Maidul; Okasha, Mohamed; Idres, Moumen Mohammad

2017-11-01

The purpose of the paper is to discuss a comparative evaluation of performance of two different controllers i.e. Proportional-Derivative Controller (PD) and Linear Quadratic Regulation (LQR) in Quadrotor dynamic system that is under-actuated with high nonlinearity. As only four states can be controlled at the same time in the Quadrotor, the trajectories are designed on the basis of the four states whereas three dimensional position and rotation along an axis, known as yaw movement are considered. In this work, both the PD controller and LQR control approach are used for Quadrotor nonlinear model to track the trajectories. LQR control approach for nonlinear model is designed on the basis of a linear model of the Quadrotor because the performance of linear model and nonlinear model around certain nominal point is almost similar. Simulink and MATLAB software is used to design the controllers and to evaluate the performance of both the controllers.

Decentralized Feedback Controllers for Exponential Stabilization of Hybrid Periodic Orbits: Application to Robotic Walking.

PubMed

Hamed, Kaveh Akbari; Gregg, Robert D

2016-07-01

This paper presents a systematic algorithm to design time-invariant decentralized feedback controllers to exponentially stabilize periodic orbits for a class of hybrid dynamical systems arising from bipedal walking. The algorithm assumes a class of parameterized and nonlinear decentralized feedback controllers which coordinate lower-dimensional hybrid subsystems based on a common phasing variable. The exponential stabilization problem is translated into an iterative sequence of optimization problems involving bilinear and linear matrix inequalities, which can be easily solved with available software packages. A set of sufficient conditions for the convergence of the iterative algorithm to a stabilizing decentralized feedback control solution is presented. The power of the algorithm is demonstrated by designing a set of local nonlinear controllers that cooperatively produce stable walking for a 3D autonomous biped with 9 degrees of freedom, 3 degrees of underactuation, and a decentralization scheme motivated by amputee locomotion with a transpelvic prosthetic leg.

Decentralized Feedback Controllers for Exponential Stabilization of Hybrid Periodic Orbits: Application to Robotic Walking*

PubMed Central

Hamed, Kaveh Akbari; Gregg, Robert D.

2016-01-01

This paper presents a systematic algorithm to design time-invariant decentralized feedback controllers to exponentially stabilize periodic orbits for a class of hybrid dynamical systems arising from bipedal walking. The algorithm assumes a class of parameterized and nonlinear decentralized feedback controllers which coordinate lower-dimensional hybrid subsystems based on a common phasing variable. The exponential stabilization problem is translated into an iterative sequence of optimization problems involving bilinear and linear matrix inequalities, which can be easily solved with available software packages. A set of sufficient conditions for the convergence of the iterative algorithm to a stabilizing decentralized feedback control solution is presented. The power of the algorithm is demonstrated by designing a set of local nonlinear controllers that cooperatively produce stable walking for a 3D autonomous biped with 9 degrees of freedom, 3 degrees of underactuation, and a decentralization scheme motivated by amputee locomotion with a transpelvic prosthetic leg. PMID:27990059

Extreme Lagrangian acceleration in confined turbulent flow.

PubMed

Kadoch, Benjamin; Bos, Wouter J T; Schneider, Kai

2008-05-09

A Lagrangian study of two-dimensional turbulence for two different geometries, a periodic and a confined circular geometry, is presented to investigate the influence of solid boundaries on the Lagrangian dynamics. It is found that the Lagrangian acceleration is even more intermittent in the confined domain than in the periodic domain. The flatness of the Lagrangian acceleration as a function of the radius shows that the influence of the wall on the Lagrangian dynamics becomes negligible in the center of the domain, and it also reveals that the wall is responsible for the increased intermittency. The transition in the Lagrangian statistics between this region, not directly influenced by the walls, and a critical radius which defines a Lagrangian boundary layer is shown to be very sharp with a sudden increase of the acceleration flatness from about 5 to about 20.

Experimental verification of a GPC-LPV method with RLS and P1-TS fuzzy-based estimation for limiting the transient and residual vibration of a crane system

NASA Astrophysics Data System (ADS)

Smoczek, Jaroslaw

2015-10-01

The paper deals with the problem of reducing the residual vibration and limiting the transient oscillations of a flexible and underactuated system with respect to the variation of operating conditions. The comparative study of generalized predictive control (GPC) and fuzzy scheduling scheme developed based on the P1-TS fuzzy theory, local pole placement method and interval analysis of closed-loop system polynomial coefficients is addressed to the problem of flexible crane control. The two alternatives of a GPC-based method are proposed that enable to realize this technique either with or without a sensor of payload deflection. The first control technique is based on the recursive least squares (RLS) method applied to on-line estimate the parameters of a linear parameter varying (LPV) model of a crane dynamic system. The second GPC-based approach is based on a payload deflection feedback estimated using a pendulum model with the parameters interpolated using the P1-TS fuzzy system. Feasibility and applicability of the developed methods were confirmed through experimental verification performed on a laboratory scaled overhead crane.

Lagrangian chaos in three- dimensional steady buoyancy-driven flows

NASA Astrophysics Data System (ADS)

Contreras, Sebastian; Speetjens, Michel; Clercx, Herman

2016-11-01

Natural convection plays a key role in fluid dynamics owing to its ubiquitous presence in nature and industry. Buoyancy-driven flows are prototypical systems in the study of thermal instabilities and pattern formation. The differentially heated cavity problem has been widely studied for the investigation of buoyancy-induced oscillatory flow. However, far less attention has been devoted to the three-dimensional Lagrangian transport properties in such flows. This study seeks to address this by investigating Lagrangian transport in the steady flow inside a cubic cavity differentially-heated from the side. The theoretical and numerical analysis expands on previously reported similarities between the current flow and lid-driven flows. The Lagrangian dynamics are controlled by the Péclet number (Pe) and the Prandtl number (Pr). Pe controls the behaviour qualitatively in that growing Pe progressively perturbs the integable state (Pe =0), thus paving the way to chaotic dynamics. Pr plays an entirely quantitative role in that Pr<1 and Pr>1 amplifies and diminishes, respectively, the perturbative effect of non-zero Pe. S.C. acknowledges financial support from Consejo Nacional de Ciencia y Tecnología (CONACYT).

Toroidal regularization of the guiding center Lagrangian

DOE PAGES

Burby, J. W.; Ellison, C. L.

2017-11-22

In the Lagrangian theory of guiding center motion, an effective magnetic field B* = B+ (m/e)v ∥∇ x b appears prominently in the equations of motion. Because the parallel component of this field can vanish, there is a range of parallel velocities where the Lagrangian guiding center equations of motion are either ill-defined or very badly behaved. Moreover, the velocity dependence of B* greatly complicates the identification of canonical variables and therefore the formulation of symplectic integrators for guiding center dynamics. Here, this letter introduces a simple coordinate transformation that alleviates both these problems simultaneously. In the new coordinates, themore » Liouville volume element is equal to the toroidal contravariant component of the magnetic field. Consequently, the large-velocity singularity is completely eliminated. Moreover, passing from the new coordinate system to canonical coordinates is extremely simple, even if the magnetic field is devoid of flux surfaces. We demonstrate the utility of this approach in regularizing the guiding center Lagrangian by presenting a new and stable one-step variational integrator for guiding centers moving in arbitrary time-dependent electromagnetic fields.« less

Eulerian-Lagrangian solution of the convection-dispersion equation in natural coordinates

USGS Publications Warehouse

Cheng, Ralph T.; Casulli, Vincenzo; Milford, S. Nevil

1984-01-01

The vast majority of numerical investigations of transport phenomena use an Eulerian formulation for the convenience that the computational grids are fixed in space. An Eulerian-Lagrangian method (ELM) of solution for the convection-dispersion equation is discussed and analyzed. The ELM uses the Lagrangian concept in an Eulerian computational grid system. The values of the dependent variable off the grid are calculated by interpolation. When a linear interpolation is used, the method is a slight improvement over the upwind difference method. At this level of approximation both the ELM and the upwind difference method suffer from large numerical dispersion. However, if second-order Lagrangian polynomials are used in the interpolation, the ELM is proven to be free of artificial numerical dispersion for the convection-dispersion equation. The concept of the ELM is extended for treatment of anisotropic dispersion in natural coordinates. In this approach the anisotropic properties of dispersion can be conveniently related to the properties of the flow field. Several numerical examples are given to further substantiate the results of the present analysis.

A Combined Eulerian-Lagrangian Data Representation for Large-Scale Applications.

PubMed

Sauer, Franz; Xie, Jinrong; Ma, Kwan-Liu

2017-10-01

The Eulerian and Lagrangian reference frames each provide a unique perspective when studying and visualizing results from scientific systems. As a result, many large-scale simulations produce data in both formats, and analysis tasks that simultaneously utilize information from both representations are becoming increasingly popular. However, due to their fundamentally different nature, drawing correlations between these data formats is a computationally difficult task, especially in a large-scale setting. In this work, we present a new data representation which combines both reference frames into a joint Eulerian-Lagrangian format. By reorganizing Lagrangian information according to the Eulerian simulation grid into a "unit cell" based approach, we can provide an efficient out-of-core means of sampling, querying, and operating with both representations simultaneously. We also extend this design to generate multi-resolution subsets of the full data to suit the viewer's needs and provide a fast flow-aware trajectory construction scheme. We demonstrate the effectiveness of our method using three large-scale real world scientific datasets and provide insight into the types of performance gains that can be achieved.

Toroidal regularization of the guiding center Lagrangian

DOE Office of Scientific and Technical Information (OSTI.GOV)

Burby, J. W.; Ellison, C. L.

In the Lagrangian theory of guiding center motion, an effective magnetic field B* = B+ (m/e)v ∥∇ x b appears prominently in the equations of motion. Because the parallel component of this field can vanish, there is a range of parallel velocities where the Lagrangian guiding center equations of motion are either ill-defined or very badly behaved. Moreover, the velocity dependence of B* greatly complicates the identification of canonical variables and therefore the formulation of symplectic integrators for guiding center dynamics. Here, this letter introduces a simple coordinate transformation that alleviates both these problems simultaneously. In the new coordinates, themore » Liouville volume element is equal to the toroidal contravariant component of the magnetic field. Consequently, the large-velocity singularity is completely eliminated. Moreover, passing from the new coordinate system to canonical coordinates is extremely simple, even if the magnetic field is devoid of flux surfaces. We demonstrate the utility of this approach in regularizing the guiding center Lagrangian by presenting a new and stable one-step variational integrator for guiding centers moving in arbitrary time-dependent electromagnetic fields.« less

Lagrangian evolution of the marine boundary layer from the Cloud System Evolution in the Trades (CSET) campaign

NASA Astrophysics Data System (ADS)

Mohrmann, J.; Ghate, V. P.; McCoy, I. L.; Bretherton, C. S.; Wood, R.; Minnis, P.; Palikonda, R.

2017-12-01

The Cloud System Evolution in the Trades (CSET) field campaign took place July/August 2015 to study the evolution of clouds, precipitation, and aerosols in the stratocumulus-to-cumulus (Sc-Cu) transition region of the northeast Pacific marine boundary layer (MBL). Aircraft observations sampled across a wide range of cloud and aerosol conditions. The sampling strategy, where MBL airmasses were sampled with the NSF/NCAR Gulfstream-V (HIAPER) and resampled then at their advected location two days later, resulted in a dataset of 14 paired flights suitable for Lagrangian analysis. This analysis shows that Lagrangian coherence of long-lived species (namely CO and O3) across 48 hours are high, but that of subcloud aerosol, MBL depth, and cloud properties is limited. Geostationary satellite retrievals are compared against aircraft observations; these are combined with reanalysis data and HYSPLIT trajectories to document the Lagrangian evolution of cloud fraction, cloud droplet number concentration, liquid water path, estimated inversion strength (EIS), and MBL depth, which are used to expand upon and validate the aircraft-based analysis. Many of the trajectories sampled by the aircraft show a clear Sc-Cu transition. Although satellite cloud fraction and EIS were found to be strongly spatiotemporally correlated, changes in MBL cloud fraction along trajectories did not correlate with any measure of EIS forcing.

Lagrangian statistics in weakly forced two-dimensional turbulence.

PubMed

Rivera, Michael K; Ecke, Robert E

2016-01-01

Measurements of Lagrangian single-point and multiple-point statistics in a quasi-two-dimensional stratified layer system are reported. The system consists of a layer of salt water over an immiscible layer of Fluorinert and is forced electromagnetically so that mean-squared vorticity is injected at a well-defined spatial scale ri. Simultaneous cascades develop in which enstrophy flows predominately to small scales whereas energy cascades, on average, to larger scales. Lagrangian correlations and one- and two-point displacements are measured for random initial conditions and for initial positions within topological centers and saddles. Some of the behavior of these quantities can be understood in terms of the trapping characteristics of long-lived centers, the slow motion near strong saddles, and the rapid fluctuations outside of either centers or saddles. We also present statistics of Lagrangian velocity fluctuations using energy spectra in frequency space and structure functions in real space. We compare with complementary Eulerian velocity statistics. We find that simultaneous inverse energy and enstrophy ranges present in spectra are not directly echoed in real-space moments of velocity difference. Nevertheless, the spectral ranges line up well with features of moment ratios, indicating that although the moments are not exhibiting unambiguous scaling, the behavior of the probability distribution functions is changing over short ranges of length scales. Implications for understanding weakly forced 2D turbulence with simultaneous inverse and direct cascades are discussed.

Lagrangian predictability characteristics of an Ocean Model

NASA Astrophysics Data System (ADS)

Lacorata, Guglielmo; Palatella, Luigi; Santoleri, Rosalia

2014-11-01

The Mediterranean Forecasting System (MFS) Ocean Model, provided by INGV, has been chosen as case study to analyze Lagrangian trajectory predictability by means of a dynamical systems approach. To this regard, numerical trajectories are tested against a large amount of Mediterranean drifter data, used as sample of the actual tracer dynamics across the sea. The separation rate of a trajectory pair is measured by computing the Finite-Scale Lyapunov Exponent (FSLE) of first and second kind. An additional kinematic Lagrangian model (KLM), suitably treated to avoid "sweeping"-related problems, has been nested into the MFS in order to recover, in a statistical sense, the velocity field contributions to pair particle dispersion, at mesoscale level, smoothed out by finite resolution effects. Some of the results emerging from this work are: (a) drifter pair dispersion displays Richardson's turbulent diffusion inside the [10-100] km range, while numerical simulations of MFS alone (i.e., without subgrid model) indicate exponential separation; (b) adding the subgrid model, model pair dispersion gets very close to observed data, indicating that KLM is effective in filling the energy "mesoscale gap" present in MFS velocity fields; (c) there exists a threshold size beyond which pair dispersion becomes weakly sensitive to the difference between model and "real" dynamics; (d) the whole methodology here presented can be used to quantify model errors and validate numerical current fields, as far as forecasts of Lagrangian dispersion are concerned.

Forecasting Future Sea Ice Conditions: A Lagrangian Approach

DTIC Science & Technology

2015-09-30

1 DISTRIBUTION STATEMENT A. Approved for public release; distribution is unlimited. Forecasting Future Sea Ice Conditions: A Lagrangian ...GCMs participating in IPCC AR5 agree with observed source region patterns from the satellite- derived dataset. 4- Compare Lagrangian ice... Lagrangian sea-ice back trajectories to estimate thermodynamic and dynamic (advection) ice loss. APPROACH We use a Lagrangian trajectory model to

An airborne perfluorocarbon tracer system and its first application for a Lagrangian experiment

NASA Astrophysics Data System (ADS)

Ren, Y.; Baumann, R.; Schlager, H.

2015-01-01

A perfluorocarbon tracer system (PERTRAS), specifically designed for Lagrangian aircraft experiments, has been developed by the Deutsches Zentrum für Luft- und Raumfahrt (German Aerospace Center, DLR). It consists of three main parts: a tracer release unit (RU), an adsorption tube sampler (ATS), and a tracer analytical system. The RU was designed for airborne tracer release experiments; meanwhile, it can be used on various platforms for different experimental purposes (here research vessel). PERTRAS was for the first time applied in the field campaign Stratospheric ozone: Halogen Impacts in a Varying Atmosphere (SHIVA) in November 2011. An amount of 8.8 kg perfluoromethylcyclopentane (PMCP) was released aboard the research vessel Sonne (RV Sonne) near the operational site of this campaign, Miri, Malaysia, on 21 November. The tracer samples collected using the ATS onboard the DLR research aircraft Falcon were analyzed in the laboratory using a thermal desorber-gas chromatography-mass spectrometry (TD-GC-MS) system. Guided by forecasts calculated with the Lagrangian model Hybrid Single Particle Lagrangian Integrated Trajectory (HYSPLIT), 64 tracer samples were collected onboard the Falcon approximately 5 and 25 h after the release, mostly with a time resolution of 1 min. Enhanced PMCP concentrations relative to ambient PMCP background values (mean: 6.62 fmol mol-1) were detected during three intersects of the fresh tracer plume (age 5 h), with a maximum value of 301.33 fmol mol-1. This indicates that the fresh tracer plume was successfully intercepted at the forecast position. During the second flight, 25 h after the release, the center of tracer plume was not detected by the sampling system due to a faster advection of the plume than forecast. The newly developed PERTRAS system has been successfully deployed for the first time. The instrumental setup and comparisons between the measurements and HYSPLIT simulations are presented in this study.

An airborne perfluorocarbon tracer system and its first application for a Lagrangian experiment

NASA Astrophysics Data System (ADS)

Ren, Y.; Baumann, R.; Schlager, H.

2014-07-01

A perfluorocarbon tracer system (PERTRAS), specifically designed for Lagrangian aircraft experiments, has been developed by the Deutsches Zentrum für Luft- und Raumfahrt (German Aerospace Center, DLR). It consists of three main parts: a tracer release unit (RU), an adsorption tube sampler (ATS) and a tracer analytical system. The RU was designed for airborne tracer release experiments; meanwhile, it can be used on various platforms for different experimental purpose (here research vessel). PERTRAS was for the first time applied in the field campaign Stratospheric ozone: halogen Impacts in a Varying Atmosphere (SHIVA) in November 2011. An amount of 8.8 kg perfluoromethylcyclopentane (PMCP) was released aboard the research vessel Sonne (RV Sonne) near the operational site of this campaign, Miri, Malaysia, on 21 November. The tracer samples collected using the ATS on board the DLR research aircraft Falcon were analyzed in the laboratory using a thermal desorber/gas chromatography/mass spectrometry (TD/GC/MS) system. Guided by forecasts calculated with the Lagrangian model, Hybrid Single Particle Lagrangian Integrated Trajectory (HYSPLIT), 64 tracer samples were collected onboard the Falcon approximately 5 and 25 h after the release, respectively, mostly with a time resolution of 1 min. Enhanced PMCP concentrations relative to ambient PMCP background values (mean: 6.62 fmol mol-1) were detected during three intersects of the fresh tracer plume (age 5 h), with a maximum value of 301.33 fmol mol-1. This indicates that the fresh tracer plume was successfully intercepted at the forecasted position. During the second flight, 25 h after the release, the center of tracer plume was not detected by the sampling system due to a faster advection of the plume than forecasted. The newly developed PERTRAS system has been successfully deployed for the first time. The instrumental set-up and comparisons between the measurements and HYSPLIT simulations are presented in this study.

Lagrangian averages, averaged Lagrangians, and the mean effects of fluctuations in fluid dynamics.

PubMed

Holm, Darryl D.

2002-06-01

We begin by placing the generalized Lagrangian mean (GLM) equations for a compressible adiabatic fluid into the Euler-Poincare (EP) variational framework of fluid dynamics, for an averaged Lagrangian. This is the Lagrangian averaged Euler-Poincare (LAEP) theorem. Next, we derive a set of approximate small amplitude GLM equations (glm equations) at second order in the fluctuating displacement of a Lagrangian trajectory from its mean position. These equations express the linear and nonlinear back-reaction effects on the Eulerian mean fluid quantities by the fluctuating displacements of the Lagrangian trajectories in terms of their Eulerian second moments. The derivation of the glm equations uses the linearized relations between Eulerian and Lagrangian fluctuations, in the tradition of Lagrangian stability analysis for fluids. The glm derivation also uses the method of averaged Lagrangians, in the tradition of wave, mean flow interaction. Next, the new glm EP motion equations for incompressible ideal fluids are compared with the Euler-alpha turbulence closure equations. An alpha model is a GLM (or glm) fluid theory with a Taylor hypothesis closure. Such closures are based on the linearized fluctuation relations that determine the dynamics of the Lagrangian statistical quantities in the Euler-alpha equations. Thus, by using the LAEP theorem, we bridge between the GLM equations and the Euler-alpha closure equations, through the small-amplitude glm approximation in the EP variational framework. We conclude by highlighting a new application of the GLM, glm, and alpha-model results for Lagrangian averaged ideal magnetohydrodynamics. (c) 2002 American Institute of Physics.

Semi-Lagrangian particle methods for high-dimensional Vlasov-Poisson systems

NASA Astrophysics Data System (ADS)

Cottet, Georges-Henri

2018-07-01

This paper deals with the implementation of high order semi-Lagrangian particle methods to handle high dimensional Vlasov-Poisson systems. It is based on recent developments in the numerical analysis of particle methods and the paper focuses on specific algorithmic features to handle large dimensions. The methods are tested with uniform particle distributions in particular against a recent multi-resolution wavelet based method on a 4D plasma instability case and a 6D gravitational case. Conservation properties, accuracy and computational costs are monitored. The excellent accuracy/cost trade-off shown by the method opens new perspective for accurate simulations of high dimensional kinetic equations by particle methods.

Serial fusion of Eulerian and Lagrangian approaches for accurate heart-rate estimation using face videos.

PubMed

Gupta, Puneet; Bhowmick, Brojeshwar; Pal, Arpan

2017-07-01

Camera-equipped devices are ubiquitous and proliferating in the day-to-day life. Accurate heart rate (HR) estimation from the face videos acquired from the low cost cameras in a non-contact manner, can be used in many real-world scenarios and hence, require rigorous exploration. This paper has presented an accurate and near real-time HR estimation system using these face videos. It is based on the phenomenon that the color and motion variations in the face video are closely related to the heart beat. The variations also contain the noise due to facial expressions, respiration, eye blinking and environmental factors which are handled by the proposed system. Neither Eulerian nor Lagrangian temporal signals can provide accurate HR in all the cases. The cases where Eulerian temporal signals perform spuriously are determined using a novel poorness measure and then both the Eulerian and Lagrangian temporal signals are employed for better HR estimation. Such a fusion is referred as serial fusion. Experimental results reveal that the error introduced in the proposed algorithm is 1.8±3.6 which is significantly lower than the existing well known systems.

Product Distribution Theory for Control of Multi-Agent Systems

NASA Technical Reports Server (NTRS)

Lee, Chia Fan; Wolpert, David H.

2004-01-01

Product Distribution (PD) theory is a new framework for controlling Multi-Agent Systems (MAS's). First we review one motivation of PD theory, as the information-theoretic extension of conventional full-rationality game theory to the case of bounded rational agents. In this extension the equilibrium of the game is the optimizer of a Lagrangian of the (probability distribution of) the joint stare of the agents. Accordingly we can consider a team game in which the shared utility is a performance measure of the behavior of the MAS. For such a scenario the game is at equilibrium - the Lagrangian is optimized - when the joint distribution of the agents optimizes the system's expected performance. One common way to find that equilibrium is to have each agent run a reinforcement learning algorithm. Here we investigate the alternative of exploiting PD theory to run gradient descent on the Lagrangian. We present computer experiments validating some of the predictions of PD theory for how best to do that gradient descent. We also demonstrate how PD theory can improve performance even when we are not allowed to rerun the MAS from different initial conditions, a requirement implicit in some previous work.

Comparing Lagrangian and Eulerian models for CO2 transport - a step towards Bayesian inverse modeling using WRF/STILT-VPRM

NASA Astrophysics Data System (ADS)

Pillai, D.; Gerbig, C.; Kretschmer, R.; Beck, V.; Karstens, U.; Neininger, B.; Heimann, M.

2012-10-01

We present simulations of atmospheric CO2 concentrations provided by two modeling systems, run at high spatial resolution: the Eulerian-based Weather Research Forecasting (WRF) model and the Lagrangian-based Stochastic Time-Inverted Lagrangian Transport (STILT) model, both of which are coupled to a diagnostic biospheric model, the Vegetation Photosynthesis and Respiration Model (VPRM). The consistency of the simulations is assessed with special attention paid to the details of horizontal as well as vertical transport and mixing of CO2 concentrations in the atmosphere. The dependence of model mismatch (Eulerian vs. Lagrangian) on models' spatial resolution is further investigated. A case study using airborne measurements during which two models showed large deviations from each other is analyzed in detail as an extreme case. Using aircraft observations and pulse release simulations, we identified differences in the representation of details in the interaction between turbulent mixing and advection through wind shear as the main cause of discrepancies between WRF and STILT transport at a spatial resolution such as 2 and 6 km. Based on observations and inter-model comparisons of atmospheric CO2 concentrations, we show that a refinement of the parameterization of turbulent velocity variance and Lagrangian time-scale in STILT is needed to achieve a better match between the Eulerian and the Lagrangian transport at such a high spatial resolution (e.g. 2 and 6 km). Nevertheless, the inter-model differences in simulated CO2 time series for a tall tower observatory at Ochsenkopf in Germany are about a factor of two smaller than the model-data mismatch and about a factor of three smaller than the mismatch between the current global model simulations and the data.

k-Cosymplectic Classical Field Theories: Tulczyjew and Skinner-Rusk Formulations

NASA Astrophysics Data System (ADS)

Rey, Angel M.; Román-Roy, Narciso; Salgado, Modesto; Vilariño, Silvia

2012-06-01

The k-cosymplectic Lagrangian and Hamiltonian formalisms of first-order classical field theories are reviewed and completed. In particular, they are stated for singular and almost-regular systems. Subsequently, several alternative formulations for k-cosymplectic first-order field theories are developed: First, generalizing the construction of Tulczyjew for mechanics, we give a new interpretation of the classical field equations. Second, the Lagrangian and Hamiltonian formalisms are unified by giving an extension of the Skinner-Rusk formulation on classical mechanics.

Distributed Control by Lagrangian Steepest Descent

NASA Technical Reports Server (NTRS)

Wolpert, David H.; Bieniawski, Stefan

2004-01-01

Often adaptive, distributed control can be viewed as an iterated game between independent players. The coupling between the players mixed strategies, arising as the system evolves from one instant to the next, is determined by the system designer. Information theory tells us that the most likely joint strategy of the players, given a value of the expectation of the overall control objective function, is the minimizer of a function o the joint strategy. So the goal of the system designer is to speed evolution of the joint strategy to that Lagrangian mhimbhgpoint,lowerthe expectated value of the control objective function, and repeat Here we elaborate the theory of algorithms that do this using local descent procedures, and that thereby achieve efficient, adaptive, distributed control.

Spatio-temporal organization of dynamics in a two-dimensional periodically driven vortex flow: A Lagrangian flow network perspective.

PubMed

Lindner, Michael; Donner, Reik V

2017-03-01

We study the Lagrangian dynamics of passive tracers in a simple model of a driven two-dimensional vortex resembling real-world geophysical flow patterns. Using a discrete approximation of the system's transfer operator, we construct a directed network that describes the exchange of mass between distinct regions of the flow domain. By studying different measures characterizing flow network connectivity at different time-scales, we are able to identify the location of dynamically invariant structures and regions of maximum dispersion. Specifically, our approach allows us to delimit co-existing flow regimes with different dynamics. To validate our findings, we compare several network characteristics to the well-established finite-time Lyapunov exponents and apply a receiver operating characteristic analysis to identify network measures that are particularly useful for unveiling the skeleton of Lagrangian chaos.

An updated Lagrangian discontinuous Galerkin hydrodynamic method for gas dynamics

DOE Office of Scientific and Technical Information (OSTI.GOV)

Wu, Tong; Shashkov, Mikhail Jurievich; Morgan, Nathaniel Ray

Here, we present a new Lagrangian discontinuous Galerkin (DG) hydrodynamic method for gas dynamics. The new method evolves conserved unknowns in the current configuration, which obviates the Jacobi matrix that maps the element in a reference coordinate system or the initial coordinate system to the current configuration. The density, momentum, and total energy (ρ, ρu, E) are approximated with conservative higher-order Taylor expansions over the element and are limited toward a piecewise constant field near discontinuities using a limiter. Two new limiting methods are presented for enforcing the bounds on the primitive variables of density, velocity, and specific internal energymore » (ρ, u, e). The nodal velocity, and the corresponding forces, are calculated by solving an approximate Riemann problem at the element nodes. An explicit second-order method is used to temporally advance the solution. This new Lagrangian DG hydrodynamic method conserves mass, momentum, and total energy. 1D Cartesian coordinates test problem results are presented to demonstrate the accuracy and convergence order of the new DG method with the new limiters.« less

Lagrangian descriptors of driven chemical reaction manifolds.

PubMed

Craven, Galen T; Junginger, Andrej; Hernandez, Rigoberto

2017-08-01

The persistence of a transition state structure in systems driven by time-dependent environments allows the application of modern reaction rate theories to solution-phase and nonequilibrium chemical reactions. However, identifying this structure is problematic in driven systems and has been limited by theories built on series expansion about a saddle point. Recently, it has been shown that to obtain formally exact rates for reactions in thermal environments, a transition state trajectory must be constructed. Here, using optimized Lagrangian descriptors [G. T. Craven and R. Hernandez, Phys. Rev. Lett. 115, 148301 (2015)PRLTAO0031-900710.1103/PhysRevLett.115.148301], we obtain this so-called distinguished trajectory and the associated moving reaction manifolds on model energy surfaces subject to various driving and dissipative conditions. In particular, we demonstrate that this is exact for harmonic barriers in one dimension and this verification gives impetus to the application of Lagrangian descriptor-based methods in diverse classes of chemical reactions. The development of these objects is paramount in the theory of reaction dynamics as the transition state structure and its underlying network of manifolds directly dictate reactivity and selectivity.

An updated Lagrangian discontinuous Galerkin hydrodynamic method for gas dynamics

DOE PAGES

Wu, Tong; Shashkov, Mikhail Jurievich; Morgan, Nathaniel Ray; ...

2018-04-09

Here, we present a new Lagrangian discontinuous Galerkin (DG) hydrodynamic method for gas dynamics. The new method evolves conserved unknowns in the current configuration, which obviates the Jacobi matrix that maps the element in a reference coordinate system or the initial coordinate system to the current configuration. The density, momentum, and total energy (ρ, ρu, E) are approximated with conservative higher-order Taylor expansions over the element and are limited toward a piecewise constant field near discontinuities using a limiter. Two new limiting methods are presented for enforcing the bounds on the primitive variables of density, velocity, and specific internal energymore » (ρ, u, e). The nodal velocity, and the corresponding forces, are calculated by solving an approximate Riemann problem at the element nodes. An explicit second-order method is used to temporally advance the solution. This new Lagrangian DG hydrodynamic method conserves mass, momentum, and total energy. 1D Cartesian coordinates test problem results are presented to demonstrate the accuracy and convergence order of the new DG method with the new limiters.« less

On Lagrangian residual currents with applications in south San Francisco Bay, California

USGS Publications Warehouse

Cheng, Ralph T.; Casulli, Vincenzo

1982-01-01

The Lagrangian residual circulation has often been introduced as the sum of the Eulerian residual circulation and the Stokes' drift. Unfortunately, this definition of the Lagrangian residual circulation is conceptually incorrect because both the Eulerian residual circulation and the Stokes' drift are Eulerian variables. In this paper a classification of various residual variables are reviewed and properly defined. The Lagrangian residual circulation is then studied by means of a two-stage formulation of a computer model. The tidal circulation is first computed in a conventional Eulerian way, and then the Lagrangian residual circulation is determined by a method patterned after the method of markers and cells. To demonstrate properties of the Lagrangian residual circulation, application of this approach in South San Francisco Bay, California, is considered. With the aid of the model results, properties of the Eulerian and Lagrangian residual circulation are examined. It can be concluded that estimation of the Lagrangian residual circulation from Eulerian data may lead to unacceptable error, particularly in a tidal estuary where the tidal excursion is of the same order of magnitude as the length scale of the basin. A direction calculation of the Lagrangian residual circulation must be made and has been shown to be feasible.

Lagrangian motion, coherent structures, and lines of persistent material strain.

PubMed

Samelson, R M

2013-01-01

Lagrangian motion in geophysical fluids may be strongly influenced by coherent structures that support distinct regimes in a given flow. The problems of identifying and demarcating Lagrangian regime boundaries associated with dynamical coherent structures in a given velocity field can be studied using approaches originally developed in the context of the abstract geometric theory of ordinary differential equations. An essential insight is that when coherent structures exist in a flow, Lagrangian regime boundaries may often be indicated as material curves on which the Lagrangian-mean principal-axis strain is large. This insight is the foundation of many numerical techniques for identifying such features in complex observed or numerically simulated ocean flows. The basic theoretical ideas are illustrated with a simple, kinematic traveling-wave model. The corresponding numerical algorithms for identifying candidate Lagrangian regime boundaries and lines of principal Lagrangian strain (also called Lagrangian coherent structures) are divided into parcel and bundle schemes; the latter include the finite-time and finite-size Lyapunov exponent/Lagrangian strain (FTLE/FTLS and FSLE/FSLS) metrics. Some aspects and results of oceanographic studies based on these approaches are reviewed, and the results are discussed in the context of oceanographic observations of dynamical coherent structures.

Target Lagrangian kinematic simulation for particle-laden flows.

PubMed

Murray, S; Lightstone, M F; Tullis, S

2016-09-01

The target Lagrangian kinematic simulation method was motivated as a stochastic Lagrangian particle model that better synthesizes turbulence structure, relative to stochastic separated flow models. By this method, the trajectories of particles are constructed according to synthetic turbulent-like fields, which conform to a target Lagrangian integral timescale. In addition to recovering the expected Lagrangian properties of fluid tracers, this method is shown to reproduce the crossing trajectories and continuity effects, in agreement with an experimental benchmark.

Lagrangian statistics in weakly forced two-dimensional turbulence

DOE Office of Scientific and Technical Information (OSTI.GOV)

Rivera, Michael K.; Ecke, Robert E.

Measurements of Lagrangian single-point and multiple-point statistics in a quasi-two-dimensional stratified layer system are reported. The system consists of a layer of salt water over an immiscible layer of Fluorinert and is forced electromagnetically so that mean-squared vorticity is injected at a well-defined spatial scale r i. Simultaneous cascades develop in which enstrophy flows predominately to small scales whereas energy cascades, on average, to larger scales. Lagrangian correlations and one- and two-point displacements are measured for random initial conditions and for initial positions within topological centers and saddles. Some of the behavior of these quantities can be understood in termsmore » of the trapping characteristics of long-lived centers, the slow motion near strong saddles, and the rapid fluctuations outside of either centers or saddles. We also present statistics of Lagrangian velocity fluctuations using energy spectra in frequency space and structure functions in real space. We compare with complementary Eulerian velocity statistics. We find that simultaneous inverse energy and enstrophy ranges present in spectra are not directly echoed in real-space moments of velocity difference. Nevertheless, the spectral ranges line up well with features of moment ratios, indicating that although the moments are not exhibiting unambiguous scaling, the behavior of the probability distribution functions is changing over short ranges of length scales. Furthermore, implications for understanding weakly forced 2D turbulence with simultaneous inverse and direct cascades are discussed.« less

Lagrangian statistics in weakly forced two-dimensional turbulence

DOE PAGES

Rivera, Michael K.; Ecke, Robert E.

2016-01-14

Measurements of Lagrangian single-point and multiple-point statistics in a quasi-two-dimensional stratified layer system are reported. The system consists of a layer of salt water over an immiscible layer of Fluorinert and is forced electromagnetically so that mean-squared vorticity is injected at a well-defined spatial scale r i. Simultaneous cascades develop in which enstrophy flows predominately to small scales whereas energy cascades, on average, to larger scales. Lagrangian correlations and one- and two-point displacements are measured for random initial conditions and for initial positions within topological centers and saddles. Some of the behavior of these quantities can be understood in termsmore » of the trapping characteristics of long-lived centers, the slow motion near strong saddles, and the rapid fluctuations outside of either centers or saddles. We also present statistics of Lagrangian velocity fluctuations using energy spectra in frequency space and structure functions in real space. We compare with complementary Eulerian velocity statistics. We find that simultaneous inverse energy and enstrophy ranges present in spectra are not directly echoed in real-space moments of velocity difference. Nevertheless, the spectral ranges line up well with features of moment ratios, indicating that although the moments are not exhibiting unambiguous scaling, the behavior of the probability distribution functions is changing over short ranges of length scales. Furthermore, implications for understanding weakly forced 2D turbulence with simultaneous inverse and direct cascades are discussed.« less

The Edge States of the BF System and the London Equations

NASA Astrophysics Data System (ADS)

Balachandran, A. P.; Teotonio-Sobrinho, P.

It is known that the 3D Chern-Simons interaction describes the scaling limit of a quantum Hall system and predicts edge currents in a sample with boundary, the currents generating a chiral U(1) Kac-Moody algebra. It is no doubt also recognized that, in a somewhat similar way, the 4D BF interaction (with B a two-form, dB the dual *j of the electromagnetic current, and F the electromagnetic field form) describes the scaling limit of a superconductor. We show in this paper that there are edge excitations in this model as well for manifolds with boundaries. They are the modes of a scalar field with invariance under the group of diffeomorphisms (diffeos) of the bounding spatial two-manifold. Not all diffeos of this group seem implementable by operators in quantum theory, the implementable group being a subgroup of volume-preserving diffeos. The BF system in this manner can lead to the w1+∞ algebra and its variants. Lagrangians for fields on the bounding manifold which account for the edge observables on quantization are also presented. They are the analogs of the (1+1)-dimensional massless scalar field Lagrangian describing the edge modes of an Abelian Chern-Simons theory with a disk as the spatial manifold. We argue that the addition of “Maxwell” terms constructed from F∧*F and dB∧*dB does not affect the edge states, and that the augmented Lagrangian has an infinite number of conserved charges—the aforementioned scalar field modes—localized at the edges. This Lagrangian is known to describe London equations and a massive vector field. A (3+1)-dimensional generalization of the Hall effect involving vortices coupled to B is also proposed.

Deconstructing field-induced ketene isomerization through Lagrangian descriptors.

PubMed

Craven, Galen T; Hernandez, Rigoberto

2016-02-07

The time-dependent geometrical separatrices governing state transitions in field-induced ketene isomerization are constructed using the method of Lagrangian descriptors. We obtain the stable and unstable manifolds of time-varying transition states as dynamic phase space objects governing configurational changes when the ketene molecule is subjected to an oscillating electric field. The dynamics of the isomerization reaction are modeled through classical trajectory studies on the Gezelter-Miller potential energy surface and an approximate dipole moment model which is coupled to a time-dependent electric field. We obtain a representation of the reaction geometry, over varying field strengths and oscillation frequencies, by partitioning an initial phase space into basins labeled according to which product state is reached at a given time. The borders between these basins are in agreement with those obtained using Lagrangian descriptors, even in regimes exhibiting chaotic dynamics. Major outcomes of this work are: validation and extension of a transition state theory framework built from Lagrangian descriptors, elaboration of the applicability for this theory to periodically- and aperiodically-driven molecular systems, and prediction of regimes in which isomerization of ketene and its derivatives may be controlled using an external field.

A Lagrangian cylindrical coordinate system for characterizing dynamic surface geometry of tubular anatomic structures.

PubMed

Lundh, Torbjörn; Suh, Ga-Young; DiGiacomo, Phillip; Cheng, Christopher

2018-03-03

Vascular morphology characterization is useful for disease diagnosis, risk stratification, treatment planning, and prediction of treatment durability. To quantify the dynamic surface geometry of tubular-shaped anatomic structures, we propose a simple, rigorous Lagrangian cylindrical coordinate system to monitor well-defined surface points. Specifically, the proposed system enables quantification of surface curvature and cross-sectional eccentricity. Using idealized software phantom examples, we validate the method's ability to accurately quantify longitudinal and circumferential surface curvature, as well as eccentricity and orientation of eccentricity. We then apply the method to several medical imaging data sets of human vascular structures to exemplify the utility of this coordinate system for analyzing morphology and dynamic geometric changes in blood vessels throughout the body. Graphical abstract Pointwise longitudinal curvature of a thoracic aortic endograft surface for systole and diastole, with their absolute difference.

The canonical Lagrangian approach to three-space general relativity

NASA Astrophysics Data System (ADS)

Shyam, Vasudev; Venkatesh, Madhavan

2013-07-01

We study the action for the three-space formalism of general relativity, better known as the Barbour-Foster-Ó Murchadha action, which is a square-root Baierlein-Sharp-Wheeler action. In particular, we explore the (pre)symplectic structure by pulling it back via a Legendre map to the tangent bundle of the configuration space of this action. With it we attain the canonical Lagrangian vector field which generates the gauge transformations (3-diffeomorphisms) and the true physical evolution of the system. This vector field encapsulates all the dynamics of the system. We also discuss briefly the observables and perennials for this theory. We then present a symplectic reduction of the constrained phase space.

Vortex dynamics and Lagrangian statistics in a model for active turbulence.

PubMed

James, Martin; Wilczek, Michael

2018-02-14

Cellular suspensions such as dense bacterial flows exhibit a turbulence-like phase under certain conditions. We study this phenomenon of "active turbulence" statistically by using numerical tools. Following Wensink et al. (Proc. Natl. Acad. Sci. U.S.A. 109, 14308 (2012)), we model active turbulence by means of a generalized Navier-Stokes equation. Two-point velocity statistics of active turbulence, both in the Eulerian and the Lagrangian frame, is explored. We characterize the scale-dependent features of two-point statistics in this system. Furthermore, we extend this statistical study with measurements of vortex dynamics in this system. Our observations suggest that the large-scale statistics of active turbulence is close to Gaussian with sub-Gaussian tails.

Distributed Optimization

NASA Technical Reports Server (NTRS)

Macready, William; Wolpert, David

2005-01-01

We demonstrate a new framework for analyzing and controlling distributed systems, by solving constrained optimization problems with an algorithm based on that framework. The framework is ar. information-theoretic extension of conventional full-rationality game theory to allow bounded rational agents. The associated optimization algorithm is a game in which agents control the variables of the optimization problem. They do this by jointly minimizing a Lagrangian of (the probability distribution of) their joint state. The updating of the Lagrange parameters in that Lagrangian is a form of automated annealing, one that focuses the multi-agent system on the optimal pure strategy. We present computer experiments for the k-sat constraint satisfaction problem and for unconstrained minimization of NK functions.

Lagrangian turbulence: Structures and mixing in admissible model flows

NASA Astrophysics Data System (ADS)

Ottino, Julio M.

1991-12-01

The goal of our research was to bridge the gap between modern ideas from dynamical systems and chaos and more traditional approaches to turbulence. In order to reach this objective we conducted theoretical and computational work on two systems: (1) a perturbed-Kelvin cat eyes flow, and (2) prototype solutions of the Navier-Stokes equations near solid walls. The main results obtained are two-fold: we have been able to produce flows capable of producing complex distributions of vorticity, and we have been able to construct flowfields, based on solutions of the Navier-Stokes equations, which are capable of displaying both Eulerian and Lagrangian turbulence. These results exemplify typical mechanisms of mixing enhancement in transitional flows.

Lagrangian Perturbation Approach to the Formation of Large-scale Structure

NASA Astrophysics Data System (ADS)

Buchert, Thomas

The present lecture notes address three columns on which the Lagrangian perturbation approach to cosmological dynamics is based: 1. the formulation of a Lagrangian theory of self-gravitating flows in which the dynamics is described in terms of a single field variable; 2. the procedure, how to obtain the dynamics of Eulerian fields from the Lagrangian picture, and 3. a precise definition of a Newtonian cosmology framework in which Lagrangian perturbation solutions can be studied. While the first is a discussion of the basic equations obtained by transforming the Eulerian evolution and field equations to the Lagrangian picture, the second exemplifies how the Lagrangian theory determines the evolution of Eulerian fields including kinematical variables like expansion, vorticity, as well as the shear and tidal tensors. The third column is based on a specification of initial and boundary conditions, and in particular on the identification of the average flow of an inhomogeneous cosmology with a `Hubble-flow'. Here, we also look at the limits of the Lagrangian perturbation approach as inferred from comparisons with N-body simulations and illustrate some striking properties of the solutions.

Uncovering the Geometry of Barrierless Reactions Using Lagrangian Descriptors.

PubMed

Junginger, Andrej; Hernandez, Rigoberto

2016-03-03

Transition-state theories describing barrierless chemical reactions, or more general activated problems, are often hampered by the lack of a saddle around which the dividing surface can be constructed. For example, the time-dependent transition-state trajectory uncovering the nonrecrossing dividing surface in thermal reactions in the framework of the Langevin equation has relied on perturbative approaches in the vicinity of the saddle. We recently obtained an alternative approach using Lagrangian descriptors to construct time-dependent and recrossing-free dividing surfaces. This is a nonperturbative approach making no reference to a putative saddle. Here we show how the Lagrangian descriptor can be used to obtain the transition-state geometry of a dissipated and thermalized reaction across barrierless potentials. We illustrate the method in the case of a 1D Brownian motion for both barrierless and step potentials; however, the method is not restricted and can be directly applied to different kinds of potentials and higher dimensional systems.

On tide-induced Lagrangian residual current and residual transport: 1. Lagrangian residual current

USGS Publications Warehouse

Feng, Shizuo; Cheng, Ralph T.; Pangen, Xi

1986-01-01

Residual currents in tidal estuaries and coastal embayments have been recognized as fundamental factors which affect the long-term transport processes. It has been pointed out by previous studies that it is more relevant to use a Lagrangian mean velocity than an Eulerian mean velocity to determine the movements of water masses. Under weakly nonlinear approximation, the parameter k, which is the ratio of the net displacement of a labeled water mass in one tidal cycle to the tidal excursion, is assumed to be small. Solutions for tides, tidal current, and residual current have been considered for two-dimensional, barotropic estuaries and coastal seas. Particular attention has been paid to the distinction between the Lagrangian and Eulerian residual currents. When k is small, the first-order Lagrangian residual is shown to be the sum of the Eulerian residual current and the Stokes drift. The Lagrangian residual drift velocity or the second-order Lagrangian residual current has been shown to be dependent on the phase of tidal current. The Lagrangian drift velocity is induced by nonlinear interactions between tides, tidal currents, and the first-order residual currents, and it takes the form of an ellipse on a hodograph plane. Several examples are given to further demonstrate the unique properties of the Lagrangian residual current.

Form of the manifestly covariant Lagrangian

NASA Astrophysics Data System (ADS)

Johns, Oliver Davis

1985-10-01

The preferred form for the manifestly covariant Lagrangian function of a single, charged particle in a given electromagnetic field is the subject of some disagreement in the textbooks. Some authors use a ``homogeneous'' Lagrangian and others use a ``modified'' form in which the covariant Hamiltonian function is made to be nonzero. We argue in favor of the ``homogeneous'' form. We show that the covariant Lagrangian theories can be understood only if one is careful to distinguish quantities evaluated on the varied (in the sense of the calculus of variations) world lines from quantities evaluated on the unvaried world lines. By making this distinction, we are able to derive the Hamilton-Jacobi and Klein-Gordon equations from the ``homogeneous'' Lagrangian, even though the covariant Hamiltonian function is identically zero on all world lines. The derivation of the Klein-Gordon equation in particular gives Lagrangian theoretical support to the derivations found in standard quantum texts, and is also shown to be consistent with the Feynman path-integral method. We conclude that the ``homogeneous'' Lagrangian is a completely adequate basis for covariant Lagrangian theory both in classical and quantum mechanics. The article also explores the analogy with the Fermat theorem of optics, and illustrates a simple invariant notation for the Lagrangian and other four-vector equations.

Robust Decentralized Nonlinear Control for a Twin Rotor MIMO System

PubMed Central

Belmonte, Lidia María; Morales, Rafael; Fernández-Caballero, Antonio; Somolinos, José Andrés

2016-01-01

This article presents the design of a novel decentralized nonlinear multivariate control scheme for an underactuated, nonlinear and multivariate laboratory helicopter denominated the twin rotor MIMO system (TRMS). The TRMS is characterized by a coupling effect between rotor dynamics and the body of the model, which is due to the action-reaction principle originated in the acceleration and deceleration of the motor-propeller groups. The proposed controller is composed of two nested loops that are utilized to achieve stabilization and precise trajectory tracking tasks for the controlled position of the generalized coordinates of the TRMS. The nonlinear internal loop is used to control the electrical dynamics of the platform, and the nonlinear external loop allows the platform to be perfectly stabilized and positioned in space. Finally, we illustrate the theoretical control developments with a set of experiments in order to verify the effectiveness of the proposed nonlinear decentralized feedback controller, in which a comparative study with other controllers is performed, illustrating the excellent performance of the proposed robust decentralized control scheme in both stabilization and trajectory tracking tasks. PMID:27472338

Robust Decentralized Nonlinear Control for a Twin Rotor MIMO System.

PubMed

Belmonte, Lidia María; Morales, Rafael; Fernández-Caballero, Antonio; Somolinos, José Andrés

2016-07-27

This article presents the design of a novel decentralized nonlinear multivariate control scheme for an underactuated, nonlinear and multivariate laboratory helicopter denominated the twin rotor MIMO system (TRMS). The TRMS is characterized by a coupling effect between rotor dynamics and the body of the model, which is due to the action-reaction principle originated in the acceleration and deceleration of the motor-propeller groups. The proposed controller is composed of two nested loops that are utilized to achieve stabilization and precise trajectory tracking tasks for the controlled position of the generalized coordinates of the TRMS. The nonlinear internal loop is used to control the electrical dynamics of the platform, and the nonlinear external loop allows the platform to be perfectly stabilized and positioned in space. Finally, we illustrate the theoretical control developments with a set of experiments in order to verify the effectiveness of the proposed nonlinear decentralized feedback controller, in which a comparative study with other controllers is performed, illustrating the excellent performance of the proposed robust decentralized control scheme in both stabilization and trajectory tracking tasks.

Quadcopter Path Following Control Design Using Output Feedback with Command Generator Tracker LOS Based At Square Path

NASA Astrophysics Data System (ADS)

Nugraha, A. T.; Agustinah, T.

2018-01-01

Quadcopter an unstable system, underactuated and nonlinear in quadcopter control research developments become an important focus of attention. In this study, following the path control method for position on the X and Y axis, used structure-Generator Tracker Command (CGT) is tested. Attitude control and position feedback quadcopter is compared using the optimal output. The addition of the H∞ performance optimal output feedback control is used to maintain the stability and robustness of quadcopter. Iterative numerical techniques Linear Matrix Inequality (LMI) is used to find the gain controller. The following path control problems is solved using the method of LQ regulators with output feedback. Simulations show that the control system can follow the paths that have been defined in the form of a reference signal square shape. The result of the simulation suggest that the method which used can bring the yaw angle at the expected value algorithm. Quadcopter can do automatically following path with cross track error mean X=0.5 m and Y=0.2 m.

Learning tactile skills through curious exploration

PubMed Central

Pape, Leo; Oddo, Calogero M.; Controzzi, Marco; Cipriani, Christian; Förster, Alexander; Carrozza, Maria C.; Schmidhuber, Jürgen

2012-01-01

We present curiosity-driven, autonomous acquisition of tactile exploratory skills on a biomimetic robot finger equipped with an array of microelectromechanical touch sensors. Instead of building tailored algorithms for solving a specific tactile task, we employ a more general curiosity-driven reinforcement learning approach that autonomously learns a set of motor skills in absence of an explicit teacher signal. In this approach, the acquisition of skills is driven by the information content of the sensory input signals relative to a learner that aims at representing sensory inputs using fewer and fewer computational resources. We show that, from initially random exploration of its environment, the robotic system autonomously develops a small set of basic motor skills that lead to different kinds of tactile input. Next, the system learns how to exploit the learned motor skills to solve supervised texture classification tasks. Our approach demonstrates the feasibility of autonomous acquisition of tactile skills on physical robotic platforms through curiosity-driven reinforcement learning, overcomes typical difficulties of engineered solutions for active tactile exploration and underactuated control, and provides a basis for studying developmental learning through intrinsic motivation in robots. PMID:22837748

An online-coupled NWP/ACT model with conserved Lagrangian levels

NASA Astrophysics Data System (ADS)

Sørensen, B.; Kaas, E.; Lauritzen, P. H.

2012-04-01

Numerical weather and climate modelling is under constant development. Semi-implicit semi-Lagrangian (SISL) models have proven to be numerically efficient in both short-range weather forecasts and climate models, due to the ability to use long time steps. Chemical/aerosol feedback mechanism are becoming more and more relevant in NWP as well as climate models, since the biogenic and anthropogenic emissions can have a direct effect on the dynamics and radiative properties of the atmosphere. To include chemical feedback mechanisms in the NWP models, on-line coupling is crucial. In 3D semi-Lagrangian schemes with quasi-Lagrangian vertical coordinates the Lagrangian levels are remapped to Eulerian model levels each time step. This remapping introduces an undesirable tendency to smooth sharp gradients and creates unphysical numerical diffusion in the vertical distribution. A semi-Lagrangian advection method is introduced, it combines an inherently mass conserving 2D semi-Lagrangian scheme, with a SISL scheme employing both hybrid vertical coordinates and a fully Lagrangian vertical coordinate. This minimizes the vertical diffusion and thus potentially improves the simulation of the vertical profiles of moisture, clouds, and chemical constituents. Since the Lagrangian levels suffer from traditional Lagrangian limitations caused by the convergence and divergence of the flow, remappings to the Eulerian model levels are generally still required - but this need only be applied after a number of time steps - unless dynamic remapping methods are used. For this several different remapping methods has been implemented. The combined scheme is mass conserving, consistent, and multi-tracer efficient.

Action principle for Coulomb collisions in plasmas

DOE Office of Scientific and Technical Information (OSTI.GOV)

Hirvijoki, Eero

In this study, an action principle for Coulomb collisions in plasmas is proposed. Although no natural Lagrangian exists for the Landau-Fokker-Planck equation, an Eulerian variational formulation is found considering the system of partial differential equations that couple the distribution function and the Rosenbluth-MacDonald-Judd potentials. Conservation laws are derived after generalizing the energy-momentum stress tensor for second order Lagrangians and, in the case of a test-particle population in a given plasma background, the action principle is shown to correspond to the Langevin equation for individual particles.

Action principle for Coulomb collisions in plasmas

DOE PAGES

Hirvijoki, Eero

2016-09-14

In this study, an action principle for Coulomb collisions in plasmas is proposed. Although no natural Lagrangian exists for the Landau-Fokker-Planck equation, an Eulerian variational formulation is found considering the system of partial differential equations that couple the distribution function and the Rosenbluth-MacDonald-Judd potentials. Conservation laws are derived after generalizing the energy-momentum stress tensor for second order Lagrangians and, in the case of a test-particle population in a given plasma background, the action principle is shown to correspond to the Langevin equation for individual particles.

Reducing Actuator Requirements in Continuum Robots Through Optimized Cable Routing.

PubMed

Case, Jennifer C; White, Edward L; SunSpiral, Vytas; Kramer-Bottiglio, Rebecca

2018-02-01

Continuum manipulators offer many advantages compared to their rigid-linked counterparts, such as increased degrees of freedom and workspace volume. Inspired by biological systems, such as elephant trunks and octopus tentacles, many continuum manipulators are made of multiple segments that allow large-scale deformations to be distributed throughout the body. Most continuum manipulators currently control each segment individually. For example, a planar cable-driven system is typically controlled by a pair of cables for each segment, which implies two actuators per segment. In this article, we demonstrate how highly coupled crossing cable configurations can reduce both actuator count and actuator torque requirements in a planar continuum manipulator, while maintaining workspace reachability and manipulability. We achieve highly coupled actuation by allowing cables to cross through the manipulator to create new cable configurations. We further derive an analytical model to predict the underactuated manipulator workspace and experimentally verify the model accuracy with a physical system. We use this model to compare crossing cable configurations to the traditional cable configuration using workspace performance metrics. Our work here focuses on a simplified planar robot, both in simulation and in hardware, with the goal of extending this to spiraling-cable configurations on full 3D continuum robots in future work.

Gravitational Field as a Pressure Force from Logarithmic Lagrangians and Non-Standard Hamiltonians: The Case of Stellar Halo of Milky Way

NASA Astrophysics Data System (ADS)

El-Nabulsi, Rami Ahmad

2018-03-01

Recently, the notion of non-standard Lagrangians was discussed widely in literature in an attempt to explore the inverse variational problem of nonlinear differential equations. Different forms of non-standard Lagrangians were introduced in literature and have revealed nice mathematical and physical properties. One interesting form related to the inverse variational problem is the logarithmic Lagrangian, which has a number of motivating features related to the Liénard-type and Emden nonlinear differential equations. Such types of Lagrangians lead to nonlinear dynamics based on non-standard Hamiltonians. In this communication, we show that some new dynamical properties are obtained in stellar dynamics if standard Lagrangians are replaced by Logarithmic Lagrangians and their corresponding non-standard Hamiltonians. One interesting consequence concerns the emergence of an extra pressure term, which is related to the gravitational field suggesting that gravitation may act as a pressure in a strong gravitational field. The case of the stellar halo of the Milky Way is considered.

A feasibility study for measuring stratospheric turbulence using metrac positioning system

NASA Technical Reports Server (NTRS)

Gage, K. S.; Jasperson, W. H.

1975-01-01

The feasibility of obtaining measurements of Lagrangian turbulence at stratospheric altitudes is demonstrated by using the METRAC System to track constant-level balloons. The basis for current estimates of diffusion coefficients are reviewed and it is pointed out that insufficient data is available upon which to base reliable estimates of vertical diffusion coefficients. It is concluded that diffusion coefficients could be directly obtained from Lagrangian turbulence measurements. The METRAC balloon tracking system is shown to possess the necessary precision in order to resolve the response of constant-level balloons to turbulence at stratospheric altitudes. A small sample of data recorded from a tropospheric tetroon flight tracked by the METRAC System is analyzed to obtain estimates of small-scale three-dimensional diffusion coefficients. It is recommended that this technique be employed to establish a climatology of diffusion coefficients and to ascertain the variation of these coefficients with altitude, season, and latitude.

Comparing Lagrangian and Eulerian models for CO2 transport - a step towards Bayesian inverse modeling using WRF/STILT-VPRM

NASA Astrophysics Data System (ADS)

Pillai, D.; Gerbig, C.; Kretschmer, R.; Beck, V.; Karstens, U.; Neininger, B.; Heimann, M.

2012-01-01

We present simulations of atmospheric CO2 concentrations provided by two modeling systems, run at high spatial resolution: the Eulerian-based Weather Research Forecasting (WRF) model and the Lagrangian-based Stochastic Time-Inverted Lagrangian Transport (STILT) model, both of which are coupled to a diagnostic biospheric model, the Vegetation Photosynthesis and Respiration Model (VPRM). The consistency of the simulations is assessed with special attention paid to the details of horizontal as well as vertical transport and mixing of CO2 concentrations in the atmosphere. The dependence of model mismatch (Eulerian vs. Lagrangian) on models' spatial resolution is further investigated. A case study using airborne measurements during which both models showed large deviations from each other is analyzed in detail as an extreme case. Using aircraft observations and pulse release simulations, we identified differences in the representation of details in the interaction between turbulent mixing and advection through wind shear as the main cause of discrepancies between WRF and STILT transport at a spatial resolution such as 2 and 6 km. Based on observations and inter-model comparisons of atmospheric CO2 concentrations, we show that a refinement of the parameterization of turbulent velocity variance and Lagrangian time-scale in STILT is needed to achieve a better match between the Eulerian and the Lagrangian transport at such a high spatial resolution (e.g. 2 and 6 km). Nevertheless, the inter-model differences in simulated CO2 time series for a tall tower observatory at Ochsenkopf in Germany are about a factor of two smaller than the model-data mismatch and about a factor of three smaller than the mismatch between the current global model simulations and the data. Thus suggests that it is reasonable to use STILT as an adjoint model of WRF atmospheric transport.

Adjoint of the global Eulerian-Lagrangian coupled atmospheric transport model (A-GELCA v1.0): development and validation

NASA Astrophysics Data System (ADS)

Belikov, Dmitry A.; Maksyutov, Shamil; Yaremchuk, Alexey; Ganshin, Alexander; Kaminski, Thomas; Blessing, Simon; Sasakawa, Motoki; Gomez-Pelaez, Angel J.; Starchenko, Alexander

2016-02-01

We present the development of the Adjoint of the Global Eulerian-Lagrangian Coupled Atmospheric (A-GELCA) model that consists of the National Institute for Environmental Studies (NIES) model as an Eulerian three-dimensional transport model (TM), and FLEXPART (FLEXible PARTicle dispersion model) as the Lagrangian Particle Dispersion Model (LPDM). The forward tangent linear and adjoint components of the Eulerian model were constructed directly from the original NIES TM code using an automatic differentiation tool known as TAF (Transformation of Algorithms in Fortran; http://www.FastOpt.com, with additional manual pre- and post-processing aimed at improving transparency and clarity of the code and optimizing the performance of the computing, including MPI (Message Passing Interface). The Lagrangian component did not require any code modification, as LPDMs are self-adjoint and track a significant number of particles backward in time in order to calculate the sensitivity of the observations to the neighboring emission areas. The constructed Eulerian adjoint was coupled with the Lagrangian component at a time boundary in the global domain. The simulations presented in this work were performed using the A-GELCA model in forward and adjoint modes. The forward simulation shows that the coupled model improves reproduction of the seasonal cycle and short-term variability of CO2. Mean bias and standard deviation for five of the six Siberian sites considered decrease roughly by 1 ppm when using the coupled model. The adjoint of the Eulerian model was shown, through several numerical tests, to be very accurate (within machine epsilon with mismatch around to ±6 e-14) compared to direct forward sensitivity calculations. The developed adjoint of the coupled model combines the flux conservation and stability of an Eulerian discrete adjoint formulation with the flexibility, accuracy, and high resolution of a Lagrangian backward trajectory formulation. A-GELCA will be incorporated into a variational inversion system designed to optimize surface fluxes of greenhouse gases.

Differential geometry based solvation model II: Lagrangian formulation.

PubMed

Chen, Zhan; Baker, Nathan A; Wei, G W

2011-12-01

Solvation is an elementary process in nature and is of paramount importance to more sophisticated chemical, biological and biomolecular processes. The understanding of solvation is an essential prerequisite for the quantitative description and analysis of biomolecular systems. This work presents a Lagrangian formulation of our differential geometry based solvation models. The Lagrangian representation of biomolecular surfaces has a few utilities/advantages. First, it provides an essential basis for biomolecular visualization, surface electrostatic potential map and visual perception of biomolecules. Additionally, it is consistent with the conventional setting of implicit solvent theories and thus, many existing theoretical algorithms and computational software packages can be directly employed. Finally, the Lagrangian representation does not need to resort to artificially enlarged van der Waals radii as often required by the Eulerian representation in solvation analysis. The main goal of the present work is to analyze the connection, similarity and difference between the Eulerian and Lagrangian formalisms of the solvation model. Such analysis is important to the understanding of the differential geometry based solvation model. The present model extends the scaled particle theory of nonpolar solvation model with a solvent-solute interaction potential. The nonpolar solvation model is completed with a Poisson-Boltzmann (PB) theory based polar solvation model. The differential geometry theory of surfaces is employed to provide a natural description of solvent-solute interfaces. The optimization of the total free energy functional, which encompasses the polar and nonpolar contributions, leads to coupled potential driven geometric flow and PB equations. Due to the development of singularities and nonsmooth manifolds in the Lagrangian representation, the resulting potential-driven geometric flow equation is embedded into the Eulerian representation for the purpose of computation, thanks to the equivalence of the Laplace-Beltrami operator in the two representations. The coupled partial differential equations (PDEs) are solved with an iterative procedure to reach a steady state, which delivers desired solvent-solute interface and electrostatic potential for problems of interest. These quantities are utilized to evaluate the solvation free energies and protein-protein binding affinities. A number of computational methods and algorithms are described for the interconversion of Lagrangian and Eulerian representations, and for the solution of the coupled PDE system. The proposed approaches have been extensively validated. We also verify that the mean curvature flow indeed gives rise to the minimal molecular surface and the proposed variational procedure indeed offers minimal total free energy. Solvation analysis and applications are considered for a set of 17 small compounds and a set of 23 proteins. The salt effect on protein-protein binding affinity is investigated with two protein complexes by using the present model. Numerical results are compared to the experimental measurements and to those obtained by using other theoretical methods in the literature. © Springer-Verlag 2011

Differential geometry based solvation model II: Lagrangian formulation

PubMed Central

Chen, Zhan; Baker, Nathan A.; Wei, G. W.

2010-01-01

Solvation is an elementary process in nature and is of paramount importance to more sophisticated chemical, biological and biomolecular processes. The understanding of solvation is an essential prerequisite for the quantitative description and analysis of biomolecular systems. This work presents a Lagrangian formulation of our differential geometry based solvation model. The Lagrangian representation of biomolecular surfaces has a few utilities/advantages. First, it provides an essential basis for biomolecular visualization, surface electrostatic potential map and visual perception of biomolecules. Additionally, it is consistent with the conventional setting of implicit solvent theories and thus, many existing theoretical algorithms and computational software packages can be directly employed. Finally, the Lagrangian representation does not need to resort to artificially enlarged van der Waals radii as often required by the Eulerian representation in solvation analysis. The main goal of the present work is to analyze the connection, similarity and difference between the Eulerian and Lagrangian formalisms of the solvation model. Such analysis is important to the understanding of the differential geometry based solvation model. The present model extends the scaled particle theory (SPT) of nonpolar solvation model with a solvent-solute interaction potential. The nonpolar solvation model is completed with a Poisson-Boltzmann (PB) theory based polar solvation model. The differential geometry theory of surfaces is employed to provide a natural description of solvent-solute interfaces. The minimization of the total free energy functional, which encompasses the polar and nonpolar contributions, leads to coupled potential driven geometric flow and Poisson-Boltzmann equations. Due to the development of singularities and nonsmooth manifolds in the Lagrangian representation, the resulting potential-driven geometric flow equation is embedded into the Eulerian representation for the purpose of computation, thanks to the equivalence of the Laplace-Beltrami operator in the two representations. The coupled partial differential equations (PDEs) are solved with an iterative procedure to reach a steady state, which delivers desired solvent-solute interface and electrostatic potential for problems of interest. These quantities are utilized to evaluate the solvation free energies and protein-protein binding affinities. A number of computational methods and algorithms are described for the interconversion of Lagrangian and Eulerian representations, and for the solution of the coupled PDE system. The proposed approaches have been extensively validated. We also verify that the mean curvature flow indeed gives rise to the minimal molecular surface (MMS) and the proposed variational procedure indeed offers minimal total free energy. Solvation analysis and applications are considered for a set of 17 small compounds and a set of 23 proteins. The salt effect on protein-protein binding affinity is investigated with two protein complexes by using the present model. Numerical results are compared to the experimental measurements and to those obtained by using other theoretical methods in the literature. PMID:21279359

Stability of triangular lagrangian points in elliptical restricted three body problem under the radiating binary systems

NASA Astrophysics Data System (ADS)

Narayan, A.; Singh, Nutan

2014-10-01

This paper studies the stability of Triangular Lagrangian points in the model of elliptical restricted three body problem, under the assumption that both the primaries are radiating. The model proposed is applicable to the well known binary systems Achird, Luyten, αCen AB, Kruger-60, Xi-Bootis. Conditional stability of the motion around the triangular points exists for 0≤ μ≤ μ ∗, where μ is the mass ratio. The method of averaging due to Grebenikov has been exploited throughout the analysis of stability of the system. The critical mass ratio depends on the combined effects of radiation of both the primaries and eccentricity of this orbit. It is found by adopting the simulation technique that the range of stability decreases as the radiation pressure parameter increases.

Second order symmetry-preserving conservative Lagrangian scheme for compressible Euler equations in two-dimensional cylindrical coordinates

DOE Office of Scientific and Technical Information (OSTI.GOV)

Cheng, Juan, E-mail: cheng_juan@iapcm.ac.cn; Shu, Chi-Wang, E-mail: shu@dam.brown.edu

In applications such as astrophysics and inertial confinement fusion, there are many three-dimensional cylindrical-symmetric multi-material problems which are usually simulated by Lagrangian schemes in the two-dimensional cylindrical coordinates. For this type of simulation, a critical issue for the schemes is to keep spherical symmetry in the cylindrical coordinate system if the original physical problem has this symmetry. In the past decades, several Lagrangian schemes with such symmetry property have been developed, but all of them are only first order accurate. In this paper, we develop a second order cell-centered Lagrangian scheme for solving compressible Euler equations in cylindrical coordinates, basedmore » on the control volume discretizations, which is designed to have uniformly second order accuracy and capability to preserve one-dimensional spherical symmetry in a two-dimensional cylindrical geometry when computed on an equal-angle-zoned initial grid. The scheme maintains several good properties such as conservation for mass, momentum and total energy, and the geometric conservation law. Several two-dimensional numerical examples in cylindrical coordinates are presented to demonstrate the good performance of the scheme in terms of accuracy, symmetry, non-oscillation and robustness. The advantage of higher order accuracy is demonstrated in these examples.« less

A Symbolic and Graphical Computer Representation of Dynamical Systems

NASA Astrophysics Data System (ADS)

Gould, Laurence I.

2005-04-01

AUTONO is a Macsyma/Maxima program, designed at the University of Hartford, for solving autonomous systems of differential equations as well as for relating Lagrangians and Hamiltonians to their associated dynamical equations. AUTONO can be used in a number of fields to decipher a variety of complex dynamical systems with ease, producing their Lagrangian and Hamiltonian equations in seconds. These equations can then be incorporated into VisSim, a modeling and simulation program, which yields graphical representations of motion in a given system through easily chosen input parameters. The program, along with the VisSim differential-equations graphical package, allows for resolution and easy understanding of complex problems in a relatively short time; thus enabling quicker and more advanced computing of dynamical systems on any number of platforms---from a network of sensors on a space probe, to the behavior of neural networks, to the effects of an electromagnetic field on components in a dynamical system. A flowchart of AUTONO, along with some simple applications and VisSim output, will be shown.

Active-passive vibration absorber of beam-cart-seesaw system with piezoelectric transducers

NASA Astrophysics Data System (ADS)

Lin, J.; Huang, C. J.; Chang, Julian; Wang, S.-W.

2010-09-01

In contrast with fully controllable systems, a super articulated mechanical system (SAMS) is a controlled underactuated mechanical system in which the dimensions of the configuration space exceed the dimensions of the control input space. The objectives of the research are to develop a novel SAMS model which is called beam-cart-seesaw system, and renovate a novel approach for achieving a high performance active-passive piezoelectric vibration absorber for such system. The system consists of two mobile carts, which are coupled via rack and pinion mechanics to two parallel tracks mounted on pneumatic rodless cylinders. One cart carries an elastic beam, and the other cart acts as a counterbalance. One adjustable counterweight mass is also installed underneath the seesaw to serve as a passive damping mechanism to absorb impact and shock energy. The motion and control of a Bernoulli-Euler beam subjected to the modified cart/seesaw system are analyzed first. Moreover, gray relational grade is utilized to investigate the sensitivity of tuning the active proportional-integral-derivative (PID) controller to achieve desired vibration suppression performance. Consequently, it is shown that the active-passive vibration absorber can not only provide passive damping, but can also enhance the active action authority. The proposed software/hardware platform can also be profitable for the standardization of laboratory equipment, as well as for the development of entertainment tools.

Global fast dynamic terminal sliding mode control for a quadrotor UAV.

PubMed

Xiong, Jing-Jing; Zhang, Guo-Bao

2017-01-01

A control method based on global fast dynamic terminal sliding mode control (TSMC) technique is proposed to design the flight controller for performing the finite-time position and attitude tracking control of a small quadrotor UAV. Firstly, the dynamic model of the quadrotor is divided into two subsystems, i.e., a fully actuated subsystem and an underactuated subsystem. Secondly, the dynamic flight controllers of the quadrotor are formulated based on global fast dynamic TSMC, which is able to guarantee that the position and velocity tracking errors of all system state variables converge to zero in finite-time. Moreover, the global fast dynamic TSMC is also able to eliminate the chattering phenomenon caused by the switching control action and realize the high precision performance. In addition, the stabilities of two subsystems are demonstrated by Lyapunov theory, respectively. Lastly, the simulation results are given to illustrate the effectiveness and robustness of the proposed control method in the presence of external disturbances. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

A Chiang-type lagrangian in CP^2

NASA Astrophysics Data System (ADS)

Cannas da Silva, Ana

2018-03-01

We analyse a monotone lagrangian in CP^2 that is hamiltonian isotopic to the standard lagrangian RP^2, yet exhibits a distinguishing behaviour under reduction by one of the toric circle actions, namely it intersects transversally the reduction level set and it projects one-to-one onto a great circle in CP^1. This lagrangian thus provides an example of embedded composition fitting work of Wehrheim-Woodward and Weinstein.

Computing eddy-driven effective diffusivity using Lagrangian particles

DOE PAGES

Wolfram, Phillip J.; Ringler, Todd D.

2017-08-14

A novel method to derive effective diffusivity from Lagrangian particle trajectory data sets is developed and then analyzed relative to particle-derived meridional diffusivity for eddy-driven mixing in an idealized circumpolar current. Quantitative standard dispersion- and transport-based mixing diagnostics are defined, compared and contrasted to motivate the computation and use of effective diffusivity derived from Lagrangian particles. We compute the effective diffusivity by first performing scalar transport on Lagrangian control areas using stored trajectories computed from online Lagrangian In-situ Global High-performance particle Tracking (LIGHT) using the Model for Prediction Across Scales Ocean (MPAS-O). Furthermore, the Lagrangian scalar transport scheme is comparedmore » against an Eulerian scalar transport scheme. Spatially-variable effective diffusivities are computed from resulting time-varying cumulative concentrations that vary as a function of cumulative area. The transport-based Eulerian and Lagrangian effective diffusivity diagnostics are found to be qualitatively consistent with the dispersion-based diffusivity. All diffusivity estimates show a region of increased subsurface diffusivity within the core of an idealized circumpolar current and results are within a factor of two of each other. The Eulerian and Lagrangian effective diffusivities are most similar; smaller and more spatially diffused values are obtained with the dispersion-based diffusivity computed with particle clusters.« less

Computing eddy-driven effective diffusivity using Lagrangian particles

DOE Office of Scientific and Technical Information (OSTI.GOV)

Wolfram, Phillip J.; Ringler, Todd D.

A novel method to derive effective diffusivity from Lagrangian particle trajectory data sets is developed and then analyzed relative to particle-derived meridional diffusivity for eddy-driven mixing in an idealized circumpolar current. Quantitative standard dispersion- and transport-based mixing diagnostics are defined, compared and contrasted to motivate the computation and use of effective diffusivity derived from Lagrangian particles. We compute the effective diffusivity by first performing scalar transport on Lagrangian control areas using stored trajectories computed from online Lagrangian In-situ Global High-performance particle Tracking (LIGHT) using the Model for Prediction Across Scales Ocean (MPAS-O). Furthermore, the Lagrangian scalar transport scheme is comparedmore » against an Eulerian scalar transport scheme. Spatially-variable effective diffusivities are computed from resulting time-varying cumulative concentrations that vary as a function of cumulative area. The transport-based Eulerian and Lagrangian effective diffusivity diagnostics are found to be qualitatively consistent with the dispersion-based diffusivity. All diffusivity estimates show a region of increased subsurface diffusivity within the core of an idealized circumpolar current and results are within a factor of two of each other. The Eulerian and Lagrangian effective diffusivities are most similar; smaller and more spatially diffused values are obtained with the dispersion-based diffusivity computed with particle clusters.« less

Hamiltonian stability for weighted measure and generalized Lagrangian mean curvature flow

NASA Astrophysics Data System (ADS)

Kajigaya, Toru; Kunikawa, Keita

2018-06-01

In this paper, we generalize several results for the Hamiltonian stability and the mean curvature flow of Lagrangian submanifolds in a Kähler-Einstein manifold to more general Kähler manifolds including a Fano manifold equipped with a Kähler form ω ∈ 2 πc1(M) by using the method proposed by Behrndt (2011). Namely, we first consider a weighted measure on a Lagrangian submanifold L in a Kähler manifold M and investigate the variational problem of L for the weighted volume functional. We call a stationary point of the weighted volume functional f-minimal, and define the notion of Hamiltonian f-stability as a local minimizer under Hamiltonian deformations. We show such examples naturally appear in a toric Fano manifold. Moreover, we consider the generalized Lagrangian mean curvature flow in a Fano manifold which is introduced by Behrndt and Smoczyk-Wang. We generalize the result of H. Li, and show that if the initial Lagrangian submanifold is a small Hamiltonian deformation of an f-minimal and Hamiltonian f-stable Lagrangian submanifold, then the generalized MCF converges exponentially fast to an f-minimal Lagrangian submanifold.

Stochastic Lagrangian dynamics for charged flows in the E-F regions of ionosphere

DOE Office of Scientific and Technical Information (OSTI.GOV)

Tang Wenbo; Mahalov, Alex

2013-03-15

We develop a three-dimensional numerical model for the E-F region ionosphere and study the Lagrangian dynamics for plasma flows in this region. Our interest rests on the charge-neutral interactions and the statistics associated with stochastic Lagrangian motion. In particular, we examine the organizing mixing patterns for plasma flows due to polarized gravity wave excitations in the neutral field, using Lagrangian coherent structures (LCS). LCS objectively depict the flow topology-the extracted attractors indicate generation of ionospheric density gradients, due to accumulation of plasma. Using Lagrangian measures such as the finite-time Lyapunov exponents, we locate the Lagrangian skeletons for mixing in plasma,more » hence where charged fronts are expected to appear. With polarized neutral wind, we find that the corresponding plasma velocity is also polarized. Moreover, the polarized velocity alone, coupled with stochastic Lagrangian motion, may give rise to polarized density fronts in plasma. Statistics of these trajectories indicate high level of non-Gaussianity. This includes clear signatures of variance, skewness, and kurtosis of displacements taking polarized structures aligned with the gravity waves, and being anisotropic.« less

An adaptive reconstruction for Lagrangian, direct-forcing, immersed-boundary methods

NASA Astrophysics Data System (ADS)

Posa, Antonio; Vanella, Marcos; Balaras, Elias

2017-12-01

Lagrangian, direct-forcing, immersed boundary (IB) methods have been receiving increased attention due to their robustness in complex fluid-structure interaction problems. They are very sensitive, however, on the selection of the Lagrangian grid, which is typically used to define a solid or flexible body immersed in a fluid flow. In the present work we propose a cost-efficient solution to this problem without compromising accuracy. Central to our approach is the use of isoparametric mapping to bridge the relative resolution requirements of Lagrangian IB, and Eulerian grids. With this approach, the density of surface Lagrangian markers, which is essential to properly enforce boundary conditions, is adapted dynamically based on the characteristics of the underlying Eulerian grid. The markers are not stored and the Lagrangian data-structure is not modified. The proposed scheme is implemented in the framework of a moving least squares reconstruction formulation, but it can be adapted to any Lagrangian, direct-forcing formulation. The accuracy and robustness of the approach is demonstrated in a variety of test cases of increasing complexity.

Adaptive, Distributed Control of Constrained Multi-Agent Systems

NASA Technical Reports Server (NTRS)

Bieniawski, Stefan; Wolpert, David H.

2004-01-01

Product Distribution (PO) theory was recently developed as a broad framework for analyzing and optimizing distributed systems. Here we demonstrate its use for adaptive distributed control of Multi-Agent Systems (MASS), i.e., for distributed stochastic optimization using MAS s. First we review one motivation of PD theory, as the information-theoretic extension of conventional full-rationality game theory to the case of bounded rational agents. In this extension the equilibrium of the game is the optimizer of a Lagrangian of the (Probability dist&&on on the joint state of the agents. When the game in question is a team game with constraints, that equilibrium optimizes the expected value of the team game utility, subject to those constraints. One common way to find that equilibrium is to have each agent run a Reinforcement Learning (E) algorithm. PD theory reveals this to be a particular type of search algorithm for minimizing the Lagrangian. Typically that algorithm i s quite inefficient. A more principled alternative is to use a variant of Newton's method to minimize the Lagrangian. Here we compare this alternative to RL-based search in three sets of computer experiments. These are the N Queen s problem and bin-packing problem from the optimization literature, and the Bar problem from the distributed RL literature. Our results confirm that the PD-theory-based approach outperforms the RL-based scheme in all three domains.

"Lagrangian" for a Non-Lagrangian Field Theory with N=2 Supersymmetry.

PubMed

Gadde, Abhijit; Razamat, Shlomo S; Willett, Brian

2015-10-23

We suggest that at least some of the strongly coupled N=2 quantum field theories in 4D can have a nonconformal N=1 Lagrangian description flowing to them at low energies. In particular, we construct such a description for the N=2 rank one superconformal field theory with E(6) flavor symmetry, for which a Lagrangian description was previously unavailable. We utilize this description to compute several supersymmetric partition functions.

Influence of compressibility on the Lagrangian statistics of vorticity-strain-rate interactions.

PubMed

Danish, Mohammad; Sinha, Sawan Suman; Srinivasan, Balaji

2016-07-01

The objective of this study is to investigate the influence of compressibility on Lagrangian statistics of vorticity and strain-rate interactions. The Lagrangian statistics are extracted from "almost" time-continuous data sets of direct numerical simulations of compressible decaying isotropic turbulence by employing a cubic spline-based Lagrangian particle tracker. We study the influence of compressibility on Lagrangian statistics of alignment in terms of compressibility parameters-turbulent Mach number, normalized dilatation-rate, and flow topology. In comparison to incompressible turbulence, we observe that the presence of compressibility in a flow field weakens the alignment tendency of vorticity toward the largest strain-rate eigenvector. Based on the Lagrangian statistics of alignment conditioned on dilatation and topology, we find that the weakened tendency of alignment observed in compressible turbulence is because of a special group of fluid particles that have an initially negligible dilatation-rate and are associated with stable-focus-stretching topology.

An Eulerian/Lagrangian coupling procedure for three-dimensional vortical flows

NASA Technical Reports Server (NTRS)

Felici, Helene M.; Drela, Mark

1993-01-01

A coupled Eulerian/Lagrangian method is presented for the reduction of numerical diffusion observed in solutions of 3D vortical flows using standard Eulerian finite-volume time-marching procedures. A Lagrangian particle tracking method, added to the Eulerian time-marching procedure, provides a correction of the Eulerian solution. In turn, the Eulerian solution is used to integrate the Lagrangian state-vector along the particles trajectories. While the Eulerian solution ensures the conservation of mass and sets the pressure field, the particle markers describe accurately the convection properties and enhance the vorticity and entropy capturing capabilities of the Eulerian solver. The Eulerian/Lagrangian coupling strategies are discussed and the combined scheme is tested on a constant stagnation pressure flow in a 90 deg bend and on a swirling pipe flow. As the numerical diffusion is reduced when using the Lagrangian correction, a vorticity gradient augmentation is identified as a basic problem of this inviscid calculation.

Experimental and analytical investigation of inertial propulsion mechanisms and motion simulation of rigid multi-body mechanical systems

NASA Astrophysics Data System (ADS)

Almesallmy, Mohammed

Methodologies are developed for dynamic analysis of mechanical systems with emphasis on inertial propulsion systems. This work adopted the Lagrangian methodology. Lagrangian methodology is the most efficient classical computational technique, which we call Equations of Motion Code (EOMC). The EOMC is applied to several simple dynamic mechanical systems for easier understanding of the method and to aid other investigators in developing equations of motion of any dynamic system. In addition, it is applied to a rigid multibody system, such as Thomson IPS [Thomson 1986]. Furthermore, a simple symbolic algorithm is developed using Maple software, which can be used to convert any nonlinear n-order ordinary differential equation (ODE) systems into 1st-order ODE system in ready format to be used in Matlab software. A side issue, but equally important, we have started corresponding with the U.S. Patent office to persuade them that patent applications, claiming gross linear motion based on inertial propulsion systems should be automatically rejected. The precedent is rejection of patent applications involving perpetual motion machines.

Lagrangian particle method for compressible fluid dynamics

NASA Astrophysics Data System (ADS)

Samulyak, Roman; Wang, Xingyu; Chen, Hsin-Chiang

2018-06-01

A new Lagrangian particle method for solving Euler equations for compressible inviscid fluid or gas flows is proposed. Similar to smoothed particle hydrodynamics (SPH), the method represents fluid cells with Lagrangian particles and is suitable for the simulation of complex free surface/multiphase flows. The main contributions of our method, which is different from SPH in all other aspects, are (a) significant improvement of approximation of differential operators based on a polynomial fit via weighted least squares approximation and the convergence of prescribed order, (b) a second-order particle-based algorithm that reduces to the first-order upwind method at local extremal points, providing accuracy and long term stability, and (c) more accurate resolution of entropy discontinuities and states at free interfaces. While the method is consistent and convergent to a prescribed order, the conservation of momentum and energy is not exact and depends on the convergence order. The method is generalizable to coupled hyperbolic-elliptic systems. Numerical verification tests demonstrating the convergence order are presented as well as examples of complex multiphase flows.

Next Generation Extended Lagrangian Quantum-based Molecular Dynamics

NASA Astrophysics Data System (ADS)

Negre, Christian

2017-06-01

A new framework for extended Lagrangian first-principles molecular dynamics simulations is presented, which overcomes shortcomings of regular, direct Born-Oppenheimer molecular dynamics, while maintaining important advantages of the unified extended Lagrangian formulation of density functional theory pioneered by Car and Parrinello three decades ago. The new framework allows, for the first time, energy conserving, linear-scaling Born-Oppenheimer molecular dynamics simulations, which is necessary to study larger and more realistic systems over longer simulation times than previously possible. Expensive, self-consinstent-field optimizations are avoided and normal integration time steps of regular, direct Born-Oppenheimer molecular dynamics can be used. Linear scaling electronic structure theory is presented using a graph-based approach that is ideal for parallel calculations on hybrid computer platforms. For the first time, quantum based Born-Oppenheimer molecular dynamics simulation is becoming a practically feasible approach in simulations of +100,000 atoms-representing a competitive alternative to classical polarizable force field methods. In collaboration with: Anders Niklasson, Los Alamos National Laboratory.

Impact of data assimilation on ocean current forecasts in the Angola Basin

NASA Astrophysics Data System (ADS)

Phillipson, Luke; Toumi, Ralf

2017-06-01

The ocean current predictability in the data limited Angola Basin was investigated using the Regional Ocean Modelling System (ROMS) with four-dimensional variational data assimilation. Six experiments were undertaken comprising a baseline case of the assimilation of salinity/temperature profiles and satellite sea surface temperature, with the subsequent addition of altimetry, OSCAR (satellite-derived sea surface currents), drifters, altimetry and drifters combined, and OSCAR and drifters combined. The addition of drifters significantly improves Lagrangian predictability in comparison to the baseline case as well as the addition of either altimetry or OSCAR. OSCAR assimilation only improves Lagrangian predictability as much as altimetry assimilation. On average the assimilation of either altimetry or OSCAR with drifter velocities does not significantly improve Lagrangian predictability compared to the drifter assimilation alone, even degrading predictability in some cases. When the forecast current speed is large, it is more likely that the combination improves trajectory forecasts. Conversely, when the currents are weaker, it is more likely that the combination degrades the trajectory forecast.

Parallel implementation of a Lagrangian-based model on an adaptive mesh in C++: Application to sea-ice

NASA Astrophysics Data System (ADS)

Samaké, Abdoulaye; Rampal, Pierre; Bouillon, Sylvain; Ólason, Einar

2017-12-01

We present a parallel implementation framework for a new dynamic/thermodynamic sea-ice model, called neXtSIM, based on the Elasto-Brittle rheology and using an adaptive mesh. The spatial discretisation of the model is done using the finite-element method. The temporal discretisation is semi-implicit and the advection is achieved using either a pure Lagrangian scheme or an Arbitrary Lagrangian Eulerian scheme (ALE). The parallel implementation presented here focuses on the distributed-memory approach using the message-passing library MPI. The efficiency and the scalability of the parallel algorithms are illustrated by the numerical experiments performed using up to 500 processor cores of a cluster computing system. The performance obtained by the proposed parallel implementation of the neXtSIM code is shown being sufficient to perform simulations for state-of-the-art sea ice forecasting and geophysical process studies over geographical domain of several millions squared kilometers like the Arctic region.

Eulerian-Lagrangian Simulations of Transonic Flutter Instabilities

NASA Technical Reports Server (NTRS)

Bendiksen, Oddvar O.

1994-01-01

This paper presents an overview of recent applications of Eulerian-Lagrangian computational schemes in simulating transonic flutter instabilities. This approach, the fluid-structure system is treated as a single continuum dynamics problem, by switching from an Eulerian to a Lagrangian formulation at the fluid-structure boundary. This computational approach effectively eliminates the phase integration errors associated with previous methods, where the fluid and structure are integrated sequentially using different schemes. The formulation is based on Hamilton's Principle in mixed coordinates, and both finite volume and finite element discretization schemes are considered. Results from numerical simulations of transonic flutter instabilities are presented for isolated wings, thin panels, and turbomachinery blades. The results suggest that the method is capable of reproducing the energy exchange between the fluid and the structure with significantly less error than existing methods. Localized flutter modes and panel flutter modes involving traveling waves can also be simulated effectively with no a priori knowledge of the type of instability involved.

Modelling the propagation of smoke from a tanker fire in a built-up area.

PubMed

Brzozowska, Lucyna

2014-02-15

The paper presents the application of a Lagrangian particle model to problems connected with safety in road transport. Numerical simulations were performed for a hypothetical case of smoke emission from a tanker fire in a built-up area. Propagation of smoke was analysed for three wind directions. A diagnostic model was used to determine the air velocity field, whereas the dispersion of pollutants was analysed by means of a Lagrangian particle model (Brzozowska, 2013). The Idrisi Andes geographic information system was used to provide data on landforms and on their aerodynamic roughness. The presented results of computations and their analysis exemplify a possible application of the Lagrangian particle model: evaluation of mean (averaged over time) concentrations of pollutants and their distribution in the considered area (especially important due to the protection of people, animals and plants) and simulation of the propagation of harmful compounds in time as well as performing computations for cases of the potential effects of road incidents. Copyright © 2013 Elsevier B.V. All rights reserved.

A Lagrangian subgrid-scale model with dynamic estimation of Lagrangian time scale for large eddy simulation of complex flows

NASA Astrophysics Data System (ADS)

Verma, Aman; Mahesh, Krishnan

2012-08-01

The dynamic Lagrangian averaging approach for the dynamic Smagorinsky model for large eddy simulation is extended to an unstructured grid framework and applied to complex flows. The Lagrangian time scale is dynamically computed from the solution and does not need any adjustable parameter. The time scale used in the standard Lagrangian model contains an adjustable parameter θ. The dynamic time scale is computed based on a "surrogate-correlation" of the Germano-identity error (GIE). Also, a simple material derivative relation is used to approximate GIE at different events along a pathline instead of Lagrangian tracking or multi-linear interpolation. Previously, the time scale for homogeneous flows was computed by averaging along directions of homogeneity. The present work proposes modifications for inhomogeneous flows. This development allows the Lagrangian averaged dynamic model to be applied to inhomogeneous flows without any adjustable parameter. The proposed model is applied to LES of turbulent channel flow on unstructured zonal grids at various Reynolds numbers. Improvement is observed when compared to other averaging procedures for the dynamic Smagorinsky model, especially at coarse resolutions. The model is also applied to flow over a cylinder at two Reynolds numbers and good agreement with previous computations and experiments is obtained. Noticeable improvement is obtained using the proposed model over the standard Lagrangian model. The improvement is attributed to a physically consistent Lagrangian time scale. The model also shows good performance when applied to flow past a marine propeller in an off-design condition; it regularizes the eddy viscosity and adjusts locally to the dominant flow features.

Subsea Cable Tracking by Autonomous Underwater Vehicle with Magnetic Sensing Guidance.

PubMed

Xiang, Xianbo; Yu, Caoyang; Niu, Zemin; Zhang, Qin

2016-08-20

The changes of the seabed environment caused by a natural disaster or human activities dramatically affect the life span of the subsea buried cable. It is essential to track the cable route in order to inspect the condition of the buried cable and protect its surviving seabed environment. The magnetic sensor is instrumental in guiding the remotely-operated vehicle (ROV) to track and inspect the buried cable underseas. In this paper, a novel framework integrating the underwater cable localization method with the magnetic guidance and control algorithm is proposed, in order to enable the automatic cable tracking by a three-degrees-of-freedom (3-DOF) under-actuated autonomous underwater vehicle (AUV) without human beings in the loop. The work relies on the passive magnetic sensing method to localize the subsea cable by using two tri-axial magnetometers, and a new analytic formulation is presented to compute the heading deviation, horizontal offset and buried depth of the cable. With the magnetic localization, the cable tracking and inspection mission is elaborately constructed as a straight-line path following control problem in the horizontal plane. A dedicated magnetic line-of-sight (LOS) guidance is built based on the relative geometric relationship between the vehicle and the cable, and the feedback linearizing technique is adopted to design a simplified cable tracking controller considering the side-slip effects, such that the under-actuated vehicle is able to move towards the subsea cable and then inspect its buried environment, which further guides the environmental protection of the cable by setting prohibited fishing/anchoring zones and increasing the buried depth. Finally, numerical simulation results show the effectiveness of the proposed magnetic guidance and control algorithm on the envisioned subsea cable tracking and the potential protection of the seabed environment along the cable route.

Subsea Cable Tracking by Autonomous Underwater Vehicle with Magnetic Sensing Guidance

PubMed Central

Xiang, Xianbo; Yu, Caoyang; Niu, Zemin; Zhang, Qin

2016-01-01

The changes of the seabed environment caused by a natural disaster or human activities dramatically affect the life span of the subsea buried cable. It is essential to track the cable route in order to inspect the condition of the buried cable and protect its surviving seabed environment. The magnetic sensor is instrumental in guiding the remotely-operated vehicle (ROV) to track and inspect the buried cable underseas. In this paper, a novel framework integrating the underwater cable localization method with the magnetic guidance and control algorithm is proposed, in order to enable the automatic cable tracking by a three-degrees-of-freedom (3-DOF) under-actuated autonomous underwater vehicle (AUV) without human beings in the loop. The work relies on the passive magnetic sensing method to localize the subsea cable by using two tri-axial magnetometers, and a new analytic formulation is presented to compute the heading deviation, horizontal offset and buried depth of the cable. With the magnetic localization, the cable tracking and inspection mission is elaborately constructed as a straight-line path following control problem in the horizontal plane. A dedicated magnetic line-of-sight (LOS) guidance is built based on the relative geometric relationship between the vehicle and the cable, and the feedback linearizing technique is adopted to design a simplified cable tracking controller considering the side-slip effects, such that the under-actuated vehicle is able to move towards the subsea cable and then inspect its buried environment, which further guides the environmental protection of the cable by setting prohibited fishing/anchoring zones and increasing the buried depth. Finally, numerical simulation results show the effectiveness of the proposed magnetic guidance and control algorithm on the envisioned subsea cable tracking and the potential protection of the seabed environment along the cable route. PMID:27556465

A unifying framework for ghost-free Lorentz-invariant Lagrangian field theories

NASA Astrophysics Data System (ADS)

Li, Wenliang

2018-04-01

We propose a framework for Lorentz-invariant Lagrangian field theories where Ostrogradsky's scalar ghosts could be absent. A key ingredient is the generalized Kronecker delta. The general Lagrangians are reformulated in the language of differential forms. The absence of higher order equations of motion for the scalar modes stems from the basic fact that every exact form is closed. The well-established Lagrangian theories for spin-0, spin-1, p-form, spin-2 fields have natural formulations in this framework. We also propose novel building blocks for Lagrangian field theories. Some of them are novel nonlinear derivative terms for spin-2 fields. It is nontrivial that Ostrogradsky's scalar ghosts are absent in these fully nonlinear theories.

Topological characteristics underpin intermittency and anomalous transport behavior in soil-like porous media

NASA Astrophysics Data System (ADS)

Holzner, M.; Morales, V.; Willmann, M.; Jerjen, I.; Kaufmann, R.; Dentz, M.

2016-12-01

Continuum models of porous media are based on the validity of the Darcy equation for fluid and Fick's law for scalar fluxes on a representative elementary volume. Fluctuations of pore-scale flow and scalar transport are averaged out and represented in terms of effective parameters such as hydrodynamic dispersion. However, the intermittent behavior of pore-scale flow impacts on the nature of particle and scalar transport, and it determines the way dissolved substances mix and react. The understanding of the origin of these processes is of both fundamental and practical importance in applications ranging from reactive transport in groundwater flow to diffusion in fuel cells or biological systems. A central issue in porous medium flow is therefore to relate intermittent behavior of Lagrangian velocity at pore scale imposed by the complex pore network geometry to transport properties at larger scales. Lagrangian measurements in porous systems are nonetheless scarce and most experimental techniques do not provide access to all three velocity components. In this contribution we report 3D measurements of Lagrangian velocity in soil-like porous media. We complement these measurements with detailed X-ray scans of the pore network. We find sharp velocity transitions close to pore throats, and low flow variability in the pore bodies, which gives rise to stretched exponential Lagrangian velocity and acceleration distributions characterized by a sharp peak at low velocity and a superlinear evolution of particle dispersion. We demonstrate that porosity and pore size distribution alone cannot explain the observed features of the flow. Rather, anomalous transport is better interpreted in terms of how pores of various geometries are interconnected. We reproduce the main observations using a continuous-time random walk (CTRW) model revealing the main features that control the system and showing the potential of this simple model to capture transport in complex geometries.

Lagrangian Observations and Modeling of Marine Larvae

NASA Astrophysics Data System (ADS)

Paris, Claire B.; Irisson, Jean-Olivier

2017-04-01

Just within the past two decades, studies on the early-life history stages of marine organisms have led to new paradigms in population dynamics. Unlike passive plant seeds that are transported by the wind or by animals, marine larvae have motor and sensory capabilities. As a result, marine larvae have a tremendous capacity to actively influence their dispersal. This is continuously revealed as we develop new techniques to observe larvae in their natural environment and begin to understand their ability to detect cues throughout ontogeny, process the information, and use it to ride ocean currents and navigate their way back home, or to a place like home. We present innovative in situ and numerical modeling approaches developed to understand the underlying mechanisms of larval transport in the ocean. We describe a novel concept of a Lagrangian platform, the Drifting In Situ Chamber (DISC), designed to observe and quantify complex larval behaviors and their interactions with the pelagic environment. We give a brief history of larval ecology research with the DISC, showing that swimming is directional in most species, guided by cues as diverse as the position of the sun or the underwater soundscape, and even that (unlike humans!) larvae orient better and swim faster when moving as a group. The observed Lagrangian behavior of individual larvae are directly implemented in the Connectivity Modeling System (CMS), an open source Lagrangian tracking application. Simulations help demonstrate the impact that larval behavior has compared to passive Lagrangian trajectories. These methodologies are already the base of exciting findings and are promising tools for documenting and simulating the behavior of other small pelagic organisms, forecasting their migration in a changing ocean.

Clouding tracing: Visualization of the mixing of fluid elements in convection-diffusion systems

NASA Technical Reports Server (NTRS)

Ma, Kwan-Liu; Smith, Philip J.

1993-01-01

This paper describes a highly interactive method for computer visualization of the basic physical process of dispersion and mixing of fluid elements in convection-diffusion systems. It is based on transforming the vector field from a traditionally Eulerian reference frame into a Lagrangian reference frame. Fluid elements are traced through the vector field for the mean path as well as the statistical dispersion of the fluid elements about the mean position by using added scalar information about the root mean square value of the vector field and its Lagrangian time scale. In this way, clouds of fluid elements are traced and are not just mean paths. We have used this method to visualize the simulation of an industrial incinerator to help identify mechanisms for poor mixing.

On the Lagrangian description of dissipative systems

NASA Astrophysics Data System (ADS)

Martínez-Pérez, N. E.; Ramírez, C.

2018-03-01

We consider the Lagrangian formulation with duplicated variables of dissipative mechanical systems. The application of Noether theorem leads to physical observable quantities which are not conserved, like energy and angular momentum, and conserved quantities, like the Hamiltonian, that generate symmetry transformations and do not correspond to observables. We show that there are simple relations among the equations satisfied by these two types of quantities. In the case of the damped harmonic oscillator, from the quantities obtained by the Noether theorem follows the algebra of Feshbach and Tikochinsky. Furthermore, if we consider the whole dynamics, the degrees of freedom separate into a physical and an unphysical sector. We analyze several cases, with linear and nonlinear dissipative forces; the physical consistency of the solutions is ensured, observing that the unphysical sector has always the trivial solution.

Scalar curvature of Lagrangian Riemannian submersions and their harmonicity

NASA Astrophysics Data System (ADS)

Eken Meri˙ç, Şemsi; Kiliç, Erol; Sağiroğlu, Yasemi˙n

In this paper, we consider a Lagrangian Riemannian submersion from a Hermitian manifold to a Riemannian manifold and establish some basic inequalities to obtain relationships between the intrinsic and extrinsic invariants for such a submersion. Indeed, using these inequalities, we provide necessary and sufficient conditions for which a Lagrangian Riemannian submersion π has totally geodesic or totally umbilical fibers. Moreover, we study the harmonicity of Lagrangian Riemannian submersions and obtain a characterization for such submersions to be harmonic.

A field theory approach to the evolution of canonical helicity and energy

DOE Office of Scientific and Technical Information (OSTI.GOV)

You, S.

A redefinition of the Lagrangian of a multi-particle system in fields reformulates the single-particle, kinetic, and fluid equations governing fluid and plasma dynamics as a single set of generalized Maxwell's equations and Ohm's law for canonical force-fields. The Lagrangian includes new terms representing the coupling between the motion of particle distributions, between distributions and electromagnetic fields, with relativistic contributions. The formulation shows that the concepts of self-organization and canonical helicity transport are applicable across single-particle, kinetic, and fluid regimes, at classical and relativistic scales. The theory gives the basis for comparing canonical helicity change to energy change in general systems.more » For example, in a fixed, isolated system subject to non-conservative forces, a species' canonical helicity changes less than total energy only if gradients in density or distribution function are shallow.« less

A Lagrangian meshfree method applied to linear and nonlinear elasticity.

PubMed

Walker, Wade A

2017-01-01

The repeated replacement method (RRM) is a Lagrangian meshfree method which we have previously applied to the Euler equations for compressible fluid flow. In this paper we present new enhancements to RRM, and we apply the enhanced method to both linear and nonlinear elasticity. We compare the results of ten test problems to those of analytic solvers, to demonstrate that RRM can successfully simulate these elastic systems without many of the requirements of traditional numerical methods such as numerical derivatives, equation system solvers, or Riemann solvers. We also show the relationship between error and computational effort for RRM on these systems, and compare RRM to other methods to highlight its strengths and weaknesses. And to further explain the two elastic equations used in the paper, we demonstrate the mathematical procedure used to create Riemann and Sedov-Taylor solvers for them, and detail the numerical techniques needed to embody those solvers in code.

A Lagrangian meshfree method applied to linear and nonlinear elasticity

PubMed Central

2017-01-01

The repeated replacement method (RRM) is a Lagrangian meshfree method which we have previously applied to the Euler equations for compressible fluid flow. In this paper we present new enhancements to RRM, and we apply the enhanced method to both linear and nonlinear elasticity. We compare the results of ten test problems to those of analytic solvers, to demonstrate that RRM can successfully simulate these elastic systems without many of the requirements of traditional numerical methods such as numerical derivatives, equation system solvers, or Riemann solvers. We also show the relationship between error and computational effort for RRM on these systems, and compare RRM to other methods to highlight its strengths and weaknesses. And to further explain the two elastic equations used in the paper, we demonstrate the mathematical procedure used to create Riemann and Sedov-Taylor solvers for them, and detail the numerical techniques needed to embody those solvers in code. PMID:29045443

Comparison of updated Lagrangian FEM with arbitrary Lagrangian Eulerian method for 3D thermo-mechanical extrusion of a tube profile

NASA Astrophysics Data System (ADS)

Kronsteiner, J.; Horwatitsch, D.; Zeman, K.

2017-10-01

Thermo-mechanical numerical modelling and simulation of extrusion processes faces several serious challenges. Large plastic deformations in combination with a strong coupling of thermal with mechanical effects leads to a high numerical demand for the solution as well as for the handling of mesh distortions. The two numerical methods presented in this paper also reflect two different ways to deal with mesh distortions. Lagrangian Finite Element Methods (FEM) tackle distorted elements by building a new mesh (called re-meshing) whereas Arbitrary Lagrangian Eulerian (ALE) methods use an "advection" step to remap the solution from the distorted to the undistorted mesh. Another difference between conventional Lagrangian and ALE methods is the separate treatment of material and mesh in ALE, allowing the definition of individual velocity fields. In theory, an ALE formulation contains the Eulerian formulation as a subset to the Lagrangian description of the material. The investigations presented in this paper were dealing with the direct extrusion of a tube profile using EN-AW 6082 aluminum alloy and a comparison of experimental with Lagrangian and ALE results. The numerical simulations cover the billet upsetting and last until one third of the billet length is extruded. A good qualitative correlation of experimental and numerical results could be found, however, major differences between Lagrangian and ALE methods concerning thermo-mechanical coupling lead to deviations in the thermal results.

Dispersion upscaling from a pore scale characterization of Lagrangian velocities

NASA Astrophysics Data System (ADS)

Turuban, Régis; de Anna, Pietro; Jiménez-Martínez, Joaquín; Tabuteau, Hervé; Méheust, Yves; Le Borgne, Tanguy

2013-04-01

Mixing and reactive transport are primarily controlled by the interplay between diffusion, advection and reaction at pore scale. Yet, how the distribution and spatial correlation of the velocity field at pore scale impact these processes is still an open question. Here we present an experimental investigation of the distribution and correlation of pore scale velocities and its relation with upscaled dispersion. We use a quasi two-dimensional (2D) horizontal set up, consisting of two glass plates filled with cylinders representing the grains of the porous medium : the cell is built by soft lithography technique, wich allows for full control of the system geometry. The local velocity field is quantified from particle tracking velocimetry using microspheres that are advected with the pore scale flow. Their displacement is purely advective, as the particle size is chosen large enough to avoid diffusion. We thus obtain particle trajectories as well as lagrangian velocities in the entire system. The measured velocity field shows the existence of a network of preferential flow paths in channels with high velocities, as well as very low velocity in stagnation zones, with a non Gaussian distribution. Lagrangian velocities are long range correlated in time, which implies a non-fickian scaling of the longitudinal variance of particle positions. To upscale this process we develop an effective transport model, based on correlated continous time random walk, which is entirely parametrized by the pore scale velocity distribution and correlation. The model predictions are compared with conservative tracer test data for different Peclet numbers. Furthermore, we investigate the impact of different pore geometries on the distribution and correlation of Lagrangian velocities and we discuss the link between these properties and the effective dispersion behavior.

Identification and Lagrangian analysis of oceanographic structures favorable for fishery of neon flying squid ( Ommastrephes bartramii) in the South Kuril area

NASA Astrophysics Data System (ADS)

Budyansky, M. V.; Prants, S. V.; Samko, E. V.; Uleysky, M. Yu.

2017-09-01

Based on the AVISO velocity field, we compute daily synoptic Lagrangian maps in the South Kuril area for the fishery seasons of 1998, 1999, and 2001-2005 from available catching data on neon flying squid (NFS). With the help of drift maps for artificial particles, we found that the majority of NFS fishing grounds featuring maximum catches are situated near large-scale Lagrangian intrusions: tongues of water penetrating the surrounding water of other Lagrangian properties. It is shown that the NFS catch locations tend to accumulate at places where waters with different magnitudes of certain Lagrangian indicators converge, mix, and produce filaments, swirls, and tendrils typical of chaotic advection. Potential NFS fishing grounds are mainly located near (1) Lagrangian intrusions of the Subarctic front, (2) intrusions of Okhotsk Sea and Oyashio waters around mesoscale anticyclones east of Hokkaido with subsequent penetration of catch locations inside eddies and (3) intrusions of subtropical waters into the central part of the South Kuril area due to interaction with eddies of different size and polarity. Possible reasons for increased biological production and fishery in the vicinity of Lagrangian intrusions are discussed.

Coherent Lagrangian swirls among submesoscale motions.

PubMed

Beron-Vera, F J; Hadjighasem, A; Xia, Q; Olascoaga, M J; Haller, G

2018-03-05

The emergence of coherent Lagrangian swirls (CLSs) among submesoscale motions in the ocean is illustrated. This is done by applying recent nonlinear dynamics tools for Lagrangian coherence detection on a surface flow realization produced by a data-assimilative submesoscale-permitting ocean general circulation model simulation of the Gulf of Mexico. Both mesoscale and submesoscale CLSs are extracted. These extractions prove the relevance of coherent Lagrangian eddies detected in satellite-altimetry-based geostrophic flow data for the arguably more realistic ageostrophic multiscale flow.

Lagrangian averaging with geodesic mean

NASA Astrophysics Data System (ADS)

Oliver, Marcel

2017-11-01

This paper revisits the derivation of the Lagrangian averaged Euler (LAE), or Euler-α equations in the light of an intrinsic definition of the averaged flow map as the geodesic mean on the volume-preserving diffeomorphism group. Under the additional assumption that first-order fluctuations are statistically isotropic and transported by the mean flow as a vector field, averaging of the kinetic energy Lagrangian of an ideal fluid yields the LAE Lagrangian. The derivation presented here assumes a Euclidean spatial domain without boundaries.

Lagrangian averaging with geodesic mean.

PubMed

Oliver, Marcel

2017-11-01

This paper revisits the derivation of the Lagrangian averaged Euler (LAE), or Euler- α equations in the light of an intrinsic definition of the averaged flow map as the geodesic mean on the volume-preserving diffeomorphism group. Under the additional assumption that first-order fluctuations are statistically isotropic and transported by the mean flow as a vector field, averaging of the kinetic energy Lagrangian of an ideal fluid yields the LAE Lagrangian. The derivation presented here assumes a Euclidean spatial domain without boundaries.

Structure of sheared and rotating turbulence: Multiscale statistics of Lagrangian and Eulerian accelerations and passive scalar dynamics.

PubMed

Jacobitz, Frank G; Schneider, Kai; Bos, Wouter J T; Farge, Marie

2016-01-01

The acceleration statistics of sheared and rotating homogeneous turbulence are studied using direct numerical simulation results. The statistical properties of Lagrangian and Eulerian accelerations are considered together with the influence of the rotation to shear ratio, as well as the scale dependence of their statistics. The probability density functions (pdfs) of both Lagrangian and Eulerian accelerations show a strong and similar dependence on the rotation to shear ratio. The variance and flatness of both accelerations are analyzed and the extreme values of the Eulerian acceleration are observed to be above those of the Lagrangian acceleration. For strong rotation it is observed that flatness yields values close to three, corresponding to Gaussian-like behavior, and for moderate and vanishing rotation the flatness increases. Furthermore, the Lagrangian and Eulerian accelerations are shown to be strongly correlated for strong rotation due to a reduced nonlinear term in this case. A wavelet-based scale-dependent analysis shows that the flatness of both Eulerian and Lagrangian accelerations increases as scale decreases, which provides evidence for intermittent behavior. For strong rotation the Eulerian acceleration is even more intermittent than the Lagrangian acceleration, while the opposite result is obtained for moderate rotation. Moreover, the dynamics of a passive scalar with gradient production in the direction of the mean velocity gradient is analyzed and the influence of the rotation to shear ratio is studied. Concerning the concentration of a passive scalar spread by the flow, the pdf of its Eulerian time rate of change presents higher extreme values than those of its Lagrangian time rate of change. This suggests that the Eulerian time rate of change of scalar concentration is mainly due to advection, while its Lagrangian counterpart is only due to gradient production and viscous dissipation.

The Global Drifter Program Currents, Sea Surface Temperature, Atmospheric Pressure and Waves in the World's OceanThe Global Drifter Program Currents, Sea Surface Temperature, Atmospheric Pressure and Waves in the World's Ocean

NASA Astrophysics Data System (ADS)

Centurioni, Luca

2017-04-01

The Global Drifter Program is the principal component of the Global Surface Drifting Buoy Array, a branch of NOAA's Global Ocean Observing System and a scientific project of the Data Buoy Cooperation Panel (DBCP). The DBCP is an international program coordinating the use of autonomous data buoys to observe atmospheric and oceanographic conditions over ocean areas where few other measurements are taken. The Global Drifter Program maintains an array of over 1,250 Lagrangian drifters, reporting in near real-time and designed measure 15 m depth Lagrangian currents, sea surface temperature (SST) and sea level atmospheric pressure (SLP), among others, to fulfill the needs to observe the air-sea interface at temporal and spatial scales adequate to support short to medium-range weather forecasting, ocean state estimates and climate science. This overview talk will discuss the main achievements of the program, the main impacts for satellite SST calibration and validation, for numerical weather prediction, and it will review the main scientific findings based on the use of Lagrangian currents. Finally, we will present new developments in Lagrangian drifter technology, which include special drifters designed to measure sea surface salinity, wind and directional wave spectra. New opportunities for expanding the scope of the Global Drifter Program will be discussed.

Arctic sea-ice diffusion from observed and simulated Lagrangian trajectories

NASA Astrophysics Data System (ADS)

Rampal, Pierre; Bouillon, Sylvain; Bergh, Jon; Ólason, Einar

2016-07-01

We characterize sea-ice drift by applying a Lagrangian diffusion analysis to buoy trajectories from the International Arctic Buoy Programme (IABP) dataset and from two different models: the standalone Lagrangian sea-ice model neXtSIM and the Eulerian coupled ice-ocean model used for the TOPAZ reanalysis. By applying the diffusion analysis to the IABP buoy trajectories over the period 1979-2011, we confirm that sea-ice diffusion follows two distinct regimes (ballistic and Brownian) and we provide accurate values for the diffusivity and integral timescale that could be used in Eulerian or Lagrangian passive tracers models to simulate the transport and diffusion of particles moving with the ice. We discuss how these values are linked to the evolution of the fluctuating displacements variance and how this information could be used to define the size of the search area around the position predicted by the mean drift. By comparing observed and simulated sea-ice trajectories for three consecutive winter seasons (2007-2011), we show how the characteristics of the simulated motion may differ from or agree well with observations. This comparison illustrates the usefulness of first applying a diffusion analysis to evaluate the output of modeling systems that include a sea-ice model before using these in, e.g., oil spill trajectory models or, more generally, to simulate the transport of passive tracers in sea ice.

High performance computing aspects of a dimension independent semi-Lagrangian discontinuous Galerkin code

NASA Astrophysics Data System (ADS)

Einkemmer, Lukas

2016-05-01

The recently developed semi-Lagrangian discontinuous Galerkin approach is used to discretize hyperbolic partial differential equations (usually first order equations). Since these methods are conservative, local in space, and able to limit numerical diffusion, they are considered a promising alternative to more traditional semi-Lagrangian schemes (which are usually based on polynomial or spline interpolation). In this paper, we consider a parallel implementation of a semi-Lagrangian discontinuous Galerkin method for distributed memory systems (so-called clusters). Both strong and weak scaling studies are performed on the Vienna Scientific Cluster 2 (VSC-2). In the case of weak scaling we observe a parallel efficiency above 0.8 for both two and four dimensional problems and up to 8192 cores. Strong scaling results show good scalability to at least 512 cores (we consider problems that can be run on a single processor in reasonable time). In addition, we study the scaling of a two dimensional Vlasov-Poisson solver that is implemented using the framework provided. All of the simulations are conducted in the context of worst case communication overhead; i.e., in a setting where the CFL (Courant-Friedrichs-Lewy) number increases linearly with the problem size. The framework introduced in this paper facilitates a dimension independent implementation of scientific codes (based on C++ templates) using both an MPI and a hybrid approach to parallelization. We describe the essential ingredients of our implementation.

Eulerian-Lagrangian numerical scheme for simulating advection, dispersion, and transient storage in streams and a comparison of numerical methods

USGS Publications Warehouse

Cox, T.J.; Runkel, R.L.

2008-01-01

Past applications of one-dimensional advection, dispersion, and transient storage zone models have almost exclusively relied on a central differencing, Eulerian numerical approximation to the nonconservative form of the fundamental equation. However, there are scenarios where this approach generates unacceptable error. A new numerical scheme for this type of modeling is presented here that is based on tracking Lagrangian control volumes across a fixed (Eulerian) grid. Numerical tests are used to provide a direct comparison of the new scheme versus nonconservative Eulerian numerical methods, in terms of both accuracy and mass conservation. Key characteristics of systems for which the Lagrangian scheme performs better than the Eulerian scheme include: nonuniform flow fields, steep gradient plume fronts, and pulse and steady point source loadings in advection-dominated systems. A new analytical derivation is presented that provides insight into the loss of mass conservation in the nonconservative Eulerian scheme. This derivation shows that loss of mass conservation in the vicinity of spatial flow changes is directly proportional to the lateral inflow rate and the change in stream concentration due to the inflow. While the nonconservative Eulerian scheme has clearly worked well for past published applications, it is important for users to be aware of the scheme's limitations. ?? 2008 ASCE.

Applying Boundary Conditions Using a Time-Dependent Lagrangian for Modeling Laser-Plasma Interactions

NASA Astrophysics Data System (ADS)

Reyes, Jonathan; Shadwick, B. A.

2016-10-01

Modeling the evolution of a short, intense laser pulse propagating through an underdense plasma is of particular interest in the physics of laser-plasma interactions. Numerical models are typically created by first discretizing the equations of motion and then imposing boundary conditions. Using the variational principle of Chen and Sudan, we spatially discretize the Lagrangian density to obtain discrete equations of motion and a discrete energy conservation law which is exactly satisfied regardless of the spatial grid resolution. Modifying the derived equations of motion (e.g., enforcing boundary conditions) generally ruins energy conservation. However, time-dependent terms can be added to the Lagrangian which force the equations of motion to have the desired boundary conditions. Although some foresight is needed to choose these time-dependent terms, this approach provides a mechanism for energy to exit the closed system while allowing the conservation law to account for the loss. An appropriate time discretization scheme is selected based on stability analysis and resolution requirements. We present results using this variational approach in a co-moving coordinate system and compare such results to those using traditional second-order methods. This work was supported by the U. S. Department of Energy under Contract No. DE-SC0008382 and by the National Science Foundation under Contract No. PHY- 1104683.

Reduction of numerical diffusion in three-dimensional vortical flows using a coupled Eulerian/Lagrangian solution procedure

NASA Technical Reports Server (NTRS)

Felici, Helene M.; Drela, Mark

1993-01-01

A new approach based on the coupling of an Eulerian and a Lagrangian solver, aimed at reducing the numerical diffusion errors of standard Eulerian time-marching finite-volume solvers, is presented. The approach is applied to the computation of the secondary flow in two bent pipes and the flow around a 3D wing. Using convective point markers the Lagrangian approach provides a correction of the basic Eulerian solution. The Eulerian flow in turn integrates in time the Lagrangian state-vector. A comparison of coarse and fine grid Eulerian solutions makes it possible to identify numerical diffusion. It is shown that the Eulerian/Lagrangian approach is an effective method for reducing numerical diffusion errors.

A new method to calibrate Lagrangian model with ASAR images for oil slick trajectory.

PubMed

Tian, Siyu; Huang, Xiaoxia; Li, Hongga

2017-03-15

Since Lagrangian model coefficients vary with different conditions, it is necessary to calibrate the model to obtain optimal coefficient combination for special oil spill accident. This paper focuses on proposing a new method to calibrate Lagrangian model with time series of Envisat ASAR images. Oil slicks extracted from time series images form a detected trajectory of special oil slick. Lagrangian model is calibrated by minimizing the difference between simulated trajectory and detected trajectory. mean center position distance difference (MCPD) and rotation difference (RD) of Oil slicks' or particles' standard deviational ellipses (SDEs) are calculated as two evaluations. The two parameters are taken to evaluate the performance of Lagrangian transport model with different coefficient combinations. This method is applied to Penglai 19-3 oil spill accident. The simulation result with calibrated model agrees well with related satellite observations. It is suggested the new method is effective to calibrate Lagrangian model. Copyright © 2016 Elsevier Ltd. All rights reserved.

Exorcising the Ostrogradsky ghost in coupled systems

NASA Astrophysics Data System (ADS)

Klein, Remko; Roest, Diederik

2016-07-01

The Ostrogradsky theorem implies that higher-derivative terms of a single mechanical variable are either trivial or lead to additional, ghost-like degrees of freedom. In this letter we systematically investigate how the introduction of additional variables can remedy this situation. Employing a Lagrangian analysis, we identify conditions on the La-grangian to ensure the existence of primary and secondary constraints that together imply the absence of Ostrogradsky ghosts. We also show the implications of these conditions for the structure of the equations of motion as well as possible redefinitions of the variables. We discuss applications to analogous higher-derivative field theories such as multi-Galileons and beyond Horndeski.

Meson properties in magnetized quark matter

NASA Astrophysics Data System (ADS)

Wang, Ziyue; Zhuang, Pengfei

2018-02-01

We study neutral and charged meson properties in the magnetic field. Taking the bosonization method in a two-flavor Nambu-Jona-Lasinio model, we derive effective meson Lagrangian density with minimal coupling to the magnetic field, by employing derivative expansion for both the meson fields and Schwinger phases. We extract from the effective Lagrangian density the meson curvature, pole and screening masses. As the only Goldstone mode, the neutral pion controls the thermodynamics of the system and propagates the long range quark interaction. The magnetic field breaks down the space symmetry, and the quark interaction region changes from a sphere in vacuum to a ellipsoid in magnetic field.

Multisymplectic Lagrangian and Hamiltonian Formalisms of Classical Field Theories

NASA Astrophysics Data System (ADS)

Román-Roy, Narciso

2009-11-01

This review paper is devoted to presenting the standard multisymplectic formulation for describing geometrically classical field theories, both the regular and singular cases. First, the main features of the Lagrangian formalism are revisited and, second, the Hamiltonian formalism is constructed using Hamiltonian sections. In both cases, the variational principles leading to the Euler-Lagrange and the Hamilton-De Donder-Weyl equations, respectively, are stated, and these field equations are given in different but equivalent geometrical ways in each formalism. Finally, both are unified in a new formulation (which has been developed in the last years), following the original ideas of Rusk and Skinner for mechanical systems.

Variational discretization of the nonequilibrium thermodynamics of simple systems

NASA Astrophysics Data System (ADS)

Gay-Balmaz, François; Yoshimura, Hiroaki

2018-04-01

In this paper, we develop variational integrators for the nonequilibrium thermodynamics of simple closed systems. These integrators are obtained by a discretization of the Lagrangian variational formulation of nonequilibrium thermodynamics developed in (Gay-Balmaz and Yoshimura 2017a J. Geom. Phys. part I 111 169–93 Gay-Balmaz and Yoshimura 2017b J. Geom. Phys. part II 111 194–212) and thus extend the variational integrators of Lagrangian mechanics, to include irreversible processes. In the continuous setting, we derive the structure preserving property of the flow of such systems. This property is an extension of the symplectic property of the flow of the Euler–Lagrange equations. In the discrete setting, we show that the discrete flow solution of our numerical scheme verifies a discrete version of this property. We also present the regularity conditions which ensure the existence of the discrete flow. We finally illustrate our discrete variational schemes with the implementation of an example of a simple and closed system.

Observer-based consensus of networked thrust-propelled vehicles with directed graphs.

PubMed

Cang, Weiye; Li, Zhongkui; Wang, Hanlei

2017-11-01

In this paper, we investigate the consensus problem for networked underactuated thrust-propelled vehicles (TPVs) interacting on directed graphs. We propose distributed observer-based consensus protocols, which avoid the reliance on the measurements of translational velocities and accelerations. Using the input-output analysis, we present necessary and sufficient conditions to ensure that the observer-based protocols can achieve consensus for both the cases without and with constant communication delays, provided that the communication graph contains a directed spanning tree. Simulation examples are finally provided to illustrate the effectiveness of the control schemes. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Leading-order classical Lagrangians for the nonminimal standard-model extension

NASA Astrophysics Data System (ADS)

Reis, J. A. A. S.; Schreck, M.

2018-03-01

In this paper, we derive the general leading-order classical Lagrangian covering all fermion operators of the nonminimal standard-model extension (SME). Such a Lagrangian is considered to be the point-particle analog of the effective field theory description of Lorentz violation that is provided by the SME. At leading order in Lorentz violation, the Lagrangian obtained satisfies the set of five nonlinear equations that govern the map from the field theory to the classical description. This result can be of use for phenomenological studies of classical bodies in gravitational fields.

Skinner-Rusk unified formalism for higher-order systems

NASA Astrophysics Data System (ADS)

Prieto-Martínez, Pedro Daniel; Román-Roy, Narciso

2012-07-01

The Lagrangian-Hamiltonian unified formalism of R. Skinner and R. Rusk was originally stated for autonomous dynamical systems in classical mechanics. It has been generalized for non-autonomous first-order mechanical systems, first-order and higher-order field theories, and higher-order autonomous systems. In this work we present a generalization of this formalism for higher-order non-autonomous mechanical systems.

Asymptotic decay and non-rupture of viscous sheets

NASA Astrophysics Data System (ADS)

Fontelos, Marco A.; Kitavtsev, Georgy; Taranets, Roman M.

2018-06-01

For a nonlinear system of coupled PDEs, that describes evolution of a viscous thin liquid sheet and takes account of surface tension at the free surface, we show exponential (H^1, L^2) asymptotic decay to the flat profile of its solutions considered with general initial data. Additionally, by transforming the system to Lagrangian coordinates we show that the minimal thickness of the sheet stays positive for all times. This result proves the conjecture formally accepted in the physical literature (cf. Eggers and Fontelos in Singularities: formation, structure, and propagation. Cambridge Texts in Applied Mathematics, Cambridge, 2015), that a viscous sheet cannot rupture in finite time in the absence of external forcing. Moreover, in the absence of surface tension we find a special class of initial data for which the Lagrangian solution exhibits L^2-exponential decay to the flat profile.

An Augmented Lagrangian Filter Method for Real-Time Embedded Optimization

DOE PAGES

Chiang, Nai -Yuan; Huang, Rui; Zavala, Victor M.

2017-04-17

We present a filter line-search algorithm for nonconvex continuous optimization that combines an augmented Lagrangian function and a constraint violation metric to accept and reject steps. The approach is motivated by real-time optimization applications that need to be executed on embedded computing platforms with limited memory and processor speeds. The proposed method enables primal–dual regularization of the linear algebra system that in turn permits the use of solution strategies with lower computing overheads. We prove that the proposed algorithm is globally convergent and we demonstrate the developments using a nonconvex real-time optimization application for a building heating, ventilation, and airmore » conditioning system. Our numerical tests are performed on a standard processor and on an embedded platform. Lastly, we demonstrate that the approach reduces solution times by a factor of over 1000.« less

An Augmented Lagrangian Filter Method for Real-Time Embedded Optimization

DOE Office of Scientific and Technical Information (OSTI.GOV)

Chiang, Nai -Yuan; Huang, Rui; Zavala, Victor M.

We present a filter line-search algorithm for nonconvex continuous optimization that combines an augmented Lagrangian function and a constraint violation metric to accept and reject steps. The approach is motivated by real-time optimization applications that need to be executed on embedded computing platforms with limited memory and processor speeds. The proposed method enables primal–dual regularization of the linear algebra system that in turn permits the use of solution strategies with lower computing overheads. We prove that the proposed algorithm is globally convergent and we demonstrate the developments using a nonconvex real-time optimization application for a building heating, ventilation, and airmore » conditioning system. Our numerical tests are performed on a standard processor and on an embedded platform. Lastly, we demonstrate that the approach reduces solution times by a factor of over 1000.« less

Simulation of atmospheric dispersion of radionuclides using an Eulerian-Lagrangian modelling system.

PubMed

Basit, Abdul; Espinosa, Francisco; Avila, Ruben; Raza, S; Irfan, N

2008-12-01

In this paper we present an atmospheric dispersion scenario for a proposed nuclear power plant in Pakistan involving the hypothetical accidental release of radionuclides. For this, a concept involving a Lagrangian stochastic particle model (LSPM) coupled with an Eulerian regional atmospheric modelling system (RAMS) is used. The atmospheric turbulent dispersion of radionuclides (represented by non-buoyant particles/neutral traces) in the LSPM is modelled by applying non-homogeneous turbulence conditions. The mean wind velocities governed by the topography of the region and the surface fluxes of momentum and heat are calculated by the RAMS code. A moving least squares (MLS) technique is introduced to calculate the concentration of radionuclides at ground level. The numerically calculated vertical profiles of wind velocity and temperature are compared with observed data. The results obtained demonstrate that in regions of complex terrain it is not sufficient to model the atmospheric dispersion of particles using a straight-line Gaussian plume model, and that by utilising a Lagrangian stochastic particle model and regional atmospheric modelling system a much more realistic estimation of the dispersion in such a hypothetical scenario was ascertained. The particle dispersion results for a 12 h ground release show that a triangular area of about 400 km(2) situated in the north-west quadrant of release is under radiological threat. The particle distribution shows that the use of a Gaussian plume model (GPM) in such situations will yield quite misleading results.

Symmetries in vakonomic dynamics: applications to optimal control

NASA Astrophysics Data System (ADS)

Martínez, Sonia; Cortés, Jorge; de León, Manuel

2001-06-01

Symmetries in vakonomic dynamics are discussed. Appropriate notions are introduced and their relationship with previous work on symmetries of singular Lagrangian systems is shown. Some Noether-type theorems are obtained. The results are applied to a class of general optimal control problems and to kinematic locomotion systems.

Dynamics and offset control of tethered space-tug system

NASA Astrophysics Data System (ADS)

Zhang, Jingrui; Yang, Keying; Qi, Rui

2018-01-01

Tethered space-tug system is regarded as one of the most promising active debris removal technologies to effectively decrease the steep increasing population of space debris. In order to suppress the spin of space debris, single-tethered space-tug system is employed by regulating the tether. Unfortunately, this system is underactuated as tether length is the only input, and there are two control objectives: the spinning debris and the vibration of tether. Thus, it may suffer great oscillations and result in failure in space debris removal. This paper presents the study of attitude stabilization of the single-tethered space-tug system using not only tether length but also the offset of tether attachment point to suppress the spin of debris, so as to accomplish the space debris removal mission. Firstly, a precise 3D mathematical model in which the debris and tug are both treated as rigid bodies is developed to study the dynamical evolution of the tethered space-tug system. The relative motion equation of the system is described using Lagrange method. Secondly, the dynamic characteristic of the system is analyzed and an offset control law is designed to stabilize the spin of debris by exploiting the variation of tether offset and the regulation of tether length. Besides, an estimation formula is proposed to evaluate the capability of tether for suppressing spinning debris. Finally, the effectiveness of attitude stabilization by the utilization of the proposed scheme is demonstrated via numerical case studies.

Bayesian Lagrangian Data Assimilation and Drifter Deployment Strategies

NASA Astrophysics Data System (ADS)

Dutt, A.; Lermusiaux, P. F. J.

2017-12-01

Ocean currents transport a variety of natural (e.g. water masses, phytoplankton, zooplankton, sediments, etc.) and man-made materials and other objects (e.g. pollutants, floating debris, search and rescue, etc.). Lagrangian Coherent Structures (LCSs) or the most influential/persistent material lines in a flow, provide a robust approach to characterize such Lagrangian transports and organize classic trajectories. Using the flow-map stochastic advection and a dynamically-orthogonal decomposition, we develop uncertainty prediction schemes for both Eulerian and Lagrangian variables. We then extend our Bayesian Gaussian Mixture Model (GMM)-DO filter to a joint Eulerian-Lagrangian Bayesian data assimilation scheme. The resulting nonlinear filter allows the simultaneous non-Gaussian estimation of Eulerian variables (e.g. velocity, temperature, salinity, etc.) and Lagrangian variables (e.g. drifter/float positions, trajectories, LCSs, etc.). Its results are showcased using a double-gyre flow with a random frequency, a stochastic flow past a cylinder, and realistic ocean examples. We further show how our Bayesian mutual information and adaptive sampling equations provide a rigorous efficient methodology to plan optimal drifter deployment strategies and predict the optimal times, locations, and types of measurements to be collected.

Scale-by-scale contributions to Lagrangian particle acceleration

NASA Astrophysics Data System (ADS)

Lalescu, Cristian C.; Wilczek, Michael

2017-11-01

Fluctuations on a wide range of scales in both space and time are characteristic of turbulence. Lagrangian particles, advected by the flow, probe these fluctuations along their trajectories. In an effort to isolate the influence of the different scales on Lagrangian statistics, we employ direct numerical simulations (DNS) combined with a filtering approach. Specifically, we study the acceleration statistics of tracers advected in filtered fields to characterize the smallest temporal scales of the flow. Emphasis is put on the acceleration variance as a function of filter scale, along with the scaling properties of the relevant terms of the Navier-Stokes equations. We furthermore discuss scaling ranges for higher-order moments of the tracer acceleration, as well as the influence of the choice of filter on the results. Starting from the Lagrangian tracer acceleration as the short time limit of the Lagrangian velocity increment, we also quantify the influence of filtering on Lagrangian intermittency. Our work complements existing experimental results on intermittency and accelerations of finite-sized, neutrally-buoyant particles: for the passive tracers used in our DNS, feedback effects are neglected such that the spatial averaging effect is cleanly isolated.

Lagrangian particle method for compressible fluid dynamics

DOE Office of Scientific and Technical Information (OSTI.GOV)

Samulyak, Roman; Wang, Xingyu; Chen, Hsin -Chiang

A new Lagrangian particle method for solving Euler equations for compressible inviscid fluid or gas flows is proposed. Similar to smoothed particle hydrodynamics (SPH), the method represents fluid cells with Lagrangian particles and is suitable for the simulation of complex free surface / multi-phase flows. The main contributions of our method, which is different from SPH in all other aspects, are (a) significant improvement of approximation of differential operators based on a polynomial fit via weighted least squares approximation and the convergence of prescribed order, (b) a second-order particle-based algorithm that reduces to the first-order upwind method at local extremalmore » points, providing accuracy and long term stability, and (c) more accurate resolution of entropy discontinuities and states at free inter-faces. While the method is consistent and convergent to a prescribed order, the conservation of momentum and energy is not exact and depends on the convergence order . The method is generalizable to coupled hyperbolic-elliptic systems. As a result, numerical verification tests demonstrating the convergence order are presented as well as examples of complex multiphase flows.« less

Lagrangian transported MDF methods for compressible high speed flows

NASA Astrophysics Data System (ADS)

Gerlinger, Peter

2017-06-01

This paper deals with the application of thermochemical Lagrangian MDF (mass density function) methods for compressible sub- and supersonic RANS (Reynolds Averaged Navier-Stokes) simulations. A new approach to treat molecular transport is presented. This technique on the one hand ensures numerical stability of the particle solver in laminar regions of the flow field (e.g. in the viscous sublayer) and on the other hand takes differential diffusion into account. It is shown in a detailed analysis, that the new method correctly predicts first and second-order moments on the basis of conventional modeling approaches. Moreover, a number of challenges for MDF particle methods in high speed flows is discussed, e.g. high cell aspect ratio grids close to solid walls, wall heat transfer, shock resolution, and problems from statistical noise which may cause artificial shock systems in supersonic flows. A Mach 2 supersonic mixing channel with multiple shock reflection and a model rocket combustor simulation demonstrate the eligibility of this technique to practical applications. Both test cases are simulated successfully for the first time with a hybrid finite-volume (FV)/Lagrangian particle solver (PS).

Lagrangian particle method for compressible fluid dynamics

DOE PAGES

Samulyak, Roman; Wang, Xingyu; Chen, Hsin -Chiang

2018-02-09

A new Lagrangian particle method for solving Euler equations for compressible inviscid fluid or gas flows is proposed. Similar to smoothed particle hydrodynamics (SPH), the method represents fluid cells with Lagrangian particles and is suitable for the simulation of complex free surface / multi-phase flows. The main contributions of our method, which is different from SPH in all other aspects, are (a) significant improvement of approximation of differential operators based on a polynomial fit via weighted least squares approximation and the convergence of prescribed order, (b) a second-order particle-based algorithm that reduces to the first-order upwind method at local extremalmore » points, providing accuracy and long term stability, and (c) more accurate resolution of entropy discontinuities and states at free inter-faces. While the method is consistent and convergent to a prescribed order, the conservation of momentum and energy is not exact and depends on the convergence order . The method is generalizable to coupled hyperbolic-elliptic systems. As a result, numerical verification tests demonstrating the convergence order are presented as well as examples of complex multiphase flows.« less

DOE Office of Scientific and Technical Information (OSTI.GOV)

Xiao, Jianyuan; Liu, Jian; He, Yang

Explicit high-order non-canonical symplectic particle-in-cell algorithms for classical particle-field systems governed by the Vlasov-Maxwell equations are developed. The algorithms conserve a discrete non-canonical symplectic structure derived from the Lagrangian of the particle-field system, which is naturally discrete in particles. The electromagnetic field is spatially discretized using the method of discrete exterior calculus with high-order interpolating differential forms for a cubic grid. The resulting time-domain Lagrangian assumes a non-canonical symplectic structure. It is also gauge invariant and conserves charge. The system is then solved using a structure-preserving splitting method discovered by He et al. [preprint http://arxiv.org/abs/arXiv:1505.06076 (2015)], which produces five exactlymore » soluble sub-systems, and high-order structure-preserving algorithms follow by combinations. The explicit, high-order, and conservative nature of the algorithms is especially suitable for long-term simulations of particle-field systems with extremely large number of degrees of freedom on massively parallel supercomputers. The algorithms have been tested and verified by the two physics problems, i.e., the nonlinear Landau damping and the electron Bernstein wave.« less

Mass properties measurement system dynamics

NASA Technical Reports Server (NTRS)

Doty, Keith L.

1993-01-01

The MPMS mechanism possess two revolute degrees-of-freedom and allows the user to measure the mass, center of gravity, and the inertia tensor of an unknown mass. The dynamics of the Mass Properties Measurement System (MPMS) from the Lagrangian approach to illustrate the dependency of the motion on the unknown parameters.

A Lagrangian Formulation of Neural Networks I: Theory and Analog Dynamics

NASA Technical Reports Server (NTRS)

Mjolsness, Eric; Miranker, Willard L.

1997-01-01

We expand the mathematicla apparatus for relaxation networks, which conventionally consists of an objective function E and a dynamics given by a system of differenctial equations along whose trajectories E is diminished.

Incomplete Mixing and Reactions - A Lagrangian Approach in a Pure Shear Flow

NASA Astrophysics Data System (ADS)

Paster, A.; Aquino, T.; Bolster, D.

2014-12-01

Incomplete mixing of reactive solutes is well known to slow down reaction rates relative to what would be expected from assuming perfect mixing. As reactions progress in a system and deplete reactant concentrations, initial fluctuations in the concentrations of reactions can be amplified relative to mean background concentrations and lead to spatial segregation of reactants. As the system evolves, in the absence of sufficient mixing, this segregation will increase, leading to a persistence of incomplete mixing that fundamentally changes the effective rate at which overall reactions will progress. On the other hand, non-uniform fluid flows are known to affect mixing between interacting solutes. Thus a natural question arises: Can non-uniform flows sufficiently enhance mixing to suppress incomplete mixing effects, and if so, under what conditions? In this work we address this question by considering one of the simplest possible flows, a laminar pure shear flow, which is known to significantly enhance mixing relative to diffusion alone. To study this system we adapt a novel Lagrangian particle-based random walk method, originally designed to simulate reactions in purely diffusive systems, to the case of advection and diffusion in a shear flow. To interpret the results we develop a semi-analytical solution, by proposing a closure approximation that aims to capture the effect of incomplete mixing. The results obtained via the Lagrangian model and the semi-analytical solutions consistently highlight that if shear effects in the system are not sufficiently strong, incomplete mixing effects initially similar to purely diffusive systems will occur, slowing down the overall reaction rate. Then, at some later time, dependent on the strength of the shear, the system will return to behaving as if it were well-mixed, but represented by a reduced effective reaction rate. If shear effects are sufficiently strong, the incomplete mixing regime never emerges and the system can behave as well-mixed at all times.

Incomplete Mixing and Reactions - A Lagrangian Approach in a Pure Shear Flow

NASA Astrophysics Data System (ADS)

Paster, Amir; Bolster, Diogo; Aquino, Tomas

2015-04-01

Incomplete mixing of reactive solutes is well known to slow down reaction rates relative to what would be expected from assuming perfect mixing. As reactions progress in a system and deplete reactant concentrations, initial fluctuations in the concentrations of reactions can be amplified relative to mean background concentrations and lead to spatial segregation of reactants. As the system evolves, in the absence of sufficient mixing, this segregation will increase, leading to a persistence of incomplete mixing that fundamentally changes the effective rate at which overall reactions will progress. On the other hand, nonuniform fluid flows are known to affect mixing between interacting solutes. Thus a natural question arises: Can non-uniform flows sufficiently enhance mixing to suppress incomplete mixing effects, and if so, under what conditions? In this work we address this question by considering one of the simplest possible flows, a laminar pure shear flow, which is known to significantly enhance mixing relative to diffusion alone. To study this system we adapt a novel Lagrangian particle-based random walk method, originally designed to simulate reactions in purely diffusive systems, to the case of advection and diffusion in a shear flow. To interpret the results we develop a semi-analytical solution, by proposing a closure approximation that aims to capture the effect of incomplete mixing. The results obtained via the Lagrangian model and the semi-analytical solutions consistently highlight that if shear effects in the system are not sufficiently strong, incomplete mixing effects initially similar to purely diffusive systems will occur, slowing down the overall reaction rate. Then, at some later time, dependent on the strength of the shear, the system will return to behaving as if it were well-mixed, but represented by a reduced effective reaction rate. If shear effects are sufficiently strong, the incomplete mixing regime never emerges and the system can behave as well-mixed at all times.

Lagrangian fluid description with simple applications in compressible plasma and gas dynamics

NASA Astrophysics Data System (ADS)

Schamel, Hans

2004-03-01

The Lagrangian fluid description, in which the dynamics of fluids is formulated in terms of trajectories of fluid elements, not only presents an alternative to the more common Eulerian description but has its own merits and advantages. This aspect, which seems to be not fully explored yet, is getting increasing attention in fluid dynamics and related areas as Lagrangian codes and experimental techniques are developed utilizing the Lagrangian point of view with the ultimate goal of a deeper understanding of flow dynamics. In this tutorial review we report on recent progress made in the analysis of compressible, more or less perfect flows such as plasmas and dilute gases. The equations of motion are exploited to get further insight into the formation and evolution of coherent structures, which often exhibit a singular or collapse type behavior occurring in finite time. It is argued that this technique of solution has a broad applicability due to the simplicity and generality of equations used. The focus is on four different topics, the physics of which being governed by simple fluid equations subject to initial and/or boundary conditions. Whenever possible also experimental results are mentioned. In the expansion of a semi-infinite plasma into a vacuum the energetic ion peak propagating supersonically towards the vacuum-as seen in laboratory experiments-is interpreted by means of the Lagrangian fluid description as a relic of a wave breaking scenario of the corresponding inviscid ion dynamics. The inclusion of viscosity is shown numerically to stabilize the associated density collapse giving rise to a well defined fast ion peak reminiscent of adhesive matter. In purely convection driven flows the Lagrangian flow velocity is given by its initial value and hence the Lagrangian velocity gradient tensor can be evaluated accurately to find out the appearance of singularities in density and vorticity and the emergence of new structures such as wavelets in one-dimension (1D). In cosmology referring to the pancake model of Zel'dovich and the adhesion model of Gurbatov and Saichev, both assuming a clumping of matter at the intersection points of fluid particle trajectories (i.e. at the caustics), the foam-like large-scale structure of our Universe observed recently by Chandra X-ray observatory may be explained by the 3D convection of weakly interacting dark matter. Recent developments in plasma and nanotechnology-the miniaturization and fabrication of nanoelectronic devices being one example-have reinforced the interest in the quasi-ballistic electron transport in diodes and triodes, a field which turns out to be best treated by the Lagrangian fluid description. It is shown that the well-known space-charge-limited flow given by Child-Langmuir turns out to be incorrect in cases of finite electron injection velocities at the emitting electrode. In that case it is an intrinsic bifurcation scenario which is responsible for current limitation rather than electron reflection at the virtual cathode as intuitively assumed by Langmuir. The inclusion of a Drude friction term in the electron momentum equation can be handled solely by the Lagrangian fluid description. Exploiting the formula in case of field emission it is possible to bridge ballistic and drift-dominated transport. Furthermore, the transient processes in the electron transport triggered by the switching of the anode potential are shown to be perfectly accounted for by means of the Lagrangian fluid description. Finally, by use of the Lagrangian ion fluid equations in case of a two component, current driven plasma we derive a system of two coupled scalar wave equations which involve the specific volume of ions and electrons, respectively. It has a small amplitude strange soliton solution with unusual scaling properties. In case of charge neutrality the existence of two types of collapses are predicted, one being associated with a density excavation, the other one with a density clumping as in the laser induced ion expansion problem and in the cosmic sticking matter problem. However, only the latter will survive charge separation and hence be observable. In summary, the Lagrangian method of solving fluid equations turns out to be a powerful tool for compressible media in general. It offers new perspectives and addresses to a broad audience of physicists with interest in fields such as plasma and fluid dynamics, semiconductor- and astrophysics, to mention few of them.

Stochastic modeling of Lagrangian accelerations

NASA Astrophysics Data System (ADS)

Reynolds, Andy

2002-11-01

It is shown how Sawford's second-order Lagrangian stochastic model (Phys. Fluids A 3, 1577-1586, 1991) for fluid-particle accelerations can be combined with a model for the evolution of the dissipation rate (Pope and Chen, Phys. Fluids A 2, 1437-1449, 1990) to produce a Lagrangian stochastic model that is consistent with both the measured distribution of Lagrangian accelerations (La Porta et al., Nature 409, 1017-1019, 2001) and Kolmogorov's similarity theory. The later condition is found not to be satisfied when a constant dissipation rate is employed and consistency with prescribed acceleration statistics is enforced through fulfilment of a well-mixed condition.

Lagrangian and Eulerian statistics obtained from direct numerical simulations of homogeneous turbulence

NASA Technical Reports Server (NTRS)

Squires, Kyle D.; Eaton, John K.

1991-01-01

Direct numerical simulation is used to study dispersion in decaying isotropic turbulence and homogeneous shear flow. Both Lagrangian and Eulerian data are presented allowing direct comparison, but at fairly low Reynolds number. The quantities presented include properties of the dispersion tensor, isoprobability contours of particle displacement, Lagrangian and Eulerian velocity autocorrelations and time scale ratios, and the eddy diffusivity tensor. The Lagrangian time microscale is found to be consistently larger than the Eulerian microscale, presumably due to the advection of the small scales by the large scales in the Eulerian reference frame.

ATLAS - A new Lagrangian transport and mixing model with detailed stratospheric chemistry

NASA Astrophysics Data System (ADS)

Wohltmann, I.; Rex, M.; Lehmann, R.

2009-04-01

We present a new global Chemical Transport Model (CTM) with full stratospheric chemistry and Lagrangian transport and mixing called ATLAS. Lagrangian models have some crucial advantages over Eulerian grid-box based models, like no numerical diffusion, no limitation of the time step of the model by the CFL criterion, conservation of mixing ratios by design and easy parallelization of code. The transport module is based on a trajectory code developed at the Alfred Wegener Institute. The horizontal and vertical resolution, the vertical coordinate system (pressure, potential temperature, hybrid coordinate) and the time step of the model are flexible, so that the model can be used both for process studies and long-time runs over several decades. Mixing of the Lagrangian air parcels is parameterized based on the local shear and strain of the flow with a method similar to that used in the CLaMS model, but with some modifications like a triangulation that introduces no vertical layers. The stratospheric chemistry module was developed at the Institute and includes 49 species and 170 reactions and a detailed treatment of heterogenous chemistry on polar stratospheric clouds. We present an overview over the model architecture, the transport and mixing concept and some validation results. Comparison of model results with tracer data from flights of the ER2 aircraft in the stratospheric polar vortex in 1999/2000 which are able to resolve fine tracer filaments show that excellent agreement with observed tracer structures can be achieved with a suitable mixing parameterization.

Non-minimally coupled scalar field cosmology with torsion

NASA Astrophysics Data System (ADS)

Cid, Antonella; Izaurieta, Fernando; Leon, Genly; Medina, Perla; Narbona, Daniela

2018-04-01

In this work we present a generalized Brans-Dicke lagrangian including a non-minimally coupled Gauss-Bonnet term without imposing the vanishing torsion condition. In the resulting field equations, the torsion is closely related to the dynamics of the scalar field, i.e., if non-minimally coupled terms are present in the theory, then the torsion must be present. For the studied lagrangian we analyze the cosmological consequences of an effective torsional fluid and we show that this fluid can be responsible for the current acceleration of the universe. Finally, we perform a detailed dynamical system analysis to describe the qualitative features of the model, we find that accelerated stages are a generic feature of this scenario.

A New Lagrangian Relaxation Method Considering Previous Hour Scheduling for Unit Commitment Problem

NASA Astrophysics Data System (ADS)

Khorasani, H.; Rashidinejad, M.; Purakbari-Kasmaie, M.; Abdollahi, A.

2009-08-01

Generation scheduling is a crucial challenge in power systems especially under new environment of liberalization of electricity industry. A new Lagrangian relaxation method for unit commitment (UC) has been presented for solving generation scheduling problem. This paper focuses on the economical aspect of UC problem, while the previous hour scheduling as a very important issue is studied. In this paper generation scheduling of present hour has been conducted by considering the previous hour scheduling. The impacts of hot/cold start-up cost have been taken in to account in this paper. Case studies and numerical analysis presents significant outcomes while it demonstrates the effectiveness of the proposed method.

Non-recursive augmented Lagrangian algorithms for the forward and inverse dynamics of constrained flexible multibodies

NASA Technical Reports Server (NTRS)

Bayo, Eduardo; Ledesma, Ragnar

1993-01-01

A technique is presented for solving the inverse dynamics of flexible planar multibody systems. This technique yields the non-causal joint efforts (inverse dynamics) as well as the internal states (inverse kinematics) that produce a prescribed nominal trajectory of the end effector. A non-recursive global Lagrangian approach is used in formulating the equations for motion as well as in solving the inverse dynamics equations. Contrary to the recursive method previously presented, the proposed method solves the inverse problem in a systematic and direct manner for both open-chain as well as closed-chain configurations. Numerical simulation shows that the proposed procedure provides an excellent tracking of the desired end effector trajectory.

Generalized continuity equations from two-field Schrödinger Lagrangians

NASA Astrophysics Data System (ADS)

Spourdalakis, A. G. B.; Pappas, G.; Morfonios, C. Â. V.; Kalozoumis, P. A.; Diakonos, F. K.; Schmelcher, P.

2016-11-01

A variational scheme for the derivation of generalized, symmetry-induced continuity equations for Hermitian and non-Hermitian quantum mechanical systems is developed. We introduce a Lagrangian which involves two complex wave fields and whose global invariance under dilation and phase variations leads to a mixed continuity equation for the two fields. In combination with discrete spatial symmetries of the underlying Hamiltonian, the mixed continuity equation is shown to produce bilocal conservation laws for a single field. This leads to generalized conserved charges for vanishing boundary currents and to divergenceless bilocal currents for stationary states. The formalism reproduces the bilocal continuity equation obtained in the special case of P T -symmetric quantum mechanics and paraxial optics.

The Monotonic Lagrangian Grid for Rapid Air-Traffic Evaluation

NASA Technical Reports Server (NTRS)

Kaplan, Carolyn; Dahm, Johann; Oran, Elaine; Alexandrov, Natalia; Boris, Jay

2010-01-01

The Air Traffic Monotonic Lagrangian Grid (ATMLG) is presented as a tool to evaluate new air traffic system concepts. The model, based on an algorithm called the Monotonic Lagrangian Grid (MLG), can quickly sort, track, and update positions of many aircraft, both on the ground (at airports) and in the air. The underlying data structure is based on the MLG, which is used for sorting and ordering positions and other data needed to describe N moving bodies and their interactions. Aircraft that are close to each other in physical space are always near neighbors in the MLG data arrays, resulting in a fast nearest-neighbor interaction algorithm that scales as N. Recent upgrades to ATMLG include adding blank place-holders within the MLG data structure, which makes it possible to dynamically change the MLG size and also improves the quality of the MLG grid. Additional upgrades include adding FAA flight plan data, such as way-points and arrival and departure times from the Enhanced Traffic Management System (ETMS), and combining the MLG with the state-of-the-art strategic and tactical conflict detection and resolution algorithms from the NASA-developed Stratway software. In this paper, we present results from our early efforts to couple ATMLG with the Stratway software, and we demonstrate that it can be used to quickly simulate air traffic flow for a very large ETMS dataset.

Eulerian Lagrangian Adaptive Fup Collocation Method for solving the conservative solute transport in heterogeneous porous media

NASA Astrophysics Data System (ADS)

Gotovac, Hrvoje; Srzic, Veljko

2014-05-01

Contaminant transport in natural aquifers is a complex, multiscale process that is frequently studied using different Eulerian, Lagrangian and hybrid numerical methods. Conservative solute transport is typically modeled using the advection-dispersion equation (ADE). Despite the large number of available numerical methods that have been developed to solve it, the accurate numerical solution of the ADE still presents formidable challenges. In particular, current numerical solutions of multidimensional advection-dominated transport in non-uniform velocity fields are affected by one or all of the following problems: numerical dispersion that introduces artificial mixing and dilution, grid orientation effects, unresolved spatial and temporal scales and unphysical numerical oscillations (e.g., Herrera et al, 2009; Bosso et al., 2012). In this work we will present Eulerian Lagrangian Adaptive Fup Collocation Method (ELAFCM) based on Fup basis functions and collocation approach for spatial approximation and explicit stabilized Runge-Kutta-Chebyshev temporal integration (public domain routine SERK2) which is especially well suited for stiff parabolic problems. Spatial adaptive strategy is based on Fup basis functions which are closely related to the wavelets and splines so that they are also compactly supported basis functions; they exactly describe algebraic polynomials and enable a multiresolution adaptive analysis (MRA). MRA is here performed via Fup Collocation Transform (FCT) so that at each time step concentration solution is decomposed using only a few significant Fup basis functions on adaptive collocation grid with appropriate scales (frequencies) and locations, a desired level of accuracy and a near minimum computational cost. FCT adds more collocations points and higher resolution levels only in sensitive zones with sharp concentration gradients, fronts and/or narrow transition zones. According to the our recent achievements there is no need for solving the large linear system on adaptive grid because each Fup coefficient is obtained by predefined formulas equalizing Fup expansion around corresponding collocation point and particular collocation operator based on few surrounding solution values. Furthermore, each Fup coefficient can be obtained independently which is perfectly suited for parallel processing. Adaptive grid in each time step is obtained from solution of the last time step or initial conditions and advective Lagrangian step in the current time step according to the velocity field and continuous streamlines. On the other side, we implement explicit stabilized routine SERK2 for dispersive Eulerian part of solution in the current time step on obtained spatial adaptive grid. Overall adaptive concept does not require the solving of large linear systems for the spatial and temporal approximation of conservative transport. Also, this new Eulerian-Lagrangian-Collocation scheme resolves all mentioned numerical problems due to its adaptive nature and ability to control numerical errors in space and time. Proposed method solves advection in Lagrangian way eliminating problems in Eulerian methods, while optimal collocation grid efficiently describes solution and boundary conditions eliminating usage of large number of particles and other problems in Lagrangian methods. Finally, numerical tests show that this approach enables not only accurate velocity field, but also conservative transport even in highly heterogeneous porous media resolving all spatial and temporal scales of concentration field.

A coupled Eulerian/Lagrangian method for the solution of three-dimensional vortical flows

NASA Technical Reports Server (NTRS)

Felici, Helene Marie

1992-01-01

A coupled Eulerian/Lagrangian method is presented for the reduction of numerical diffusion observed in solutions of three-dimensional rotational flows using standard Eulerian finite-volume time-marching procedures. A Lagrangian particle tracking method using particle markers is added to the Eulerian time-marching procedure and provides a correction of the Eulerian solution. In turn, the Eulerian solutions is used to integrate the Lagrangian state-vector along the particles trajectories. The Lagrangian correction technique does not require any a-priori information on the structure or position of the vortical regions. While the Eulerian solution ensures the conservation of mass and sets the pressure field, the particle markers, used as 'accuracy boosters,' take advantage of the accurate convection description of the Lagrangian solution and enhance the vorticity and entropy capturing capabilities of standard Eulerian finite-volume methods. The combined solution procedures is tested in several applications. The convection of a Lamb vortex in a straight channel is used as an unsteady compressible flow preservation test case. The other test cases concern steady incompressible flow calculations and include the preservation of turbulent inlet velocity profile, the swirling flow in a pipe, and the constant stagnation pressure flow and secondary flow calculations in bends. The last application deals with the external flow past a wing with emphasis on the trailing vortex solution. The improvement due to the addition of the Lagrangian correction technique is measured by comparison with analytical solutions when available or with Eulerian solutions on finer grids. The use of the combined Eulerian/Lagrangian scheme results in substantially lower grid resolution requirements than the standard Eulerian scheme for a given solution accuracy.

Lagrangian postprocessing of computational hemodynamics.

PubMed

Shadden, Shawn C; Arzani, Amirhossein

2015-01-01

Recent advances in imaging, modeling, and computing have rapidly expanded our capabilities to model hemodynamics in the large vessels (heart, arteries, and veins). This data encodes a wealth of information that is often under-utilized. Modeling (and measuring) blood flow in the large vessels typically amounts to solving for the time-varying velocity field in a region of interest. Flow in the heart and larger arteries is often complex, and velocity field data provides a starting point for investigating the hemodynamics. This data can be used to perform Lagrangian particle tracking, and other Lagrangian-based postprocessing. As described herein, Lagrangian methods are necessary to understand inherently transient hemodynamic conditions from the fluid mechanics perspective, and to properly understand the biomechanical factors that lead to acute and gradual changes of vascular function and health. The goal of the present paper is to review Lagrangian methods that have been used in post-processing velocity data of cardiovascular flows.

Lagrangian postprocessing of computational hemodynamics

PubMed Central

Shadden, Shawn C.; Arzani, Amirhossein

2014-01-01

Recent advances in imaging, modeling and computing have rapidly expanded our capabilities to model hemodynamics in the large vessels (heart, arteries and veins). This data encodes a wealth of information that is often under-utilized. Modeling (and measuring) blood flow in the large vessels typically amounts to solving for the time-varying velocity field in a region of interest. Flow in the heart and larger arteries is often complex, and velocity field data provides a starting point for investigating the hemodynamics. This data can be used to perform Lagrangian particle tracking, and other Lagrangian-based postprocessing. As described herein, Lagrangian methods are necessary to understand inherently transient hemodynamic conditions from the fluid mechanics perspective, and to properly understand the biomechanical factors that lead to acute and gradual changes of vascular function and health. The goal of the present paper is to review Lagrangian methods that have been used in post-processing velocity data of cardiovascular flows. PMID:25059889

Lagrangian Assimilation of Satellite Data for Climate Studies in the Arctic

NASA Technical Reports Server (NTRS)

Lindsay, Ronald W.; Zhang, Jin-Lun; Stern, Harry

2004-01-01

Under this grant we have developed and tested a new Lagrangian model of sea ice. A Lagrangian model keeps track of material parcels as they drift in the model domain. Besides providing a natural framework for the assimilation of Lagrangian data, it has other advantages: 1) a model that follows material elements is well suited for a medium such as sea ice in which an element retains its identity for a long period of time; 2) model cells can be added or dropped as needed, allowing the spatial resolution to be increased in areas of high variability or dense observations; 3) ice from particular regions, such as the marginal seas, can be marked and traced for a long time; and 4) slip lines in the ice motion are accommodated more naturally because there is no internal grid. Our work makes use of these strengths of the Lagrangian formulation.

Lagrangian Coherent Structures, Hyperbolicity, and Lyapunov Exponents

NASA Astrophysics Data System (ADS)

Haller, George

2010-05-01

We review the fundamental physical motivation behind the definition of Lagrangian Coherent Structures (LCS) and show how it leads to the concept of finite-time hyperbolicity in non-autonomous dynamical systems. Using this concept of hyperbolicity, we obtain a self-consistent criterion for the existence of attracting and repelling material surfaces in unsteady fluid flows, such as those in the atmosphere and the ocean. The existence of LCS is often postulated in terms of features of the Finite-Time Lyapunov Exponent (FTLE) field associated with the system. As simple examples show, however, the FTLE field does not necessarily highlight LCS, or may ighlight structures that are not LCS. Under appropriate nondegeneracy conditions, we show that ridges of the FTLE field indeed coincide with LCS in volume-preserving flows. For general flows, we obtain a more general scalar field whose ridges correspond to LCS. We finally review recent applications of LCS techniques to flight safety analysis at Hong Kong International Airport.

A monolithic Lagrangian approach for fluid-structure interaction problems

NASA Astrophysics Data System (ADS)

Ryzhakov, P. B.; Rossi, R.; Idelsohn, S. R.; Oñate, E.

2010-11-01

Current work presents a monolithic method for the solution of fluid-structure interaction problems involving flexible structures and free-surface flows. The technique presented is based upon the utilization of a Lagrangian description for both the fluid and the structure. A linear displacement-pressure interpolation pair is used for the fluid whereas the structure utilizes a standard displacement-based formulation. A slight fluid compressibility is assumed that allows to relate the mechanical pressure to the local volume variation. The method described features a global pressure condensation which in turn enables the definition of a purely displacement-based linear system of equations. A matrix-free technique is used for the solution of such linear system, leading to an efficient implementation. The result is a robust method which allows dealing with FSI problems involving arbitrary variations in the shape of the fluid domain. The method is completely free of spurious added-mass effects.

Planetary Defense From Space: Part 1-Keplerian Theory

NASA Astrophysics Data System (ADS)

Maccone, Claudio

A system of two space bases housing missiles is proposed to achieve the Planetary Defense of the Earth against dangerous asteroids and comets. We show that the layout of the Earth-Moon system with the five relevant Lagrangian (or libration) points in space leads naturally to only one, unmistakable location of these two space bases within the sphere of influence of the Earth. These locations are at the two Lagrangian points L1 (in between the Earth and the Moon) and L3 (in the direction opposite to the Moon from the Earth). We show that placing bases of missiles at L1 and L3 would cause those missiles to deflect the trajectory of asteroids by hitting them orthogonally to their impact trajectory toward the Earth, so as to maximize their deflection. We show that the confocal conics are the best class of trajectories fulfilling this orthogonal deflection requirement. An additional remark is that the theory developed in this paper is just a beginning of a larger set of future research work. In fact, while in this paper we only develop the Keplerian analytical theory of the Optimal Planetary Defense achievable from the Earth-Moon Lagrangian points L1 and L3, much more sophisticated analytical refinements would be needed to: Take into account many perturbation forces of all kinds acting on both the asteroids and missiles shot from L1 and L3; add more (non-optimal) trajectories of missiles shot from either the Lagrangian points L4 and L5 of the Earth-Moon system or from the surface of the Moon itself; encompass the full range of missiles currently available to the US (and possibly other countries) so as to really see "which asteroids could be diverted by which missiles", even in the very simplified scheme outlined here. Outlined for the first time in February 2002, our Confocal Planetary Defense concept is a Keplerian Theory that proved simple enough to catch the attention of scholars, representatives of the US Military and popular writers. These developments could possibly mark the beginning of an "all embracing" mathematical vision of Planetary Defense beyond all learned activities, dramatic movies and unknown military plans covered by secret.

Why not energy conservation?

NASA Astrophysics Data System (ADS)

Carlson, Shawn

2016-01-01

Energy conservation is a deep principle that is obeyed by all of the fundamental forces of nature. It puts stringent constraints on all systems, particularly systems that are ‘isolated,’ meaning that no energy can enter or escape. Notwithstanding the success of the principle of stationary action, it is fair to wonder to what extent physics can be formulated from the principle of stationary energy. We show that if one interprets mechanical energy as a state function, then its stationarity leads to a novel formulation of classical mechanics. However, unlike Lagrangian and Hamiltonian mechanics, which deliver their state functions via algebraic proscriptions (i.e., the Lagrangian is always the difference between a system’s kinetic and potential energies), this new formalism identifies its state functions as the solutions to a differential equation. This is an important difference because differential equations can generate more general solutions than algebraic recipes. When applied to Newtonian systems for which the energy function is separable, these state functions are always the mechanical energy. However, while the stationary state function for a charged particle moving in an electromagnetic field proves not to be energy, the function nevertheless correctly encodes the dynamics of the system. Moreover, the stationary state function for a free relativistic particle proves not to be the energy either. Rather, our differential equation yields the relativistic free-particle Lagrangian (plus a non-dynamical constant) in its correct dynamical context. To explain how this new formalism can consistently deliver stationary state functions that give the correct dynamics but that are not always the mechanical energy, we propose that energy conservation is a specific realization of a deeper principle of stationarity that governs both relativistic and non-relativistic mechanics.

Special Bohr-Sommerfeld Lagrangian submanifolds

NASA Astrophysics Data System (ADS)

Tyurin, N. A.

2016-12-01

We introduce a new notion in symplectic geometry, that of speciality for Lagrangian submanifolds satisfying the Bohr- Sommerfeld condition. We show that it enables one to construct finite-dimensional moduli spaces of special Bohr- Sommerfeld Lagrangian submanifolds with respect to any ample line bundle on an algebraic variety with a Hodge metric regarded as the symplectic form. This construction can be used to study mirror symmetry.

Parallel computing using a Lagrangian formulation

NASA Technical Reports Server (NTRS)

Liou, May-Fun; Loh, Ching Yuen

1991-01-01

A new Lagrangian formulation of the Euler equation is adopted for the calculation of 2-D supersonic steady flow. The Lagrangian formulation represents the inherent parallelism of the flow field better than the common Eulerian formulation and offers a competitive alternative on parallel computers. The implementation of the Lagrangian formulation on the Thinking Machines Corporation CM-2 Computer is described. The program uses a finite volume, first-order Godunov scheme and exhibits high accuracy in dealing with multidimensional discontinuities (slip-line and shock). By using this formulation, a better than six times speed-up was achieved on a 8192-processor CM-2 over a single processor of a CRAY-2.

Parallel computing using a Lagrangian formulation

NASA Technical Reports Server (NTRS)

Liou, May-Fun; Loh, Ching-Yuen

1992-01-01

This paper adopts a new Lagrangian formulation of the Euler equation for the calculation of two dimensional supersonic steady flow. The Lagrangian formulation represents the inherent parallelism of the flow field better than the common Eulerian formulation and offers a competitive alternative on parallel computers. The implementation of the Lagrangian formulation on the Thinking Machines Corporation CM-2 Computer is described. The program uses a finite volume, first-order Godunov scheme and exhibits high accuracy in dealing with multidimensional discontinuities (slip-line and shock). By using this formulation, we have achieved better than six times speed-up on a 8192-processor CM-2 over a single processor of a CRAY-2.

Two-dimensional Lagrangian simulation of suspended sediment

USGS Publications Warehouse

Schoellhamer, David H.

1988-01-01

A two-dimensional laterally averaged model for suspended sediment transport in steady gradually varied flow that is based on the Lagrangian reference frame is presented. The layered Lagrangian transport model (LLTM) for suspended sediment performs laterally averaged concentration. The elevations of nearly horizontal streamlines and the simulation time step are selected to optimize model stability and efficiency. The computational elements are parcels of water that are moved along the streamlines in the Lagrangian sense and are mixed with neighboring parcels. Three applications show that the LLTM can accurately simulate theoretical and empirical nonequilibrium suspended sediment distributions and slug injections of suspended sediment in a laboratory flume.

Microscopic Lagrangian description of warm plasmas. IV - Macroscopic approximation

NASA Technical Reports Server (NTRS)

Kim, H.; Crawford, F. W.

1983-01-01

The averaged-Lagrangian method is applied to linear wave propagation and nonlinear three-wave interaction in a warm magnetoplasma, in the macroscopic approximation. The microscopic Lagrangian treated by Kim and Crawford (1977) and by Galloway and Crawford (1977) is first expanded to third order in perturbation. Velocity integration is then carried out, before applying Hamilton's principle to obtain a general description of wave propagation and coupling. The results are specialized to the case of interaction between two electron plasma waves and an Alfven wave. The method is shown to be more powerful than the alternative possibility of working from the beginning with a macroscopic Lagrangian density.

A kinematic wave model in Lagrangian coordinates incorporating capacity drop: Application to homogeneous road stretches and discontinuities

NASA Astrophysics Data System (ADS)

Yuan, Kai; Knoop, Victor L.; Hoogendoorn, Serge P.

2017-01-01

On freeways, congestion always leads to capacity drop. This means the queue discharge rate is lower than the pre-queue capacity. Our recent research findings indicate that the queue discharge rate increases with the speed in congestion, that is the capacity drop is strongly correlated with the congestion state. Incorporating this varying capacity drop into a kinematic wave model is essential for assessing consequences of control strategies. However, to the best of authors' knowledge, no such a model exists. This paper fills the research gap by presenting a Lagrangian kinematic wave model. "Lagrangian" denotes that the new model is solved in Lagrangian coordinates. The new model can give capacity drops accompanying both of stop-and-go waves (on homogeneous freeway section) and standing queues (at nodes) in a network. The new model can be applied in a network operation. In this Lagrangian kinematic wave model, the queue discharge rate (or the capacity drop) is a function of vehicular speed in traffic jams. Four case studies on links as well as at lane-drop and on-ramp nodes show that the Lagrangian kinematic wave model can give capacity drops well, consistent with empirical observations.

Generalized Lee-Wick formulation from higher derivative field theories

DOE Office of Scientific and Technical Information (OSTI.GOV)

Cho, Inyong; Kwon, O-Kab; Department of Physics, BK21 Physics Research Division, Institute of Basic Science, Sungkyunkwan University, Suwon 440-746

2010-07-15

We study a higher derivative (HD) field theory with an arbitrary order of derivative for a real scalar field. The degree of freedom for the HD field can be converted to multiple fields with canonical kinetic terms up to the overall sign. The Lagrangian describing the dynamics of the multiple fields is known as the Lee-Wick (LW) form. The first step to obtain the LW form for a given HD Lagrangian is to find an auxiliary field (AF) Lagrangian which is equivalent to the original HD Lagrangian up to the quantum level. Until now, the AF Lagrangian has been studiedmore » only for N=2 and 3 cases, where N is the number of poles of the two-point function of the HD scalar field. We construct the AF Lagrangian for arbitrary N. By the linear combinations of AF fields, we also obtain the corresponding LW form. We find the explicit mapping matrices among the HD fields, the AF fields, and the LW fields. As an exercise of our construction, we calculate the relations among parameters and mapping matrices for N=2, 3, and 4 cases.« less

Establishing Lagrangian connections between observations within air masses crossing the Atlantic during the International Consortium for Atmospheric Research on Transport and Transformation experiment

NASA Astrophysics Data System (ADS)

Methven, J.; Arnold, S. R.; Stohl, A.; Evans, M. J.; Avery, M.; Law, K.; Lewis, A. C.; Monks, P. S.; Parrish, D. D.; Reeves, C. E.; Schlager, H.; Atlas, E.; Blake, D. R.; Coe, H.; Crosier, J.; Flocke, F. M.; Holloway, J. S.; Hopkins, J. R.; McQuaid, J.; Purvis, R.; Rappenglück, B.; Singh, H. B.; Watson, N. M.; Whalley, L. K.; Williams, P. I.

2006-12-01

The ITCT-Lagrangian-2K4 (Intercontinental Transport and Chemical Transformation) experiment was conceived with an aim to quantify the effects of photochemistry and mixing on the transformation of air masses in the free troposphere away from emissions. To this end, attempts were made to intercept and sample air masses several times during their journey across the North Atlantic using four aircraft based in New Hampshire (USA), Faial (Azores) and Creil (France). This article begins by describing forecasts from two Lagrangian models that were used to direct the aircraft into target air masses. A novel technique then identifies Lagrangian matches between flight segments. Two independent searches are conducted: for Lagrangian model matches and for pairs of whole air samples with matching hydrocarbon fingerprints. The information is filtered further by searching for matching hydrocarbon samples that are linked by matching trajectories. The quality of these "coincident matches" is assessed using temperature, humidity and tracer observations. The technique pulls out five clear Lagrangian cases covering a variety of situations and these are examined in detail. The matching trajectories and hydrocarbon fingerprints are shown, and the downwind minus upwind differences in tracers are discussed.

Establishing Lagrangian Connections between Observations within Air Masses Crossing the Atlantic during the ICARTT Experiment

NASA Technical Reports Server (NTRS)

Methven, J.; Arnold, S. R.; Stohl, A.; Evans, M. J.; Avery, M.; Law, K.; Lewis, A. C.; Monks, P. S.; Parrish, D.; Reeves, C.;

An Analytical Dynamics Approach to the Control of Mechanical Systems

NASA Astrophysics Data System (ADS)

Mylapilli, Harshavardhan

A new and novel approach to the control of nonlinear mechanical systems is presented in this study. The approach is inspired by recent results in analytical dynamics that deal with the theory of constrained motion. The control requirements on the dynamical system are viewed from an analytical dynamics perspective and the theory of constrained motion is used to recast these control requirements as constraints on the dynamical system. Explicit closed form expressions for the generalized nonlinear control forces are obtained by using the fundamental equation of mechanics. The control so obtained is optimal at each instant of time and causes the constraints to be exactly satisfied. No linearizations and/or approximations of the nonlinear dynamical system are made, and no a priori structure is imposed on the nature of nonlinear controller. Three examples dealing with highly nonlinear complex dynamical systems that are chosen from diverse areas of discrete and continuum mechanics are presented to demonstrate the control approach. The first example deals with the energy control of underactuated inhomogeneous nonlinear lattices (or chains), the second example deals with the synchronization of the motion of multiple coupled slave gyros with that of a master gyro, and the final example deals with the control of incompressible hyperelastic rubber-like thin cantilever beams. Numerical simulations accompanying these examples show the ease, simplicity and the efficacy with which the control methodology can be applied and the accuracy with which the desired control objectives can be met.

Particle Tracking Model (PTM) with Coastal Modeling System (CMS)

DTIC Science & Technology

2015-11-04

Coastal Inlets Research Program Particle Tracking Model (PTM) with Coastal Modeling System ( CMS ) The Particle Tracking Model (PTM) is a Lagrangian...currents and waves. The Coastal Inlets Research Program (CIRP) supports the PTM with the Coastal Modeling System ( CMS ), which provides coupled wave...and current forcing for PTM simulations. CMS -PTM is implemented in the Surface-water Modeling System, a GUI environment for input development

Development and evaluation of the Screening Trajectory Ozone Prediction System (STOPS, version 1.0)

NASA Astrophysics Data System (ADS)

Czader, B. H.; Percell, P.; Byun, D.; Choi, Y.

2014-11-01

A hybrid Lagrangian-Eulerian modeling tool has been developed using the Eulerian framework of the Community Multiscale Air Quality (CMAQ) model. It is a moving nest that utilizes saved original CMAQ simulation results to provide boundary conditions, initial conditions, as well as emissions and meteorological parameters necessary for a simulation. Given that these file are available, this tool can run independently from the CMAQ whole domain simulation and it is designed to simulate source - receptor relationship upon changes in emissions. In this tool, the original CMAQ's horizontal domain is reduced to a small sub-domain that follows a trajectory defined by the mean mixed-layer wind. It has the same vertical structure and physical and chemical interactions as CMAQ except advection calculation. The advantage of this tool compared to other Lagrangian models is its capability of utilizing realistic boundary conditions that change with space and time as well as detailed chemistry treatment. The correctness of the algorithms and the overall performance was evaluated against CMAQ simulation results. Its performance depends on the atmospheric conditions occurring during the simulation period with the comparisons being most similar to CMAQ results under uniform wind conditions. The mean bias varies between -0.03 and -0.78 and the slope is between 0.99 and 1.01 for different analyzed cases. For complicated meteorological condition, such as wind circulation, the simulated mixing ratios deviate from CMAQ values as a result of Lagrangian approach of using mean wind for its movement, but are still close, with the mean varying between 0.07 and -4.29 and slope varying between 0.95 and 1.063 for different analyzed cases. For historical reasons this hybrid Lagrangian - Eulerian tool is named the Screening Trajectory Ozone Prediction System (STOPS) but its use is not limited to ozone prediction as similarly to CMAQ it can simulate concentrations of many species, including particulate matter and some toxic compounds, such as formaldehyde and 1,3-butadiene.

Spinor matter fields in SL(2,C) gauge theories of gravity: Lagrangian and Hamiltonian approaches

NASA Astrophysics Data System (ADS)

Antonowicz, Marek; Szczyrba, Wiktor

1985-06-01

We consider the SL(2,C)-covariant Lagrangian formulation of gravitational theories with the presence of spinor matter fields. The invariance properties of such theories give rise to the conservation laws (the contracted Bianchi identities) having in the presence of matter fields a more complicated form than those known in the literature previously. A general SL(2,C) gauge theory of gravity is cast into an SL(2,C)-covariant Hamiltonian formulation. Breaking the SL(2,C) symmetry of the system to the SU(2) symmetry, by introducing a spacelike slicing of spacetime, we get an SU(2)-covariant Hamiltonian picture. The qualitative analysis of SL(2,C) gauge theories of gravity in the SU(2)-covariant formulation enables us to define the dynamical symplectic variables and the gauge variables of the theory under consideration as well as to divide the set of field equations into the dynamical equations and the constraints. In the SU(2)-covariant Hamiltonian formulation the primary constraints, which are generic for first-order matter Lagrangians (Dirac, Weyl, Fierz-Pauli), can be reduced. The effective matter symplectic variables are given by SU(2)-spinor-valued half-forms on three-dimensional slices of spacetime. The coupled Einstein-Cartan-Dirac (Weyl, Fierz-Pauli) system is analyzed from the (3+1) point of view. This analysis is complete; the field equations of the Einstein-Cartan-Dirac theory split into 18 gravitational dynamical equations, 8 dynamical Dirac equations, and 7 first-class constraints. The system has 4+8=12 independent degrees of freedom in the phase space.

Lagrangian simulation of mixing and reactions in complex geochemical systems

NASA Astrophysics Data System (ADS)

Engdahl, Nicholas B.; Benson, David A.; Bolster, Diogo

2017-04-01

Simulations of detailed geochemical systems have traditionally been restricted to Eulerian reactive transport algorithms. This note introduces a Lagrangian method for modeling multicomponent reaction systems. The approach uses standard random walk-based methods for the particle motion steps but allows the particles to interact with each other by exchanging mass of their various chemical species. The colocation density of each particle pair is used to calculate the mass transfer rate, which creates a local disequilibrium that is then relaxed back toward equilibrium using the reaction engine PhreeqcRM. The mass exchange is the only step where the particles interact and the remaining transport and reaction steps are entirely independent for each particle. Several validation examples are presented, which reproduce well-known analytical solutions. These are followed by two demonstration examples of a competitive decay chain and an acid-mine drainage system. The source code, entitled Complex Reaction on Particles (CRP), and files needed to run these examples are hosted openly on GitHub (https://github.com/nbengdahl/CRP), so as to enable interested readers to readily apply this approach with minimal modifications.

Explicit high-order non-canonical symplectic particle-in-cell algorithms for Vlasov-Maxwell systems

DOE Office of Scientific and Technical Information (OSTI.GOV)

Xiao, Jianyuan; Qin, Hong; Liu, Jian

2015-11-01

Explicit high-order non-canonical symplectic particle-in-cell algorithms for classical particle-field systems governed by the Vlasov-Maxwell equations are developed. The algorithms conserve a discrete non-canonical symplectic structure derived from the Lagrangian of the particle-field system, which is naturally discrete in particles. The electromagnetic field is spatially discretized using the method of discrete exterior calculus with high-order interpolating differential forms for a cubic grid. The resulting time-domain Lagrangian assumes a non-canonical symplectic structure. It is also gauge invariant and conserves charge. The system is then solved using a structure-preserving splitting method discovered by He et al. [preprint arXiv: 1505.06076 (2015)], which produces fivemore » exactly soluble sub-systems, and high-order structure-preserving algorithms follow by combinations. The explicit, high-order, and conservative nature of the algorithms is especially suitable for long-term simulations of particle-field systems with extremely large number of degrees of freedom on massively parallel supercomputers. The algorithms have been tested and verified by the two physics problems, i.e., the nonlinear Landau damping and the electron Bernstein wave. (C) 2015 AIP Publishing LLC.« less

The Lagrangian Points

ERIC Educational Resources Information Center

Linton, J. Oliver

2017-01-01

There are five unique points in a star/planet system where a satellite can be placed whose orbital period is equal to that of the planet. Simple methods for calculating the positions of these points, or at least justifying their existence, are developed.

The Lagrangian-Hamiltonian formalism for higher order field theories

NASA Astrophysics Data System (ADS)

Vitagliano, Luca

2010-06-01

We generalize the Lagrangian-Hamiltonian formalism of Skinner and Rusk to higher order field theories on fiber bundles. As a byproduct we solve the long standing problem of defining, in a coordinate free manner, a Hamiltonian formalism for higher order Lagrangian field theories. Namely, our formalism does only depend on the action functional and, therefore, unlike previously proposed ones, is free from any relevant ambiguity.

Integration over families of Lagrangian submanifolds in BV formalism

NASA Astrophysics Data System (ADS)

Mikhailov, Andrei

2018-03-01

Gauge fixing is interpreted in BV formalism as a choice of Lagrangian submanifold in an odd symplectic manifold (the BV phase space). A natural construction defines an integration procedure on families of Lagrangian submanifolds. In string perturbation theory, the moduli space integrals of higher genus amplitudes can be interpreted in this way. We discuss the role of gauge symmetries in this construction. We derive the conditions which should be imposed on gauge symmetries for the consistency of our integration procedure. We explain how these conditions behave under the deformations of the worldsheet theory. In particular, we show that integrated vertex operator is actually an inhomogeneous differential form on the space of Lagrangian submanifolds.

Building analytical three-field cosmological models

NASA Astrophysics Data System (ADS)

Santos, J. R. L.; Moraes, P. H. R. S.; Ferreira, D. A.; Neta, D. C. Vilar

2018-02-01

A difficult task to deal with is the analytical treatment of models composed of three real scalar fields, as their equations of motion are in general coupled and hard to integrate. In order to overcome this problem we introduce a methodology to construct three-field models based on the so-called "extension method". The fundamental idea of the procedure is to combine three one-field systems in a non-trivial way, to construct an effective three scalar field model. An interesting scenario where the method can be implemented is with inflationary models, where the Einstein-Hilbert Lagrangian is coupled with the scalar field Lagrangian. We exemplify how a new model constructed from our method can lead to non-trivial behaviors for cosmological parameters.

Discrete-element simulation of sea-ice mechanics: Contact mechanics and granular jamming

NASA Astrophysics Data System (ADS)

Damsgaard, A.; Adcroft, A.; Sergienko, O. V.; Stern, A. A.

2017-12-01

Lagrangian models of sea-ice dynamics offer several advantages to Eulerian continuum methods. Spatial discretization on the ice-floe scale is natural for Lagrangian models, which additionally offer the convenience of being able to handle arbitrary sea-ice concentrations. This is likely to improve model performance in ice-marginal zones with strong advection. Furthermore, phase transitions in granular rheology around the jamming limit, such as observed when sea ice moves through geometric confinements, includes sharp thresholds in effective viscosity which are typically ignored in Eulerian models. Granular jamming is a stochastic process dependent on having the right grains in the right place at the right time, and the jamming likelihood over time can be described by a probabilistic model. Difficult to parameterize in continuum formulations, jamming occurs naturally in dense granular systems simulated in a Lagrangian framework, and is a very relevant process controlling sea-ice transport through narrow straits. We construct a flexible discrete-element framework for simulating Lagrangian sea-ice dynamics at the ice-floe scale, forced by ocean and atmosphere velocity fields. Using this framework, we demonstrate that frictionless contact models based on compressive stiffness alone are unlikely to jam, and describe two different approaches based on friction and tensile strength which both result in increased bulk shear strength of the granular assemblage. The frictionless but cohesive contact model, with certain tensile strength values, can display jamming behavior which on the large scale is very similar to a more complex and realistic model with contact friction and ice-floe rotation.

Lagrangian transport properties of pulmonary interfacial flows

PubMed Central

Smith, Bradford J.; Lukens, Sarah; Yamaguchi, Eiichiro; Gaver, Donald P.

2012-01-01

Disease states characterized by airway fluid occlusion and pulmonary surfactant insufficiency, such as respiratory distress syndrome, have a high mortality rate. Understanding the mechanics of airway reopening, particularly involving surfactant transport, may provide an avenue to increase patient survival via optimized mechanical ventilation waveforms. We model the occluded airway as a liquid-filled rigid tube with the fluid phase displaced by a finger of air that propagates with both mean and sinusoidal velocity components. Finite-time Lyapunov exponent (FTLE) fields are employed to analyse the convective transport characteristics, taking note of Lagrangian coherent structures (LCSs) and their effects on transport. The Lagrangian perspective of these techniques reveals flow characteristics that are not readily apparent by observing Eulerian measures. These analysis techniques are applied to surfactant-free velocity fields determined computationally, with the boundary element method, and measured experimentally with micro particle image velocimetry (μ-PIV). We find that the LCS divides the fluid into two regimes, one advected upstream (into the thin residual film) and the other downstream ahead of the advancing bubble. At higher oscillatory frequencies particles originating immediately inside the LCS experience long residence times at the air–liquid interface, which may be conducive to surfactant transport. At high frequencies a well-mixed attractor region is identified; this volume of fluid cyclically travels along the interface and into the bulk fluid. The Lagrangian analysis is applied to velocity data measured with 0.01 mg ml−1 of the clinical pulmonary surfactant Infasurf in the bulk fluid, demonstrating flow field modifications with respect to the surfactant-free system that were not visible in the Eulerian frame. PMID:23049141

The general setting for the zero-flux condition: The lagrangian and zero-flux conditions that give the heisenberg equation of motion.

PubMed

Anderson, James S M; Ayers, Paul W

2018-06-30

Generalizing our recent work on relativistic generalizations of the quantum theory of atoms in molecules, we present the general setting under which the principle of stationary action for a region leads to open quantum subsystems. The approach presented here is general and works for any Hamiltonian, and when a reasonable Lagrangian is selected, it often leads to the integral of the Laplacian of the electron density on the region vanishing as a necessary condition for the zero-flux surface. Alternatively, with this method, one can design a Lagrangian that leads to a surface of interest (though this Lagrangian may not be, and indeed probably will not be, "reasonable"). For any reasonable Lagrangian for the electronic wave function and any two-component method (related by integration by parts to the Hamiltonian) considered, the Bader definition of an atom is recaptured. © 2018 Wiley Periodicals, Inc. © 2018 Wiley Periodicals, Inc.

Method of and apparatus for modeling interactions

DOEpatents

Budge, Kent G.

2004-01-13

A method and apparatus for modeling interactions can accurately model tribological and other properties and accommodate topological disruptions. Two portions of a problem space are represented, a first with a Lagrangian mesh and a second with an ALE mesh. The ALE and Lagrangian meshes are constructed so that each node on the surface of the Lagrangian mesh is in a known correspondence with adjacent nodes in the ALE mesh. The interaction can be predicted for a time interval. Material flow within the ALE mesh can accurately model complex interactions such as bifurcation. After prediction, nodes in the ALE mesh in correspondence with nodes on the surface of the Lagrangian mesh can be mapped so that they are once again adjacent to their corresponding Lagrangian mesh nodes. The ALE mesh can then be smoothed to reduce mesh distortion that might reduce the accuracy or efficiency of subsequent prediction steps. The process, from prediction through mapping and smoothing, can be repeated until a terminal condition is reached.

Assimilating Eulerian and Lagrangian data in traffic-flow models

NASA Astrophysics Data System (ADS)

Xia, Chao; Cochrane, Courtney; DeGuire, Joseph; Fan, Gaoyang; Holmes, Emma; McGuirl, Melissa; Murphy, Patrick; Palmer, Jenna; Carter, Paul; Slivinski, Laura; Sandstede, Björn

2017-05-01

Data assimilation of traffic flow remains a challenging problem. One difficulty is that data come from different sources ranging from stationary sensors and camera data to GPS and cell phone data from moving cars. Sensors and cameras give information about traffic density, while GPS data provide information about the positions and velocities of individual cars. Previous methods for assimilating Lagrangian data collected from individual cars relied on specific properties of the underlying computational model or its reformulation in Lagrangian coordinates. These approaches make it hard to assimilate both Eulerian density and Lagrangian positional data simultaneously. In this paper, we propose an alternative approach that allows us to assimilate both Eulerian and Lagrangian data. We show that the proposed algorithm is accurate and works well in different traffic scenarios and regardless of whether ensemble Kalman or particle filters are used. We also show that the algorithm is capable of estimating parameters and assimilating real traffic observations and synthetic observations obtained from microscopic models.

Lagrangian statistics in compressible isotropic homogeneous turbulence

NASA Astrophysics Data System (ADS)

Yang, Yantao; Wang, Jianchun; Shi, Yipeng; Chen, Shiyi

2011-11-01

In this work we conducted the Direct Numerical Simulation (DNS) of a forced compressible isotropic homogeneous turbulence and investigated the flow statistics from the Lagrangian point of view, namely the statistics is computed following the passive tracers trajectories. The numerical method combined the Eulerian field solver which was developed by Wang et al. (2010, J. Comp. Phys., 229, 5257-5279), and a Lagrangian module for tracking the tracers and recording the data. The Lagrangian probability density functions (p.d.f.'s) have then been calculated for both kinetic and thermodynamic quantities. In order to isolate the shearing part from the compressing part of the flow, we employed the Helmholtz decomposition to decompose the flow field (mainly the velocity field) into the solenoidal and compressive parts. The solenoidal part was compared with the incompressible case, while the compressibility effect showed up in the compressive part. The Lagrangian structure functions and cross-correlation between various quantities will also be discussed. This work was supported in part by the China's Turbulence Program under Grant No.2009CB724101.

Perfect fluid Lagrangian and its cosmological implications in theories of gravity with nonminimally coupled matter fields

NASA Astrophysics Data System (ADS)

Avelino, P. P.; Azevedo, R. P. L.

2018-03-01

In this paper we show that the on-shell Lagrangian of a perfect fluid depends on microscopic properties of the fluid, giving specific examples of perfect fluids with different on-shell Lagrangians but with the same energy-momentum tensor. We demonstrate that if the fluid is constituted by localized concentrations of energy with fixed rest mass and structure (solitons) then the average on-shell Lagrangian of a perfect fluid is given by Lm=T , where T is the trace of the energy-momentum tensor. We show that our results have profound implications for theories of gravity where the matter Lagrangian appears explicitly in the equations of motion of the gravitational and matter fields, potentially leading to observable deviations from a nearly perfect cosmic microwave background black body spectrum: n -type spectral distortions, affecting the normalization of the spectral energy density. Finally, we put stringent constraints on f (R ,Lm) theories of gravity using the COBE-FIRAS measurement of the spectral radiance of the cosmic microwave background.

Using Lagrangian Coherent Structures to understand coastal water quality

NASA Astrophysics Data System (ADS)

Fiorentino, L. A.; Olascoaga, M. J.; Reniers, A.; Feng, Z.; Beron-Vera, F. J.; MacMahan, J. H.

2012-09-01

The accumulation of pollutants near the shoreline can result in low quality coastal water with negative effects on human health. To understand the role of mixing by tidal flows in coastal water quality we study the nearshore Lagrangian circulation. Specifically, we reveal Lagrangian Coherent Structures (LCSs), i.e., distinguished material curves which shape global mixing patterns and thus act as skeletons of the Lagrangian circulation. This is done using the recently developed geodesic theory of transport barriers. Particular focus is placed on Hobie Beach, a recreational subtropical marine beach located in Virginia Key, Miami, Florida. According to studies of water quality, Hobie Beach is characterized by high microbial levels. Possible sources of pollution in Hobie Beach include human bather shedding, dog fecal matter, runoff, and sand efflux at high tides. Consistent with the patterns formed by satellite-tracked drifter trajectories, the LCSs extracted from simulated currents reveal a Lagrangian circulation favoring the retention near the shoreline of pollutants released along the shoreline, which can help explain the low quality water registered at Hobie Beach.

AUTOMATIC CALIBRATION OF A STOCHASTIC-LAGRANGIAN TRANSPORT MODEL (SLAM)

EPA Science Inventory

Numerical models are a useful tool in evaluating and designing NAPL remediation systems. Traditional constitutive finite difference and finite element models are complex and expensive to apply. For this reason, this paper presents the application of a simplified stochastic-Lagran...

Incomplete augmented Lagrangian preconditioner for steady incompressible Navier-Stokes equations.

PubMed

Tan, Ning-Bo; Huang, Ting-Zhu; Hu, Ze-Jun

2013-01-01

An incomplete augmented Lagrangian preconditioner, for the steady incompressible Navier-Stokes equations discretized by stable finite elements, is proposed. The eigenvalues of the preconditioned matrix are analyzed. Numerical experiments show that the incomplete augmented Lagrangian-based preconditioner proposed is very robust and performs quite well by the Picard linearization or the Newton linearization over a wide range of values of the viscosity on both uniform and stretched grids.

Automated detection of Lagrangian eddies and coherent transport of heat and salinity in the Agulhas leakage

NASA Astrophysics Data System (ADS)

Huhn, Florian; Haller, George

2014-05-01

Haller and Beron-Vera(2013) have recently introduced a new objective method to detect coherent Lagrangian eddies in turbulence. They find that closed null-geodesics of a generalized Green-Lagrange strain tensor act as coherent Lagrangian eddy boundaries, showing near-zero and uniform material stretching. We make use of this method to develop an automated detection procedure for coherent Lagrangian eddies in large-scale ocean data. We apply our results to a recent 3D general circulation model, the Southern Ocean State Estimate (SOSE), with focus on the South Atlantic Ocean and the inter-ocean exchange between the Indian and Atlantic ocean. We detect a large number of coherent Lagrangian eddies and present statistics of their properties. The largest and most circular eddy boundaries represent Lagrangian Agulhas rings. Circular regions inside these rings with higher temperature and salinity than the surrounding waters can be explained by the coherent eddy boundaries that enclose and isolate the eddy interiors. We compare eddy boundaries at different depths with eddy boundaries obtained from geostrophic velocities derived from the model's sea surface height (SSH). The transport of mass, heat and salinity enclosed by coherent eddies through a section in the Cape basin is quantified and compared to the non-coherent transport by the background flow.

Extracting quasi-steady Lagrangian transport patterns from the ocean circulation: An application to the Gulf of Mexico.

PubMed

Duran, R; Beron-Vera, F J; Olascoaga, M J

2018-03-26

We construct a climatology of Lagrangian coherent structures (LCSs)-the concealed skeleton that shapes transport-with a twelve-year-long data-assimilative simulation of the sea-surface circulation in the Gulf of Mexico (GoM). Computed as time-mean Cauchy-Green strain tensorlines of the climatological velocity, the climatological LCSs (cLCSs) unveil recurrent Lagrangian circulation patterns. The cLCSs strongly constrain the ensemble-mean Lagrangian circulation of the instantaneous model velocity, showing that a climatological velocity can preserve meaningful transport information. The quasi-steady transport patterns revealed by the cLCSs agree well with aspects of the GoM circulation described in several previous observational and numerical studies. For example, the cLCSs identify regions of persistent isolation, and suggest that coastal regions previously identified as high-risk for pollution impact are regions of maximal attraction. We also show that cLCSs are remarkably accurate at identifying transport patterns observed during the Deepwater Horizon and Ixtoc oil spills, and during the Grand LAgrangian Deployment (GLAD) experiment. Thus it is shown that computing cLCSs is an efficient and meaningful way of synthesizing vast amounts of Lagrangian information. The cLCS method confirms previous GoM studies, and contributes to our understanding by revealing the persistent nature of the dynamics and kinematics treated therein.

A Survey Of Earth-Moon Libration Orbits: Stationkeeping Strategies And Intra-Orbit Transfers

NASA Technical Reports Server (NTRS)

Folta, David; Vaughn, Frank

2004-01-01

Cislunar space is a readily accessible region that may well develop into a prime staging area in the effort to colonize space near Earth or to colonize the Moon. While there have been statements made by various NASA programs regarding placement of resources in orbit about the Earth-Moon Lagrangian locations, there is no survey of the total cost associated with attaining and maintaining these unique orbits in an operational fashion. Transfer trajectories between these orbits required for assembly, servicing, and positioning of these resources have not been extensively investigated. These orbits are dynamically similar to those used for the Sun-Earth missions, but differences in governing gravitational ratios and perturbation sources result in unique characteristics. We implement numerical computations using high fidelity models and linear and nonlinear targeting techniques to compute the various maneuver (Delta)V and temporal costs associated with orbits about each of the Earth-Moon Lagrangian locations (L1, L2, L3, L4, and L5). From a dynamical system standpoint, we speak to the nature of these orbits and their stability. We address the cost of transfers between each pair of Lagrangian locations.

Optimal design of a lagrangian observing system for hydrodynamic surveys in coastal areas

NASA Astrophysics Data System (ADS)

Cucco, Andrea; Quattrocchi, Giovanni; Antognarelli, Fabio; Satta, Andrea; Maicu, Francesco; Ferrarin, Christian; Umgiesser, Georg

2014-05-01

The optimization of ocean observing systems is a pressing need for scientific research. In particular, the improvement of ocean short-term observing networks is achievable by reducing the cost-benefit ratio of the field campaigns and by increasing the quality of measurements. Numerical modeling is a powerful tool for determining the appropriateness of a specific observing system and for optimizing the sampling design. This is particularly true when observations are carried out in coastal areas and lagoons where, the use satellites is prohibitive due to the water shallowness. For such areas, numerical models are the most efficient tool both to provide a preliminary assess of the local physical environment and to make short -term predictions above its change. In this context, a test case experiment was carried out within an enclosed shallow water areas, the Cabras Lagoon (Sardinia, Italy). The aim of the experiment was to explore the optimal design for a field survey based on the use of coastal lagrangian buoys. A three-dimensional hydrodynamic model based on the finite element method (SHYFEM3D, Umgiesser et al., 2004) was implemented to simulate the lagoon water circulation. The model domain extent to the whole Cabras lagoon and to the whole Oristano Gulf, including the surrounding coastal area. Lateral open boundary conditions were provided by the operational ocean model system WMED and only wind forcing, provided by SKIRON atmospheric model (Kallos et al., 1997), was considered as surface boundary conditions. The model was applied to provide a number of ad hoc scenarios and to explore the efficiency of the short-term hydrodynamic survey. A first field campaign was carried out to investigate the lagrangian circulation inside the lagoon under the main wind forcing condition (Mistral wind from North-West). The trajectories followed by the lagrangian buoys and the estimated lagrangian velocities were used to calibrate the model parameters and to validate the simulation results. A set of calibration runs were performed and the model accuracy in reproducing the surface circulation were defined. Therefore, a numerical simulation was conducted to predict the wind induced lagoon water circulation and the paths followed by numerical particles inside the lagoon domain. The simulated particles paths was analyzed and the optimal configuration for the buoys deployment was designed in real-time. The selected deployment geometry was then tested during a further field campaign. The obtained dataset revealed that the chosen measurement strategy provided a near-synoptic survey with the longest records for the considered specific observing experiment. This work is aimed to emphasize the mutual usefulness of observations and numerical simulations in coastal ocean applications and it proposes an efficient approach to harmonize different expertise toward the investigation of a given specific research issue. A Cucco, M Sinerchia, A Ribotti, A Olita, L Fazioli, A Perilli, B Sorgente, M Borghini, K Schroeder, R Sorgente. 2012. A high-resolution real-time forecasting system for predicting the fate of oil spills in the Strait of Bonifacio (western Mediterranean Sea). Marine Pollution Bulletin. 64. 6, 1186-1200. Kallos, G., Nickovic, S., Papadopoulos, A., Jovic, D., Kakaliagou, O., Misirlis, N., Boukas, L., Mimikou, N., G., S., J., P., Anadranistakis, E., and Manousakis, M.. 1997. The regional weather forecasting system Skiron: An overview, in: Proceedings of the Symposium on Regional Weather Prediction on Parallel Computer Environments, 109-122, Athens, Greece. Umgiesser, G., Melaku Canu, D., Cucco, A., Solidoro, C., 2004. A finite element model for the Venice Lagoon. Development, set up, calibration and validation. Journal of Marine Systems 51, 123-145.

Lagrangian Particle Tracking Simulation for Warm-Rain Processes in Quasi-One-Dimensional Domain

NASA Astrophysics Data System (ADS)

Kunishima, Y.; Onishi, R.

2017-12-01

Conventional cloud simulations are based on the Euler method and compute each microphysics process in a stochastic way assuming infinite numbers of particles within each numerical grid. They therefore cannot provide the Lagrangian statistics of individual particles in cloud microphysics (i.e., aerosol particles, cloud particles, and rain drops) nor discuss the statistical fluctuations due to finite number of particles. We here simulate the entire precipitation process of warm-rain, with tracking individual particles. We use the Lagrangian Cloud Simulator (LCS), which is based on the Euler-Lagrangian framework. In that framework, flow motion and scalar transportation are computed with the Euler method, and particle motion with the Lagrangian one. The LCS tracks particle motions and collision events individually with considering the hydrodynamic interaction between approaching particles with a superposition method, that is, it can directly represent the collisional growth of cloud particles. It is essential for trustworthy collision detection to take account of the hydrodynamic interaction. In this study, we newly developed a stochastic model based on the Twomey cloud condensation nuclei (CCN) activation for the Lagrangian tracking simulation and integrated it into the LCS. Coupling with the Euler computation for water vapour and temperature fields, the initiation and condensational growth of water droplets were computed in the Lagrangian way. We applied the integrated LCS for a kinematic simulation of warm-rain processes in a vertically-elongated domain of, at largest, 0.03×0.03×3000 (m3) with horizontal periodicity. Aerosol particles with a realistic number density, 5×107 (m3), were evenly distributed over the domain at the initial state. Prescribed updraft at the early stage initiated development of a precipitating cloud. We have confirmed that the obtained bulk statistics fairly agree with those from a conventional spectral-bin scheme for a vertical column domain. The centre of the discussion will be the Lagrangian statistics which is collected from the individual behaviour of the tracked particles.

Evaluation of wastewater contaminant transport in surface waters using verified Lagrangian sampling.

PubMed

Antweiler, Ronald C; Writer, Jeffrey H; Murphy, Sheila F

2014-02-01

Contaminants released from wastewater treatment plants can persist in surface waters for substantial distances. Much research has gone into evaluating the fate and transport of these contaminants, but this work has often assumed constant flow from wastewater treatment plants. However, effluent discharge commonly varies widely over a 24-hour period, and this variation controls contaminant loading and can profoundly influence interpretations of environmental data. We show that methodologies relying on the normalization of downstream data to conservative elements can give spurious results, and should not be used unless it can be verified that the same parcel of water was sampled. Lagrangian sampling, which in theory samples the same water parcel as it moves downstream (the Lagrangian parcel), links hydrologic and chemical transformation processes so that the in-stream fate of wastewater contaminants can be quantitatively evaluated. However, precise Lagrangian sampling is difficult, and small deviations - such as missing the Lagrangian parcel by less than 1h - can cause large differences in measured concentrations of all dissolved compounds at downstream sites, leading to erroneous conclusions regarding in-stream processes controlling the fate and transport of wastewater contaminants. Therefore, we have developed a method termed "verified Lagrangian" sampling, which can be used to determine if the Lagrangian parcel was actually sampled, and if it was not, a means for correcting the data to reflect the concentrations which would have been obtained had the Lagrangian parcel been sampled. To apply the method, it is necessary to have concentration data for a number of conservative constituents from the upstream, effluent, and downstream sites, along with upstream and effluent concentrations that are constant over the short-term (typically 2-4h). These corrections can subsequently be applied to all data, including non-conservative constituents. Finally, we show how data from other studies can be corrected. © 2013.

A novel single thruster control strategy for spacecraft attitude stabilization

NASA Astrophysics Data System (ADS)

Godard; Kumar, Krishna Dev; Zou, An-Min

2013-05-01

Feasibility of achieving three axis attitude stabilization using a single thruster is explored in this paper. Torques are generated using a thruster orientation mechanism with which the thrust vector can be tilted on a two axis gimbal. A robust nonlinear control scheme is developed based on the nonlinear kinematic and dynamic equations of motion of a rigid body spacecraft in the presence of gravity gradient torque and external disturbances. The spacecraft, controlled using the proposed concept, constitutes an underactuated system (a system with fewer independent control inputs than degrees of freedom) with nonlinear dynamics. Moreover, using thruster gimbal angles as control inputs make the system non-affine (control terms appear nonlinearly in the state equation). This necessitates the control algorithms to be developed based on nonlinear control theory since linear control methods are not directly applicable. The stability conditions for the spacecraft attitude motion for robustness against uncertainties and disturbances are derived to establish the regions of asymptotic 3-axis attitude stabilization. Several numerical simulations are presented to demonstrate the efficacy of the proposed controller and validate the theoretical results. The control algorithm is shown to compensate for time-varying external disturbances including solar radiation pressure, aerodynamic forces, and magnetic disturbances; and uncertainties in the spacecraft inertia parameters. The numerical results also establish the robustness of the proposed control scheme to negate disturbances caused by orbit eccentricity.

Evaluation of the Monotonic Lagrangian Grid and Lat-Long Grid for Air Traffic Management

NASA Technical Reports Server (NTRS)

Kaplan, Carolyn; Dahm, Johann; Oran, Elaine; Alexandrov, Natalia; Boris, Jay

2011-01-01

The Air Traffic Monotonic Lagrangian Grid (ATMLG) is used to simulate a 24 hour period of air traffic flow in the National Airspace System (NAS). During this time period, there are 41,594 flights over the United States, and the flight plan information (departure and arrival airports and times, and waypoints along the way) are obtained from an Federal Aviation Administration (FAA) Enhanced Traffic Management System (ETMS) dataset. Two simulation procedures are tested and compared: one based on the Monotonic Lagrangian Grid (MLG), and the other based on the stationary Latitude-Longitude (Lat- Long) grid. Simulating one full day of air traffic over the United States required the following amounts of CPU time on a single processor of an SGI Altix: 88 s for the MLG method, and 163 s for the Lat-Long grid method. We present a discussion of the amount of CPU time required for each of the simulation processes (updating aircraft trajectories, sorting, conflict detection and resolution, etc.), and show that the main advantage of the MLG method is that it is a general sorting algorithm that can sort on multiple properties. We discuss how many MLG neighbors must be considered in the separation assurance procedure in order to ensure a five-mile separation buffer between aircraft, and we investigate the effect of removing waypoints from aircraft trajectories. When aircraft choose their own trajectory, there are more flights with shorter duration times and fewer CD&R maneuvers, resulting in significant fuel savings.

Incomplete Augmented Lagrangian Preconditioner for Steady Incompressible Navier-Stokes Equations

PubMed Central

Tan, Ning-Bo; Huang, Ting-Zhu; Hu, Ze-Jun

2013-01-01

An incomplete augmented Lagrangian preconditioner, for the steady incompressible Navier-Stokes equations discretized by stable finite elements, is proposed. The eigenvalues of the preconditioned matrix are analyzed. Numerical experiments show that the incomplete augmented Lagrangian-based preconditioner proposed is very robust and performs quite well by the Picard linearization or the Newton linearization over a wide range of values of the viscosity on both uniform and stretched grids. PMID:24235888

A Lagrangian Analysis of a Developing and Non-Developing Disturbance Observed During the PREDICT Experiment

DTIC Science & Technology

2012-12-03

paper provides an introduction of Lagrangian techniques for locating flow boundaries that encompass regions of recirculation in time- dependent flows...the low- to mid- level embryonic vortex from adverse conditions, while the 1The glossary on NOAA’s Hurricane Research Division’s web - site uses...wave or disturbance. This paper provides an introduction of Lagrangian techniques for locating flow boundaries that encompass regions of recirculation

Lorentz Invariance of Gravitational Lagrangians in the Space of Reference Frames

NASA Astrophysics Data System (ADS)

Cognola, G.

1980-06-01

The recently proposed theories of gravitation in the space of reference frames S are based on a Lagrangian invariant with respect to the homogeneous Lorentz group. However, in theories of this kind, the Lorentz invariance is not a necessary consequence of some physical principles, as in the theories formulated in space-time, but rather a purely esthetic request. In the present paper, we give a systematic method for the construction of gravitational theories in the space S, without assuming a priori the Lorentz invariance of the Lagrangian. The Einstein-Cartan equations of gravitation are obtained requiring only that the Lagrangian is invariant under proper rotations and has particular transformation properties under space reflections and space-time dilatations

Lagrangian submanifolds with constant angle functions of the nearly Kähler S3 ×S3

NASA Astrophysics Data System (ADS)

Bektaş, Burcu; Moruz, Marilena; Van der Veken, Joeri; Vrancken, Luc

2018-04-01

We study Lagrangian submanifolds of the nearly Kähler S3 ×S3 with respect to their so called angle functions. We show that if all angle functions are constant, then the submanifold is either totally geodesic or has constant sectional curvature and there is a classification theorem that follows from Dioos et al. (2018). Moreover, we show that if precisely one angle function is constant, then it must be equal to 0 , π/3 or 2π/3. Using then two remarkable constructions together with the classification of Lagrangian submanifolds of which the first component has nowhere maximal rank from, Bektaş et al. (2018), we obtain a classification of such Lagrangian submanifolds.

An updated Lagrangian particle hydrodynamics (ULPH) for Newtonian fluids

NASA Astrophysics Data System (ADS)

Tu, Qingsong; Li, Shaofan

2017-11-01

In this work, we have developed an updated Lagrangian particle hydrodynamics (ULPH) for Newtonian fluid. Unlike the smoothed particle hydrodynamics, the non-local particle hydrodynamics formulation proposed here is consistent and convergence. Unlike the state-based peridynamics, the discrete particle dynamics proposed here has no internal material bond between particles, and it is not formulated with respect to initial or a fixed referential configuration. In specific, we have shown that (1) the non-local update Lagrangian particle hydrodynamics formulation converges to the conventional local fluid mechanics formulation; (2) the non-local updated Lagrangian particle hydrodynamics can capture arbitrary flow discontinuities without any changes in the formulation, and (3) the proposed non-local particle hydrodynamics is computationally efficient and robust.

CRUSER News. Issue 3, May 2011

DTIC Science & Technology

2011-05-01

Program for Lagrangian Ocean Studies by Kanna Rajan, Principal Researcher for Autonomy, MBARI http://www.mbari.org/staff/ kanna / The Monterey Bay Aquarium...Ethical From Concept Generation to Experimentation INSIDE THIS ISSUE MBARI’S AUTONOMOUS SYSTEMS PROGRAM Kanna Rajan DIRECTOR’S CORNER CAPT (ret

ESPC Coupled Global Prediction System

DTIC Science & Technology

2015-09-30

numerical transport algorithms. Adapted from WRF , a Semi-Lagrangian advection scheme is being implemented in the vertical in NAVGEM to process the...used in the sedimentation of cloud species, especially in the WRF research-community model for all cloud microphysics modules. We have started to

DOE Office of Scientific and Technical Information (OSTI.GOV)

Speetjens, M. F. M.; Demissie, E. A.; Metcalfe, G.

Laminar mixing by the inline-mixing principle is a key to many industrial fluids-engineering systems of size extending from micrometers to meters. However, insight into fundamental transport phenomena particularly under the realistic conditions of three-dimensionality (3D) and fluid inertia remains limited. This study addresses these issues for inline mixers with cylindrical geometries and adopts the Rotated Arc Mixer (RAM) as a representative system. Transport is investigated from a Lagrangian perspective by identifying and examining coherent structures that form in the 3D streamline portrait. 3D effects and fluid inertia introduce three key features that are not found in simplified configurations: transition zonesmore » between consecutive mixing cells of the inline-mixing flow; local upstream flow (in certain parameter regimes); transition/inertia-induced breaking of symmetries in the Lagrangian equations of motion (causing topological changes in coherent structures). Topological considerations strongly suggest that there nonetheless always exists a net throughflow region between inlet and outlet of the inline-mixing flow that is strictly separated from possible internal regions. The Lagrangian dynamics in this region admits representation by a 2D time-periodic Hamiltonian system. This establishes one fundamental kinematic structure for the present class of inline-mixing flows and implies universal behavior in that all states follow from the Hamiltonian breakdown of one common integrable state. A so-called period-doubling bifurcation is the only way to eliminate transport barriers originating from this state and thus is a necessary (yet not sufficient) condition for global chaos. Important in a practical context is that a common simplification in literature, i.e., cell-wise fully-developed Stokes flow (“2.5D approach”), retains these fundamental kinematic properties and deviates from the generic 3D inertial case only in a quantitative sense. This substantiates its suitability for (at least first exploratory) studies on (qualitative) mixing properties.« less

Numerical calculation of protein-ligand binding rates through solution of the Smoluchowski equation using smooth particle hydrodynamics

DOE Office of Scientific and Technical Information (OSTI.GOV)

Pan, Wenxiao; Daily, Michael D.; Baker, Nathan A.

2015-12-01

We demonstrate the accuracy and effectiveness of a Lagrangian particle-based method, smoothed particle hydrodynamics (SPH), to study diffusion in biomolecular systems by numerically solving the time-dependent Smoluchowski equation for continuum diffusion. The numerical method is first verified in simple systems and then applied to the calculation of ligand binding to an acetylcholinesterase monomer. Unlike previous studies, a reactive Robin boundary condition (BC), rather than the absolute absorbing (Dirichlet) boundary condition, is considered on the reactive boundaries. This new boundary condition treatment allows for the analysis of enzymes with "imperfect" reaction rates. Rates for inhibitor binding to mAChE are calculated atmore » various ionic strengths and compared with experiment and other numerical methods. We find that imposition of the Robin BC improves agreement between calculated and experimental reaction rates. Although this initial application focuses on a single monomer system, our new method provides a framework to explore broader applications of SPH in larger-scale biomolecular complexes by taking advantage of its Lagrangian particle-based nature.« less

Adaptive Multi-Agent Systems for Constrained Optimization

NASA Technical Reports Server (NTRS)

Macready, William; Bieniawski, Stefan; Wolpert, David H.

2004-01-01

Product Distribution (PD) theory is a new framework for analyzing and controlling distributed systems. Here we demonstrate its use for distributed stochastic optimization. First we review one motivation of PD theory, as the information-theoretic extension of conventional full-rationality game theory to the case of bounded rational agents. In this extension the equilibrium of the game is the optimizer of a Lagrangian of the (probability distribution of) the joint state of the agents. When the game in question is a team game with constraints, that equilibrium optimizes the expected value of the team game utility, subject to those constraints. The updating of the Lagrange parameters in the Lagrangian can be viewed as a form of automated annealing, that focuses the MAS more and more on the optimal pure strategy. This provides a simple way to map the solution of any constrained optimization problem onto the equilibrium of a Multi-Agent System (MAS). We present computer experiments involving both the Queen s problem and K-SAT validating the predictions of PD theory and its use for off-the-shelf distributed adaptive optimization.

On the conservation of the Jacobi integral in the post-Newtonian circular restricted three-body problem

NASA Astrophysics Data System (ADS)

Dubeibe, F. L.; Lora-Clavijo, F. D.; González, Guillermo A.

2017-05-01

In the present paper, using the first-order approximation of the n-body Lagrangian (derived on the basis of the post-Newtonian gravitational theory of Einstein, Infeld, and Hoffman), we explicitly write down the equations of motion for the planar circular restricted three-body problem in the Solar system. Additionally, with some simplified assumptions, we obtain two formulas for estimating the values of the mass-distance and velocity-speed of light ratios appropriate for a given post-Newtonian approximation. We show that the formulas derived in the present study, lead to good numerical accuracy in the conservation of the Jacobi constant and almost allow for an equivalence between the Lagrangian and Hamiltonian approaches at the same post-Newtonian order. Accordingly, the dynamics of the system is analyzed in terms of the Poincaré sections method and Lyapunov exponents, finding that for specific values of the Jacobi constant the dynamics can be either chaotic or regular. Our results suggest that the chaoticity of the post-Newtonian system is slightly increased in comparison with its Newtonian counterpart.

Orbital Maneuvers for Spacecrafts Travelling to/from the Lagrangian Points

NASA Astrophysics Data System (ADS)

Bertachini, A.

The well-known Lagrangian points that appear in the planar restricted three-body problem (Szebehely, 1967) are very important for astronautical applications. They are five points of equilibrium in the equations of motion, what means that a particle located at one of those points with zero velocity will remain there indefinitely. The collinear points (L1, L2 and L3) are always unstable and the triangular points (L4 and L5) are stable in the present case studied (Sun-Earth system). They are all very good points to locate a space-station, since they require a small amount of V (and fuel), the control to be used for station-keeping. The triangular points are specially good for this purpose, since they are stable equilibrium points. In this paper, the planar restricted three-body problem is regularized (using Lemaître regularization) and combined with numerical integration and gradient methods to solve the two point boundary value problem (the Lambert's three-body problem). This combination is applied to the search of families of transfer orbits between the Lagrangian points and the Earth, in the Sun-Earth system, with the minimum possible cost of the control used. So, the final goal of this paper is to find the magnitude and direction of the two impulses to be applied in the spacecraft to complete the transfer: the first one when leaving/arriving at the Lagrangian point and the second one when arriving/living at the Earth. This paper is a continuation of two previous papers that studied transfers in the Earth-Moon system: Broucke (1979), that studied transfer orbits between the Lagrangian points and the Moon and Prado (1996), that studied transfer orbits between the Lagrangian points and the Earth. So, the equations of motion are: whereis the pseudo-potential given by: To solve the TPBVP in the regularized variables the following steps are used: i) Guess a initial velocity Vi, so together with the initial prescribed position ri the complete initial state is known; ii) Guess a final regularized time f and integrate the regularized equations of motion from 0 = 0 until f; iii) Check the final position rf obtained from the numerical integration with the prescribed final position and the final real time with the specified time of flight. If there is an agreement (difference less than a specified error allowed) the solution is found and the process can stop here. If there is no agreement, an increment in the initial guessed velocity Vi and in the guessed final regularized time is made and the process goes back to step i). The method used to find the increment in the guessed variables is the standard gradient method, as described in Press et. al., 1989. The routines available in this reference are also used in this research with minor modifications. After that this algorithm is implemented, the Lambert's three-body problem between the Earth and the Lagrangian points is solved for several values of the time of flight. Since the regularized system is used to solve this problem, there is no need to specify the final position of M3 as lying in an primary's parking orbit (to avoid the singularity). Then, to make a comparison with previous papers (Broucke, 1979 and Prado, 1996) the centre of the primary is used as the final position for M3. The results are organized in plots of the energy and the initial flight path angle (the control to be used) in the rotating frame against the time of flight. The definition of the angle is such that the zero is in the "x" axis, (pointing to the positive direction) and it increases in the counter-clock-wise sense. This problem, as well as the Lambert's original version, has two solutions for a given transfer time: one in the counter-clock-wise direction and one in the clock-wise direction in the inertial frame. In this paper, emphasis is given in finding the families with the smallest possible energy (and velocity), although many other families do exist. Broucke, R., (1979) Travelling Between the Lagrange Points and the Moon, Journal of Guidance and Control, Vol. 2, Prado, A.F.B.A., (1969) Travelling Between the Lagrangian Points and the Earth, Acta Astronautica, Vol. 39, No. 7, pp. Press, W. H.; B. P. Flannery; S. A. Teukolsky and W. T. Vetterling (1989), Numerical Recipes, Cambridge University Szebehely, V., (1967), Theory of Orbits, Academic Press, New York.

Lagrangian statistics and flow topology in forced two-dimensional turbulence.

PubMed

Kadoch, B; Del-Castillo-Negrete, D; Bos, W J T; Schneider, K

2011-03-01

A study of the relationship between Lagrangian statistics and flow topology in fluid turbulence is presented. The topology is characterized using the Weiss criterion, which provides a conceptually simple tool to partition the flow into topologically different regions: elliptic (vortex dominated), hyperbolic (deformation dominated), and intermediate (turbulent background). The flow corresponds to forced two-dimensional Navier-Stokes turbulence in doubly periodic and circular bounded domains, the latter with no-slip boundary conditions. In the double periodic domain, the probability density function (pdf) of the Weiss field exhibits a negative skewness consistent with the fact that in periodic domains the flow is dominated by coherent vortex structures. On the other hand, in the circular domain, the elliptic and hyperbolic regions seem to be statistically similar. We follow a Lagrangian approach and obtain the statistics by tracking large ensembles of passively advected tracers. The pdfs of residence time in the topologically different regions are computed introducing the Lagrangian Weiss field, i.e., the Weiss field computed along the particles' trajectories. In elliptic and hyperbolic regions, the pdfs of the residence time have self-similar algebraic decaying tails. In contrast, in the intermediate regions the pdf has exponential decaying tails. The conditional pdfs (with respect to the flow topology) of the Lagrangian velocity exhibit Gaussian-like behavior in the periodic and in the bounded domains. In contrast to the freely decaying turbulence case, the conditional pdfs of the Lagrangian acceleration in forced turbulence show a comparable level of intermittency in both the periodic and the bounded domains. The conditional pdfs of the Lagrangian curvature are characterized, in all cases, by self-similar power-law behavior with a decay exponent of order -2.

Symmetries of SU(2) Skyrmion in Hamiltonian and Lagrangian Approaches

NASA Astrophysics Data System (ADS)

Hong, Soon-Tae; Kim, Yong-Wan; Park, Young-Jai

We apply the Batalin-Fradkin-Tyutin (BFT) method to the SU(2) Skyrmion to study the full symmetry structure of the model at the first-class Hamiltonian level. On the other hand, we also analyze the symmetry structure of the action having the WZ term, which corresponds to this Hamiltonian, in the framework of the Lagrangian approach. Furthermore, following the BFV formalism we derive the BRST invariant gauge fixed Lagrangian from the above extended action.

Effects of Helicity on Lagrangian and Eulerian Time Correlations in Turbulence

NASA Technical Reports Server (NTRS)

Rubinstein, Robert; Zhou, Ye

1998-01-01

Taylor series expansions of turbulent time correlation functions are applied to show that helicity influences Eulerian time correlations more strongly than Lagrangian time correlations: to second order in time, the helicity effect on Lagrangian time correlations vanishes, but the helicity effect on Eulerian time correlations is nonzero. Fourier analysis shows that the helicity effect on Eulerian time correlations is confined to the largest inertial range scales. Some implications for sound radiation by swirling flows are discussed.

Eulerian and Lagrangian Parameterization of the Oceanic Mixed Layer using Large Eddy Simulation and MPAS-Ocean

DOE Office of Scientific and Technical Information (OSTI.GOV)

Van Roekel, Luke

We have conducted a suite of Large Eddy Simulation (LES) to form the basis of a multi-model comparison (left). The results have led to proposed model improvements. We have verified that Eulerian-Lagrangian effective diffusivity estimates of mesoscale mixing are consistent with traditional particle statistics metrics (right). LES and Lagrangian particles will be utilized to better represent the movement of water into and out of the mixed layer.

Analysis of Lagrangian stretching in turbulent channel flow using a database task-parallel particle tracking approach

NASA Astrophysics Data System (ADS)

Meneveau, Charles; Johnson, Perry; Hamilton, Stephen; Burns, Randal

2016-11-01

An intrinsic property of turbulent flows is the exponential deformation of fluid elements along Lagrangian paths. The production of enstrophy by vorticity stretching follows from a similar mechanism in the Lagrangian view, though the alignment statistics differ and viscosity prevents unbounded growth. In this paper, the stretching properties of fluid elements and vorticity along Lagrangian paths are studied in a channel flow at Reτ = 1000 and compared with prior, known results from isotropic turbulence. To track Lagrangian paths in a public database containing Direct Numerical Simulation (DNS) results, the task-parallel approach previously employed in the isotropic database is extended to the case of flow in a bounded domain. It is shown that above 100 viscous units from the wall, stretching statistics are equal to their isotropic values, in support of the local isotropy hypothesis. Normalized by dissipation rate, the stretching in the buffer layer and below is less efficient due to less favorable alignment statistics. The Cramér function characterizing cumulative Lagrangian stretching statistics shows that overall the channel flow has about half of the stretching per unit dissipation compared with isotropic turbulence. Supported by a National Science Foundation Graduate Research Fellowship Program under Grant No. DGE-1232825, and by National Science Foundation Grants CBET-1507469, ACI-1261715, OCI-1244820 and by JHU IDIES.

A Skill Score of Trajectory Model Evaluation Using Reinitialized Series of Normalized Cumulative Lagrangian Separation

NASA Astrophysics Data System (ADS)

Liu, Y.; Weisberg, R. H.

2017-12-01

The Lagrangian separation distance between the endpoints of simulated and observed drifter trajectories is often used to assess the performance of numerical particle trajectory models. However, the separation distance fails to indicate relative model performance in weak and strong current regions, such as a continental shelf and its adjacent deep ocean. A skill score is proposed based on the cumulative Lagrangian separation distances normalized by the associated cumulative trajectory lengths. The new metrics correctly indicates the relative performance of the Global HYCOM in simulating the strong currents of the Gulf of Mexico Loop Current and the weaker currents of the West Florida Shelf in the eastern Gulf of Mexico. In contrast, the Lagrangian separation distance alone gives a misleading result. Also, the observed drifter position series can be used to reinitialize the trajectory model and evaluate its performance along the observed trajectory, not just at the drifter end position. The proposed dimensionless skill score is particularly useful when the number of drifter trajectories is limited and neither a conventional Eulerian-based velocity nor a Lagrangian-based probability density function may be estimated.

Lagrangian ocean analysis: Fundamentals and practices

DOE PAGES

van Sebille, Erik; Griffies, Stephen M.; Abernathey, Ryan; ...

2017-11-24

Lagrangian analysis is a powerful way to analyse the output of ocean circulation models and other ocean velocity data such as from altimetry. In the Lagrangian approach, large sets of virtual particles are integrated within the three-dimensional, time-evolving velocity fields. A variety of tools and methods for this purpose have emerged, over several decades. Here, we review the state of the art in the field of Lagrangian analysis of ocean velocity data, starting from a fundamental kinematic framework and with a focus on large-scale open ocean applications. Beyond the use of explicit velocity fields, we consider the influence of unresolvedmore » physics and dynamics on particle trajectories. We comprehensively list and discuss the tools currently available for tracking virtual particles. We then showcase some of the innovative applications of trajectory data, and conclude with some open questions and an outlook. Our overall goal of this review paper is to reconcile some of the different techniques and methods in Lagrangian ocean analysis, while recognising the rich diversity of codes that have and continue to emerge, and the challenges of the coming age of petascale computing.« less

Lagrangian ocean analysis: Fundamentals and practices

NASA Astrophysics Data System (ADS)

van Sebille, Erik; Griffies, Stephen M.; Abernathey, Ryan; Adams, Thomas P.; Berloff, Pavel; Biastoch, Arne; Blanke, Bruno; Chassignet, Eric P.; Cheng, Yu; Cotter, Colin J.; Deleersnijder, Eric; Döös, Kristofer; Drake, Henri F.; Drijfhout, Sybren; Gary, Stefan F.; Heemink, Arnold W.; Kjellsson, Joakim; Koszalka, Inga Monika; Lange, Michael; Lique, Camille; MacGilchrist, Graeme A.; Marsh, Robert; Mayorga Adame, C. Gabriela; McAdam, Ronan; Nencioli, Francesco; Paris, Claire B.; Piggott, Matthew D.; Polton, Jeff A.; Rühs, Siren; Shah, Syed H. A. M.; Thomas, Matthew D.; Wang, Jinbo; Wolfram, Phillip J.; Zanna, Laure; Zika, Jan D.

2018-01-01

Lagrangian analysis is a powerful way to analyse the output of ocean circulation models and other ocean velocity data such as from altimetry. In the Lagrangian approach, large sets of virtual particles are integrated within the three-dimensional, time-evolving velocity fields. Over several decades, a variety of tools and methods for this purpose have emerged. Here, we review the state of the art in the field of Lagrangian analysis of ocean velocity data, starting from a fundamental kinematic framework and with a focus on large-scale open ocean applications. Beyond the use of explicit velocity fields, we consider the influence of unresolved physics and dynamics on particle trajectories. We comprehensively list and discuss the tools currently available for tracking virtual particles. We then showcase some of the innovative applications of trajectory data, and conclude with some open questions and an outlook. The overall goal of this review paper is to reconcile some of the different techniques and methods in Lagrangian ocean analysis, while recognising the rich diversity of codes that have and continue to emerge, and the challenges of the coming age of petascale computing.

Lagrangian ocean analysis: Fundamentals and practices

DOE Office of Scientific and Technical Information (OSTI.GOV)

van Sebille, Erik; Griffies, Stephen M.; Abernathey, Ryan

Lagrangian analysis is a powerful way to analyse the output of ocean circulation models and other ocean velocity data such as from altimetry. In the Lagrangian approach, large sets of virtual particles are integrated within the three-dimensional, time-evolving velocity fields. A variety of tools and methods for this purpose have emerged, over several decades. Here, we review the state of the art in the field of Lagrangian analysis of ocean velocity data, starting from a fundamental kinematic framework and with a focus on large-scale open ocean applications. Beyond the use of explicit velocity fields, we consider the influence of unresolvedmore » physics and dynamics on particle trajectories. We comprehensively list and discuss the tools currently available for tracking virtual particles. We then showcase some of the innovative applications of trajectory data, and conclude with some open questions and an outlook. Our overall goal of this review paper is to reconcile some of the different techniques and methods in Lagrangian ocean analysis, while recognising the rich diversity of codes that have and continue to emerge, and the challenges of the coming age of petascale computing.« less

COMMENTS ON THE PAPER 'ON THE STABILITY OF TRIANGULAR LAGRANGIAN POINTS IN THE RESTRICTED THREE-BODY PROBLEM' (2008, AJ, 135, 187)

DOE Office of Scientific and Technical Information (OSTI.GOV)

Ivanov, A. P.

2009-06-15

In the referenced paper an analytical approach was introduced, which allows one to demonstrate the instability in linearly stable systems, specifically, in a classical three-body problem. These considerations are disproved here.

A semi-Lagrangian advection scheme for radioactive tracers in a regional spectral model

NASA Astrophysics Data System (ADS)

Chang, E.-C.; Yoshimura, K.

2015-06-01

In this study, the non-iteration dimensional-split semi-Lagrangian (NDSL) advection scheme is applied to the National Centers for Environmental Prediction (NCEP) regional spectral model (RSM) to alleviate the Gibbs phenomenon. The Gibbs phenomenon is a problem wherein negative values of positive-definite quantities (e.g., moisture and tracers) are generated by the spectral space transformation in a spectral model system. To solve this problem, the spectral prognostic specific humidity and radioactive tracer advection scheme is replaced by the NDSL advection scheme, which considers advection of tracers in a grid system without spectral space transformations. A regional version of the NDSL is developed in this study and is applied to the RSM. Idealized experiments show that the regional version of the NDSL is successful. The model runs for an actual case study suggest that the NDSL can successfully advect radioactive tracers (iodine-131 and cesium-137) without noise from the Gibbs phenomenon. The NDSL can also remove negative specific humidity values produced in spectral calculations without losing detailed features.

Comment on "Construction of regular black holes in general relativity"

NASA Astrophysics Data System (ADS)

Bronnikov, Kirill A.

2017-12-01

We claim that the paper by Zhong-Ying Fan and Xiaobao Wang on nonlinear electrodynamics coupled to general relativity [Phys. Rev. D 94,124027 (2016)], although correct in general, in some respects repeats previously obtained results without giving proper references. There is also an important point missing in this paper, which is necessary for understanding the physics of the system: in solutions with an electric charge, a regular center requires a non-Maxwell behavior of Lagrangian function L (f ) , (f =Fμ νFμ ν) at small f . Therefore, in all electric regular black hole solutions with a Reissner-Nordström asymptotic, the Lagrangian L (f ) is different in different parts of space, and the electromagnetic field behaves in a singular way at surfaces where L (f ) suffers branching.

Mean Field Type Control with Congestion (II): An Augmented Lagrangian Method

DOE Office of Scientific and Technical Information (OSTI.GOV)

Achdou, Yves, E-mail: achdou@ljll.univ-paris-diderot.fr; Laurière, Mathieu

This work deals with a numerical method for solving a mean-field type control problem with congestion. It is the continuation of an article by the same authors, in which suitably defined weak solutions of the system of partial differential equations arising from the model were discussed and existence and uniqueness were proved. Here, the focus is put on numerical methods: a monotone finite difference scheme is proposed and shown to have a variational interpretation. Then an Alternating Direction Method of Multipliers for solving the variational problem is addressed. It is based on an augmented Lagrangian. Two kinds of boundary conditionsmore » are considered: periodic conditions and more realistic boundary conditions associated to state constrained problems. Various test cases and numerical results are presented.« less

Finite-dimensional integrable systems: A collection of research problems

NASA Astrophysics Data System (ADS)

Bolsinov, A. V.; Izosimov, A. M.; Tsonev, D. M.

2017-05-01

This article suggests a series of problems related to various algebraic and geometric aspects of integrability. They reflect some recent developments in the theory of finite-dimensional integrable systems such as bi-Poisson linear algebra, Jordan-Kronecker invariants of finite dimensional Lie algebras, the interplay between singularities of Lagrangian fibrations and compatible Poisson brackets, and new techniques in projective geometry.

Lagrangian formulation of the 2(2S+1)-component model and its connection with the skew symmetric/tensor description

DOE Office of Scientific and Technical Information (OSTI.GOV)

Dvoeglazov, V.V.

1993-12-01

In the framework of the 2(2S + 1)-component theory for massless particles, the dynamical invariants have been derived from the Lagrangian density which is considered to be a 4-vector. A la Majorana interpretation of the 6-component spinors, the field operators of S=1 particles, as the left- and right-circularly polarized radiation, leads the author to the conserved quantities which are analogous to ones obtained by Lipkin and Sudbery. The scalar Lagrangian of this model is shown to be equivalent to the Lagrangian of a free massless field, introduced by Hayashi. As a consequence of a new {open_quotes}gauge{close_quotes} invariance this skew-symmetric fieldmore » describes physical particles with the longitudinal components only.« less

Lagrangian acceleration statistics in a turbulent channel flow

NASA Astrophysics Data System (ADS)

Stelzenmuller, Nickolas; Polanco, Juan Ignacio; Vignal, Laure; Vinkovic, Ivana; Mordant, Nicolas

2017-05-01

Lagrangian acceleration statistics in a fully developed turbulent channel flow at Reτ=1440 are investigated, based on tracer particle tracking in experiments and direct numerical simulations. The evolution with wall distance of the Lagrangian velocity and acceleration time scales is analyzed. Dependency between acceleration components in the near-wall region is described using cross-correlations and joint probability density functions. The strong streamwise coherent vortices typical of wall-bounded turbulent flows are shown to have a significant impact on the dynamics. This results in a strong anisotropy at small scales in the near-wall region that remains present in most of the channel. Such statistical properties may be used as constraints in building advanced Lagrangian stochastic models to predict the dispersion and mixing of chemical components for combustion or environmental studies.

Lagrangian and Hamiltonian constraints for guiding-center Hamiltonian theories

DOE Office of Scientific and Technical Information (OSTI.GOV)

Tronko, Natalia; Brizard, Alain J.

A consistent guiding-center Hamiltonian theory is derived by Lie-transform perturbation method, with terms up to second order in magnetic-field nonuniformity. Consistency is demonstrated by showing that the guiding-center transformation presented here satisfies separate Jacobian and Lagrangian constraints that have not been explored before. A new first-order term appearing in the guiding-center phase-space Lagrangian is identified through a calculation of the guiding-center polarization. It is shown that this new polarization term also yields a simpler expression of the guiding-center toroidal canonical momentum, which satisfies an exact conservation law in axisymmetric magnetic geometries. Finally, an application of the guiding-center Lagrangian constraint onmore » the guiding-center Hamiltonian yields a natural interpretation for its higher-order corrections.« less

Eisenhart lifts and symmetries of time-dependent systems

NASA Astrophysics Data System (ADS)

Cariglia, M.; Duval, C.; Gibbons, G. W.; Horváthy, P. A.

2016-10-01

Certain dissipative systems, such as Caldirola and Kannai's damped simple harmonic oscillator, may be modelled by time-dependent Lagrangian and hence time dependent Hamiltonian systems with n degrees of freedom. In this paper we treat these systems, their projective and conformal symmetries as well as their quantisation from the point of view of the Eisenhart lift to a Bargmann spacetime in n + 2 dimensions, equipped with its covariantly constant null Killing vector field. Reparametrisation of the time variable corresponds to conformal rescalings of the Bargmann metric. We show how the Arnold map lifts to Bargmann spacetime. We contrast the greater generality of the Caldirola-Kannai approach with that of Arnold and Bateman. At the level of quantum mechanics, we are able to show how the relevant Schrödinger equation emerges naturally using the techniques of quantum field theory in curved spacetimes, since a covariantly constant null Killing vector field gives rise to well defined one particle Hilbert space. Time-dependent Lagrangians arise naturally also in cosmology and give rise to the phenomenon of Hubble friction. We provide an account of this for Friedmann-Lemaître and Bianchi cosmologies and how it fits in with our previous discussion in the non-relativistic limit.

Modeling of Subsurface Lagrangian Sensor Swarms for Spatially Distributed Current Measurements in High Energy Coastal Environments

NASA Astrophysics Data System (ADS)

Harrison, T. W.; Polagye, B. L.

2016-02-01

Coastal ecosystems are characterized by spatially and temporally varying hydrodynamics. In marine renewable energy applications, these variations strongly influence project economics and in oceanographic studies, they impact accuracy of biological transport and pollutant dispersion models. While stationary point or profile measurements are relatively straight forward, spatial representativeness of point measurements can be poor due to strong gradients. Moving platforms, such as AUVs or surface vessels, offer better coverage, but suffer from energetic constraints (AUVs) and resolvable scales (vessels). A system of sub-surface, drifting sensor packages is being developed to provide spatially distributed, synoptic data sets of coastal hydrodynamics with meter-scale resolution over a regional extent of a kilometer. Computational investigation has informed system parameters such as drifter size and shape, necessary position accuracy, number of drifters, and deployment methods. A hydrodynamic domain with complex flow features was created using a computational fluid dynamics code. A simple model of drifter dynamics propagate the drifters through the domain in post-processing. System parameters are evaluated relative to their ability to accurately recreate domain hydrodynamics. Implications of these results for an inexpensive, depth-controlled Lagrangian drifter system is presented.

Biogeochemical Response to Mesoscale Physical Forcing in the California Current System

NASA Technical Reports Server (NTRS)

Niiler, Pearn P.; Letelier, Ricardo; Moisan, John R.; Marra, John A. (Technical Monitor)

2001-01-01

In the first part of the project, we investigated the local response of the coastal ocean ecosystems (changes in chlorophyll, concentration and chlorophyll, fluorescence quantum yield) to physical forcing by developing and deploying Autonomous Drifting Ocean Stations (ADOS) within several mesoscale features along the U.S. west coast. Also, we compared the temporal and spatial variability registered by sensors mounted in the drifters to that registered by the sensors mounted in the satellites in order to assess the scales of variability that are not resolved by the ocean color satellite. The second part of the project used the existing WOCE SVP Surface Lagrangian drifters to track individual water parcels through time. The individual drifter tracks were used to generate multivariate time series by interpolating/extracting the biological and physical data fields retrieved by remote sensors (ocean color, SST, wind speed and direction, wind stress curl, and sea level topography). The individual time series of the physical data (AVHRR, TOPEX, NCEP) were analyzed against the ocean color (SeaWiFS) time-series to determine the time scale of biological response to the physical forcing. The results from this part of the research is being used to compare the decorrelation scales of chlorophyll from a Lagrangian and Eulerian framework. The results from both parts of this research augmented the necessary time series data needed to investigate the interactions between the ocean mesoscale features, wind, and the biogeochemical processes. Using the historical Lagrangian data sets, we have completed a comparison of the decorrelation scales in both the Eulerian and Lagrangian reference frame for the SeaWiFS data set. We are continuing to investigate how these results might be used in objective mapping efforts.

Dredging for dilution: A simulation based case study in a Tidal River.

PubMed

Bilgili, Ata; Proehl, Jeffrey A; Swift, M Robinson

2016-02-01

A 2-D hydrodynamic finite element model with a Lagrangian particle module is used to investigate the effects of dredging on the hydrodynamics and the horizontal dilution of pollutant particles originating from a wastewater treatment facility (WWTF) in tidal Oyster River in New Hampshire, USA. The model is driven by the semi-diurnal (M2) tidal component and includes the effect of flooding and drying of riverine mud flats. The particle tracking method consists of tidal advection plus a horizontal random walk model of sub-grid scale turbulent processes. Our approach is to perform continuous pollutant particle releases from the outfall, simulating three different scenarios: a base-case representing the present conditions and two different dredged channel/outfall location configurations. Hydrodynamics are investigated in an Eulerian framework and Lagrangian particle dilution improvement ratios are calculated for all cases. Results show that the simulated hydrodynamics are consistent with observed conditions. Eulerian and Lagrangian residuals predict an outward path suggesting flushing of pollutants on longer (>M2) time scales. Simulated dilution maps show that, in addition to dredging, the relocation of the WWTF outfall into the dredged main channel is required for increased dilution performance. The methodology presented here can be applied to similar managerial problems in all similar systems worldwide with relatively little effort, with the combination of Lagrangian and Eulerian methods working together towards a better solution. The statistical significance brought into methodology, by using a large number of particles (16000 in this case), is to be emphasized, especially with the growing number of networked parallel computer clusters worldwide. This paper improves on the study presented in Bilgili et al., 2006b, by adding an Eulerian analysis. Copyright © 2015 Elsevier Ltd. All rights reserved.

Stability analysis of Eulerian-Lagrangian methods for the one-dimensional shallow-water equations

USGS Publications Warehouse

Casulli, V.; Cheng, R.T.

1990-01-01

In this paper stability and error analyses are discussed for some finite difference methods when applied to the one-dimensional shallow-water equations. Two finite difference formulations, which are based on a combined Eulerian-Lagrangian approach, are discussed. In the first part of this paper the results of numerical analyses for an explicit Eulerian-Lagrangian method (ELM) have shown that the method is unconditionally stable. This method, which is a generalized fixed grid method of characteristics, covers the Courant-Isaacson-Rees method as a special case. Some artificial viscosity is introduced by this scheme. However, because the method is unconditionally stable, the artificial viscosity can be brought under control either by reducing the spatial increment or by increasing the size of time step. The second part of the paper discusses a class of semi-implicit finite difference methods for the one-dimensional shallow-water equations. This method, when the Eulerian-Lagrangian approach is used for the convective terms, is also unconditionally stable and highly accurate for small space increments or large time steps. The semi-implicit methods seem to be more computationally efficient than the explicit ELM; at each time step a single tridiagonal system of linear equations is solved. The combined explicit and implicit ELM is best used in formulating a solution strategy for solving a network of interconnected channels. The explicit ELM is used at channel junctions for each time step. The semi-implicit method is then applied to the interior points in each channel segment. Following this solution strategy, the channel network problem can be reduced to a set of independent one-dimensional open-channel flow problems. Numerical results support properties given by the stability and error analyses. ?? 1990.

A Lagrangian particle model to predict the airborne spread of foot-and-mouth disease virus

NASA Astrophysics Data System (ADS)

Mayer, D.; Reiczigel, J.; Rubel, F.

Airborne spread of bioaerosols in the boundary layer over a complex terrain is simulated using a Lagrangian particle model, and applied to modelling the airborne spread of foot-and-mouth disease (FMD) virus. Two case studies are made with study domains located in a hilly region in the northwest of the Styrian capital Graz, the second largest town in Austria. Mountainous terrain as well as inhomogeneous and time varying meteorological conditions prevent from application of so far used Gaussian dispersion models, while the proposed model can handle these realistically. In the model, trajectories of several thousands of particles are computed and the distribution of virus concentration near the ground is calculated. This allows to assess risk of infection areas with respect to animal species of interest, such as cattle, swine or sheep. Meteorological input data like wind field and other variables necessary to compute turbulence were taken from the new pre-operational version of the non-hydrostatic numerical weather prediction model LMK ( Lokal-Modell-Kürzestfrist) running at the German weather service DWD ( Deutscher Wetterdienst). The LMK model provides meteorological parameters with a spatial resolution of about 2.8 km. To account for the spatial resolution of 400 m used by the Lagrangian particle model, the initial wind field is interpolated upon the finer grid by a mass consistent interpolation method. Case studies depict a significant influence of local wind systems on the spread of virus. Higher virus concentrations at the upwind side of the hills and marginal concentrations in the lee are well observable, as well as canalization effects by valleys. The study demonstrates that the Lagrangian particle model is an appropriate tool for risk assessment of airborne spread of virus by taking into account the realistic orographic and meteorological conditions.

Euler-Lagrangian computation for estuarine hydrodynamics

USGS Publications Warehouse

Cheng, Ralph T.

1983-01-01

The transport of conservative and suspended matter in fluid flows is a phenomenon of Lagrangian nature because the process is usually convection dominant. Nearly all numerical investigations of such problems use an Eulerian formulation for the convenience that the computational grids are fixed in space and because the vast majority of field data are collected in an Eulerian reference frame. Several examples are given in this paper to illustrate a modeling approach which combines the advantages of both the Eulerian and Lagrangian computational techniques.

Lagrangian continuum dynamics in ALEGRA.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Wong, Michael K. W.; Love, Edward

Alegra is an ALE (Arbitrary Lagrangian-Eulerian) multi-material finite element code that emphasizes large deformations and strong shock physics. The Lagrangian continuum dynamics package in Alegra uses a Galerkin finite element spatial discretization and an explicit central-difference stepping method in time. The goal of this report is to describe in detail the characteristics of this algorithm, including the conservation and stability properties. The details provided should help both researchers and analysts understand the underlying theory and numerical implementation of the Alegra continuum hydrodynamics algorithm.

Implications of Lagrangian transport for coupled chemistry-climate simulations

NASA Astrophysics Data System (ADS)

Stenke, A.; Dameris, M.; Grewe, V.; Garny, H.

2008-10-01

For the first time a purely Lagrangian transport algorithm is applied in a fully coupled chemistry-climate model (CCM). We use the Lagrangian scheme ATTILA for the transport of water vapour, cloud water and chemical trace species in the ECHAM4.L39(DLR)/CHEM (E39C) CCM. The advantage of the Lagrangian approach is that it is numerically non-diffusive and therefore maintains steeper and more realistic gradients than the operational semi-Lagrangian transport scheme. In case of radiatively active species changes in the simulated distributions feed back to model dynamics which in turn affect the modelled transport. The implications of the Lagrangian transport scheme for stratospheric model dynamics and tracer distributions in the upgraded model version E39C-ATTILA (E39C-A) are evaluated by comparison with observations and results of the E39C model with the operational semi-Lagrangian advection scheme. We find that several deficiencies in stratospheric dynamics in E39C seem to originate from a pronounced modelled wet bias and an associated cold bias in the extra-tropical lowermost stratosphere. The reduction of the simulated moisture and temperature bias in E39C-A leads to a significant advancement of stratospheric dynamics in terms of the mean state as well as annual and interannual variability. As a consequence of the favourable numerical characteristics of the Lagrangian transport scheme and the improved model dynamics, E39C-A generally shows more realistic stratospheric tracer distributions: Compared to E39C high stratospheric chlorine (Cly) concentrations extend further downward and agree now well with analyses derived from observations. Therefore E39C-A realistically covers the altitude of maximum ozone depletion in the stratosphere. The location of the ozonopause, i.e. the transition from low tropospheric to high stratospheric ozone values, is also clearly improved in E39C-A. Furthermore, the simulated temporal evolution of stratospheric Cly in the past is realistically reproduced which is an important step towards a more reliable projection of future changes, especially of stratospheric ozone.

Predictability of the Lagrangian Motion in the Upper Ocean

NASA Astrophysics Data System (ADS)

Piterbarg, L. I.; Griffa, A.; Griffa, A.; Mariano, A. J.; Ozgokmen, T. M.; Ryan, E. H.

2001-12-01

The complex non-linear dynamics of the upper ocean leads to chaotic behavior of drifter trajectories in the ocean. Our study is focused on estimating the predictability limit for the position of an individual Lagrangian particle or a particle cluster based on the knowledge of mean currents and observations of nearby particles (predictors). The Lagrangian prediction problem, besides being a fundamental scientific problem, is also of great importance for practical applications such as search and rescue operations and for modeling the spread of fish larvae. A stochastic multi-particle model for the Lagrangian motion has been rigorously formulated and is a generalization of the well known "random flight" model for a single particle. Our model is mathematically consistent and includes a few easily interpreted parameters, such as the Lagrangian velocity decorrelation time scale, the turbulent velocity variance, and the velocity decorrelation radius, that can be estimated from data. The top Lyapunov exponent for an isotropic version of the model is explicitly expressed as a function of these parameters enabling us to approximate the predictability limit to first order. Lagrangian prediction errors for two new prediction algorithms are evaluated against simple algorithms and each other and are used to test the predictability limits of the stochastic model for isotropic turbulence. The first algorithm is based on a Kalman filter and uses the developed stochastic model. Its implementation for drifter clusters in both the Tropical Pacific and Adriatic Sea, showed good prediction skill over a period of 1-2 weeks. The prediction error is primarily a function of the data density, defined as the number of predictors within a velocity decorrelation spatial scale from the particle to be predicted. The second algorithm is model independent and is based on spatial regression considerations. Preliminary results, based on simulated, as well as, real data, indicate that it performs better than the Kalman-based algorithm in strong shear flows. An important component of our research is the optimal predictor location problem; Where should floats be launched in order to minimize the Lagrangian prediction error? Preliminary Lagrangian sampling results for different flow scenarios will be presented.

Classification of almost toric singularities of Lagrangian foliations

DOE Office of Scientific and Technical Information (OSTI.GOV)

Izosimov, Anton M

2011-07-31

The topological classification is given of almost toric singularities of integrable Hamiltonian systems with a large number of degrees of freedom, that is, of nondegenerate singularities without hyperbolic components. A descriptive geometric model is constructed, which makes it possible to perform effective calculations. Bibliography: 10 titles.

Heterogeneous Teams of Autonomous Vehicles: Advanced Sensing & Control

DTIC Science & Technology

2009-03-01

Final Technical 3. DATES COVERED (From To) 7/1/05-12/31708 4. TITLE AND SUBTITLE Heterogeneous Teams of Autonomous Vehicles Advanced Sensing...assimilating data from underwater and surface autonomous vehicles in addition to the usual sources of Eulerian and Lagrangian systems into a small scale

Development and evaluation of the Screening Trajectory Ozone Prediction System (STOPS, version 1.0)

NASA Astrophysics Data System (ADS)

Czader, B. H.; Percell, P.; Byun, D.; Kim, S.; Choi, Y.

2015-05-01

A hybrid Lagrangian-Eulerian based modeling tool has been developed using the Eulerian framework of the Community Multiscale Air Quality (CMAQ) model. It is a moving nest that utilizes saved original CMAQ simulation results to provide boundary conditions, initial conditions, as well as emissions and meteorological parameters necessary for a simulation. Given that these files are available, this tool can run independently of the CMAQ whole domain simulation, and it is designed to simulate source-receptor relationships upon changes in emissions. In this tool, the original CMAQ's horizontal domain is reduced to a small sub-domain that follows a trajectory defined by the mean mixed-layer wind. It has the same vertical structure and physical and chemical interactions as CMAQ except advection calculation. The advantage of this tool compared to other Lagrangian models is its capability of utilizing realistic boundary conditions that change with space and time as well as detailed chemistry treatment. The correctness of the algorithms and the overall performance was evaluated against CMAQ simulation results. Its performance depends on the atmospheric conditions occurring during the simulation period, with the comparisons being most similar to CMAQ results under uniform wind conditions. The mean bias for surface ozone mixing ratios varies between -0.03 and -0.78 ppbV and the slope is between 0.99 and 1.01 for different analyzed cases. For complicated meteorological conditions, such as wind circulation, the simulated mixing ratios deviate from CMAQ values as a result of the Lagrangian approach of using mean wind for its movement, but are still close, with the mean bias for ozone varying between 0.07 and -4.29 ppbV and the slope varying between 0.95 and 1.06 for different analyzed cases. For historical reasons, this hybrid Lagrangian-Eulerian based tool is named the Screening Trajectory Ozone Prediction System (STOPS), but its use is not limited to ozone prediction as, similarly to CMAQ, it can simulate concentrations of many species, including particulate matter and some toxic compounds, such as formaldehyde and 1,3-butadiene.

How is the surface Atlantic water inflow through the Gibraltar Strait forecasted? A lagrangian validation of operational oceanographic services in the Alboran Sea and the Western Mediterranean

NASA Astrophysics Data System (ADS)

Sotillo, M. G.; Amo-Baladrón, A.; Padorno, E.; Garcia-Ladona, E.; Orfila, A.; Rodríguez-Rubio, P.; Conti, D.; Madrid, J. A. Jiménez; de los Santos, F. J.; Fanjul, E. Alvarez

2016-11-01

An exhaustive validation of some of the operational ocean forecast products available in the Gibraltar Strait and the Alboran Sea is here presented. The skill of two ocean model solutions (derived from the Eulerian ocean forecast systems, such as the regional CMEMS IBI and the high resolution PdE SAMPA) in reproducing the complex surface dynamics in the above areas is evaluated. To this aim, in-situ measurements from the MEDESS-GIB drifter buoy database (comprising the Lagrangian positions, derived velocities and SST values) are used as the observational reference and the temporal coverage for the validation is 3 months (September to December 2014). Two metrics, a Lagrangian separation distance and a skill score, have been applied to evaluate the performance of the modelling systems in reproducing the observed trajectories. Furthermore, the SST validation with in-situ data is carried out by means of validating the model solutions with L3 satellite SST products. The Copernicus regional IBI products are evaluated in an extended domain, beyond the Alboran Sea, and covering western Mediterranean waters. This analysis reveals some strengths of the presented regional solution (i.e. realistic values of the Atlantic Jet in the Strait of Gibraltar area, realistic simulation of the Algerian Current). However, some shortcomings are also identified, with the major one being related to the simulated geographical position and intensity of the Alboran Gyres, particularly the western one. This performance limitation affects the IBI-modelled surface circulation in the entire Alboran Sea. On the other hand, the SAMPA system shows a more accurate model performance and it realistically reproduces the observed surface circulation in the area. The results reflect the effectiveness of the dynamical downscaling performed through the SAMPA system with respect to the regional IBI solution (in which SAMPA is nested), providing an objective measure of the potential added values introduced by the SAMPA downscaling solution in the Alboran Sea.

Characteristics of the mixing volume model with the interactions among spatially distributed particles for Lagrangian simulations of turbulent mixing

NASA Astrophysics Data System (ADS)

Watanabe, Tomoaki; Nagata, Koji

2016-11-01

The mixing volume model (MVM), which is a mixing model for molecular diffusion in Lagrangian simulations of turbulent mixing problems, is proposed based on the interactions among spatially distributed particles in a finite volume. The mixing timescale in the MVM is derived by comparison between the model and the subgrid scale scalar variance equation. A-priori test of the MVM is conducted based on the direct numerical simulations of planar jets. The MVM is shown to predict well the mean effects of the molecular diffusion under various conditions. However, a predicted value of the molecular diffusion term is positively correlated to the exact value in the DNS only when the number of the mixing particles is larger than two. Furthermore, the MVM is tested in the hybrid implicit large-eddy-simulation/Lagrangian-particle-simulation (ILES/LPS). The ILES/LPS with the present mixing model predicts well the decay of the scalar variance in planar jets. This work was supported by JSPS KAKENHI Nos. 25289030 and 16K18013. The numerical simulations presented in this manuscript were carried out on the high performance computing system (NEC SX-ACE) in the Japan Agency for Marine-Earth Science and Technology.

Investigation of erosion behavior in different pipe-fitting using Eulerian-Lagrangian approach

NASA Astrophysics Data System (ADS)

Kulkarni, Harshwardhan; Khadamkar, Hrushikesh; Mathpati, Channamallikarjun

2017-11-01

Erosion is a wear mechanism of piping system in which wall thinning occurs because of turbulent flow along with along with impact of solid particle on the pipe wall, because of this pipe ruptures causes costly repair of plant and personal injuries. In this study two way coupled Eulerian-Lagrangian approach is used to solve the liquid solid (water-ferrous suspension) flow in the different pipe fitting namely elbow, t-junction, reducer, orifice and 50% open gate valve. Simulations carried out using incomressible transient solver in OpenFOAM for different Reynolds's number (10k, 25k, 50k) and using WenYu drag model to find out possible higher erosion region in pipe fitting. Used transient solver is a hybrid in nature which is combination of Lagrangian library and pimpleFoam. Result obtained from simulation shows that exit region of elbow specially downstream of straight, extradose of the bend section more affected by erosion. Centrifugal force on solid particle at bend affect the erosion behavior. In case of t-junction erosion occurs below the locus of the projection of branch pipe on the wall. For the case of reducer, orifice and a gate valve reduction area as well as downstream is getting more affected by erosion because of increase in velocities.

Multi-Mbar Ramp Compression of Copper

NASA Astrophysics Data System (ADS)

Kraus, Rick; Davis, Jean-Paul; Seagle, Christopher; Fratanduono, Dayne; Swift, Damian; Eggert, Jon; Collins, Gilbert

2015-06-01

The cold curve is a critical component of equation of state models. Diamond anvil cell measurements can be used to determine isotherms, but these have generally been limited to pressures below 1 Mbar. The cold curve can also be extracted from Hugoniot data, but only with assumptions about the thermal pressure. As the National Ignition Facility will be using copper as an ablator material at pressures in excess of 10 Mbar, we need a better understanding of the high-density equation of state. Here we present ramp-wave compression experiments at the Sandia Z-Machine that we have used to constrain the isentrope of copper to a stress state of nearly 5 Mbar. We use the iterative Lagrangian analysis technique, developed by Rothman and Maw, to determine the stress-strain path. We also present a new iterative forward analysis (IFA) technique coupled to the ARES hydrocode that performs a non-linear optimization over the pressure drive and equation of state in order to match the free surface velocities. The IFA technique is an advantage over iterative Lagrangian analysis for experiments with growing shocks or systems with time dependent strength, which violate the assumptions of iterative Lagrangian analysis. This work was performed under the auspices of the U.S. Department of Energy by Lawrence Livermore National Laboratory under Contract DE-AC52-07NA27344.

Construction of Lagrangians and Hamiltonians from the Equation of Motion

ERIC Educational Resources Information Center

Yan, C. C.

1978-01-01

Demonstrates that infinitely many Lagrangians and Hamiltonians can be constructed from a given equation of motion. Points out the lack of an established criterion for making a proper selection. (Author/GA)

Extended hamiltonian formalism and Lorentz-violating lagrangians

NASA Astrophysics Data System (ADS)

Colladay, Don

2017-09-01

A new perspective on the classical mechanical formulation of particle trajectories in Lorentz-violating theories is presented. Using the extended hamiltonian formalism, a Legendre Transformation between the associated covariant lagrangian and hamiltonian varieties is constructed. This approach enables calculation of trajectories using Hamilton's equations in momentum space and the Euler-Lagrange equations in velocity space away from certain singular points that arise in the theory. Singular points are naturally de-singularized by requiring the trajectories to be smooth functions of both velocity and momentum variables. In addition, it is possible to identify specific sheets of the dispersion relations that correspond to specific solutions for the lagrangian. Examples corresponding to bipartite Finsler functions are computed in detail. A direct connection between the lagrangians and the field-theoretic solutions to the Dirac equation is also established for a special case.

Thermostating extended Lagrangian Born-Oppenheimer molecular dynamics.

PubMed

Martínez, Enrique; Cawkwell, Marc J; Voter, Arthur F; Niklasson, Anders M N

2015-04-21

Extended Lagrangian Born-Oppenheimer molecular dynamics is developed and analyzed for applications in canonical (NVT) simulations. Three different approaches are considered: the Nosé and Andersen thermostats and Langevin dynamics. We have tested the temperature distribution under different conditions of self-consistent field (SCF) convergence and time step and compared the results to analytical predictions. We find that the simulations based on the extended Lagrangian Born-Oppenheimer framework provide accurate canonical distributions even under approximate SCF convergence, often requiring only a single diagonalization per time step, whereas regular Born-Oppenheimer formulations exhibit unphysical fluctuations unless a sufficiently high degree of convergence is reached at each time step. The thermostated extended Lagrangian framework thus offers an accurate approach to sample processes in the canonical ensemble at a fraction of the computational cost of regular Born-Oppenheimer molecular dynamics simulations.

Adaptive reconnection-based arbitrary Lagrangian Eulerian method

DOE Office of Scientific and Technical Information (OSTI.GOV)

Bo, Wurigen; Shashkov, Mikhail

We present a new adaptive Arbitrary Lagrangian Eulerian (ALE) method. This method is based on the reconnection-based ALE (ReALE) methodology of Refs. [35], [34] and [6]. The main elements in a standard ReALE method are: an explicit Lagrangian phase on an arbitrary polygonal (in 2D) mesh in which the solution and positions of grid nodes are updated; a rezoning phase in which a new grid is defined by changing the connectivity (using Voronoi tessellation) but not the number of cells; and a remapping phase in which the Lagrangian solution is transferred onto the new grid. Furthermore, in the standard ReALEmore » method, the rezoned mesh is smoothed by using one or several steps toward centroidal Voronoi tessellation, but it is not adapted to the solution in any way.« less

Lagrangian methods in the analysis of nonlinear wave interactions in plasma

NASA Technical Reports Server (NTRS)

Galloway, J. J.

1972-01-01

An averaged-Lagrangian method is developed for obtaining the equations which describe the nonlinear interactions of the wave (oscillatory) and background (nonoscillatory) components which comprise a continuous medium. The method applies to monochromatic waves in any continuous medium that can be described by a Lagrangian density, but is demonstrated in the context of plasma physics. The theory is presented in a more general and unified form by way of a new averaged-Lagrangian formalism which simplifies the perturbation ordering procedure. Earlier theory is extended to deal with a medium distributed in velocity space and to account for the interaction of the background with the waves. The analytic steps are systematized, so as to maximize calculational efficiency. An assessment of the applicability and limitations of the method shows that it has some definite advantages over other approaches in efficiency and versatility.

Adaptive reconnection-based arbitrary Lagrangian Eulerian method

DOE PAGES

Bo, Wurigen; Shashkov, Mikhail

2015-07-21

We present a new adaptive Arbitrary Lagrangian Eulerian (ALE) method. This method is based on the reconnection-based ALE (ReALE) methodology of Refs. [35], [34] and [6]. The main elements in a standard ReALE method are: an explicit Lagrangian phase on an arbitrary polygonal (in 2D) mesh in which the solution and positions of grid nodes are updated; a rezoning phase in which a new grid is defined by changing the connectivity (using Voronoi tessellation) but not the number of cells; and a remapping phase in which the Lagrangian solution is transferred onto the new grid. Furthermore, in the standard ReALEmore » method, the rezoned mesh is smoothed by using one or several steps toward centroidal Voronoi tessellation, but it is not adapted to the solution in any way.« less

The general form of the coupled Horndeski Lagrangian that allows cosmological scaling solutions

DOE Office of Scientific and Technical Information (OSTI.GOV)

Gomes, Adalto R.; Amendola, Luca, E-mail: argomes.ufma@gmail.com, E-mail: l.amendola@thphys.uni-heidelberg.de

We consider the general scalar field Horndeski Lagrangian coupled to dark matter. Within this class of models, we present two results that are independent of the particular form of the model. First, we show that in a Friedmann-Robertson-Walker metric the Horndeski Lagrangian coincides with the pressure of the scalar field. Second, we employ the previous result to identify the most general form of the Lagrangian that allows for cosmological scaling solutions, i.e. solutions where the ratio of dark matter to field density and the equation of state remain constant. Scaling solutions of this kind may help solving the coincidence problemmore » since in this case the presently observed ratio of matter to dark energy does not depend on initial conditions, but rather on the theoretical parameters.« less

Microscopic Lagrangian description of warm plasmas. I - Linear wave propagation. II - Nonlinear wave interactions

NASA Technical Reports Server (NTRS)

Kim, H.; Crawford, F. W.

1977-01-01

It is pointed out that the conventional iterative analysis of nonlinear plasma wave phenomena, which involves a direct use of Maxwell's equations and the equations describing the particle dynamics, leads to formidable theoretical and algebraic complexities, especially for warm plasmas. As an effective alternative, the Lagrangian method may be applied. It is shown how this method may be used in the microscopic description of small-signal wave propagation and in the study of nonlinear wave interactions. The linear theory is developed for an infinite, homogeneous, collisionless, warm magnetoplasma. A summary is presented of a perturbation expansion scheme described by Galloway and Kim (1971), and Lagrangians to third order in perturbation are considered. Attention is given to the averaged-Lagrangian density, the action-transfer and coupled-mode equations, and the general solution of the coupled-mode equations.

Stochastic partial differential fluid equations as a diffusive limit of deterministic Lagrangian multi-time dynamics.

PubMed

Cotter, C J; Gottwald, G A; Holm, D D

2017-09-01

In Holm (Holm 2015 Proc. R. Soc. A 471 , 20140963. (doi:10.1098/rspa.2014.0963)), stochastic fluid equations were derived by employing a variational principle with an assumed stochastic Lagrangian particle dynamics. Here we show that the same stochastic Lagrangian dynamics naturally arises in a multi-scale decomposition of the deterministic Lagrangian flow map into a slow large-scale mean and a rapidly fluctuating small-scale map. We employ homogenization theory to derive effective slow stochastic particle dynamics for the resolved mean part, thereby obtaining stochastic fluid partial equations in the Eulerian formulation. To justify the application of rigorous homogenization theory, we assume mildly chaotic fast small-scale dynamics, as well as a centring condition. The latter requires that the mean of the fluctuating deviations is small, when pulled back to the mean flow.

On the error propagation of semi-Lagrange and Fourier methods for advection problems☆

PubMed Central

Einkemmer, Lukas; Ostermann, Alexander

2015-01-01

In this paper we study the error propagation of numerical schemes for the advection equation in the case where high precision is desired. The numerical methods considered are based on the fast Fourier transform, polynomial interpolation (semi-Lagrangian methods using a Lagrange or spline interpolation), and a discontinuous Galerkin semi-Lagrangian approach (which is conservative and has to store more than a single value per cell). We demonstrate, by carrying out numerical experiments, that the worst case error estimates given in the literature provide a good explanation for the error propagation of the interpolation-based semi-Lagrangian methods. For the discontinuous Galerkin semi-Lagrangian method, however, we find that the characteristic property of semi-Lagrangian error estimates (namely the fact that the error increases proportionally to the number of time steps) is not observed. We provide an explanation for this behavior and conduct numerical simulations that corroborate the different qualitative features of the error in the two respective types of semi-Lagrangian methods. The method based on the fast Fourier transform is exact but, due to round-off errors, susceptible to a linear increase of the error in the number of time steps. We show how to modify the Cooley–Tukey algorithm in order to obtain an error growth that is proportional to the square root of the number of time steps. Finally, we show, for a simple model, that our conclusions hold true if the advection solver is used as part of a splitting scheme. PMID:25844018

Lagrangian flows within reflecting internal waves at a horizontal free-slip surface

DOE Office of Scientific and Technical Information (OSTI.GOV)

Zhou, Qi, E-mail: q.zhou@damtp.cam.ac.uk; Diamessis, Peter J.

In this paper sequel to Zhou and Diamessis [“Reflection of an internal gravity wave beam off a horizontal free-slip surface,” Phys. Fluids 25, 036601 (2013)], we consider Lagrangian flows within nonlinear internal waves (IWs) reflecting off a horizontal free-slip rigid lid, the latter being a model of the ocean surface. The problem is approached both analytically using small-amplitude approximations and numerically by tracking Lagrangian fluid particles in direct numerical simulation (DNS) datasets of the Eulerian flow. Inviscid small-amplitude analyses for both plane IWs and IW beams (IWBs) show that Eulerian mean flow due to wave-wave interaction and wave-induced Stokes driftmore » cancels each other out completely at the second order in wave steepness A, i.e., O(A{sup 2}), implying zero Lagrangian mean flow up to that order. However, high-accuracy particle tracking in finite-Reynolds-number fully nonlinear DNS datasets from the work of Zhou and Diamessis suggests that the Euler-Stokes cancelation on O(A{sup 2}) is not complete. This partial cancelation significantly weakens the mean Lagrangian flows but does not entirely eliminate them. As a result, reflecting nonlinear IWBs produce mean Lagrangian drifts on O(A{sup 2}) and thus particle dispersion on O(A{sup 4}). The above findings can be relevant to predicting IW-driven mass transport in the oceanic surface and subsurface region which bears important observational and environmental implications, under circumstances where the effect of Earth rotation can be ignored.« less

A METHOD FOR COUPLING DYNAMICAL AND COLLISIONAL EVOLUTION OF DUST IN CIRCUMSTELLAR DISKS: THE EFFECT OF A DEAD ZONE

DOE Office of Scientific and Technical Information (OSTI.GOV)

Charnoz, Sebastien; Taillifet, Esther, E-mail: charnoz@cea.fr

Dust is a major component of protoplanetary and debris disks as it is the main observable signature of planetary formation. However, since dust dynamics are size-dependent (because of gas drag or radiation pressure) any attempt to understand the full dynamical evolution of circumstellar dusty disks that neglect the coupling of collisional evolution with dynamical evolution is thwarted because of the feedback between these two processes. Here, a new hybrid Lagrangian/Eulerian code is presented that overcomes some of these difficulties. The particles representing 'dust clouds' are tracked individually in a Lagrangian way. This system is then mapped on an Eulerian spatialmore » grid, inside the cells of which the local collisional evolutions are computed. Finally, the system is remapped back in a collection of discrete Lagrangian particles, keeping their number constant. An application example of dust growth in a turbulent protoplanetary disk at 1 AU is presented. First, the growth of dust is considered in the absence of a dead zone and the vertical distribution of dust is self-consistently computed. It is found that the mass is rapidly dominated by particles about a fraction of a millimeter in size. Then the same case with an embedded dead zone is investigated and it is found that coagulation is much more efficient and produces, in a short timescale, 1-10 cm dust pebbles that dominate the mass. These pebbles may then be accumulated into embryo-sized objects inside large-scale turbulent structures as shown recently.« less

A LAGRANGIAN GAUSS-NEWTON-KRYLOV SOLVER FOR MASS- AND INTENSITY-PRESERVING DIFFEOMORPHIC IMAGE REGISTRATION.

PubMed

Mang, Andreas; Ruthotto, Lars

2017-01-01

We present an efficient solver for diffeomorphic image registration problems in the framework of Large Deformations Diffeomorphic Metric Mappings (LDDMM). We use an optimal control formulation, in which the velocity field of a hyperbolic PDE needs to be found such that the distance between the final state of the system (the transformed/transported template image) and the observation (the reference image) is minimized. Our solver supports both stationary and non-stationary (i.e., transient or time-dependent) velocity fields. As transformation models, we consider both the transport equation (assuming intensities are preserved during the deformation) and the continuity equation (assuming mass-preservation). We consider the reduced form of the optimal control problem and solve the resulting unconstrained optimization problem using a discretize-then-optimize approach. A key contribution is the elimination of the PDE constraint using a Lagrangian hyperbolic PDE solver. Lagrangian methods rely on the concept of characteristic curves. We approximate these curves using a fourth-order Runge-Kutta method. We also present an efficient algorithm for computing the derivatives of the final state of the system with respect to the velocity field. This allows us to use fast Gauss-Newton based methods. We present quickly converging iterative linear solvers using spectral preconditioners that render the overall optimization efficient and scalable. Our method is embedded into the image registration framework FAIR and, thus, supports the most commonly used similarity measures and regularization functionals. We demonstrate the potential of our new approach using several synthetic and real world test problems with up to 14.7 million degrees of freedom.

Statistical Decoupling of a Lagrangian Fluid Parcel in Newtonian Cosmology

NASA Astrophysics Data System (ADS)

Wang, Xin; Szalay, Alex

2016-03-01

The Lagrangian dynamics of a single fluid element within a self-gravitational matter field is intrinsically non-local due to the presence of the tidal force. This complicates the theoretical investigation of the nonlinear evolution of various cosmic objects, e.g., dark matter halos, in the context of Lagrangian fluid dynamics, since fluid parcels with given initial density and shape may evolve differently depending on their environments. In this paper, we provide a statistical solution that could decouple this environmental dependence. After deriving the evolution equation for the probability distribution of the matter field, our method produces a set of closed ordinary differential equations whose solution is uniquely determined by the initial condition of the fluid element. Mathematically, it corresponds to the projected characteristic curve of the transport equation of the density-weighted probability density function (ρPDF). Consequently it is guaranteed that the one-point ρPDF would be preserved by evolving these local, yet nonlinear, curves with the same set of initial data as the real system. Physically, these trajectories describe the mean evolution averaged over all environments by substituting the tidal tensor with its conditional average. For Gaussian distributed dynamical variables, this mean tidal tensor is simply proportional to the velocity shear tensor, and the dynamical system would recover the prediction of the Zel’dovich approximation (ZA) with the further assumption of the linearized continuity equation. For a weakly non-Gaussian field, the averaged tidal tensor could be expanded perturbatively as a function of all relevant dynamical variables whose coefficients are determined by the statistics of the field.

STATISTICAL DECOUPLING OF A LAGRANGIAN FLUID PARCEL IN NEWTONIAN COSMOLOGY

DOE Office of Scientific and Technical Information (OSTI.GOV)

Wang, Xin; Szalay, Alex, E-mail: xwang@cita.utoronto.ca

The Lagrangian dynamics of a single fluid element within a self-gravitational matter field is intrinsically non-local due to the presence of the tidal force. This complicates the theoretical investigation of the nonlinear evolution of various cosmic objects, e.g., dark matter halos, in the context of Lagrangian fluid dynamics, since fluid parcels with given initial density and shape may evolve differently depending on their environments. In this paper, we provide a statistical solution that could decouple this environmental dependence. After deriving the evolution equation for the probability distribution of the matter field, our method produces a set of closed ordinary differentialmore » equations whose solution is uniquely determined by the initial condition of the fluid element. Mathematically, it corresponds to the projected characteristic curve of the transport equation of the density-weighted probability density function (ρPDF). Consequently it is guaranteed that the one-point ρPDF would be preserved by evolving these local, yet nonlinear, curves with the same set of initial data as the real system. Physically, these trajectories describe the mean evolution averaged over all environments by substituting the tidal tensor with its conditional average. For Gaussian distributed dynamical variables, this mean tidal tensor is simply proportional to the velocity shear tensor, and the dynamical system would recover the prediction of the Zel’dovich approximation (ZA) with the further assumption of the linearized continuity equation. For a weakly non-Gaussian field, the averaged tidal tensor could be expanded perturbatively as a function of all relevant dynamical variables whose coefficients are determined by the statistics of the field.« less

[Study on the center-driven multiple degrees of freedom upper limb rehabilitation training robot].

PubMed

Huang, Xiaohai; Yu, Hongliu; Wang, Jinchao; Dong, Qi; Zhang, Linling; Meng, Qiaoling; Li, Sujiao; Wang, Duojin

2018-03-01

With the aging of the society, the number of stroke patients has been increasing year by year. Compared with the traditional rehabilitation therapy, the application of upper limb rehabilitation robot has higher efficiency and better rehabilitation effect, and has become an important development direction in the field of rehabilitation. In view of the current development status and the deficiency of upper limb rehabilitation robot system, combined with the development trend of all kinds of products of the upper limb rehabilitation robot, this paper designed a center-driven upper limb rehabilitation training robot for cable transmission which can help the patients complete 6 degrees of freedom (3 are driven, 3 are underactuated) training. Combined the structure of robot with more joints rehabilitation training, the paper choosed a cubic polynomial trajectory planning method in the joint space planning to design two trajectories of eating and lifting arm. According to the trajectory equation, the movement trajectory of each joint of the robot was drawn in MATLAB. It laid a foundation for scientific and effective rehabilitation training. Finally, the experimental prototype is built, and the mechanical structure and design trajectories are verified.

Lagrangian transport in a class of three-dimensional buoyancy-driven flows

NASA Astrophysics Data System (ADS)

Contreras, Sebastian; Speetjens, Michel; Clercx, Herman

2017-11-01

The study concerns the Lagrangian dynamics of three-dimensional (3D) buoyancy-driven cavity flows under steady and laminar conditions due to a global temperature gradient imposed via an opposite hot and cold sidewall. This serves as archetypal configuration for natural-convection flows in which gravity is perpendicular to the global temperature gradient. Limited insight into the Lagrangian properties of this class of flows motivates this study. The 3D Lagrangian dynamics are investigated in terms of the generic structure of the Lagrangian flow topology that is described in terms of the Grashof number (Gr) and the Prandtl number (Pr). Gr is the principal control parameter for the flow topology: vanishing Gr yields a state of closed streamlines (integrable state); increasing Gr causes the formation of toroidal coherent structures embedded in chaotic streamlines governed by Hamiltonian mechanisms. Fluid inertia prevails for ``smaller'' Gr. A buoyancy-induced bifurcation of the flow topology occurs for ``larger'' Gr and underlies the emergence of ``secondary rolls'' and secondary tori for ``larger'' Pr. Stagnation points and corresponding manifold interactions are key to the dynamics. S.C. acknowledges financial support from Consejo Nacional de Ciencia y Tecnología (CONACYT).

Lagrangian theory of structure formation in relativistic cosmology. IV. Lagrangian approach to gravitational waves

NASA Astrophysics Data System (ADS)

Al Roumi, Fosca; Buchert, Thomas; Wiegand, Alexander

2017-12-01

The relativistic generalization of the Newtonian Lagrangian perturbation theory is investigated. In previous works, the perturbation and solution schemes that are generated by the spatially projected gravitoelectric part of the Weyl tensor were given to any order of the perturbations, together with extensions and applications for accessing the nonperturbative regime. We here discuss more in detail the general first-order scheme within the Cartan formalism including and concentrating on the gravitational wave propagation in matter. We provide master equations for all parts of Lagrangian-linearized perturbations propagating in the perturbed spacetime, and we outline the solution procedure that allows one to find general solutions. Particular emphasis is given to global properties of the Lagrangian perturbation fields by employing results of Hodge-de Rham theory. We here discuss how the Hodge decomposition relates to the standard scalar-vector-tensor decomposition. Finally, we demonstrate that we obtain the known linear perturbation solutions of the standard relativistic perturbation scheme by performing two steps: first, by restricting our solutions to perturbations that propagate on a flat unperturbed background spacetime and, second, by transforming to Eulerian background coordinates with truncation of nonlinear terms.

Analytical solution of the problem of a shock wave in the collapsing gas in Lagrangian coordinates

NASA Astrophysics Data System (ADS)

Kuropatenko, V. F.; Shestakovskaya, E. S.

2016-10-01

It is proposed the exact solution of the problem of a convergent shock wave and gas dynamic compression in a spherical vessel with an impermeable wall in Lagrangian coordinates. At the initial time the speed of cold ideal gas is equal to zero, and a negative velocity is set on boundary of the sphere. When t > t0 the shock wave spreads from this point into the gas. The boundary of the sphere will move under the certain law correlated with the motion of the shock wave. The trajectories of the gas particles in Lagrangian coordinates are straight lines. The equations determining the structure of the gas flow between the shock front and gas border have been found as a function of time and Lagrangian coordinate. The dependence of the entropy on the velocity of the shock wave has been found too. For Lagrangian coordinates the problem is first solved. It is fundamentally different from previously known formulations of the problem of the self-convergence of the self-similar shock wave to the center of symmetry and its reflection from the center, which was built up for the infinite area in Euler coordinates.

Non-linear duality invariant partially massless models?

DOE PAGES

Cherney, D.; Deser, S.; Waldron, A.; ...

2015-12-15

We present manifestly duality invariant, non-linear, equations of motion for maximal depth, partially massless higher spins. These are based on a first order, Maxwell-like formulation of the known partially massless systems. Lastly, our models mimic Dirac–Born–Infeld theory but it is unclear whether they are Lagrangian.

DESIGN OF AQUIFER REMEDIATION SYSTEMS: (2) Estimating site-specific performance and benefits of partial source removal

EPA Science Inventory

A Lagrangian stochastic model is proposed as a tool that can be utilized in forecasting remedial performance and estimating the benefits (in terms of flux and mass reduction) derived from a source zone remedial effort. The stochastic functional relationships that describe the hyd...

An analytical approach to the external force-free motion of pendulums on surfaces of constant curvature

NASA Astrophysics Data System (ADS)

Rubio, Rafael M.; Salamanca, Juan J.

2018-07-01

The dynamics of external force free motion of pendulums on surfaces of constant Gaussian curvature is addressed when the pivot moves along a geodesic obtaining the Lagrangian of the system. As an application it is possible the study of elastic and quantum pendulums.

Data Assimilation Considerations for Improved Ocean Predictability During the Gulf of Mexico Grand Lagrangian Deployment (GLAD)

DTIC Science & Technology

2014-09-16

scales below the mesoscale are achievable. Other planned observation systems include the Surface Water/Ocean Topography ( SWOT ) satellite mission...atmospheric. Oceanic Hydrol. Appl . II, Chapter 13. Cummings, J., Bertino, L., Brasseur, P., Fukumori, I., Kamachi, M., Martin, M.J., Mogensen, K

MatchingTools: A Python library for symbolic effective field theory calculations

NASA Astrophysics Data System (ADS)

Criado, Juan C.

2018-06-01

MatchingTools is a Python library for doing symbolic calculations in effective field theory. It provides the tools to construct general models by defining their field content and their interaction Lagrangian. Once a model is given, the heavy particles can be integrated out at the tree level to obtain an effective Lagrangian in which only the light particles appear. After integration, some of the terms of the resulting Lagrangian might not be independent. MatchingTools contains functions for transforming these terms to rewrite them in terms of any chosen set of operators.

Effect of VSR invariant Chern-Simons Lagrangian on photon polarization

DOE Office of Scientific and Technical Information (OSTI.GOV)

Nayak, Alekha C.; Verma, Ravindra K.; Jain, Pankaj, E-mail: acnayak@iitk.ac.in, E-mail: ravindkv@iitk.ac.in, E-mail: pkjain@iitk.ac.in

2015-07-01

We propose a generalization of the Chern-Simons (CS) Lagrangian which is invariant under the SIM(2) transformations but not under the full Lorentz group. The generalized lagrangian is also invariant under a SIM(2) gauge transformation. We study the effect of such a term on radiation propagating over cosmological distances. We find that the dominant effect of this term is to produce circular polarization as radiation propagates through space. We use the circular polarization data from distant radio sources in order to impose a limit on this term.

Programmers manual for a one-dimensional Lagrangian transport model

USGS Publications Warehouse

Schoellhamer, D.H.; Jobson, H.E.

1986-01-01

A one-dimensional Lagrangian transport model for simulating water-quality constituents such as temperature, dissolved oxygen , and suspended sediment in rivers is presented in this Programmers Manual. Lagrangian transport modeling techniques, the model 's subroutines, and the user-written decay-coefficient subroutine are discussed in detail. Appendices list the program codes. The Programmers Manual is intended for the model user who needs to modify code either to adapt the model to a particular need or to use reaction kinetics not provided with the model. (Author 's abstract)

Lagrangian statistics of mesoscale turbulence in a natural environment: The Agulhas return current.

PubMed

Carbone, Francesco; Gencarelli, Christian N; Hedgecock, Ian M

2016-12-01

The properties of mesoscale geophysical turbulence in an oceanic environment have been investigated through the Lagrangian statistics of sea surface temperature measured by a drifting buoy within the Agulhas return current, where strong temperature mixing produces locally sharp temperature gradients. By disentangling the large-scale forcing which affects the small-scale statistics, we found that the statistical properties of intermittency are identical to those obtained from the multifractal prediction in the Lagrangian frame for the velocity trajectory. The results suggest a possible universality of turbulence scaling.

Lagrangian solution of supersonic real gas flows

NASA Technical Reports Server (NTRS)

Loh, Ching-Yuen; Liou, Meng-Sing

1993-01-01

The present extention of a Lagrangian approach of the Riemann solution procedure, which was originally proposed for perfect gases, to real gases, is nontrivial and requires the development of an exact real-gas Riemann solver for the Lagrangian form of the conservation laws. Calculations including complex wave interactions of various types were conducted to test the accuracy and robustness of the approach. Attention is given to the case of 2D oblique waves' capture, where a slip line is clearly in evidence; the real gas effect is demonstrated in the case of a generic engine nozzle.

Effect of VSR invariant Chern-Simons Lagrangian on photon polarization

DOE Office of Scientific and Technical Information (OSTI.GOV)

Nayak, Alekha C.; Verma, Ravindra K.; Jain, Pankaj

We propose a generalization of the Chern-Simons (CS) Lagrangian which is invariant under the SIM(2) transformations but not under the full Lorentz group. The generalized lagrangian is also invariant under a SIM(2) gauge transformation. We study the effect of such a term on radiation propagating over cosmological distances. We find that the dominant effect of this term is to produce circular polarization as radiation propagates through space. We use the circular polarization data from distant radio sources in order to impose a limit on this term.

Lagrangian methods in nonlinear plasma wave interaction

NASA Technical Reports Server (NTRS)

Crawford, F. W.

1980-01-01

Analysis of nonlinear plasma wave interactions is usually very complicated, and simplifying mathematical approaches are highly desirable. The application of averaged-Lagrangian methods offers a considerable reduction in effort, with improved insight into synchronism and conservation (Manley-Rowe) relations. This chapter indicates how suitable Lagrangian densities have been defined, expanded, and manipulated to describe nonlinear wave-wave and wave-particle interactions in the microscopic, macroscopic and cold plasma models. Recently, further simplifications have been introduced by the use of techniques derived from Lie algebra. These and likely future developments are reviewed briefly.

Macroscopic Lagrangian description of warm plasmas. II Nonlinear wave interactions

NASA Technical Reports Server (NTRS)

Kim, H.; Crawford, F. W.

1983-01-01

A macroscopic Lagrangian is simplified to the adiabatic limit and expanded about equilibrium, to third order in perturbation, for three illustrative cases: one-dimensional compression parallel to the static magnetic field, two-dimensional compression perpendicular to the static magnetic field, and three-dimensional compression. As examples of the averaged-Lagrangian method applied to nonlinear wave interactions, coupling coefficients are derived for interactions between two electron plasma waves and an ion acoustic wave, and between an ordinary wave, an electron plasma wave, and an ion acoustic wave.

Impact of data assimilation on Eulerian versus Lagrangian estimates of upper ocean transport

NASA Astrophysics Data System (ADS)

Sperrevik, Ann Kristin; Röhrs, Johannes; Christensen, Kai Hâkon

2017-07-01

Using four-dimensional variational analysis, we produce an estimate of the state of a coastal region in Northern Norway during the late winter and spring in 1984. We use satellite sea surface temperature and in situ observations from a series of intensive field campaigns, and obtain a more realistic distribution of water masses both in the horizontal and the vertical than a pure downscaling approach can achieve. Although the distribution of Eulerian surface current speeds are similar, we find that they are more variable and less dependent on model bathymetry in our reanalysis compared to a hindcast produced using the same modeling system. Lagrangian drift currents on the other hand are significantly changed, with overall higher kinetic energy levels in the reanalysis than in the hindcast, particularly in the superinertial frequency band.

Age-of-Air, Tape Recorder, and Vertical Transport Schemes

NASA Technical Reports Server (NTRS)

Lin, S.-J.; Einaudi, Franco (Technical Monitor)

2000-01-01

A numerical-analytic investigation of the impacts of vertical transport schemes on the model simulated age-of-air and the so-called 'tape recorder' will be presented using an idealized 1-D column transport model as well as a more realistic 3-D dynamical model. By comparing to the 'exact' solutions of 'age-of-air' and the 'tape recorder' obtainable in the 1-D setting, useful insight is gained on the impacts of numerical diffusion and dispersion of numerical schemes used in global models. Advantages and disadvantages of Eulerian, semi-Lagrangian, and Lagrangian transport schemes will be discussed. Vertical resolution requirement for numerical schemes as well as observing systems for capturing the fine details of the 'tape recorder' or any upward propagating wave-like structures can potentially be derived from the 1-D analytic model.

Lagrangian 3D tracking of fluorescent microscopic objects in motion

NASA Astrophysics Data System (ADS)

Darnige, T.; Figueroa-Morales, N.; Bohec, P.; Lindner, A.; Clément, E.

2017-05-01

We describe the development of a tracking device, mounted on an epi-fluorescent inverted microscope, suited to obtain time resolved 3D Lagrangian tracks of fluorescent passive or active micro-objects in microfluidic devices. The system is based on real-time image processing, determining the displacement of a x, y mechanical stage to keep the chosen object at a fixed position in the observation frame. The z displacement is based on the refocusing of the fluorescent object determining the displacement of a piezo mover keeping the moving object in focus. Track coordinates of the object with respect to the microfluidic device as well as images of the object are obtained at a frequency of several tenths of Hertz. This device is particularly well adapted to obtain trajectories of motile micro-organisms in microfluidic devices with or without flow.

Lagrangian 3D tracking of fluorescent microscopic objects in motion.

PubMed

Darnige, T; Figueroa-Morales, N; Bohec, P; Lindner, A; Clément, E

2017-05-01

We describe the development of a tracking device, mounted on an epi-fluorescent inverted microscope, suited to obtain time resolved 3D Lagrangian tracks of fluorescent passive or active micro-objects in microfluidic devices. The system is based on real-time image processing, determining the displacement of a x, y mechanical stage to keep the chosen object at a fixed position in the observation frame. The z displacement is based on the refocusing of the fluorescent object determining the displacement of a piezo mover keeping the moving object in focus. Track coordinates of the object with respect to the microfluidic device as well as images of the object are obtained at a frequency of several tenths of Hertz. This device is particularly well adapted to obtain trajectories of motile micro-organisms in microfluidic devices with or without flow.

3-D Lagrangian-based investigations of the time-dependent cloud cavitating flows around a Clark-Y hydrofoil with special emphasis on shedding process analysis

NASA Astrophysics Data System (ADS)

Cheng, Huai-yu; Long, Xin-ping; Ji, Bin; Liu, Qi; Bai, Xiao-rui

2018-02-01

In the present paper, the unsteady cavitating flow around a 3-D Clark-Y hydrofoil is numerically investigated with the filter-based density correction model (FBDCM), a turbulence model and the Zwart-Gerber-Belamri (ZGB) cavitation model. A reasonable agreement is obtained between the numerical and experimental results. To study the complex flow structures more straightforwardly, a 3-D Lagrangian technology is developed, which can provide the particle tracks and the 3-D Lagrangian coherent structures (LCSs). Combined with the traditional methods based on the Eulerian viewpoint, this technology is used to analyze the attached cavity evolution and the re-entrant jet behavior in detail. At stage I, the collapse of the previous shedding cavity and the growth of a new attached cavity, the significant influence of the collapse both on the suction and pressure sides are captured quite well by the 3-D LCSs, which is underestimated by the traditional methods like the iso-surface of Q-criteria. As a kind of special LCSs, the arching LCSs are observed in the wake, induced by the counter-rotating vortexes. At stage II, with the development of the re-entrant jet, the influence of the cavitation on the pressure side is still not negligible. And with this 3-D Lagrangian technology, the tracks of the re-entrant jet are visualized clearly, moving from the trailing edge to the leading edge. Finally, at stage III, the re-entrant jet collides with the mainstream and finally induces the shedding. The cavitation evolution and the re-entrant jet movement in the whole cycle are well visualized with the 3-D Lagrangian technology. Moreover, the comparison between the LCSs obtained with 2-D and 3-D Lagrangian technologies indicates the advantages of the latter. It is demonstrated that the 3-D Lagrangian technology is a promising tool in the investigation of complex cavitating flows.

Evaluation of wastewater contaminant transport in surface waters using verified Lagrangian sampling

USGS Publications Warehouse

Antweiler, Ronald C.; Writer, Jeffrey H.; Murphy, Sheila F.

2014-01-01

Contaminants released from wastewater treatment plants can persist in surface waters for substantial distances. Much research has gone into evaluating the fate and transport of these contaminants, but this work has often assumed constant flow from wastewater treatment plants. However, effluent discharge commonly varies widely over a 24-hour period, and this variation controls contaminant loading and can profoundly influence interpretations of environmental data. We show that methodologies relying on the normalization of downstream data to conservative elements can give spurious results, and should not be used unless it can be verified that the same parcel of water was sampled. Lagrangian sampling, which in theory samples the same water parcel as it moves downstream (the Lagrangian parcel), links hydrologic and chemical transformation processes so that the in-stream fate of wastewater contaminants can be quantitatively evaluated. However, precise Lagrangian sampling is difficult, and small deviations – such as missing the Lagrangian parcel by less than 1 h – can cause large differences in measured concentrations of all dissolved compounds at downstream sites, leading to erroneous conclusions regarding in-stream processes controlling the fate and transport of wastewater contaminants. Therefore, we have developed a method termed “verified Lagrangian” sampling, which can be used to determine if the Lagrangian parcel was actually sampled, and if it was not, a means for correcting the data to reflect the concentrations which would have been obtained had the Lagrangian parcel been sampled. To apply the method, it is necessary to have concentration data for a number of conservative constituents from the upstream, effluent, and downstream sites, along with upstream and effluent concentrations that are constant over the short-term (typically 2–4 h). These corrections can subsequently be applied to all data, including non-conservative constituents. Finally, we show how data from other studies can be corrected.

A Constructive Approach to Regularity of Lagrangian Trajectories for Incompressible Euler Flow in a Bounded Domain

NASA Astrophysics Data System (ADS)

Besse, Nicolas; Frisch, Uriel

2017-04-01

The 3D incompressible Euler equations are an important research topic in the mathematical study of fluid dynamics. Not only is the global regularity for smooth initial data an open issue, but the behaviour may also depend on the presence or absence of boundaries. For a good understanding, it is crucial to carry out, besides mathematical studies, high-accuracy and well-resolved numerical exploration. Such studies can be very demanding in computational resources, but recently it has been shown that very substantial gains can be achieved first, by using Cauchy's Lagrangian formulation of the Euler equations and second, by taking advantage of analyticity results of the Lagrangian trajectories for flows whose initial vorticity is Hölder-continuous. The latter has been known for about 20 years (Serfati in J Math Pures Appl 74:95-104, 1995), but the combination of the two, which makes use of recursion relations among time-Taylor coefficients to obtain constructively the time-Taylor series of the Lagrangian map, has been achieved only recently (Frisch and Zheligovsky in Commun Math Phys 326:499-505, 2014; Podvigina et al. in J Comput Phys 306:320-342, 2016 and references therein). Here we extend this methodology to incompressible Euler flow in an impermeable bounded domain whose boundary may be either analytic or have a regularity between indefinite differentiability and analyticity. Non-constructive regularity results for these cases have already been obtained by Glass et al. (Ann Sci Éc Norm Sup 45:1-51, 2012). Using the invariance of the boundary under the Lagrangian flow, we establish novel recursion relations that include contributions from the boundary. This leads to a constructive proof of time-analyticity of the Lagrangian trajectories with analytic boundaries, which can then be used subsequently for the design of a very high-order Cauchy-Lagrangian method.

On the Perturbative Equivalence Between the Hamiltonian and Lagrangian Quantizations

NASA Astrophysics Data System (ADS)

Batalin, I. A.; Tyutin, I. V.

The Hamiltonian (BFV) and Lagrangian (BV) quantization schemes are proved to be perturbatively equivalent to each other. It is shown in particular that the quantum master equation being treated perturbatively possesses a local formal solution.

AN EULERIAN-LAGRANGIAN LOCALIZED ADJOINT METHOD FOR THE ADVECTION-DIFFUSION EQUATION

EPA Science Inventory

Many numerical methods use characteristic analysis to accommodate the advective component of transport. Such characteristic methods include Eulerian-Lagrangian methods (ELM), modified method of characteristics (MMOC), and operator splitting methods. A generalization of characteri...

Users manual for a one-dimensional Lagrangian transport model

USGS Publications Warehouse

Schoellhamer, D.H.; Jobson, H.E.

1986-01-01

A Users Manual for the Lagrangian Transport Model (LTM) is presented. The LTM uses Lagrangian calculations that are based on a reference frame moving with the river flow. The Lagrangian reference frame eliminates the need to numerically solve the convective term of the convection-diffusion equation and provides significant numerical advantages over the more commonly used Eulerian reference frame. When properly applied, the LTM can simulate riverine transport and decay processes within the accuracy required by most water quality studies. The LTM is applicable to steady or unsteady one-dimensional unidirectional flows in fixed channels with tributary and lateral inflows. Application of the LTM is relatively simple and optional capabilities improve the model 's convenience. Appendices give file formats and three example LTM applications that include the incorporation of the QUAL II water quality model 's reaction kinetics into the LTM. (Author 's abstract)

Lagrangian coherent structures at the onset of hyperchaos in the two-dimensional Navier-Stokes equations.

PubMed

Miranda, Rodrigo A; Rempel, Erico L; Chian, Abraham C-L; Seehafer, Norbert; Toledo, Benjamin A; Muñoz, Pablo R

2013-09-01

We study a transition to hyperchaos in the two-dimensional incompressible Navier-Stokes equations with periodic boundary conditions and an external forcing term. Bifurcation diagrams are constructed by varying the Reynolds number, and a transition to hyperchaos (HC) is identified. Before the onset of HC, there is coexistence of two chaotic attractors and a hyperchaotic saddle. After the transition to HC, the two chaotic attractors merge with the hyperchaotic saddle, generating random switching between chaos and hyperchaos, which is responsible for intermittent bursts in the time series of energy and enstrophy. The chaotic mixing properties of the flow are characterized by detecting Lagrangian coherent structures. After the transition to HC, the flow displays complex Lagrangian patterns and an increase in the level of Lagrangian chaoticity during the bursty periods that can be predicted statistically by the hyperchaotic saddle prior to HC transition.

A LES-based Eulerian-Lagrangian approach to predict the dynamics of bubble plumes

NASA Astrophysics Data System (ADS)

Fraga, Bruño; Stoesser, Thorsten; Lai, Chris C. K.; Socolofsky, Scott A.

2016-01-01

An approach for Eulerian-Lagrangian large-eddy simulation of bubble plume dynamics is presented and its performance evaluated. The main numerical novelties consist in defining the gas-liquid coupling based on the bubble size to mesh resolution ratio (Dp/Δx) and the interpolation between Eulerian and Lagrangian frameworks through the use of delta functions. The model's performance is thoroughly validated for a bubble plume in a cubic tank in initially quiescent water using experimental data obtained from high-resolution ADV and PIV measurements. The predicted time-averaged velocities and second-order statistics show good agreement with the measurements, including the reproduction of the anisotropic nature of the plume's turbulence. Further, the predicted Eulerian and Lagrangian velocity fields, second-order turbulence statistics and interfacial gas-liquid forces are quantified and discussed as well as the visualization of the time-averaged primary and secondary flow structure in the tank.

Annual Research Briefs, 1987

NASA Technical Reports Server (NTRS)

Moin, Parviz; Reynolds, William C.

1988-01-01

Lagrangian techniques have found widespread application to the prediction and understanding of turbulent transport phenomena and have yielded satisfactory results for different cases of shear flow problems. However, it must be kept in mind that in most experiments what is really available are Eulerian statistics, and it is far from obvious how to extract from them the information relevant to the Lagrangian behavior of the flow; in consequence, Lagrangian models still include some hypothesis for which no adequate supporting evidence was until now available. Direct numerical simulation of turbulence offers a new way to obtain Lagrangian statistics and so verify the validity of the current predictive models and the accuracy of their results. After the pioneering work of Riley (Riley and Patterson, 1974) in the 70's, some such results have just appeared in the literature (Lee et al, Yeung and Pope). The present contribution follows in part similar lines, but focuses on two particle statistics and comparison with existing models.

Stochastic partial differential fluid equations as a diffusive limit of deterministic Lagrangian multi-time dynamics

PubMed Central

Cotter, C. J.

2017-01-01

In Holm (Holm 2015 Proc. R. Soc. A 471, 20140963. (doi:10.1098/rspa.2014.0963)), stochastic fluid equations were derived by employing a variational principle with an assumed stochastic Lagrangian particle dynamics. Here we show that the same stochastic Lagrangian dynamics naturally arises in a multi-scale decomposition of the deterministic Lagrangian flow map into a slow large-scale mean and a rapidly fluctuating small-scale map. We employ homogenization theory to derive effective slow stochastic particle dynamics for the resolved mean part, thereby obtaining stochastic fluid partial equations in the Eulerian formulation. To justify the application of rigorous homogenization theory, we assume mildly chaotic fast small-scale dynamics, as well as a centring condition. The latter requires that the mean of the fluctuating deviations is small, when pulled back to the mean flow. PMID:28989316

Lagrangian Timescales of Southern Ocean Upwelling in a Hierarchy of Model Resolutions

NASA Astrophysics Data System (ADS)

Drake, Henri F.; Morrison, Adele K.; Griffies, Stephen M.; Sarmiento, Jorge L.; Weijer, Wilbert; Gray, Alison R.

2018-01-01

In this paper we study upwelling pathways and timescales of Circumpolar Deep Water (CDW) in a hierarchy of models using a Lagrangian particle tracking method. Lagrangian timescales of CDW upwelling decrease from 87 years to 31 years to 17 years as the ocean resolution is refined from 1° to 0.25° to 0.1°. We attribute some of the differences in timescale to the strength of the eddy fields, as demonstrated by temporally degrading high-resolution model velocity fields. Consistent with the timescale dependence, we find that an average Lagrangian particle completes 3.2 circumpolar loops in the 1° model in comparison to 0.9 loops in the 0.1° model. These differences suggest that advective timescales and thus interbasin merging of upwelling CDW may be overestimated by coarse-resolution models, potentially affecting the skill of centennial scale climate change projections.

Thermostating extended Lagrangian Born-Oppenheimer molecular dynamics

DOE Office of Scientific and Technical Information (OSTI.GOV)

Martínez, Enrique; Cawkwell, Marc J.; Voter, Arthur F.

Here, Extended Lagrangian Born-Oppenheimer molecular dynamics is developed and analyzed for applications in canonical (NVT) simulations. Three different approaches are considered: the Nosé and Andersen thermostats and Langevin dynamics. We have tested the temperature distribution under different conditions of self-consistent field (SCF) convergence and time step and compared the results to analytical predictions. We find that the simulations based on the extended Lagrangian Born-Oppenheimer framework provide accurate canonical distributions even under approximate SCF convergence, often requiring only a single diagonalization per time step, whereas regular Born-Oppenheimer formulations exhibit unphysical fluctuations unless a sufficiently high degree of convergence is reached atmore » each time step. Lastly, the thermostated extended Lagrangian framework thus offers an accurate approach to sample processes in the canonical ensemble at a fraction of the computational cost of regular Born-Oppenheimer molecular dynamics simulations.« less

Thermostating extended Lagrangian Born-Oppenheimer molecular dynamics

DOE PAGES

Martínez, Enrique; Cawkwell, Marc J.; Voter, Arthur F.; ...

2015-04-21

Here, Extended Lagrangian Born-Oppenheimer molecular dynamics is developed and analyzed for applications in canonical (NVT) simulations. Three different approaches are considered: the Nosé and Andersen thermostats and Langevin dynamics. We have tested the temperature distribution under different conditions of self-consistent field (SCF) convergence and time step and compared the results to analytical predictions. We find that the simulations based on the extended Lagrangian Born-Oppenheimer framework provide accurate canonical distributions even under approximate SCF convergence, often requiring only a single diagonalization per time step, whereas regular Born-Oppenheimer formulations exhibit unphysical fluctuations unless a sufficiently high degree of convergence is reached atmore » each time step. Lastly, the thermostated extended Lagrangian framework thus offers an accurate approach to sample processes in the canonical ensemble at a fraction of the computational cost of regular Born-Oppenheimer molecular dynamics simulations.« less

An extended Lagrangian method

NASA Technical Reports Server (NTRS)

Liou, Meng-Sing

1992-01-01

A unique formulation of describing fluid motion is presented. The method, referred to as 'extended Lagrangian method', is interesting from both theoretical and numerical points of view. The formulation offers accuracy in numerical solution by avoiding numerical diffusion resulting from mixing of fluxes in the Eulerian description. Meanwhile, it also avoids the inaccuracy incurred due to geometry and variable interpolations used by the previous Lagrangian methods. Unlike the Lagrangian method previously imposed which is valid only for supersonic flows, the present method is general and capable of treating subsonic flows as well as supersonic flows. The method proposed in this paper is robust and stable. It automatically adapts to flow features without resorting to clustering, thereby maintaining rather uniform grid spacing throughout and large time step. Moreover, the method is shown to resolve multi-dimensional discontinuities with a high level of accuracy, similar to that found in one-dimensional problems.

Arbitrary Lagrangian-Eulerian Method with Local Structured Adaptive Mesh Refinement for Modeling Shock Hydrodynamics

DOE Office of Scientific and Technical Information (OSTI.GOV)

Anderson, R W; Pember, R B; Elliott, N S

2001-10-22

A new method that combines staggered grid Arbitrary Lagrangian-Eulerian (ALE) techniques with structured local adaptive mesh refinement (AMR) has been developed for solution of the Euler equations. This method facilitates the solution of problems currently at and beyond the boundary of soluble problems by traditional ALE methods by focusing computational resources where they are required through dynamic adaption. Many of the core issues involved in the development of the combined ALEAMR method hinge upon the integration of AMR with a staggered grid Lagrangian integration method. The novel components of the method are mainly driven by the need to reconcile traditionalmore » AMR techniques, which are typically employed on stationary meshes with cell-centered quantities, with the staggered grids and grid motion employed by Lagrangian methods. Numerical examples are presented which demonstrate the accuracy and efficiency of the method.« less

Dynamics of tethered satellites in the vicinity of the Lagrangian point L2 of the Earth-Moon system

NASA Astrophysics Data System (ADS)

Baião, M. F.; Stuchi, T. J.

2017-08-01

This paper analyzes the dynamical evolution of satellites formed by two masses connected by a cable— tethered satellites. We derive the Lagrangian equations of motion in the neighborhood of the collinear equilibrium points, especially for the L2 , of the restricted problem of three bodies. The rigid body configuration is expanded in Legendre polynomials up to fourth degree. We present some numerical simulations of the influence of the parameters such as cable length, mass ratio and initial conditions in the behavior of the tethered satellites. The equation for the collinear equilibrium point is derived and numerically solved. The evolution of the equilibria with the variation of the cable length as a parameter is studied. We also present a discussion of the linear stability around these equilibria. Based on this analysis calculate some unstable Lyapunov orbits associated to these equilibrium points. We found periodic orbits in which the tether travels parallel to itself without involving the angular motion. The numerical applications are focused on the Earth-Moon system. However, the general character of the equations allows applications to the L1 equilibrium and obviously to systems other than the Earth-Moon.

Degenerate variational integrators for magnetic field line flow and guiding center trajectories

NASA Astrophysics Data System (ADS)

Ellison, C. L.; Finn, J. M.; Burby, J. W.; Kraus, M.; Qin, H.; Tang, W. M.

2018-05-01

Symplectic integrators offer many benefits for numerically approximating solutions to Hamiltonian differential equations, including bounded energy error and the preservation of invariant sets. Two important Hamiltonian systems encountered in plasma physics—the flow of magnetic field lines and the guiding center motion of magnetized charged particles—resist symplectic integration by conventional means because the dynamics are most naturally formulated in non-canonical coordinates. New algorithms were recently developed using the variational integration formalism; however, those integrators were found to admit parasitic mode instabilities due to their multistep character. This work eliminates the multistep character, and therefore the parasitic mode instabilities via an adaptation of the variational integration formalism that we deem "degenerate variational integration." Both the magnetic field line and guiding center Lagrangians are degenerate in the sense that the resultant Euler-Lagrange equations are systems of first-order ordinary differential equations. We show that retaining the same degree of degeneracy when constructing discrete Lagrangians yields one-step variational integrators preserving a non-canonical symplectic structure. Numerical examples demonstrate the benefits of the new algorithms, including superior stability relative to the existing variational integrators for these systems and superior qualitative behavior relative to non-conservative algorithms.

The coupling effects of kinematics and flexibility on the Lagrangian dynamic formulation of open chain deformable links

NASA Technical Reports Server (NTRS)

Changizi, Koorosh

1989-01-01

A nonlinear Lagrangian formulation for the spatial kinematic and dynamic analysis of open chain deformable links consisting of cylindrical joints that connect pairs of flexible links is developed. The special cases of revolute or prismatic joint can also be obtained from the kinematic equations. The kinematic equations are described using a 4x4 matrix method. The configuration of each deformable link in the open loop kinematic chain is identified using a coupled set of relative joint variables, constant geometric parameters, and elastic coordinates. The elastic coordinates define the link deformation with respect to a selected joint coordinate system that is consistent with the kinematic constraints on the boundary of the deformable link. These coordinates can be introduced using approximation techniques such as Rayleigh-Ritz method, finite element technique or any other desired approach. The large relative motion between two neighboring links are defined by a set of joint coordinates which describes the large relative translational and rotational motion between two neighboring joint coordinate systems. The origin of these coordinate systems are rigidly attached to the neighboring links at the joint definition points along the axis of motion.

Comment on ``Canonical formalism for Lagrangians with nonlocality of finite extent''

NASA Astrophysics Data System (ADS)

Llosa, Josep

2003-01-01

The paper by Woodward [Phys. Rev. A 62, 052105 (2000)] claimed to have proved that Lagrangian theories with a nonlocality of finite extent are necessarily unstable. In this Comment we propose that this conclusion is false.

Validation of a Sensor-Driven Modeling Paradigm for Multiple Source Reconstruction with FFT-07 Data

DTIC Science & Technology

2009-05-01

operational warning and reporting (information) systems that combine automated data acquisition, analysis , source reconstruction, display and distribution of...report and to incorporate this operational ca- pability into the integrative multiscale urban modeling system implemented in the com- putational...Journal of Fluid Mechanics, 180, 529–556. [27] Flesch, T., Wilson, J. D., and Yee, E. (1995), Backward- time Lagrangian stochastic dispersion models

Lagrangian Visualization and Real-Time Identification of the Vortex Shedding Time in the Wake of a Circular Cylinder

NASA Astrophysics Data System (ADS)

Rockwood, Matthew P.

The flow around a circular cylinder, a canonical bluff body, has been extensively studied in the literature to determine the mechanisms that cause the formation of vortices in the cylinder wake. Understanding of these mechanisms has led to myriad attempts to control the vortices either to mitigate the oscillating forces they cause, or to augment them in order to enhance mixing in the near-wake. While these flow control techniques have been effective at low Reynolds numbers, they generally lose effectiveness or require excessive power at Reynolds numbers commonly experienced in practical applications. For this reason, new methods for identifying the locations of vortices and their shedding time could increase the effectiveness of the control techniques. In the current work, two-dimensional, two-component velocity data was collected in the wake of a circular cylinder using a planar digital particle image velocimetry (DPIV) measurement system at Reynolds numbers of 9,000 and 19,000. This experimental data, as well as two-dimensional simulation data at a Reynolds number of 150, and three-dimensional simulation data at a Reynolds number of 400, is used to calculate the finite-time Lyapunov exponent (FTLE) field. The locations of Lagrangian saddles, identified as non-parallel intersections of positive and negative time FTLE ridges, are shown to indicate the timing of von Karman vortex shedding in the wake of a circular cylinder. The Lagrangian saddle found upstream of a forming and subsequently shedding vortex is shown to clearly accelerate away from the cylinder surface as the vortex begins to shed. This provides a novel, objective method to determine the timing of vortex shedding. The saddles are impossible to track in real-time, however, since future flow field data is needed for the computation of the FTLE fields. In order to detect the Lagrangian saddle acceleration without direct access to the FTLE, the saddle dynamics are connected to measurable surface quantities on a circular cylinder in crossflow. The acceleration of the Lagrangian saddle occurs simultaneously with a maximum in lift in both numerical cases, and with a minimum in the static pressure at a location slightly upstream of the mean separation location in the numerical cases, as well as the experimental data at a Reynolds number of 19,000. This allows the von Karman vortex shedding time, determined objectively by the acceleration of the Lagrangian saddle away from the circular cylinder, to be detected by a minimum in the static pressure at one location on the cylinder, a quantity that can be measured in real-time using available pressure sensors. These results can be used to place sensors in optimal locations on bluff bodies to inform closed-loop flow control algorithms of the timing of von Karman vortex shedding.

Atwood’s machine with a massive string

NASA Astrophysics Data System (ADS)

Lemos, Nivaldo A.

2017-11-01

The dynamics of Atwood’s machine with a string of significant mass are described by the Lagrangian formalism, providing an eloquent example of how the Lagrangian approach is a great deal simpler and so much more expedient than the Newtonian treatment.

Gravitational Lagrangians, Mach's Principle, and the Equivalence Principle in an Expanding Universe

NASA Astrophysics Data System (ADS)

Essén, Hanno

2014-08-01

Gravitational Lagrangians as derived by Fock for the Einstein-Infeld-Hoffmann approach, and by Kennedy assuming only a fourth rank tensor interaction, contain long range interactions. Here we investigate how these affect the local dynamics when integrated over an expanding universe out to the Hubble radius. Taking the cosmic expansion velocity into account in a heuristic manner it is found that these long range interactions imply Mach's principle, provided the universe has the critical density, and that mass is renormalized. Suitable higher order additions to the Lagrangians make the formalism consistent with the equivalence principle.

Seakeeping with the semi-Lagrangian particle finite element method

NASA Astrophysics Data System (ADS)

Nadukandi, Prashanth; Servan-Camas, Borja; Becker, Pablo Agustín; Garcia-Espinosa, Julio

2017-07-01

The application of the semi-Lagrangian particle finite element method (SL-PFEM) for the seakeeping simulation of the wave adaptive modular vehicle under spray generating conditions is presented. The time integration of the Lagrangian advection is done using the explicit integration of the velocity and acceleration along the streamlines (X-IVAS). Despite the suitability of the SL-PFEM for the considered seakeeping application, small time steps were needed in the X-IVAS scheme to control the solution accuracy. A preliminary proposal to overcome this limitation of the X-IVAS scheme for seakeeping simulations is presented.

Quantization of Spontaneously Broken Gauge Theory Based on the Bft-Bfv Formalism

NASA Astrophysics Data System (ADS)

Kim, Yong-Wan; Park, Young-Jai

We quantize the spontaneously broken Abelian U(1) Higgs model by using the improved BFT and BFV formalisms. We construct the BFT physical fields and obtain the firstclass observables including the Hamiltonian in terms of these fields. We also explicitly show that there are exact form invariances between the second-class and first-class quantities. Then, according to the BFV formalism, we derive the corresponding Lagrangian having U(1) gauge symmetry. We also discuss at the classical level how one easily gets the first-class Lagrangian from the symmetry-broken second-class Lagrangian.

COLAcode: COmoving Lagrangian Acceleration code

NASA Astrophysics Data System (ADS)

Tassev, Svetlin V.

2016-02-01

COLAcode is a serial particle mesh-based N-body code illustrating the COLA (COmoving Lagrangian Acceleration) method; it solves for Large Scale Structure (LSS) in a frame that is comoving with observers following trajectories calculated in Lagrangian Perturbation Theory (LPT). It differs from standard N-body code by trading accuracy at small-scales to gain computational speed without sacrificing accuracy at large scales. This is useful for generating large ensembles of accurate mock halo catalogs required to study galaxy clustering and weak lensing; such catalogs are needed to perform detailed error analysis for ongoing and future surveys of LSS.

Application of Quasi-Lagrangian Diagnostics and FGGE Data in a Study of East-Coast Cyclogenesis.

DTIC Science & Technology

1981-09-01

QUASI-LAGRANGIAN UDIAGNOSTICS AND FGGE DATA IN A STUDY OF EAST-COAST CYCLOGENESIS by Donald A. Roman September 1981 Thesis Advisor: Dr. Carlyle H. Wash...REPORT DOCUMENTATION PAGE DEVFOR COMPLETING FORM I.M9PR UM19 2. GOV? AccaS "@ "mO L.VIPICUTS CA? ALOG MUUNW S TyP =F NOo’BP io OE4. TITLC (nd Sisle . ye i...n.J000 Application of Quasi-Lagrangian Master’s Thesis Diagnostics and FGGE Data in a Study 0#4 September 1981 East-Coast Cyclogenesis C PlaPranIWG

Mean-Lagrangian formalism and covariance of fluid turbulence.

PubMed

Ariki, Taketo

2017-05-01

Mean-field-based Lagrangian framework is developed for the fluid turbulence theory, which enables physically objective discussions, especially, of the history effect. Mean flow serves as a purely geometrical object of Lie group theory, providing useful operations to measure the objective rate and history integration of the general tensor field. The proposed framework is applied, on the one hand, to one-point closure model, yielding an objective expression of the turbulence viscoelastic effect. Application to two-point closure, on the other hand, is also discussed, where natural extension of known Lagrangian correlation is discovered on the basis of an extended covariance group.

Geometry of quantum dynamics in infinite-dimensional Hilbert space

NASA Astrophysics Data System (ADS)

Grabowski, Janusz; Kuś, Marek; Marmo, Giuseppe; Shulman, Tatiana

2018-04-01

We develop a geometric approach to quantum mechanics based on the concept of the Tulczyjew triple. Our approach is genuinely infinite-dimensional, i.e. we do not restrict considerations to finite-dimensional Hilbert spaces, contrary to many other works on the geometry of quantum mechanics, and include a Lagrangian formalism in which self-adjoint (Schrödinger) operators are obtained as Lagrangian submanifolds associated with the Lagrangian. As a byproduct we also obtain results concerning coadjoint orbits of the unitary group in infinite dimensions, embedding of pure states in the unitary group, and self-adjoint extensions of symmetric relations.

Direct Lagrangian tracking simulations of particles in vertically-developing atmospheric clouds

NASA Astrophysics Data System (ADS)

Onishi, Ryo; Kunishima, Yuichi

2017-11-01

We have been developing the Lagrangian Cloud Simulator (LCS), which follows the so-called Euler-Lagrangian framework, where flow motion and scalar transportations (i.e., temperature and humidity) are computed with the Euler method and particle motion with the Lagrangian method. The LCS simulation considers the hydrodynamic interaction between approaching particles for robust collision detection. This leads to reliable simulations of collision growth of cloud droplets. Recently the activation process, in which aerosol particles become tiny liquid droplets, has been implemented in the LCS. The present LCS can therefore consider the whole warm-rain precipitation processes -activation, condensation, collision and drop precipitation. In this talk, after briefly introducing the LCS, we will show kinematic simulations using the LCS for quasi-one dimensional domain, i.e., vertically elongated 3D domain. They are compared with one-dimensional kinematic simulations using a spectral-bin cloud microphysics scheme, which is based on the Euler method. The comparisons show fairly good agreement with small discrepancies, the source of which will be presented. The Lagrangian statistics, obtained for the first time for the vertical domain, will be the center of discussion. This research was supported by MEXT as ``Exploratory Challenge on Post-K computer'' (Frontiers of Basic Science: Challenging the Limits).

Estimates of Lagrangian particle transport by wave groups: forward transport by Stokes drift and backward transport by the return flow

NASA Astrophysics Data System (ADS)

van den Bremer, Ton S.; Taylor, Paul H.

2014-11-01

Although the literature has examined Stokes drift, the net Lagrangian transport by particles due to of surface gravity waves, in great detail, the motion of fluid particles transported by surface gravity wave groups has received considerably less attention. In practice nevertheless, the wave field on the open sea often has a group-like structure. The motion of particles is different, as particles at sufficient depth are transported backwards by the Eulerian return current that was first described by Longuet-Higgins & Stewart (1962) and forms an inseparable counterpart of Stokes drift for wave groups ensuring the (irrotational) mass balance holds. We use WKB theory to study the variation of the Lagrangian transport by the return current with depth distinguishing two-dimensional seas, three-dimensional seas, infinite depth and finite depth. We then provide dimensional estimates of the net horizontal Lagrangian transport by the Stokes drift on the one hand and the return flow on the other hand for realistic sea states in all four cases. Finally we propose a simple scaling relationship for the transition depth: the depth above which Lagrangian particles are transported forwards by the Stokes drift and below which such particles are transported backwards by the return current.

Comparison between collective coordinate models for domain wall motion in PMA nanostrips in the presence of the Dzyaloshinskii-Moriya interaction

NASA Astrophysics Data System (ADS)

Vandermeulen, J.; Nasseri, S. A.; Van de Wiele, B.; Durin, G.; Van Waeyenberge, B.; Dupré, L.

2018-03-01

Lagrangian-based collective coordinate models for magnetic domain wall (DW) motion rely on an ansatz for the DW profile and a Lagrangian approach to describe the DW motion in terms of a set of time-dependent collective coordinates: the DW position, the DW magnetization angle, the DW width and the DW tilting angle. Another approach was recently used to derive similar equations of motion by averaging the Landau-Lifshitz-Gilbert equation without any ansatz, and identifying the relevant collective coordinates afterwards. In this paper, we use an updated version of the semi-analytical equations to compare the Lagrangian-based collective coordinate models with micromagnetic simulations for field- and STT-driven (spin-transfer torque-driven) DW motion in Pt/CoFe/MgO and Pt/Co/AlOx nanostrips. Through this comparison, we assess the accuracy of the different models, and provide insight into the deviations of the models from simulations. It is found that the lack of terms related to DW asymmetry in the Lagrangian-based collective coordinate models significantly contributes to the discrepancy between the predictions of the most accurate Lagrangian-based model and the micromagnetic simulations in the field-driven case. This is in contrast to the STT-driven case where the DW remains symmetric.

Improving estimates of ecosystem metabolism by reducing effects of tidal advection on dissolved oxygen time series

EPA Science Inventory

In aquatic systems, time series of dissolved oxygen (DO) have been used to compute estimates of ecosystem metabolism. Central to this open-water method is the assumption that the DO time series is a Lagrangian specification of the flow field. However, most DO time series are coll...

DICE/ColDICE: 6D collisionless phase space hydrodynamics using a lagrangian tesselation

NASA Astrophysics Data System (ADS)

Sousbie, Thierry

2018-01-01

DICE is a C++ template library designed to solve collisionless fluid dynamics in 6D phase space using massively parallel supercomputers via an hybrid OpenMP/MPI parallelization. ColDICE, based on DICE, implements a cosmological and physical VLASOV-POISSON solver for cold systems such as dark matter (CDM) dynamics.

A semi-Lagrangian advection scheme for radioactive tracers in the NCEP Regional Spectral Model (RSM)

NASA Astrophysics Data System (ADS)

Chang, E.-C.; Yoshimura, K.

2015-10-01

In this study, the non-iteration dimensional-split semi-Lagrangian (NDSL) advection scheme is applied to the National Centers for Environmental Prediction (NCEP) Regional Spectral Model (RSM) to alleviate the Gibbs phenomenon. The Gibbs phenomenon is a problem wherein negative values of positive-definite quantities (e.g., moisture and tracers) are generated by the spectral space transformation in a spectral model system. To solve this problem, the spectral prognostic specific humidity and radioactive tracer advection scheme is replaced by the NDSL advection scheme, which considers advection of tracers in a grid system without spectral space transformations. A regional version of the NDSL is developed in this study and is applied to the RSM. Idealized experiments show that the regional version of the NDSL is successful. The model runs for an actual case study suggest that the NDSL can successfully advect radioactive tracers (iodine-131 and cesium-137) without noise from the Gibbs phenomenon. The NDSL can also remove negative specific humidity values produced in spectral calculations without losing detailed features.

Conservation Laws and Symmetry Properties of a Class of Higher Order Theories of Gravity

NASA Astrophysics Data System (ADS)

Barraco, D.; Dominguez, E.; Guibert, R.; Hamity, V.

1998-04-01

We consider a class of fourth order theories of gravity with arbitrary matter fields arising from a diffeomorphism invariant Lagrangian density mathcal{L}_T = mathcal{L}_G + mathcal{L}_M, with mathcal{L}_G = sqrt { - g} left[ {R + hleft( R right)} right]and mathcal{L}_Mthe phenomenological representation of the nongravitational fields. We derive first the generalization of the Einstein pseudotensor and the von Freud superpotential. We then show, using the arbitrariness that is always present in the choice of pseudotensor and superpotential, that we can choose these superpotentials to have the same form as those for the Hilbert Lagrangian of general relativity (GR). In particular we may introduce the Moller superpotential of GR as associated with a double-index differential conservation law. Similarly, using the Moller superpotential we prove that we can choose the Komar vector of GR to construct a conserved quantity for isolated asymptotically flat systems. For the example R + R2theory we prove then, that the active mass is equal to the total energy (or inertial mass) of the system.

The Mochi project: a field theory approach to plasma dynamics and self-organization

NASA Astrophysics Data System (ADS)

You, Setthivoine; von der Linden, Jens; Lavine, Eric Sander; Card, Alexander; Carroll, Evan

2016-10-01

The Mochi project is designed to study the interaction between plasma flows and magnetic fields from the point-of-view of canonical flux tubes. The Mochi Labjet experiment is being commissioned after achieving first plasma. Analytical and numerical tools are being developed to visualize canonical flux tubes. One analytical tool described here is a field theory approach to plasma dynamics and self-organization. A redefinition of the Lagrangian of a multi-particle system in fields reformulates the single-particle, kinetic, and fluid equations governing fluid and plasma dynamics as a single set of generalized Maxwell's equations and Ohm's law for canonical force-fields. The Lagrangian includes new terms representing the coupling between the motion of particle distributions, between distributions and electromagnetic fields, with relativistic contributions. The formulation shows that the concepts of self-organization and canonical helicity transport are applicable across single-particle, kinetic, and fluid regimes, at classical and relativistic scales. The theory gives the basis for comparing canonical helicity change to energy change in general systems. This work is supported by by US DOE Grant DE-SC0010340.

Reaction Analysis of Shocked Nitromethane using Extended Lagrangian Born-Oppenheimer Molecular Dynamics

NASA Astrophysics Data System (ADS)

Perriot, Romain; Kober, Ed; Mniszewski, Sue; Martinez, Enrique; Niklasson, Anders; Yang, Ping; McGrane, Shawn; Cawkwell, Marc

2017-06-01

Characterizing the complex, rapid reactions of energetic materials under conditions of high temperatures and pressures presents strong experimental and computational challenges. The recently developed extended Lagrangian Born-Oppenheimer molecular dynamics formalism enables the long-term conservation of the total energy in microcanonical trajectories, and using a density functional tight binding formulation provides good chemical accuracy. We use this combined approach to study the evolution of temperature, pressure, and chemical species in shock-compressed liquid nitromethane over hundreds of picoseconds. The chemical species seen in nitromethane under shock compression are compared with those seen under static high temperature conditions. A reduced-order representation of the complex sequence of chemical reactions that characterize this system has been developed from the molecular dynamics simulations by focusing on classes of chemical reactions rather than specific molecular species. Time-resolved infra-red vibrational spectra were also computed from the molecular trajectories and compared to the chemical analysis. These spectra provide a time history of the species present in the system that can be compared directly with recent experiments at LANL.

GPU acceleration of Eulerian-Lagrangian particle-laden turbulent flow simulations

NASA Astrophysics Data System (ADS)

Richter, David; Sweet, James; Thain, Douglas

2017-11-01

The Lagrangian point-particle approximation is a popular numerical technique for representing dispersed phases whose properties can substantially deviate from the local fluid. In many cases, particularly in the limit of one-way coupled systems, large numbers of particles are desired; this may be either because many physical particles are present (e.g. LES of an entire cloud), or because the use of many particles increases statistical convergence (e.g. high-order statistics). Solving the trajectories of very large numbers of particles can be problematic in traditional MPI implementations, however, and this study reports the benefits of using graphical processing units (GPUs) to integrate the particle equations of motion while preserving the original MPI version of the Eulerian flow solver. It is found that GPU acceleration becomes cost effective around one million particles, and performance enhancements of up to 15x can be achieved when O(108) particles are computed on the GPU rather than the CPU cluster. Optimizations and limitations will be discussed, as will prospects for expanding to two- and four-way coupled systems. ONR Grant No. N00014-16-1-2472.

On inter-tidal transport equation

USGS Publications Warehouse

Cheng, Ralph T.; Feng, Shizuo; Pangen, Xi

1989-01-01

The transports of solutes, sediments, nutrients, and other tracers are fundamental to the interactive physical, chemical, and biological processes in estuaries. The characteristic time scales for most estuarine biological and chemical processes are on the order of several tidal cycles or longer. To address the long-term transport mechanism meaningfully, the formulation of an inter-tidal conservation equation is the main subject of this paper. The commonly used inter-tidal conservation equation takes the form of a convection-dispersion equation in which the convection is represented by the Eulerian residual current, and the dispersion terms are due to the introduction of a Fickian hypothesis, unfortunately, the physical significance of this equation is not clear, and the introduction of a Fickian hypothesis is at best an ad hoc approximation. Some recent research results on the Lagrangian residual current suggest that the long-term transport problem is more closely related to the Lagrangian residual current than to the Eulerian residual current. With the aid of additional insight of residual current, the inter-tidal transport equation has been reformulated in this paper using a small perturbation method for a weakly nonlinear tidal system. When tidal flows can be represented by an M2 system, the new intertidal transport equation also takes the form of a convective-dispersion equation without the introduction of a Fickian hypothesis. The convective velocity turns out to be the first order Lagrangian residual current (the sum of the Eulerian residual current and the Stokes’ drift), and the correlation terms take the form of convection with the Stokes’ drift as the convective velocity. The remaining dispersion terms are perturbations of lower order solution to higher order solutions due to shear effect and turbulent mixing.

A river-scale Lagrangian experiment examining controls on phytoplankton dynamics in the presence and absence of treated wastewater effluent high in ammonium

USGS Publications Warehouse

Kraus, Tamara; Carpenter, Kurt; Bergamaschi, Brian; Parker, Alexander; Stumpner, Elizabeth; Downing, Bryan D.; Travis, Nicole; Wilkerson, Frances; Kendall, Carol; Mussen, Timothy

2017-01-01

Phytoplankton are critical component of the food web in most large rivers and estuaries, and thus identifying dominant controls on phytoplankton abundance and species composition is important to scientists, managers, and policymakers. Recent studies from a variety of systems indicate that ammonium ( NH+4) in treated wastewater effluent decreases primary production and alters phytoplankton species composition. However, these findings are based mainly on laboratory and enclosure studies, which may not adequately represent natural systems. To test effects of effluent high in ammonium on phytoplankton at the ecosystem scale, we conducted whole-river–scale experiments by halting discharges to the Sacramento River from the regional wastewater treatment plant (WWTP), and used a Lagrangian approach to compare changes in phytoplankton abundance and species composition in the presence (+EFF) and absence (−EFF) of effluent. Over 5 d of downstream travel from 20 km above to 50 km below the WWTP, chlorophyll concentrations declined from 15–25 to ∼2.5 μg L−1, irrespective of effluent addition. Benthic diatoms were dominant in most samples. We found no significant difference in phytoplankton abundance or species composition between +EFF and −EFF conditions. Moreover, greatest declines in chlorophyll occurred upstream of the WWTP where NH+4 concentrations were low. Grazing by clams and zooplankton could not account for observed losses, suggesting other factors such as hydrodynamics and light limitation were responsible for phytoplankton declines. These results highlight the advantages of conducting ecosystem-scale, Lagrangian-based experiments to understand the dynamic and complex interplay between physical, chemical, and biological factors that control phytoplankton populations.

APPLICATION OF BAYESIAN MONTE CARLO ANALYSIS TO A LAGRANGIAN PHOTOCHEMICAL AIR QUALITY MODEL. (R824792)

EPA Science Inventory

Uncertainties in ozone concentrations predicted with a Lagrangian photochemical air quality model have been estimated using Bayesian Monte Carlo (BMC) analysis. Bayesian Monte Carlo analysis provides a means of combining subjective "prior" uncertainty estimates developed ...

Heuristic approach to Satellite Range Scheduling with Bounds using Lagrangian Relaxation.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Brown, Nathanael J. K.; Arguello, Bryan; Nozick, Linda Karen

This paper focuses on scheduling antennas to track satellites using a heuristic method. In order to validate the performance of the heuristic, bounds are developed using Lagrangian relaxation. The performance of the algorithm is established using several illustrative problems.

Numerical study on inter-tidal transports in coastal seas

NASA Astrophysics Data System (ADS)

Mao, Xinyan; Jiang, Wensheng; Zhang, Ping; Feng, Shizuo

2016-06-01

Inter-tidal (subtidal) transport processes in coastal sea depend on the residual motion, turbulent dispersion and relevant sources/sinks. In Feng et al. (2008), an updated Lagrangian inter-tidal transport equation, as well as new concept of Lagrangian inter-tidal concentration (LIC), has been proposed for a general nonlinear shallow water system. In the present study, the LIC is numerically applied for the first time to passive tracers in idealized settings and salinity in the Bohai Sea, China. Circulation and tracer motion in the three idealized model seas with different topography or coastline, termed as `flat-bottom', `stairs' and `cape' case, respectively, are simulated. The dependence of the LIC on initial tidal phase suggests that the nonlinearities in the stairs and cape cases are stronger than that in the flat-bottom case. Therefore, the `flat-bottom' case still meets the convectively weakly nonlinear condition. For the Bohai Sea, the simulation results show that most parts of it still meet the weakly nonlinear condition. However, the dependence of the LIS (Lagrangian inter-tidal salinity) on initial tidal phase is significant around the southern headland of the Liaodong Peninsula and near the mouth of the Yellow River. The nonlinearity in the former region is mainly related to the complicated coastlines, and that in the latter region is due to the presence of the estuarine salinity front.

A variational approach to behavioral and neuroelectrical laws.

PubMed

Noventa, Stefano; Vidotto, Giulio

2012-09-01

Variational methods play a fundamental and unifying role in several fields of physics, chemistry, engineering, economics, and biology, as they allow one to derive the behavior of a system as a consequence of an optimality principle. A possible application of these methods to a model of perception is given by considering a psychophysical law as the solution of an Euler-Lagrange equation. A general class of Lagrangians is identified by requiring the measurability of prothetic continua on interval scales. The associated Hamiltonian (the energy of the process) is tentatively connected with neurophysiological aspects. As an example of the suggested approach a particular choice of the Lagrangian, that is a sufficient condition to obtain classical psychophysical laws, while accounting for psychophysical adaptation and the stationarity of neuronal activity, is used to explore a possible relation between a behavioral law and a neuroelectrical ,response based on the Naka-Rushton model.