Absolute Velocity Measurements Research Articles

Event-triggered control strategy based on absolute velocity and relative position measurements for second-order nonlinear multi-agent systems under DoS attacks

Consensus control in multi-agent systems (MASs) has wide-ranging applications in various domains. As the scope of applications continues to expand, ensuring the secure control of these systems to counter a diverse range of network attacks becomes highly necessary. Among these threats, Denial of Service (DoS) attacks have emerged as a major network security threat, capable of rendering targeted agents or networks unable to provide normal services. This paper presents an effective control protocol aiming to achieve leader-following consensus in a second-order MAS with event-triggered control mechanism and nonlinear dynamics under DoS attacks. The protocol utilizes absolute velocity and relative position measurements. The maximum attack frequency and duration of the DoS attacks have been obtained. Furthermore, the possibility of Zeno behavior is eliminated. Theoretical analysis demonstrates that, even under DoS attacks, consensus can be maintained among the leaders and followers within the MASs. In conclusion, the effectiveness of the proposed distributed security control protocol is validated through a case study involving a multi-vehicle cooperative system with unmanned cars.

Cortical microvascular blood flow velocity mapping by combining dynamic light scattering optical coherence tomography and two-photon microscopy.

The accurate large-scale mapping of cerebral microvascular blood flow velocity is crucial for a better understanding of cerebral blood flow (CBF) regulation. Although optical imaging techniques enable both high-resolution microvascular angiography and fast absolute CBF velocity measurements in the mouse cortex, they usually require different imaging techniques with independent system configurations to maximize their performances. Consequently, it is still a challenge to accurately combine functional and morphological measurements to co-register CBF speed distribution from hundreds of microvessels with high-resolution microvascular angiograms. We propose a data acquisition and processing framework to co-register a large set of microvascular blood flow velocity measurements from dynamic light scattering optical coherence tomography (DLS-OCT) with the corresponding microvascular angiogram obtained using two-photon microscopy (2PM). We used DLS-OCT to first rapidly acquire a large set of microvascular velocities through a sealed cranial window in mice and then to acquire high-resolution microvascular angiograms using 2PM. The acquired data were processed in three steps: (i)2PM angiogram coregistration with the DLS-OCT angiogram, (ii)2PM angiogram segmentation and graphing, and (iii)mapping of the CBF velocities to the graph representation of the 2PM angiogram. We implemented the developed framework on the three datasets acquired from the mice cortices to facilitate the coregistration of the large sets of DLS-OCT flow velocity measurements with 2PM angiograms. We retrieved the distributions of red blood cell velocities in arterioles, venules, and capillaries as a function of the branching order from precapillary arterioles and postcapillary venules from more than 1000 microvascular segments. The proposed framework may serve as a useful tool for quantitative analysis of large microvascular datasets obtained by OCT and 2PM in studies involving normal brain functioning, progression of various diseases, and numerical modeling of the oxygen advection and diffusion in the realistic microvascular networks.

Addressing Systematics in the Traceback Age of the β Pictoris Moving Group

We characterize the impact of several sources of systematic errors on the computation of the traceback age of the β Pictoris moving group (βPMG). We find that uncorrected gravitational redshift and convective blueshift bias absolute radial velocity measurements by ∼0.6 km s−1, which leads to erroneously younger traceback ages by ∼2 Myr. Random errors on parallax, proper motion, and radial velocity measurements lead to an additional bias of ∼0.6 Myr on traceback ages. Contamination of astrometric and kinematic data by kinematic outliers and unresolved multiple systems in the full input sample of 76 members and candidates of βPMG also erroneously lowers traceback ages by ∼3 Myr. We apply our new numerical traceback analysis tool to a core sample of 25 carefully vetted members of βPMG using Gaia Data Release 3 data products and other kinematic surveys. Our method yields a corrected age of 20.4 ± 2.5 Myr, bridging the gap between kinematic ages (11–19 Myr) and other age-dating methods, such as isochrones and lithium depletion boundary (20–26 Myr). We explore several association size metrics that can track the spatial extent of βPMG over time, and we determine that minimizing the variance along the heliocentric curvilinear coordinate (i.e., toward the Galactic Center) offers the least random and systematic errors, due to the wider UVW space velocity dispersion of members of βPMG along the U-axis, which tends to maximize the spatial growth of the association along the -axis over time.

Shelf Water Export at the Brazil-Malvinas Confluence Evidenced From Combined in situ and Satellite Observations

The Brazil-Malvinas Confluence (BMC) is the region where opposing and intense western boundary currents meet along the Southwestern Atlantic slope at about 38°S, generating one of the most energetic mesoscale regions of the global ocean. Based on shipborne observations acquired within the Uruguayan Economic Exclusive Zone (EEZ), combined with satellite data and an eddy tracking algorithm, we analyze the cross-shelf exchanges during May 2016, when the BMC was in an anomalous northern position. Two types of shelf water export were observed triggered by mesoscale dynamics: one was the export of shallow Rio de la Plata Plume waters driven off-shelf by the retroflection of the Brazil Current. This export formed a 70 km wide, 20 m deep filament that propagated offshore at 0.3 m s–1, with a transport of 0.42 Sv. It lasted about 10 days before being mixed with ambient Confluence waters by strong winds. An additional type of off-shelf transport consisted of a subsurface layer of Subantarctic Shelf Waters (SASW) about 60 m thick that subducted at the BMC reaching 130 m deep and transporting 0.91 ± 0.91 Sv. We show that geostrophic currents derived from satellite altimetry over the slope can be useful to track this subsurface off-shelf export as they are significantly correlated with absolute velocity measurements at this depth. Argo temperature and salinity profiles show evidence of these two types of shelf water export occurring between the BMC front and the separation of the Brazil Current from the shelf-break, suggesting this is a relatively frequent phenomenon, in agreement with previous observations.

Dual-beam delay-encoded all fiber Doppler optical coherence tomography for in vivo measurement of retinal blood flow

In this paper, we propose and demonstrate a dual-beam delay-encoded Doppler spectral domain optical coherence tomography (OCT) system for in vivo measurement of absolute retinal blood velocity and flow with arbitrary orientation. The incident beam is split by a beam displacer into two probe beams of the single-spectrometer spectral domain OCT system with orthogonal polarization states and an optical path length delay. We validate our approach with a phantom and in vivo experiments of human retinal blood flow, respectively.

Consensus Control of Second-Order Time-Delayed Multiagent Systems in Noisy Environments Using Absolute Velocity and Relative Position Measurements.

This article designs an effective consensus control protocol for continuous-time second-order time-delayed multiagent systems in a multiplicative noisy environment, using absolute velocity and relative position measurements. The nonlinear case and double-integrator case are studied, respectively. Due to the time delay and multiplicative noise in such models, the conventional methods for consensus analysis are not applicable. In this article, therefore, a degenerated Lyapunov functional is used to derive the conditions for mean-square consensus and almost-sure consensus, related to the Lipschitz constants of the nonlinear term, time delay, and noise intensity. In particular, for the double-integrator setting, it is shown that the mean-square consensus and the almost-sure consensus can be achieved by choosing appropriate control gains for any given time delay and noise intensity. To show the effectiveness of the proposed control protocol, some numerical simulations are demonstrated.

An Accurate Motion Compensation for SAR Imagery based on INS/GPS with Dual-filter Correction

Current Motion Compensation (MOCO) methods using Inertial Navigation System (INS)/Global Positioning System (GPS) integrated systems have provided an important advance in Synthetic Aperture Radar (SAR) imagery, but most of these methods only work well over a short imaging period. With the development of high-resolution SAR that provides image gathering over long periods, the need for higher levels of INS/GPS performance than normally available is desired. The higher requirement of INS/GPS for SAR MOCO is two-fold: (1) the accurate knowledge of location information, and (2) the smoothness of relative change in navigation error. In this paper, we design an INS/GPS architecture with dual-filter correction to obtain accurate absolute velocity and position measurement information with smooth low relative error noise over a long image gathering period. Real SAR data experimental results show that the proposed method effectively improves the MOCO performance of INS/GPS with long SAR imaging periods, in which the SAR azimuth resolution reaches 1·45 m, which is very close to the design value of 1 m.

About string stability of a vehicle chain with unidirectional controller

This paper deals with the problem of string stability in a chain of acceleration-controlled vehicles. It is known that string stability cannot be achieved, with any linear controller, when the vehicles’ control inputs are based only on relative distances to a fixed number of predecessors. We extend the set of characteristics under which string stability is impossible by including elements like dynamic sensor parts and local inter-vehicular communication, as in cooperative adaptive cruise control. It is also known that a weaker form of string stability is achievable by adding absolute velocity measurements (e.g. “time-headway” policy). We show that a stronger property can also be achieved, provided steady-state control gain is infinite e.g. by using integral control.

Absolute velocity measurements in sunspot umbrae

Context. In sunspot umbrae, convection is largely suppressed by the strong magnetic field. Previous measurements reported on negligible convective flows in umbral cores. Based on this, numerous studies have taken the umbra as zero reference to calculate Doppler velocities of the ambient active region.Aims. We aim to clarify the amount of convective motion in the darkest part of umbrae, by directly measuring Doppler velocities with an unprecedented accuracy and precision.Methods. We performed spectroscopic observations of sunspot umbrae with the Laser Absolute Reference Spectrograph (LARS) at the German Vacuum Tower Telescope. A laser frequency comb enabled the calibration of the high-resolution spectrograph and absolute wavelength positions for 13 observation sequences. A thorough spectral calibration, including the measurement of the reference wavelength, yielded Doppler shifts of the spectral line Ti I5713.9 Å with an uncertainty of around 5 m s−1. A bisector analysis gave the depth-dependent line asymmetry.Results. The measured Doppler shifts are a composition of umbral convection and magneto-acoustic waves. For the analysis of convective shifts, we temporally averaged each sequence to reduce the superimposed wave signal. Compared to convective blueshifts of up to −350 m s−1in the quiet Sun, sunspot umbrae yield strongly reduced convective blueshifts around −30 m s−1. We find that the velocity in a sunspot umbra correlates significantly with the magnetic field strength, but also with the umbral temperature defining the depth of the Ti I5713.9 Å line. The vertical upward motion decreases with increasing field strength. Extrapolating the linear approximation to zero magnetic field reproduces the measured quiet Sun blueshift. In the same manner, we find that the convective blueshift decreases as a function of increasing line depth.Conclusions. Simply taking the sunspot umbra as a zero velocity reference for the calculation of photospheric Dopplergrams can imply a systematic velocity error reaching 100 m s−1, or more. Setting up a relationship between vertical velocities and magnetic field strength provides a remedy for solar spectropolarimetry. We propose a novel approach of substantially increasing the accuracy of the Doppler velocities of a sunspot region by including the magnetic field information to define the umbral reference velocity.

Distributed output feedback stationary consensus of multi-vehicle systems in unknown environments

In the traditional distributed consensus of multi-vehicle systems, vehicles agree on velocity and position using limited information exchange in their local neighborhoods. Recently, distributed leaderless stationary consensus has been proposed in which vehicles agree on a position and come to a stop. The proposed stationary consensus schemes are based on all vehicles’ access to their own absolute velocity measurements, and they do not guarantee this collective behavior in the presence of disturbances that persistently excite vehicles’ dynamics. On the other hand, traditional distributed disturbance rejection leaderless consensus algorithms may result in an uncontrolled increase in the speed of multi-vehicle system. In this paper, we propose a dynamic relative-output feedback leaderless stationary algorithm in which only a few vehicles have access to their absolute measurements. We systematically design the distributed algorithm by transforming this problem into a static feedback robust control design challenge for the low-order modified model of vehicles with fictitious modeling uncertainties. We further propose dynamic leader-follower stationary consensus algorithms for multi-vehicle systems with a static leader, and find closed-form solutions for the consensus gains based on design matrices and communication graph topology. Finally, we verify the feasibility of these ideas through simulation studies.

A digital, constant-frequency pulsed phase-locked-loop instrument for real-time, absolute ultrasonic phase measurements.

A digitally controlled instrument for conducting single-frequency and swept-frequency ultrasonic phase measurements has been developed based on a constant-frequency pulsed phase-locked-loop (CFPPLL) design. This instrument uses a pair of direct digital synthesizers to generate an ultrasonically transceived tone-burst and an internal reference wave for phase comparison. Real-time, constant-frequency phase tracking in an interrogated specimen is possible with a resolution of 0.000 38 rad (0.022°), and swept-frequency phase measurements can be obtained. Using phase measurements, an absolute thickness in borosilicate glass is presented to show the instrument's efficacy, and these results are compared to conventional ultrasonic pulse-echo time-of-flight (ToF) measurements. The newly developed instrument predicted the thickness with a mean error of -0.04 μm and a standard deviation of error of 1.35 μm. Additionally, the CFPPLL instrument shows a lower measured phase error in the absence of changing temperature and couplant thickness than high-resolution cross-correlation ToF measurements at a similar signal-to-noise ratio. By showing higher accuracy and precision than conventional pulse-echo ToF measurements and lower phase errors than cross-correlation ToF measurements, the new digitally controlled CFPPLL instrument provides high-resolution absolute ultrasonic velocity or path-length measurements in solids or liquids, as well as tracking of material property changes with high sensitivity. The ability to obtain absolute phase measurements allows for many new applications than possible with previous ultrasonic pulsed phase-locked loop instruments. In addition to improved resolution, swept-frequency phase measurements add useful capability in measuring properties of layered structures, such as bonded joints, or materials which exhibit non-linear frequency-dependent behavior, such as dispersive media.

Wide-field absolute transverse blood flow velocity mapping in vessel centerline.

We propose a wide-field absolute transverse blood flow velocity measurement method in vessel centerline based on absorption intensity fluctuation modulation effect. The difference between the light absorption capacities of red blood cells and background tissue under low-coherence illumination is utilized to realize the instantaneous and average wide-field optical angiography images. The absolute fuzzy connection algorithm is used for vessel centerline extraction from the average wide-field optical angiography. The absolute transverse velocity in the vessel centerline is then measured by a cross-correlation analysis according to instantaneous modulation depth signal. The proposed method promises to contribute to the treatment of diseases, such as those related to anemia or thrombosis.

Collaborative multiple micro air vehicles’ localization and target tracking in GPS-denied environment from range–velocity measurements

We treat the problem of simultaneous collaborative multiple micro air vehicles’ localization and target tracking using time-varying range and (relative and absolute) velocity measurements. The proposed solution combines robustly local nonlinear observers that estimate the relative positions between agents and their neighbors, and cooperative filters that fuse each agent’s local estimates to globally localize them with respect to the target (and therefore to each other). These estimates are then introduced in a dynamic consensus-type control law that ensures the global collective target tracking while simultaneously estimating the target’s velocity, without needing any external reference which makes it applicable in GPS-denied environments. Finally, a simulation scenario is studied in order to show the efficiency of the proposed solution.

Distributed average tracking for double-integrator multi-agent systems with reduced requirement on velocity measurements

This paper addresses distributed average tracking for a group of physical double-integrator agents under an undirected graph with reduced requirement on velocity measurements. The idea is that multiple agents track the average of multiple time-varying input signals, each of which is available to only one agent, under local interaction with neighbors. We consider two cases. First, a distributed algorithm and filter are proposed, where each agent needs its own and neighbors’ filter outputs obtained through communication besides its local relative positions and its input signal, input velocity and input acceleration. Here, the requirement for either absolute or relative velocity measurements is removed. The algorithm is robust to initialization errors and can deal with a wide class of input signals with bounded deviations in input signals, input velocities, and input accelerations. Second, a distributed algorithm and filter are proposed to remove the requirement for communication. Here, each agent needs to measure the relative positions between itself and its neighbors and its own velocity. However, the requirement for relative velocity measurements between the agent and its neighbors is removed. The algorithm is robust to initialization errors and can deal with the case, where the input signals, input velocities and input accelerations are all bounded.

Proxima’s orbit around α Centauri

Proxima and α Centauri AB have almost identical distances and proper motions with respect to the Sun. Although the probability of such similar parameters is, in principle, very low, the question as to whether they actually form a single gravitationally bound triple system has been open since the discovery of Proxima one century ago. Owing to HARPS high-precision absolute radial velocity measurements and the recent revision of the parameters of the α Cen pair, we show that Proxima and α Cen are gravitationally bound with a high degree of confidence. The orbital period of Proxima is ≈ 550 000 yr. With an eccentricity of 0.50+0.08-0.09, Proxima comes within 4.3+1.1-0.9 kau of α Cen at periastron, and is currently close to apastron (13.0+0.3-0.1 kau). This orbital motion may have influenced the formation or evolution of the recently discovered planet orbiting Proxima, as well as circumbinary planet formation around α Cen.

Fully distributed flocking with a moving leader for Lagrange networks with parametric uncertainties

This paper addresses the leader–follower flocking problem with a moving leader for networked Lagrange systems with parametric uncertainties under a proximity graph. Here a group of followers move cohesively with the moving leader to maintain connectivity and avoid collisions for all time and also eventually achieve velocity matching. In the proximity graph, the neighbor relationship is defined according to the relative distance between each pair of agents. Each follower is able to obtain information from only the neighbors in its proximity, involving only local interaction. We consider two cases: (i) the leader moves with a constant velocity, and (ii) the leader moves with a varying velocity. In the first case, a distributed continuous adaptive control algorithm accounting for unknown parameters is proposed in combination with a distributed continuous estimator for each follower. In the second case, a distributed discontinuous adaptive control algorithm and estimator are proposed. Then the algorithm is extended to be fully distributed with the introduction of gain adaptation laws. In all proposed algorithms, only one-hop neighbors’ information (e.g., the relative position and velocity measurements between the neighbors and the absolute position and velocity measurements) is required, and flocking is achieved as long as the connectivity and collision avoidance are ensured at the initial time and the control gains are designed properly. Numerical simulations are presented to illustrate the theoretical results.

Fully distributed absolute blood flow velocity measurement for middle cerebral arteries using Doppler optical coherence tomography.

Doppler optical coherence tomography (DOCT) is considered one of the most promising functional imaging modalities for neuro biology research and has demonstrated the ability to quantify cerebral blood flow velocity at a high accuracy. However, the measurement of total absolute blood flow velocity (BFV) of major cerebral arteries is still a difficult problem since it is related to vessel geometry. In this paper, we present a volumetric vessel reconstruction approach that is capable of measuring the absolute BFV distributed along the entire middle cerebral artery (MCA) within a large field-of-view. The Doppler angle at each point of the MCA, representing the vessel geometry, is derived analytically by localizing the artery from pure DOCT images through vessel segmentation and skeletonization. Our approach could achieve automatic quantification of the fully distributed absolute BFV across different vessel branches. Experiments on rodents using swept-source optical coherence tomography showed that our approach was able to reveal the consequences of permanent MCA occlusion with absolute BFV measurement.

Absolute velocity measurement using three-beam spectral-domain Doppler optical coherence tomography

We report the development of a three-beam spectral-domain Doppler optical coherence tomography setup that allows single interferometer-based measurement of absolute flow velocity. The setup makes use of galvo-based phase shifting to remove complex conjugate mirror artifact and a beam displacer in the sample arm to avoid cross talk image. The results show that the developed approach allows efficient utilization of the imaging range of the spectral-domain optical coherence tomography setup for three-beam-based velocity measurement.

STATISTICAL TIME-RESOLVED SPECTROSCOPY: A HIGHER FRACTION OF SHORT-PERIOD BINARIES FOR METAL-RICH F-TYPE DWARFS IN SDSS

Stellar multiplicity lies at the heart of many problems in modern astrophysics, including the physics of star formation, the observational properties of unresolved stellar populations, and the rates of interacting binaries such as cataclysmic variables, X-ray binaries, and Type Ia supernovae. However, little is known about the stellar multiplicity of field stars in the Milky Way, in particular about the differences in the multiplicity characteristics between metal-rich disk stars and metal-poor halo stars. In this study we perform a statistical analysis of ~14,000 F-type dwarf stars in the Milky Way through time-resolved spectroscopy with the sub-exposures archived in the Sloan Digital Sky Survey. We obtain absolute radial velocity measurements through template cross-correlation of individual sub-exposures with temporal baselines varying from minutes to years. These sparsely sampled radial velocity curves are analyzed using Markov chain Monte Carlo techniques to constrain the very short-period binary fraction for field F-type stars in the Milky Way. Metal-rich disk stars were found to be 30% more likely to have companions with periods shorter than 12 days than metal-poor halo stars.

Direct and indirect adaptive integral line‐of‐sight path‐following controllers for marine craft exposed to ocean currents

SummaryWe present a direct and an indirect nonlinear adaptive path‐following controller for marine craft based on a line‐of‐sight guidance principle used by ancient navigators. The control laws are implemented using hydro‐acoustic relative velocity measurements as opposed to absolute velocity measurements. For this purpose, a kinematic model for relative velocity in amplitude‐phase form is derived. The first contribution is an adaptive indirect controller based on a disturbance observer designed for estimation and compensation of ocean currents. The equilibrium points of the cross‐track and parameter estimation errors are proven to be globally κ exponentially stable. This guarantees that the estimated drift term converges to its true value exponentially. The observer is used in conjuncture with a control law to obtain asymptotic tracking and path following in the presence of ocean currents. The second contribution is a direct adaptive integral line‐of‐sight controller for path following. Global convergence of the cross‐track error is proven by using Barbălat's lemma, which ensures that the parameter estimation error is bounded. Both methods can be applied to the horizontal‐plane motion of surface vessels and autonomous underwater vehicles. An autonomous underwater vehicle case study is included to verify the results. Copyright © 2015 John Wiley & Sons, Ltd.