Inertial Constraints Research Articles

Tightly Coupled Visual–Inertial Fusion for Attitude Estimation of Spacecraft

The star sensor boasts the highest accuracy in spacecraft attitude measurement. However, it is vulnerable to disturbances, including high-dynamic motion, stray light, and various in-orbit environmental factors. These disruptions may lead to a significant decline in attitude accuracy or even abnormal output, potentially inducing a state of disorientation in the spacecraft. Thus, it is usually coupled with a high-frequency gyroscope to compensate for this limitation. Nevertheless, the accuracy of long-term attitude estimation using a gyroscope decreases due to the presence of bias. We propose an optimization-based tightly coupled scheme to enhance attitude estimation accuracy under dynamic conditions as well as to bolster the star sensor’s robustness in cases like lost-in-space. Our approach commenced with visual–inertial measurement preprocessing and estimator initialization. Subsequently, the enhancement of attitude and bias estimation precision was achieved by minimizing visual and inertial constraints. Additionally, a keyframe-based sliding window approach was employed to mitigate potential failures in visual sensor measurements. Numerical tests were performed to validate that, under identical dynamic conditions, the proposed method achieves a 50% improvement in the accuracy of yaw, pitch, and roll angles in comparison to the star sensor only.

Mesoscale modeling of dynamic compressive behavior of microcapsule-based self-healing concrete under impact loading

Microcapsule-based self-healing concrete (MSC) has been widely studied, with a focus on static behavior and self-healing effectiveness. However, the dynamic mechanical properties of MSC have rarely been studied. This study presents a mesoscale numerical investigation of the dynamic compressive behavior of MSC under impact loading. In mesoscale, MSC is regarded as a four-phase composite material mainly composed of coarse aggregates, interface transition zones, cement mortar, and microcapsules. A pseudo 3D numerical model is constructed by combining a slice of a detailed mesoscale model with a homogenous 3D model. The mesoscale MSC slice models with different mass fractions of microcapsules (0%, 2%, 5%, and 8%) are constructed. Different coarse aggregate shapes (i.e., circles, ellipses, and polygons) are considered. The uniaxial dynamic compressive behaviors of MSC materials under loads of different strain rates are numerically simulated and compared with those from split Hopkinson pressure bar tests previously done by the authors. The comparison results show that the present mesoscale model can accurately predict the compressive strength and failure mode of MSC. The effects of the microcapsules ratio and strain rate on the dynamic strength are studied. Results show that the MSC compressive strength decreases with the increase in microcapsules and increases with the increase in strain rate. The dynamic increase factor (DIF) of the specimen is jointly contributed by the material DIF, inertial constraints, and heterogeneity. Different aggregate shapes have little effect on the simulation results of MSC behavior. The obtained dynamic mechanical properties of MSC may assist in designing MSC to resist collisions or explosions.

Bedform characteristics and implications for seafloor-bottom current interactions along the Wild Coast shelf, South Africa

Antecedent conditions and geology influence bedform dynamics and other sea-bed bottom current interactions on the continental shelf. However, the nature of this influence has not been well constrained, particularly on current-swept shelves. A variety of bedforms (narrow and broad sediment ribbons, comet marks and subaqueous dunes) are revealed by high resolution multibeam bathymetry and side scan sonar surveys of the mid-to outer “Wild Coast” shelf along the east coast of South Africa. The bedforms demonstrate a relationship to the geological framework of the shelf.The various bedforms occur in conjunction with bedrock-incised valleys and topographic depressions filled with transgressive sediment and bounded laterally by prominent rocky outcrops. These sediment sources are siphoned and mobilised by the Agulhas Current to create the contemporary shelf bedforms. Mechanisms of bedform development are associated with the interplay between the loci of sediment supply and associated grain size on the one hand and the current velocity and pathway of the Agulhas Current on the other.Sediment ribbons form parallel to the flow path of the Agulhas Current in narrow or broad forms that can be differentiated primarily by sediment grain size. With increased sediment availability from nearby bedrock-bound depocenters these transition along shelf to 2D dunes. A cross-shelf transition to 3D dunes on the outer shelf is marked by increased current velocity, grain size and decreased sediment availability outside of rock-bound depocenters. Rock outcrops affect current velocity and flow paths sufficiently to favour localised deposition over sediment stripping from the shelf. Comet mark forms develop from interactions between availability of finer sediment and perturbations of current flow paths by rock outcrops. This creates conditions that favour localised sediment scouring over deposition.With variability in sediment size, grain size and current flow, dunes fluctuate between active (sharp crested), inert (round crested) and degraded (flat crested) states. A lack of available sediment to replenish outer shelf dunes sees prolonged stasis, eventual dune splitting and breakdown under progressive current influence. Mid-shelf dunes have a greater capacity to recover from periods of stasis and short-term degradation due to greater availability of sediment.Dune migration rates are slower than previous regional estimates. Reasons for this are inconclusive and may be multifaceted. Possible reasons include inertial constraints, prolonged downcurrent reformation periods and longer dune relaxation associated with coarser grain sizes and a paucity of sediment on the outer shelf coupled with the Agulhas Current core migrating further in and offshore. This may explain the stability of the large barchan dunes and reduced movement of other sharp crested dunes relative to the regional migration rates.

Inertial constraints to educational change: The case of human rights education in Iceland

Despite national education policy that presents human rights as a core curriculum concern, education systems seem to resist the introduction of new content areas. This is not only worrying but unethical, given the human and ecological crises that characterise the world our students inhabit. This paper responds to Jón Torfi Jónasson’s belief that education will remain the same unless there is an understanding of, and even respect for, the inertial constraints that prevent change from taking place. The paper uses data from a broader narrative inquiry on human rights education (HRE) to illustrate how inertial constraints operate in the context of upper secondary school teachers working with human rights in Iceland. A reflexive thematic analysis suggests systemic inertia leaves teachers working as individuals depending on tacit human rights knowledge in school environments. Tacit knowledge makes acceptable dominant hierarchical practices that encourage hostility to new content and ideas. The paper concludes with implications of a lack of institutional accountability for human rights, raising questions of significance for teacher education and HRE in Iceland and internationally.

A Minimax Framework for Two-Agent Scheduling With Inertial Constraints

Autonomous agents are promising in applications such as intelligent transportation and smart manufacturing, and scheduling of agents has to take their inertial constraints into consideration. Most current researches require the obedience of all agents, which is hard to achieve in non-dedicated systems such as traffic intersections. In this article, we establish a minimax framework for the scheduling of two inertially constrained agents with no cooperation assumptions. Specifically, we first provide a unified and sufficient representation for various types of situation information, and define a state value function characterizing the agent's preference of states under a given situation. Then, the minimax control policy along with the calculation methods is proposed which optimizes the worst-case state value function at each step, and the safety guarantee of the policy is also presented. Furthermore, several generalizations are introduced on the applicable scenarios of the proposed framework. Numerical simulations show that the minimax control policy can reduce the largest scheduling cost by $13.4\%$ compared with queueing and following policies. Finally, the effects of decision period, observation period and inertial constraints are also numerically discussed.

Perceiving the inertial properties of actions in anticipation skill

Inertial properties of throwing or striking actions constrain action outcomes, but their role in anticipation skill has not been investigated yet. Therefore, the aim of this study was to systematically investigate the effect of inertial constraints on anticipation skill. Fifteen semi-professional and fifteen novice soccer players were tasked with determining the kick direction of penalty kicks occluded at 160 ms, 80 ms before ball-foot contact, at ball-foot contact, or 80 ms after ball-foot contact. The inertial constraints were manipulated by loading the kicking leg with a 2.25 kg weight around the shank of the kicking leg and were compared with unloaded kicks. Anticipation accuracy of kick direction, response time, and decision confidence were recorded. It was found that loaded kick directions were anticipated more accurately, faster, and at earlier occlusion periods than unloaded kicks. The higher accuracy for the loaded kicks was found in the earlier occlusion conditions in experts compared to novices, as were the positive relationships between accuracy and confidence. It was concluded that the perception of the inertial constraints of the kicking action allowed for earlier anticipation of kick direction. It is proposed that accurate perception of the biomechanical property radius of gyrations in the body segments linking proximal to distal towards the kicking foot may provide this information.

Mechanisms of nuclei growth in ultrasound bubble nucleation

This paper interrogates the intersections between bubble dynamics and classical nucleation theory (CNT) towards constructing a model that describes intermediary nucleation events between the extrema of cavitation and boiling. We employ Zeldovich’s hydrodynamic approach to obtain a description of bubble nuclei that grow simultaneously via hydrodynamic excitation by the acoustic field and vapour transport. By quantifying the relative dominance of both mechanisms, it is then possible to discern the extent to which viscosity, inertia, surface tension and vapour transport shape the growth of bubble nuclei through non-dimensional numbers that naturally arise within the theory.The first non-dimensional number Φ12/Φ2 is analogous to the Laplace number, representing the balance between surface tension and inertial constraints to viscous effects. The second non-dimensional number δ represents how enthalpy transport into the bubble can reduce nucleation rates by cooling the surrounding liquid. This formulation adds to the current understanding of ultrasound bubble nucleation by accounting for bubble dynamics during nucleation, quantifying the physical distinctions between “boiling” and “cavitation” bubbles through non-dimensional parameters, and outlining the characteristic timescales of nucleation according to the growth mechanism of bubbles throughout the histotripsy temperature range.We observed in our simulations that viscous effects control the process of ultrasound nucleation in water-like media throughout the 0–120 °C temperature range, although this dominance decreases with increasing temperatures. Enthalpy transport was found to reduce nucleation rates for increasing temperatures. This effect becomes significant at temperatures above 30 °C and favours the creation of fewer nuclei that are larger in size. Conversely, negligible enthalpy transport at lower temperatures can enable the nucleation of dense clusters of small nuclei, such as cavitation clouds. We find that nuclei growth as modelled by the Rayleigh-Plesset equation occurs over shorter timescales than as modelled by vapour-dominated growth. This suggests that the first stage of bubble nuclei growth is hydrodynamic, and vapour transport effects can only be observed over longer timescales. Finally, we propose that this framework can be used for comparison between different experiments in bubble nucleation, towards standardisation and dosimetry of protocols.

Investigating the possibility that geometric inertial constraints held by the leader interface in telegraphy assist skill learning

Investigating the possibility that geometric inertial constraints held by the leader interface in telegraphy assist skill learning

Single-Machine Frequency Model and Parameter Identification for Inertial Constraints in Unit Commitment

In recent years, the need for generation mixes that consider the inertial constraints in unit commitment (UC) has increased because the inertia of these systems has decreased with the increased use of renewable energy. In these circumstances, single-machine models can calculate the minimum frequency and rate of change of frequency (RoCoF) at a high speed in terms of the characteristics of the changes in the generation mix, in order to identify the generation mixes that can satisfy inertial constraints. This study proposed methods to determine the parameters of the reduced frequency response (RFR) model, which is a single-machine model that considers the nonlinearity caused by restrictions on the generator’s output power, in order to apply inertial constraints to UC. The RFR models can include various forms of governor models and consider the nonlinear response characteristics of restrictions on the generator’s output power that change according to the scales of contingencies, system inertia, and changes in load characteristics through these parameters. From the simulations of real systems, it was observed that the parameters determined through the proposed methods achieved considerable accuracy in calculating the minimum frequency and RoCoF with the RFR model.

Soft body impact on composites: Delamination experiments and advanced numerical modelling

Cohesive interface elements have become commonly used for modelling composites delamination. However, a limitation of this technique is the fine mesh size required. Here, a novel cohesive element formulation is proposed and demonstrated for modelling the numerical cohesive zone with equal fidelity but fewer elements in comparison to a linear cohesive element formulation. The newly proposed formulation has additional degrees of freedom in the form of nodal rotations which when combined with the use of multiple integration points per cohesive element, allows for delamination propagation to be modelled with increased stability. This element formulation is introduced with an adaptive modelling method, termed Adaptive Mesh Segmentation (AMS). To demonstrate its effectiveness under impact loading the new model is applied to a soft body beam bending test. This test, containing a delamination pre-crack, uses inertial constraints and results in a dynamic stress state when impacted by a gelatin cylinder.

Estimation of sensor measurement errors in reactor coolant systems using multi-sensor fusion

A nuclear power plant is typically instrumented with a variety of sensors to continually monitor its variables, and their sensor’s measurements may be used to assess the plant state and initiate safety actions, if needed. Errors in sensor measurements, due to factors such as calibration drifts, critically affect such state assessments. We address a problem of estimating sensor errors using physics-informed machine learning methods that use measurements collected under known plant conditions. For a given sensor, we propose an information fusion method that uses measurements from other sensors to estimate its output assuming it is error-free and provides its difference from an actual measurement as an error estimate. We present the ensemble of trees and support vector machine fusers, and evaluate their performance using measurements collected over an emulated test loop of a pressurized water reactor. The plant variables are related to each other through the underlying physical laws under inertial constraints that place bounds on their derivatives, which analytically justify the applicability of machine learning methods for computing these fusers. Under twenty scenarios, we assess their sensor error estimates for pressure sensors of the heat exchanger of a reactor’s primary coolant system. Multiple types of errors are captured by both fusers under externally induced calibration drifts, blockages, minor leaks and air gaps in sensing lines, and electromagnetic interference; the root mean square error of the estimation of error is under 2.2% percent of the maximum measurement. We present generalization equations, in the framework of statistical learning theory, for these methods that characterize the confidence probability that the estimation error is bounded by a specified parameter in future test scenarios.

A Robust Multi-State Constraint Optimization-Based Orientation Estimation System for Satcom-on-the-Move

Current orientation estimation system (OES) approaches can meet the Satcom-on-the-move (SOTM) accuracy requirement in low dynamics using inertial measurement unit (IMU) without Global Navigation Satellite System (GNSS). However, the estimation accuracy will decrease significantly due to the influence of the high dynamics of the vehicle. This article addresses this issue by constructing a multi-state constraint optimization-based OES (MSCO-OES). Our first contribution is a high-precision incremental inertial constraint, which adds the influence of the earth's rotation to the rotation part of the pre-integration theory to maintain the integral gyro accuracy for a longer time. The second contribution is that the nonlinear optimization method is applied to orientation estimation, making better use of historical information and having higher estimation accuracy and robustness through batch optimization and iterating. In addition, we use the lie group theory to extend the weighted least square estimation algorithm to the manifold, which can update multiple historical states to the current state in real-time through incremental inertial constraints. Compared with state-of-the-art methods, the proposed orientation estimation method has higher estimation precision and a reasonable calculation amount. The performance of the proposed method is demonstrated by comparing tests and SOTM deploying tests. Several high-dynamic and long-range tests show that the proposed OES has acceptable orientation estimation precision and reliability, which meets the high-reliable SOTM system requirements.

Evaluation on Nonholonomic Constraints and Rauch–Tung–Striebel Filter-Enhanced UWB/INS Integration

Precise and seamless positioning is becoming a basic requirement for the Internet of Things (IoT). However, there is a gap for precise positioning in Global Navigation Satellite System- (GNSS-) denied indoor areas. Thus, a multisensor integration system based on ultrawide-band (UWB), inertial navigation system (INS), nonholonomic constraints (NHCs), and Rauch–Tung–Striebel (RTS) smoother is proposed. In this system, the UWB performs as the major precise positioning system, while the INS bridges the UWB-degraded and UWB-denied periods. Meanwhile, the NHC restrains the drifts of INS, while the RTS smoother further upgrades the navigation accuracy. The contributions of this article are as follows. First, it presents the robust least square- (RLS-) based UWB positioning. The proposed method is effective in mitigating the impact of the effect of non-line-of-sight (NLOS), which is one of the most significant error sources for UWB positioning. Second, it derives the mathematical model of the UWB/INS/NHC/RTS integration, which is new compared to the existing approaches. Results illustrate that the proposed system can provide centimeter-level positioning accuracy, millimeter-level velocimetry accuracy, and accuracy of better than 0.05 and 0.15 degrees for horizontal and vertical attitude angles, respectively. Even in the scenario with short-term UWB outages (30 s), simulation results show that the three-dimensional position still can be better than 20 cm. Such accuracy values reach the state-of-the-art for indoor positioning using UWB and INS.

How Nascent Projects Acquire Resources to Launch

Prior research has tended to focus attention on temporary projects once they have already been established. This is a problem since it misses the challenge of resource attainment during the critical pre- project phase that leads to temporary project establishment in the first place. While networks are viewed as a key mechanism leading to resources it remains unclear how these can be attained when those seeking to launch new temporary projects are themselves new to project business and face constraints in building key ties as a result. Drawing on 123 nascent projects developed by six newly-formed independent television production companies in the UK our qualitative study finds that they can enhance their prospects of establishing new temporary projects by engaging in one of four behavioural strategies labelled as counter-fate behavioural strategies. This study contributes to research by focusing attention on the neglected pre- project stage of temporary project development. We show how by exaggerating the interest of key ties, paying attention to the sequence in which they are formed, and manipulating the opportunism of potential resource holders they can help to counter some of the inertial constraints that they face. Our work further draws attention to how a coordination role is used as a source of change; and highlights the conditions under which each behavioural strategy may become salient.

Magma chamber growth models in the upper crust: A review of the hydraulic and inertial constraints

Finite volumes of magma moving in confinement, store hydraulic potential energy for the generation, control and transmission of power. The Pascal's principle in a hydraulic jack arrangement is used to model the vertical and lateral growth of sills. The small input piston of the hydraulic jack is equivalent to the feeder dike, the upper large expansible piston equivalent to the magmatic chamber and the inertial force of the magma in the dike is the input force. This arrangement is particularly relevant to the case of sills expanding with blunt tips, for which rapid fracture propagation is inhibited. Hydraulic models concur with experimental data that show that lateral expansion of magma into a sill is promoted when the vertical ascent of magma through a feeder dike reaches the bottom contact with an overlying, flat rigid-layer. At this point, the magma is forced to decelerate, triggering a pressure wave through the conduit caused by the continued ascent of magma further down (fluid-hammer effect). This pressure wave can provide overpressure enough to trigger the initial hydraulic lateral expansion of magma into an incipient sill, and still have enough input inertial force left to continue feeding the hydraulic system. The lateral expansion underneath the strong impeding layer, causes an area increase and thus, further hydraulic amplification of the input inertial force on the sides and roof of the incipient sill, triggering further expansion in a self-reinforcing process. Initially, the lateral pressure increase is larger than that in the roof allowing the sill to expand. However, expansion eventually increases the total integrated force on the roof allowing its uplift into either a laccolith, if the roof preserves continuity, or into a piston bounded by a circular set of fractures. Hydraulic models for shallow magmatic chambers, also suggest that laccolith-like intrusions require the existence of a self-supported chamber roof. In contrast, if the roof of magmatic chambers loses the self-supporting capacity, lopoliths and calderas should be expected for more or less dense magmas, respectively, owing to the growing influence of the density contrast between the host rock and the magma.

System-Level Operational and Adequacy Impact Assessment of Photovoltaic and Distributed Energy Storage, with Consideration of Inertial Constraints, Dynamic Reserve and Interconnection Flexibility

The growing penetration of solar photovoltaic (PV) systems requires a fundamental understanding of its impact at a system-level. Furthermore, distributed energy storage (DES) technologies, such as batteries, are attracting great interest owing to their ability to provide support to systems with large-scale renewable generation, such as PV. In this light, the system-level impacts of PV and DES are assessed from both operational and adequacy perspectives. Different control strategies for DES are proposed, namely: (1) centralised, to support system operation in the presence of increasing requirements on system ramping and frequency control; and (2) decentralised, to maximise the harnessing of solar energy from individual households while storing electricity generated by PV panels to provide system capacity on request. The operational impacts are assessed by deploying a multi-service unit commitment model with consideration of inertial constraints, dynamic reserve allocation, and interconnection flexibility, while the impacts on adequacy of supply are analysed by assessing the capacity credit of PV and DES through different metrics. The models developed are then applied to different future scenarios for the Great Britain power system, whereby an electricity demand increase due to electrification is also considered. The numerical results highlight the importance of interconnectors to provide flexibility. On the other hand, provision of reserves, as opposed to energy arbitrage, from DES that are integrated into system operation is seen as the most effective contribution to improve system performance, which in turn also decreases the role of interconnectors. DES can also contribute to providing system capacity, but to an extent that is limited by their individual and aggregated energy availability under different control strategies.

Tunable microbubble generator using electrolysis and ultrasound

This letter reports on a method for producing on demand calibrated bubbles in a non-chemically controlled solution using localized micro-electrolysis and ultrasound. Implementing a feedback loop in the process leads to a point source of stable mono-dispersed microbubbles. This approach overcomes the inertial constraints encountered in microfluidics with the possibility to produce from a single to an array of calibrated bubbles. Moreover, this method avoids the use of additional surfactant that may modify the composition of the host fluid. It impacts across a broad range of scientific domains from bioengineering, sensing to environment.

Educational change, inertia and potential futures

The point of departure of the paper is that there are profound social, cultural, technological, scientific and environmental changes which occur at most local but also at global levels of the modern world. From these will stem huge challenges in all spheres of life. These demand changes in education, not necessarily in the system or how it operates, but perhaps in its aims, and most certainly in its content. Knowledge that was once powerful to understand the world, to develop as a person and address the challenges of life, should be replaced with new knowledge which may often be outside the traditional disciplines. Moreover, a host of new skills may be relevant for the world of tomorrow. There are, however, many obstacles to change, both reasonable and unreasonable ones. The thrust of the paper is to provide a discussion of nine categories of inertia or constraints that are seen to stifle change, in particular, as it relates to the content of education. The categories are discussed under the headings of general conservativism, system stability, standards, fuzziness of new ideas, the strength of old ideas, vested interests, teacher education, lack of space and motivation for initiative, and lack of consequence of no change. Added to this there are serious logistic problems for those who want to foster change. It is argued that very little change in content will be seen if these inertial constraints are not recognised. Assuming there is a will to change, the institutional infrastructures that should facilitate sustained change must be scutinised and it must be ensured that the teachers, i.e. the professionals that operate the system, are involved.

Gravity-dependent estimates of object mass underlie the generation of motor commands for horizontal limb movements.

Moving requires handling gravitational and inertial constraints pulling on our body and on the objects that we manipulate. Although previous work emphasized that the brain uses internal models of each type of mechanical load, little is known about their interaction during motor planning and execution. In this report, we examine visually guided reaching movements in the horizontal plane performed by naive participants exposed to changes in gravity during parabolic flight. This approach allowed us to isolate the effect of gravity because the environmental dynamics along the horizontal axis remained unchanged. We show that gravity has a direct effect on movement kinematics, with faster movements observed after transitions from normal gravity to hypergravity (1.8g), followed by significant movement slowing after the transition from hypergravity to zero gravity. We recorded finger forces applied on an object held in precision grip and found that the coupling between grip force and inertial loads displayed a similar effect, with an increase in grip force modulation gain under hypergravity followed by a reduction of modulation gain after entering the zero-gravity environment. We present a computational model to illustrate that these effects are compatible with the hypothesis that participants partially attribute changes in weight to changes in mass and scale incorrectly their motor commands with changes in gravity. These results highlight a rather direct internal mapping between the force generated during stationary holding against gravity and the estimation of inertial loads that limb and hand motor commands must overcome.

Influence of Task Constraints and Device Properties on Motor Patterns in a Realistic Control Situation

ABSTRACT The influences of task difficulty (index difficulty: 2–4), input device of different length, range of motion and mode of resistance (joystick or rotorcraft stick), and directions of movement (leftward rightward) on motor patterns in a realistic control situation were examined with a multilevel analysis (joint kinematics and muscular variables, and global task performance). Eight subjects controlled the displacements of a virtual object during a slalom task characterized by a realistic inertial model. Pilots adapted the endpoint kinematic organization to increasing accuracy constraints to preserve task success whatever the device and the direction. However, the rotorcraft stick manipulation remains highly complex in comparison to the joystick due to poorer proprioceptive information, higher inertial constraints, and an asymmetrical muscle control.