Reference Frame Research Articles

CFD Analysis of Aerodynamic Characteristics in a Square-Shaped Swarm Formation of Four Quadcopter UAVs

The aerodynamic behavior of a square-shaped formation of four quadcopter UAVs flying in a swarm is investigated in detail through three-dimensional computer simulations utilizing Computational Fluid Dynamics (CFD) methodology. The swarm configuration comprises four UAVs positioned with two in the upper row and two in the lower row along the same propeller axes. The flow profile generated by the UAV propellers rotating at 10,000 revolutions per minute is analyzed parametrically using the Multiple Reference Frame (MRF) technique. UAVs within the swarm are positioned at 75 cm from the motion centers of adjacent propellers. This distance, the effects of horizontally and vertically positioned UAVs on each other, and the collective behavior of the swarm are thoroughly examined. Pressure, velocity, and turbulent kinetic energy values are meticulously analyzed. This research represents a milestone in understanding the aerodynamic characteristics of UAV swarms and the optimization of swarm performance. The findings highlight effective factors in swarm flights and their consequences for UAVs. Additionally, the article describes the “near-UAV phenomenon”. Furthermore, the methodology developed for CFD simulations provides an approach to analyzing close flight scenarios and evaluating their performance in various swarm configurations. These achievements contribute to the future development of UAV technology.

The role of plume-lithosphere interaction in Hawaii-Emperor chain formation

Paleolatitudes of volcanic rocks reveal that prominent changes in volcanic trend of the Hawaii-Emperor hotspot chain represent meridional migration of the magma source. However, models assuming latitudinal plume migration fail to explain the observed age distribution, rock composition, and erratic paleolatitude changes of the oldest Emperor seamounts. Here we use data-assimilation models to better reproduce the Hawaii-Emperor hotspot track by systematically considering plate reconstruction, plume-lithosphere interaction, and simplified melt generation and migration. Our results show that plate drag and plume-ridge interaction are both important in explaining the observed seamount ages. These shallow dynamic processes could account for 50% of the observed paleolatitude’s secular reduction and erratic variations over time, where the necessary southward migration of the Hawaiian plume root is significantly less than previously thought. We conclude that plume-lithosphere interaction represents a common mechanism in affecting hotspot track, and has important implications in understanding mantle dynamics and plate reference frames.

Spiritual care competencies in pre-graduate medical and nursing education

Abstract Context: Current research in the field of spiritual care (SC) is constantly encouraging pre- and postgraduate training, particularly in medicine and nursing. Several reference frameworks have been produced to support this teaching since the 2000’s. Methods: This narrative review first identifies the spiritual care competencies (SCCs) currently taught during pre-graduate nursing and medical science education in state-of-research studies. The competencies mentioned in the two reference frameworks identified as authoritative are then compared with this current and actual teaching. Specificities of each discipline are highlighted through this comparison. Results: Similar competencies form a mainstream of SC teaching in the literature. For the vast majority, it appears to be a set of transdisciplinary competencies. Intrapersonal spirituality competencies are considered decisive. Some particularities of the medical framework open up a very specific field of reflection, including the role of the physician (identity development) and the meaning (and spirituality) of work. Conclusion: Adding a complement to the competencies reference frameworks that includes identity development would be better suited to sustain students’ inner growth. A common frame of reference for nursing and medical education is conceivable, although the aims of SC in both fields need to be clarified.

Energy performance and pressure fluctuation in multi-stage centrifugal pump with floating impellers under various axial oscillation frequencies

A novel multi-stage centrifugal pump with floating impellers is gaining traction in energy systems because it easily links stages in series for varying high head requirements. However, the axial oscillation frequency of the floating impeller introduces uncertainties in the pump's energy performance and pressure fluctuation. To address these issues, a comprehensive analysis of multi-stage centrifugal pumps was conducted, utilizing a computational fluid dynamics simulation method that incorporats dynamic mesh and multiple reference frame techniques, validated through three experimental trials. The findings show that average head coefficient and average efficiency are not significantly affected by the axial oscillation of impeller, but that pressure fluctuations, efficiency, and head coefficient all show periodic variations that are connected to the frequency of impeller oscillation. The amplitude of variations in the head coefficient and efficiency could increase by as much as 112.3 % and 172.4 %, respectively, under the influence of impeller oscillations, thereby heightening the instability of pump operation. Trigonometric functions for the energy performance during impeller oscillations are proposed to facilitate rapid assessment of pump stability. This study offers valuable insights into the unsteady characteristics of novel multi-stage centrifugal pumps and serves as a reference for further understanding their dynamic behavior.

Fuelless On-Orbit Assembly of a Large Space Truss Structure Using Repulsion of the Service Spacecraft by Robotic Manipulators

A servicing spacecraft motion control approach for the problem of on-orbit truss structure assembly is developed in this paper. It is considered that a cargo container with a rod set and servicing spacecraft are in orbit initially. The assembly procedure is based on spacecraft free-flight motion between the structure’s specified points. The spacecraft is equipped with two robotic manipulators capable of attaching to the structure and holding rods. In addition, the spacecraft can repulse from the structure with a given relative velocity using a manipulator, so the spacecraft and the structure receive impulses. The repulsion velocity vector is calculated in order to reach the structure target point to deliver and install the rod into the truss structure, or to reach the cargo container and take a rod. The problem of searching the repulsion velocity is formulated as an optimization problem with constraints, taking into account the limited value of the repulsion velocity, collision avoidance with structure, restrictions on the angular velocity and translational motion of the structure in the orbital reference frame. This problem is solved numerically with an initial guess vector obtained analytically for simplified motion cases. The application of the proposed control scheme to the assembly of a truss-based antenna is demonstrated. It is shown that the servicing spacecraft is successfully transferred between the structure points by means of manipulator repulsion. Main features and limitations of the assembly problem using a spacecraft with two manipulators are discussed.

Spatial memory and frames of reference: How deeply do we rely on the body and the environment?

How do we mentally represent the world out there? Psychology, philosophy and neuroscience have given two classical answers: as a living space where we act and perceive, dependent on our bodies; as an enduring physical space with its feature, independent of our bodily interactions. The first would be based on egocentric frames of reference anchored to the body, while the second on allocentric frames of reference centred on the environment itself or on objects. This raises some questions concerning how deep the reliance on the body and the environment is when using these reference frames, and whether they are affected differently by the duration of time and the scale (small or large) of space. To answer these questions, I have brought empirical evidence of the effect of motor interference, blindness, environmental characteristics and temporal factors on egocentric and allocentric spatial representational capacity. The results suggest that egocentric representations are deeply rooted in the body, with its sensory and motor properties, and are closely linked to acting now in small-scale or peripersonal space. Allocentric representations are more influenced by environmental than by bodily characteristics, by visual than by motor properties, and seem particularly related to large-scale or extrapersonal space. In line with neurophysiological evidence and a Kantian perspective, it appears that we are endowed with an internal spatial representation system ready to structure environmental information for our purposes. To what extent this system is innate and pervasive in cognition and what is its relationship to the neural 'positioning' substrate discovered by O'Keefe and colleagues requires further scientific investigation.

Motion In-Betweening via Deep ∆-Interpolator.

We show that the task of synthesizing human motion conditioned on a set of key frames can be solved more accurately and effectively if a deep learning based interpolator operates in the delta mode using the spherical linear interpolator as a baseline. We empirically demonstrate the strength of our approach on publicly available datasets achieving state-of-the-art performance. We further generalize these results by showing that the ∆-regime is viable with respect to the reference of the last known frame (also known as the zero-velocity model). This supports the more general conclusion that operating in the reference frame local to input frames is more accurate and robust than in the global (world) reference frame advocated in previous work.

Automated extrinsic calibration of solid-state frame LiDAR sensors with non-overlapping field of view for monitoring indoor stockpile storage facilities

Several industrial and commercial bulk material management applications rely on accurate, current stockpile volume estimation. Proximal imaging and LiDAR sensing modalities can be used to derive stockpile volume estimates in outdoor and indoor storage facilities. Among available imaging and LiDAR sensing modalities, the latter is more advantageous for indoor storage facilities due to its ability to capture scans under poor lighting conditions. Evaluating volumes from such sensing modalities requires the pose (i.e., position and orientation) parameters of the used sensors relative to a common reference frame. For outdoor facilities, a Global Navigation Satellite System (GNSS) combined with an Inertial Navigation System (INS) can be used to derive the sensors’ pose relative to a global reference frame. For indoor facilities, GNSS signal outages will not allow for such capability. Prior research has developed strategies for establishing the sensor position and orientation for stockpile volume estimation while relying on multi-beam spinning LiDAR units. These approaches are feasible due to the large range and Field of View (FOV) of such systems that can capture the internal surfaces of indoor storage facilities.The mechanical movement of multi-beam spinning LiDAR units together with the harsh conditions within indoor facilities (e.g., excessive humidity, wide range of temperature variation, dust, and corrosive environment in deicing salt storage facilities) limit the use of such systems. With the increasing availability of solid-state LiDAR units, there is an interest in exploring their potential for stockpile volume estimation. Despite their higher robustness to harsh conditions, solid-state LiDAR units have shorter distance measurement range and limited FOV when compared with multi-beam spinning LiDAR. This research presents a strategy for the extrinsic calibration (i.e., estimating the relative pose parameters) of installed solid-state LiDAR units inside stockpile storage facilities. The extrinsic calibration is made possible using deployed spherical targets and a complete, reference scan of the facility from another LiDAR sensing modality. The proposed research introduces strategies for: 1) automated extraction of the spherical targets; 2) automated matching of these targets in the solid-state LiDAR and reference scans using invariant relationships among them; and 3) coarse-to-fine estimation of the calibration parameters. Experimental results in several facilities have shown the feasibility of using the proposed methodology to conduct the extrinsic calibration and volume evaluation with an error percentage less than 3.5% even with occlusion percentages reaching up to 50%.

Security analysis of satellite-to-ground reference-frame-independent quantum key distribution with beam wandering

Abstract The reference-frame-independent (RFI) quantum key distribution (QKD) is suitable for satellite-based links by removing the active alignment on the reference frames. However, how the beam wandering influences the performance of RFI-QKD remains a pending issue in satellite-to-ground links. In this paper, based on the mathematical model for characterizing beam wandering, we present the security analysis for satellite-to-ground RFI-QKD and analytically derive formulas for calculating the secret key rate with beam wandering. Our simulation results show that the performance of RFI-QKD is better than the Bennett–Brassard 1984 (BB84) QKD with beam wandering in asymptotic case. Furthermore, the degree of influences of beam wandering is specifically presented for satellite-to-ground RFI-QKD when statistical fluctuations are taken into account. Our work can provide theoretical support for the realization of RFI-QKD using satellite-to-ground links and have implications for the construction of large-scale satellite-based quantum networks.

Assessing Current Coastal Subsidence at Continental Scale: Insights From Europe Using the European Ground Motion Service

AbstractBeside climate‐change‐induced sea‐level rise (SLR), land subsidence can strongly amplify coastal risk in flood‐prone areas. Mapping and quantifying contemporary vertical land motion (VLM) at continental scales has long been a challenge due to the absence of gridded observational products covering these large domains. Here, we fill this gap by using the new European Ground Motion Service (EGMS) to assess the current state of coastal VLM in Europe. First, we compare the InSAR‐based EGMS Ortho (Level 3) with nearby global navigation satellite systems (GNSS) vertical velocity estimates and show that the geodetic reference frame used to calibrate EGMS strongly influences coastal vertical land velocity estimates at the millimeter per year level and this needs to be considered with caution. After adjusting the EGMS vertical velocity estimates to a more updated and accurate International Terrestrial Reference Frame (ITRF2014), we performed an assessment of VLM in European low elevation coastal flood plains (CFPs). We find that nearly half of the European CFP area is, on average, subsiding at a rate faster than 1 mm/yr. More importantly, we find that urban areas and populations located in the CFP experience a near −1 mm/yr VLM on average (excluding the uplifting Fennoscandia region). For harbors, the average VLM is even larger and increases to −1.5 mm/yr on average. This demonstrates the widespread importance of continental‐scale assessments based on InSAR and GNSS to better identify areas at higher risk from relative SLR due to coastal subsidence.

Comparison performance study of singly-fed and doubly-fed induction generators-based bond-graph wind turbines model

This paper consecrates to a comparative performance study of singly-fed and doubly-fed of induction generators thrusted by wind power turbine of similar generation capacity of 2.5 kW, and constant or variably wind speed. The singly-fed induction generator model could be represented using natural reference frame and doubly-fed induction generator model is described using a Park reference frame. Because of several physical domains existing in both induction generators like mechanical and electrical, modeling of generators is difficult, therefore the modeling based on physical methods takes a high credibility under these conditions. Among the procedures is Bond-graph method that models the systems based on law of mass conservation and/or law of energy conservation containing in the systems. Modeling the parts of both singly-fed and double-fed induction generators are based on Bond-graph method. We found that the impact of stator coil winding for on the current is in the form of changes of its value and steady state intervals; increasing the number of stator coil windings may also lead to increased stator current and the longer their steady state interval. Our study demonstrates also that doubly-fed induction generator possesses advantages compared to singly-fed induction generator, namely better current quality output and an adaptation to fluctuating wind speeds. The performance study is done in constant and variably wind speeds using simulated results of 20-Sim software.

Improved axial confinement in the open trap by the combination of helical and short mirrors

The paper presents experimental results from the SMOLA device, which was built in the Budker Institute of Nuclear Physics for the verification of the helical mirror confinement idea. This concept involves active control of axial losses from the confinement zone in an open magnetic trap through the use of multiple mirrors that move in the plasma frame of reference. The discussed experiments focused on determining the cumulative effect of a helical mirror system in combination with a short segment of a stronger magnetic field. Combination of these two methods of axial flow suppression results in higher efficiency compared with each method individually. Different combinations of the mirrors were tested. The most effective flow suppression was observed if the short mirror was placed between the confinement region and the helical mirror. In this configuration, an effective mirror ratio of $R_{{\rm eff}} = 32.6\pm 7.8$ was achieved, along with a more than three-fold increase in plasma density within the confinement region. The possibility of a cumulative effect of different types of magnetic mirrors offers a way to improve the confinement performance of the reactor-grade mirror confinement devices.

An Analytical Framework for Making Sense of Students’ Graphical Representations with Attention to Frames of Reference and Coordinate Systems

An Analytical Framework for Making Sense of Students’ Graphical Representations with Attention to Frames of Reference and Coordinate Systems

Contribution of low-level motion to position shifts.

Motion can produce large changes in the apparent locations of briefly flashed tests presented on or near the motion. These motion-induced position shifts may have a variety of sources. They may be due to a frame effect where the moving pattern provides a frame of reference for the locations of events within it. The motion of the background may act through high-level mechanisms that track its explicit contours or the motion may act on position through the signals from low-level motion detectors. Here we isolate the contribution of low-level motion by eliminating explicit contours and trackable features. In this case, motion still supports a robust shift in probe locations with the shift being in the direction of the motion that follows the probe. Although robust, the magnitude of the shift in our first experiment is about 20% of the shift seen in a previous study with explicit frames and, in the second, about 45% of that found with explicit frames. Clearly, low-level motion alone can produce position shifts although the magnitude is much reduced compared to that seen when high-level mechanisms can contribute.

Characterization and verification of the optimal feedback gain of a satellite magnetorquer-based attitude control system

In spacecraft mission planning and operation, the attitude determination and control subsystem (ADCS) of a satellite provides information about the orientation of the satellite in the inertial reference frame. Furthermore, this subsystem produces the control actions required to adjust the orientation of the satellite, especially in the low-Earth orbit (LEO) regime. This paper focuses on the satellite’s three-axis attitude control problem within the context of active and passive control, which includes detumbling control, pointing control, magnetic control, and attitude stabilization after solar panel wing deployment using magnetorquers as the primary actuators. The objective is to stabilize and reduce the angular rate while orienting the satellite to the desired attitude. The proposed satellite attitude control system (ACS) strategies are designed, developed, characterized, and verified. These strategies encompass the B-dot control algorithm for detumbling control along with pointing control and attitude stabilization after solar panel wing deployment. hardware-in-the-loop simulation (HiLs) tests are conducted to assess the performance of the satellite magnetorquer-based ACS in the presence of noise. These tests involve a relative Earth’s magnetic field (EMF) generator in conjunction with SGP-4-based satellite orbital propagator high-level control software. Additionally, cascade proportional-integral-derivative (PID) and state-dependent Riccati equation (SDRE) controllers are implemented to generate sufficient torque using three-axis magnetorquers on a frictionless air-bearing platform. The platform is balanced to closely simulate the dynamic motion of a spacecraft in space. The testing includes a single initial condition and three inertia conditions for stabilization after solar panel wing deployment. Finally, the effectiveness of the cosimulation as a primary experiment through an integrated HiLs process is validated. This comprehensive approach confirms the control system’s performance and its ability to meet mission requirements.

An Improved digital multi-resonant controller for 3 [formula omitted] grid-tied and standalone PV system under balanced and unbalanced conditions

With the exponential penetration of Photovoltaic (PV) plants into the power grid, advanced current controllers should be employed in grid-tied power converters in order to efficiently inject high quality current synchronized with the grid voltage. This research presents the modeling and design of a digital multi-resonant controller to feed-in high quality current. The novelty lies in designing the control in a superior manner to conventional techniques. As an outcome, practical engineers discover an easy, fast, robust, and accurate control method. The proposed 5-kVA PV system can inject active and reactive power effectively while staying resilient to imbalance scenarios. Synchronization is accomplished via a synchronous reference frame (SRF) based phase locked loop (PLL) that performs effectively even with distorted and nonideal grids. The practicality and efficacy of the developed controller is verified both in simulation (PSIM and code composer studio) and Hardware in Loop (HIL) via Typhoon 402 and TMS32F28335 experiments. The devised controller is evaluated in both grid-connected and standalone modes under a wide range of disturbances, distortions, and non-ideal conditions. The simulation and HIL results validate the robustness, fastness, resilience, and effectiveness of the proposed controller compared with a well-tuned conventional proportional resonant (PR) controller.

Orbit design for a future geodetic satellite and gravity field recovery

Spherical geodetic satellites tracked by satellite laser ranging (SLR) stations provide indispensable scientific products that cannot be replaced by other sources. For studying the time-variable gravity field, two low-degree coefficients C20 and C30 derived from GRACE and GRACE Follow-On missions are replaced by the values derived from SLR tracking of geodetic satellites, such as LAGEOS-1/2, LARES-1/2, Starlette, Stella, and Ajisai. The subset of these satellites is used to derive the geocenter motion which is fundamental in the realization of the origin of the terrestrial reference frames. LAGEOS satellites provide the most accurate standard gravitational product GM of the Earth. In this study, we use the Kaula theorem of gravitational perturbations to find the best possible satellite height, inclination, and eccentricity for a future geodetic satellite to maximize orbit sensitivity in terms of the recovery of low-degree gravity field coefficients, geocenter, and GM. We also derive the common station-satellite visibility-coverability coefficient as a function of the inclination angle and satellite height. We found that the best inclination for a future geodetic satellite is 35°–45° or 135°–145° with a height of about 1500–1700 km to support future GRACE/MAGIC missions with C20 and C30. For a better geocenter recovery and derivation of the standard gravitational product, the preferable height is 2300–3500 km. Unfortunately, none of the existing geodetic satellites has the optimum height and inclination angle for deriving GM, geocenter, and C20 because there are no spherical geodetic satellites at the heights between 1500 (Ajisai and LARES-1) and 5800 km (LAGEOS-1/2, LARES-2).

Methods for three-dimensional characterization of the acetabulum prior to pelvic reorientation osteotomy: a scoping review.

Periacetabular osteotomy is the gold standard treatment for acetabular dysplasia. The great variability of acetabular dysplasia requires a personalized preoperative planning improved by 3D reconstruction and computer-assisted surgery. To plan the displacement of the acetabular fragment by a pelvic osteotomy, it is necessary to define a reference plane and a method to characterize 3D acetabular orientation. A scoping review was performed on PubMed to search for articles with a method to characterize the acetabulum of native hips in a 3D reference frame. Ninety-eight articles out of 3815 reports were included. Three reproducible reference planes were identified: the anterior pelvic plane, the Standardization and Terminology Committee plane used in gait analysis, and the sacral base plane. The different methods for 3D analysis of the acetabulum were divided in four groups: global orientation, triplanar measurements, segmentation, and surface coverage of the femoral head. Two methods were found appropriate for reorientation osteotomies: the global orientation by a vector method and the triplanar method. The global orientation method relies on the creation of a vector from the acetabular rim, from the acetabular surface or from successive planes. Normalization of the global acetabular vector would correct acetabular dysplasia by a single alignment maneuver on an ideal vector. The triplanar method, based on angle measurements at the center of the femoral head, would involve correction of anomalies by considering axial, frontal, and sagittal planes. Although not directly fit for reorientation, the two others would help to candidate patients and verify both planning and postoperative result.

Nonlinear Model for Halbach Array Axial Flux Permeant Magnet Motor in Stator and Rotor Reference Frames Based on Harmonic Modeling Technique

Nonlinear Model for Halbach Array Axial Flux Permeant Magnet Motor in Stator and Rotor Reference Frames Based on Harmonic Modeling Technique

Properties of an optical event timer for satellite laser ranging

The resolution and above all the stability of the geodetic reference frames is crucially important when global change, such as the sea level rise is observed. In this context systematic errors are still presenting a significant challenge to the measurement techniques of space geodesy. In order to overcome this unfortunate situation for the satellite laser ranging technique, we have utilized the injection of a mode-locked laser to provide a stable low-noise link between the optical domain, where the measurements are carried out, and the microwave regime in which the station clock is defined. We obtained a considerably enhanced measurement delay stability by 10–20 ps over several days, albeit with some experimental challenges. The implementation of waveform scans required us to revisit the issue of target structure and intensity variation in satellite laser ranging.