Related papers: Decreasing flow uncertainty in Bayesian inverse pr…
This paper develops numerical methods for optimal control of mechanical systems in the Lagrangian setting. It extends the theory of discrete mechanics to enable the solutions of optimal control problems through the discretization of…
Despite their catastrophic implications in flood events, the mobilization and transport of large, loose objects - termed Urban Flood Drifters (UFDs) - are often overlooked in flood management. This oversight stems from our limited…
Opposition flow control is a robust strategy that has been proved effective in turbulent wall-bounded flows. Its conventional setup consists of measuring wall-normal velocity in the buffer layer and opposing it at the wall. This work…
Torque-driven microscale swimming robots, or microrotors, hold significant potential in biomedical applications such as targeted drug delivery, minimally invasive surgery, and micromanipulation. This paper addresses the challenge of…
Tracking Lagrangian coherent structures in dynamical systems is important for many applications such as oceanography and weather prediction. In this paper, we present a collaborative robotic control strategy designed to track stable and…
The properties of mesoscale Lagrangian turbulence in the Adriatic Sea are studied from a drifter data set spanning 1990-1999, focusing on the role of inhomogeneity and nonstationarity. A preliminary study is performed on the dependence of…
Knowing the sea surface velocity field is essential for various applications, such as search and rescue operations and oil spill monitoring, where understanding the movement of objects or substances is critical. However, obtaining an…
This work investigates the inverse drift problem in the one-dimensional parabolic equation with the final time data. The authors construct an operator first, whose fixed points are the unknown drift, and then apply it to prove the…
Marine microorganisms must cope with complex flow patterns and even turbulence as they navigate the ocean. To survive they must avoid predation and find efficient energy sources. A major difficulty in analysing possible survival strategies…
When deploying robots in shallow ocean waters, wave disturbances can be significant, highly dynamic and pose problems when operating near structures; this is a key limitation of current control strategies, restricting the range of…
Methods of dynamical system's theory are used for numerical study of transport and mixing of passive particles (water masses, temperature, salinity, pollutants, etc.) in simple kinematic ocean models composed with the main Eulerian coherent…
Inverse problems in physical or biological sciences often involve recovering an unknown parameter that is random. The sought-after quantity is a probability distribution of the unknown parameter, that produces data that aligns with…
It has been known for some time that a 3D incompressible Euler flow that has initially a barely smooth velocity field nonetheless has Lagrangian fluid particle trajectories that are analytic in time for at least a finite time (Ph. Serfati…
In many situations, Miniature Aerial Vehicles (MAVs) are limited to using only on-board sensors for navigation. This limits the data available to algorithms used for stabilization and localization, and current control methods are often…
Bayesian inference for inverse problems involves computing expectations under posterior distributions -- e.g., posterior means, variances, or predictive quantities -- typically via Monte Carlo (MC) estimation. When the quantity of interest…
Drift control is significant to the safety of autonomous vehicles when there is a sudden loss of traction due to external conditions such as rain or snow. It is a challenging control problem due to the presence of significant sideslip and…
In the statistical problem of denoising, Bayes and empirical Bayes methods can "overshrink" their output relative to the latent variables of interest. This work is focused on constrained denoising problems which mitigate such phenomena. At…
Borrowing terminology from fluid mechanics, the concepts of {\em Eulerian} and {\em Lagrangian optical flow sensing} are introduced. Eulerian optical flow sensing assumes that each photoreceptor in the camera or eye can instantaneously…
In a recent paper, the authors investigated the controllability of an underwater vehicle immersed in an infinite volume of an inviscid fluid, assuming that the flow was irrotational. The aim of the present paper is to pursue this study by…
The Bayesian update can be viewed as a variational problem by characterizing the posterior as the minimizer of a functional. The variational viewpoint is far from new and is at the heart of popular methods for posterior approximation.…