Large Misalignment Research Articles

An Adaptive Multiple Backtracking UKF Method Based on Krein Space Theory for Marine Vehicles Alignment Process

The large misalignment errors of horizontal and azimuthal angle cannot be converged rapidly on the sea surface due to extra disturbance of linear and angular motions caused by wind and waves, which increases the time cost of marine vehicles alignment process and ultimately limits the SINS quick working capability. In order to solve the above problem, an adaptive multiple backtracking UKF method based on Krein space theory is proposed in this paper. Firstly, considering time-varying calibration errors of inertial sensors, a novel robust posterior filtering equation in Krein space is designed to improve the matching degree between the physical process and the mathematical model. Moreover, combined with the multiple forward and reverse navigation processes, an adaptive calculation times control method in backtracking UKF based on the innovation is constructed to solve the nonlinear fast alignment problem in the case of large misalignment angle errors with the purpose of further intelligently shortening the alignment time and ensuring alignment accuracy simultaneously in different periods and working environments. The physical experiment results demonstrate that the horizontal and azimuthal alignment accuracy of the proposed algorithm are improved compared with standard CKF alignment algorithm.

Interface engineering to enhance charge carrier injection in Ph-BTBT-10 organic thin-film transistor with silver source-drain electrodes

We have investigated to reduce the contact resistance of organic field effect transistor (OFET) of the phenyl-benzothienobenzothiophene derivative (Ph-BTBT-10) with silver source-drain electrodes. Ph-BTBT-10 OFETs with silver electrodes show very low FET mobility and high contact resistance because the work function of silver has a large energy level misalignment with the highest occupied molecular orbital level of Ph-BTBT-10. The silver electrodes treated with self-assembled monolayers, pentafluorobenzenethiol (PFBT) and tetrafluoro-(trifluoromethyl)-benzenethiol (TTFP), show high work function and archive small contact resistance with Ph-BTBT-10. The Ph-BTBT-10 OFETs with TTFP-Ag electrodes achieved a high mobility of 1.5 cm2/Vs, and a small contact resistance of 2.1 kΩ cm.

High-eccentricity Migration with Disk-induced Spin–Orbit Misalignment: A Preference for Perpendicular Hot Jupiters

High-eccentricity migration is a likely formation mechanism for many observed hot Jupiters, particularly those with a large misalignment between the stellar spin axis and orbital angular momentum axis of the planet. In one version of high-eccentricity migration, an inclined stellar companion excites von Zeipel–Lidov–Kozai (ZLK) eccentricity oscillations of a cold Jupiter, and tidal dissipation causes the planet’s orbit to shrink and circularize. Throughout this process, the stellar spin can evolve chaotically, resulting in highly misaligned hot Jupiters (HJs). Previous population studies of this migration mechanism have assumed that the stellar spin is aligned with the planetary orbital angular momentum when the companion begins to induce ZLK oscillations. However, in the presence of a binary companion, the star’s obliquity may be significantly excited during the dissipation of its protoplanetary disk. We calculate the stellar obliquities produced in the protoplanetary disk phase and use these to perform an updated population synthesis of ZLK-driven high-eccentricity migration with an F-type host star. We find that the resulting obliquity distribution of HJ systems is predominantly retrograde with a broad peak near 90°. The distribution we obtain has intriguing similarities to the recently observed preponderance of perpendicular planets close to their host stars.

An increase in black hole activity in galaxies with kinematically misaligned gas

External accretion events such as a galaxy merger or the accretion of gas from the immediate environment of a galaxy can create a large misalignment between the gas and the stellar kinematics. Numerical simulations have suggested that misaligned structures may promote the inflow of gas to the nucleus of the galaxy and the accretion of gas by the central supermassive black hole. We show for the first time that galaxies with a strong misalignment between the ionized gas and stellar kinematic angles have a higher observed fraction of active black holes than galaxies with aligned rotation of gas and stars. The increase in black hole activity suggests that the process of formation and/or the presence of misaligned structures are connected with the fuelling of active supermassive black holes.

Study on root strain concentration of girth weld joint with variable wall thickness for X80 pipe

In this study, considering the particularity of variable wall thickness joints, a strain concentration characterization method for variable wall thickness joint is proposed. The finite element simulation method is used to establish a finite element model consistent with the physical joint, and calculate the root strain concentration under different misalignment, different weld strength matching, different pipes strength collocation and different heat affected zone (HAZ) softening conditions. Based on the aforementioned analysis, it is found that the misalignment, the weld strength matching, the pipes strength configuration and HAZ softening all affect the strain concentration at the root of the joint. In particular, the misalignment is easy to cause geometric structure mutation of root, which is the main factor leading to strain concentration for root of weld. The larger misalignment, the lower strength matching of the weld, and the higher pipes strength can increase the strain concentration at the root. However, a large root strain concentration can induce strain aging embrittlement or coupling with welding defects to cause material damage, providing conditions for root crack initiation and propagation.

Rapid Transfer Alignment for Large and Time-Varying Attitude Misalignment Angles

Transfer alignment is an effective method to estimate the attitude difference between two inertial platforms. Traditional transfer alignment methods are either meant for small misalignments or use nonlinear filtering. Linear methods for large misalignments use quaternion attitude representation, but their performance degrades when the misalignment is not constant or slowly varying. This work proposes applying rapid transfer alignment to the inertial stabilization of a Satcom On-The-Move antenna. In this application case, the two inertial platforms are connected by a kinematic chain, meaning the attitude difference between the inertial platforms is both large and time-varying. This work proposes a method to estimate this attitude difference, with a Kalman filter used for the estimation of the unknown angles. To that effect, a new propagation model is developed to take into account the misalignment variations using master and slave rotation rates. Simulation results show the performance of the proposed solution in a Satcom antenna inertial stabilization case.

ALP dark matter mini-clusters from kinetic fragmentation

We show that very compact axion mini-clusters can formin models where axion-like-particle (ALP) dark matter is produced via the kinetic misalignment mechanism, which is well-motivated in pre-inflationary U(1) symmetry breaking scenarios.This is due to ALP fragmentation.We predict denser halos than what has been obtained so far in the literature from standard misalignment in post-inflationary U(1) breaking scenarios or from large misalignment.The main reason is that adiabatic fluctuations are significant at early times, therefore, even if amplification from parametric resonance effects is moderate, the final size of ALP fluctuations is larger in kinetic misalignment.We compare halo mass functions and halo spectra obtained in kinetic misalignment, large misalignment and standard misalignment respectively. Our analysis does not depend on the specific model realization of the kinetic misalignment mechanism. We present our results generally as a function of the ALP mass and the ALP decay constant only. We show that a sizable region of this ALP parameter space can be tested by future experiments that probe small-scale structures.

SINS/DVL Linear Initial Alignment based on Lie Group SE3 (3)

This paper investigates the strapdown inertial navigation system (SINS) initial alignment aided by Doppler velocity log (DVL). A linear Kalman filtering method is proposed using the theory of Lie group, which is immune to the initial misalignment. The dead-reckoning position based on the body velocity provided by DVL and attitude provided by SINS is used as measurement. The SINS calculated attitude, velocity, position and DVL dead-reckoning position are formulated together as the elements of Lie group SE <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">3</sub> (3). Since the dead-reckoning position is a type of left-invariant measurement, the corresponding linear error-state model is derived based on the left-invariant group error definition. Although the Lie group state model is not group affine, thesmall attitude error assumption does not introduce accuracy degeneracy in deriving the linear error-state model. This is the core reason why the derived linear error-state model is still applicable for cases with large initial misalignment. Experiments are conducted to verify the feasibility and effectiveness of the proposed methods. The test results show that the proposed method has higher accuracy and faster convergence speed as compared with the existing methods.

QACL: Quartet attention aware closed-loop learning for abdominal MR-to-CT synthesis via simultaneous registration.

Synthesis of computed tomography (CT) images from magnetic resonance (MR) images is an important task to overcome the lack of electron density information in MR-only radiotherapy treatment planning (RTP). Some innovative methods have been proposed for abdominal MR-to-CT synthesis. However, it is still challenging due to the large misalignment between preprocessed abdominal MR and CT images and the insufficient feature information learned by models. Although several studies have used the MR-to-CT synthesis to alleviate the difficulty of multi-modal registration, this misalignment remains unsolved when training the MR-to-CT synthesis model. In this paper, we propose an end-to-end quartet attention aware closed-loop learning (QACL) framework for MR-to-CT synthesis via simultaneous registration. Specifically, the proposed quartet attention generator and mono-modal registration network form a closed-loop to improve the performance of MR-to-CT synthesis via simultaneous registration. In particular, a quartet-attention mechanism is developed to enlarge the receptive fields in networks to extract the long-range and cross-dimension spatial dependencies. Experimental results on two independent abdominal datasets demonstrate that our QACL achieves impressive results with MAE of 55.30±10.59 HU, PSNR of 22.85±1.43 dB, and SSIM of 0.83±0.04 for synthesis, and with Dice of 0.799±0.129 for registration. The proposed QACL outperforms the state-of-the-art MR-to-CT synthesis and multi-modal registration methods.

Hybrid Mechanical and Electronic Beam Steering for Maximizing OAM Channel Capacity

Radio frequency-orbital angular momentum (RF-OAM) is a novel approach of multiplexing a set of orthogonal modes on the same frequency channel to achieve high spectrum efficiencies. Since OAM requires precise alignment of the transmit and the receive antennas, the electronic beam steering approach has been proposed for the uniform circular array (UCA)-based OAM communication system to circumvent large performance degradation induced by small antenna misalignment in practical environment. However, in the case of large-angle misalignment, the OAM channel capacity cannot be effectively compensated only by the electronic beam steering. To solve this problem, we propose a hybrid mechanical and electronic beam steering scheme, in which mechanical rotating devices controlled by pulse width modulation (PWM) signals as the execution unit are utilized to eliminate the large misalignment angle, while electronic beam steering is in charge of the remaining small misalignment angle caused by perturbations. Furthermore, due to the interferometry, the receive signal-to-noise ratios (SNRs) are not uniform at the elements of the receive UCA. Therefore, a rotatable UCA structure is proposed for the OAM receiver to maximize the channel capacity, in which the simulated annealing algorithm is adopted to obtain the optimal rotation angle at first, then the servo system performs mechanical rotation, at last the electronic beam steering is adjusted accordingly. Both mathematical analysis and simulation results validate that the proposed hybrid mechanical and electronic beam steering scheme can effectively eliminate the effect of diverse misalignment errors of any practical OAM channel and maximize the OAM channel capacity.

Underwater Wireless Charging System of Unmanned Surface Vehicles with High Power, Large Misalignment Tolerance and Light Weight: Analysis, Design and Optimization

Wireless charging systems (WCSs) are considered very appropriate to recharge underwater surface vehicles (USVs) due to their safe, flexible, and cost-effective characteristics. The small depth of immersion of USVs allows a WCS operated at an mm-level distance using a dock. Resultant tight coupling between the transmitter and receiver is conducive to high power, yet faces a challenge to alleviating misalignment sensitivity. In addition, considering USVs’ endurance, the weight of a WCS should be strictly limited. In this paper, a 6.0 kW underwater WCS is analyzed, designed, and optimized, which achieves a good balance of power capacity, misalignment tolerance, and onboard weight. A multi-receiving-coil structure is employed, which is crucial to large misalignment tolerance. On this basis, two types of coils adapting the hull shape of USV, viz., curved and quasi-curved coils, are devised and compared in case the hydrodynamic performance of USV is degraded. Finally, the weight of receiver is effectively reduced using bar-shaped ferrite without sacrificing the power capacity of WCSs. The results indicate a merely 8.73% drop in coupling coefficient with misalignment ranging from 0 to 100 mm. Moreover, ferrite use is reduced by 40.48 kg compared to a ferrite sheet, which accounts for 50.28% weight of the receiver.

Numerical security proof for the decoy-state BB84 protocol and measurement-device-independent quantum key distribution resistant against large basis misalignment

In this work, we incorporate decoy-state analysis into a well-established numerical framework for key rate calculation, and we apply the numerical framework to decoy-state BB84 and measurement-device-independent (MDI) QKD protocols as examples. Additionally, we combine with these decoy-state protocols what is called ``fine-grained statistics,'' which is a variation of existing QKD protocols that makes use of originally discarded data to get a better key rate. We show that such variations can grant protocols resilience against any unknown and slowly changing rotation along one axis, similar to reference-frame-independent QKD, but without the need for encoding physically in an additional rotation-invariant basis. Such an analysis can easily be applied to existing systems, or even data already recorded in previous experiments, to gain a significantly higher key rate when considerable misalignment is present, extending the maximum distance for BB84 and MDI-QKD and reducing the need for manual alignment in an experiment.

Research on the Necessity of Lie Group Strapdown Inertial Integrated Navigation Error Model Based on Euler Angle.

In response to the lack of specific demonstration and analysis of the research on the necessity of the Lie group strapdown inertial integrated navigation error model based on the Euler angle, two common integrated navigation systems, strapdown inertial navigation system/global navigation satellite system (SINS/GNSS) and strapdown inertial navigation system/doppler velocity log (SINS/DVL), are used as subjects, and the piecewise constant system (PWCS) matrix, based on the Lie group error model, is established. From three aspects of variance estimation, the observability and performance of the system with large misalignment angles for low, medium, and high accuracy levels, traditional error model, Lie group left error model, and right error model are compared. The necessity of research on Lie group error model is analyzed quantitatively and qualitatively. The experimental results show that Lie group error model has better stability of variance estimation, estimation accuracy, and observability than traditional error model, as well as higher practical value.

ALP dark matter from kinetic fragmentation: opening up the parameter window

The main mechanism responsible for Axion-Like-Particle (ALP) production in the early universe is the so-called misalignment mechanism. Three regimes have been investigated in this context: standard misalignment, large misalignment and kinetic misalignment. The latter applies if the axion inherits a large initial velocity in the early universe, such that the field rolls through many wiggles during its evolution, before it gets trapped in one minimum. This largely opens the region of parameter space for ALP dark matter towards higher values for the axion-photon coupling, which can be probed by the whole set of next decade's upcoming experiments. In fact, almost the entire parameter space in the [mass, decay constant] plane can now accommodate dark matter. In this paper, we show that in kinetic misalignment, the axion field is almost always entirely fragmented, meaning that the energy density of the homogeneous field is redistributed over higher-mode axions. We present a general model-independent analytical description of kinetic fragmentation, including discussion of the modified initial conditions for the mode functions due to the axion's initial velocity, and how they impact the growth of the adiabatic fluctuations. We calculate precisely the parameter regions corresponding respectively to standard misalignment, kinetic misalignment with weak fragmentation, fragmentation after trapping and fragmentation before trapping. While axion fragmentation can impact the precise determination of the relic abundance, another main observational implication is the formation of much denser compact axion halos, that is described in a companion paper. We also point out a new gravitational-wave signature that arises in the large misalignment regime with complete fragmentation and could be seen in measurements of μ distortions in the Cosmic Microwave Background.

Automated End-Effector Alignment in Robotic Micromanipulation

Proper alignment of the end-effector is a critical procedure that determines the success of micromanipulation, such as robotic cell manipulation. Presently, end-effector alignment is performed manually and suffers from large misalignment error and inconsistency. Manual alignment often undesirably moves the end-effector (e.g., a glass micropipette) out of the limited field of view under microscopy and risks breaking the fragile end-effector. This article presents automated end-effector alignment in robotic micromanipulation. A rotational degree of freedom was added to a standard micromanipulator with translational degrees of freedom. The kinematic model of end-effector’s rotation was established, and the unknown model parameters were calibrated. To accommodate model uncertainty and parameter variations, a sliding mode controller was designed to achieve end-effector alignment. Experimental results demonstrate that the robotic alignment technique achieved an accuracy of 0.5 <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\pm 0.3^{\circ }$</tex-math></inline-formula> and a time cost of 17.9 <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\pm$</tex-math></inline-formula> 7.3 s, both significantly less than manual alignment. The developed controller based on kinematic modeling and sliding mode control achieved a higher success rate and significantly less time cost for end-effector alignment than the PID controller. Standard micropipettes were used as the end-effectors for sperm immobilization and oocyte penetration, important procedures in cell surgeries. The success rate of sperm immobilization was 98% by robotic micropipette alignment, higher than the success rate of 90% by manual alignment. Oocyte deformation before penetration was 28.1 <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\pm$</tex-math></inline-formula> 7.5 <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\mu$</tex-math></inline-formula> m by robotic end-effector alignment, significantly less than the deformation of 54.5 <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\pm$</tex-math></inline-formula> 13.2 <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\mu$</tex-math></inline-formula> m by manual alignment.

Signatures of spin precession and nutation in isolated black-hole binaries

The spin precession of binary black holes (BBHs) that originate from isolated high-mass binary stars is determined by the interplay of phenomena such as tides, winds, accretion, common-envelope evolution, natal kicks, and stellar core-envelope coupling. In previous work, we identified regions of the parameter space that may produce BBHs with large misalignments from natal kicks and high spin magnitudes from three mechanisms - tides, accretion, or inheritance via minimal core-envelope coupling. Here, we explore the spin precession of such BBHs using five parameters that describe the amplitude and frequency with which the orbital angular momentum precesses and nutates about the total angular momentum, modulating the gravitational-wave emission. Precession is generally possible for sufficiently strong natal kicks provided at least one of the black holes is spinning. Nutation is a consequence of spin-spin coupling and depends on the three spin-up mechanisms. Tidal synchronization can leave a distinct correlation between the aligned effective spin and the nutation frequency, but does not produce large nutations. When a black hole accretes $\gtrsim 20\%$ of its companion's envelope, the precession frequency and amplitude are large. A much smaller amount of accretion, e.g., $\approx 2\%$, is needed to provide a large precession frequency and amplitude when the accretor is a Wolf-Rayet (WR) star. The inheritance of high natal WR spins ($\gtrsim 5\%$ of their maximum breakup value) via minimal core-envelope coupling is the most promising mechanism for producing nutating BBHs, implying that a measurement of nutation from gravitational-wave observations may suggest isolated-binary origin with minimal core-envelope coupling.

A Novel DVL Calibration Method Based on Robust Invariant Extended Kalman Filter

The calibration accuracy of the Doppler Velocity Log (DVL) error directly affects the performance of the SINS/DVL integrated navigation system. Previous studies of DVL calibration have not dealt with DVL measurement outliers. Therefore, in this paper, a novel DVL calibration method is proposed to reduce the influence of outliers on calibration accuracy. Introducing the Lie group theory to the DVL calibration study for the first time, and taking advantage of the Special Orthogonal Group of order 3 [SO(3)] representation, a new DVL calibration model based SO(3) group with the ability to represent large misalignment angles is established. And an invariant extended Kalman filter (IEKF) design for the DVL calibration model is introduced. Then, a robust IEKF is proposed by combining the linear error propagation equation of the SO(3)-based DVL calibration model with the statistical similarity measure (SSM) theory. The proposed robust IEKF algorithm enriches the IEKF theory and has the ability to accurately estimate the state of the Lie group model in outlier environments. The simulation and lake trial are used to illustrate the effectiveness and superiority of the proposed DVL calibration method.

A Fast Robust In-Motion Alignment Method for Laser Doppler Velocimeter-Aided Strapdown Inertial Navigation System

With ultra-high velocity measurement accuracy, laser Doppler velocimeter (LDV) is promising to replace the odometer to provide vehicle velocity information in the process of land integrated navigation. This paper investigates the fast in-motion initial alignment for LDV-aided strapdown inertial navigation system (SINS). Aiming at the problem that the installation misalignment angles and scale factor error of LDV will reduce the alignment accuracy and the alignment speed, a Robust Double Gain Square-Root Unscented Quaternion Estimator (RDGSR-USQUE) method with good effect at large misalignment angle is proposed. In RDGSR-USQUE, the influence of unknown parameter error is considered in the construction of process model and measurement model and a double gain structure is proposed to improve the convergence speed based on the usually neglected posterior measurement residual information. RDGSR-USQUE method improves the defects of the traditional Unscented Quaternion Estimator (USQUE) method, such as poor noise resistance, slow convergence speed under large misalignment angle and easy to lead to non-positive definite covariance matrix. This will help to estimate and compensate unknown parameter errors while estimating attitude, so as to improve the accuracy of process model and measurement model, and finally improve the accuracy of attitude estimation. The performance of the proposed scheme is verified by vehicle field test. The results show that the proposed method has higher alignment accuracy, faster convergence speed and stronger robustness than three other compared methods, and the estimated installation misalignment angle and scale factor of LDV are satisfactory in general cases.

The Impact of System-Related Magnetic Resonance Imaging Geometric Distortion in Stereotactic Radiotherapy: A Case Report

Magnetic resonance imaging (MRI) is now essential in stereotactic radiotherapy (SRT) planning for brain tumors because of its excellence in soft-tissue contrast and high spatial resolution. However, MRI distortion is sometimes difficult to recognize, and it may cause large misalignments in radiotherapy planning. In this case report, we will show how much difference in the dose distribution of SRT can be made by using MRI without distortion correction.

Improving vehicle’s seismic safety by equipping railway bridges with FPB and misalignment control device

Running safety of the railway vehicles on the bridge during earthquakes is a major concern for railway engineering. To reduce the derailment risk of railway vehicles on bridges, friction pendulum bearings (FPB) are proposed to be equipped on simply supported bridges in this study. The full nonlinear behavior of the FPB is introduced into the vehicle-bridge interaction model. The effect of FPB’s manufacturing variations, including the shear pin’s strength and friction coefficient, on the misalignment was investigated. The manufacturing variations of the FPB were found to produce large lateral misalignment, which further contributes to large wheel-rail forces when the vehicle passes over the girder ends. It diminishes the improvement in the vehicle’s seismic safety provided by FPBs. Thus, a misalignment control device is proposed to limit the misalignment of the railway bridges equipped with FPBs. The vehicle-bridge interaction analysis results show that no wheel uplift occurred on the bridge equipped with FPBs and misalignment control devices during an earthquake. It indicates that the FPB significantly reduces the vehicle’s derailment risk on bridges compared with the non-isolated bearings.