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Underwater visual-inertial navigation is challenging due to the poor visibility and presence of outliers in underwater environments. The navigation performance is closely related to outlier detection and elimination. Existing methods assume…
The ability to robustly and efficiently control the dynamics of nonlinear systems lies at the heart of many current technological challenges, ranging from drug delivery systems to ensuring flight safety. Most such scenarios are too complex…
Advanced feedforward control methods enable mechatronic systems to perform varying motion tasks with extreme accuracy and throughput. The aim of this paper is to develop a data-driven feedforward controller that addresses input…
Processes in ocean physics, air-sea interaction and ocean biogeochemistry span enormous ranges in spatial and temporal scales, that is, from molecular to planetary and from seconds to millennia. Identifying and implementing sustainable…
We derive a feedback control law for the control of the downstream flow in a 1-D open channel by manipulating the water flow at an upstream location. We use backstepping for controller design and Lyapunov techniques for stability analysis.…
We show that in free surface flows, a uniform, streamwise current over small-amplitude wavy bottom topography generates cross-stream drift velocity. This drift mechanism, referred to as the current-bathymetry interaction induced drift…
The maritime sector is undergoing a disruptive technological change driven by three main factors: autonomy, decarbonization, and digital transformation. Addressing these factors necessitates a reassessment of inland vessel operations. This…
Given a Wiener process with unknown and unobservable drift, we try to estimate this drift as effectively but also as quickly as possible, in the presence of a quadratic penalty for the estimation error and of a fixed, positive cost per unit…
Foundations of a new projection-based model reduction approach for convection dominated nonlinear fluid flows are summarized. In this method the evolution of the flow is approximated in the Lagrangian frame of reference. Global basis…
As a mathematical model of high-speed flow and shock wave propagation in a complex multimaterial setting, Lagrangian hydrodynamics is characterized by moving meshes, advection-dominated solutions, and moving shock fronts with sharp…
Complex network approaches have been successfully applied for studying transport processes in complex systems ranging from road, railway or airline infrastructure over industrial manufacturing to fluid dynamics. Here, we utilize a generic…
As we look to the next generation of adaptive optics systems, now is the time to develop and explore the technologies that will allow us to image rocky Earth-like planets; wavefront control algorithms are not only a crucial component of…
Any phenomenon in nature is potential to be an inspiration for us to propose new ideas. Lateral line is a typical example which has attracted more interest in recent years. With the aid of lateral line, fish is capable of acquiring fluid…
We assess the influence of different Eulerian geophysical input fields on Lagrangian drift simulations using DriftNet, a learning-based method designed to simulate Lagrangian drift on the sea surface. Two experiments are conducted: a fully…
Turbulence in the upper ocean in the submesoscale range (scales smaller than the deformation radius) plays an important role for the heat exchange with the atmosphere and for oceanic biogeochemistry. Its dynamics should strongly depend on…
The paper defines and discusses the concept of hidden drifts in two-dimensional turbulence. These are ordered components of the trajectories that average to zero and do not produce direct transport. Their effects appear in the evolution of…
Lagrangian data assimilation is a complex problem in oceanic and atmospheric modeling. Tracking drifters in large-scale geophysical flows can involve uncertainty in drifter location, complex inertial effects, and other factors which make…
We consider a simple control problem in which the underlying dynamics depend on a parameter that is unknown and must be learned. We exhibit a control strategy which is optimal to within a multiplicative constant. While most authors find…
This paper addresses the problem of obtaining low-order models of fluid flows for the purpose of designing robust feedback controllers. This is challenging since whilst many flows are governed by a set of nonlinear, partial…
Wirelessly connected vehicles that exchange information about traffic conditions can reduce delays caused by congestion. At a 2-to-1 lane reduction, the improvement in flow past a bottleneck due to traffic with a random mixture of 40%…