Estimation and forecasting of dynamic state are fundamental to the design of autonomous systems such as intelligent robots. State-ofthe-art algorithms, such as the particle filter, face computational limitations when needing to maintain beliefs over a hypothesis space that is made large by the dynamic nature of the environment. We propose an algorithm that utilises a hierarchy of such filters, ...

We develop a new Lagrangian primitive, named Langevin particle, to incorporate turbulent flow details in fluid simulation. A group of the particles are distributed inside the simulation domain based on a turbulence energy model with turbulence viscosity. A particle in particular moves obeying the generalized Langevin equation, a well known stochastic differential equation that describes the par...

The incompressible Navier–Stokes equations are solved numerically to predict the coupled motion of a falling particle and the surrounding fluid as the particle impacts and rebounds from a planar wall. The method is validated by comparing the numerical simulations of a settling sphere with experimental measurements of the sphere trajectory and the accompanying flow field. The normal collision pr...

An interaction between a light field with complex field spatial distribution and a micro-particle leads to forces that drag the particle in space and may confine it in a stable position or a trajectory. The particle behavior is determined by its size with respect to the characteristic length of the spatially periodic or symmetric light field distribution. We study theoretically and experimental...

Erosion caused by sand transportation in flow changing devices is a serious concern in the hydrocarbon and mineral processing industry, which entail to failure and malfunction of flow devices. In this study, computational fluid dynamics (CFD) with discrete phase models (DPM) were employed for analysis of carbon steel long radius 90-Degree elbow erosion due to the sand concentration of 2, 5 and ...

We make a proposal for a Gedanken experiment, based on the Aharonov-Bohm effect, how to measure in principle the zig-zagness of the trajectory of propagation (abberation from its classical trajectory) of a massive particle in quantum mechanics. Experiment I is conceived to show that contributions from quantum paths abberating from the classical trajectory are directly observable. Experiment II ...

In this paper an approach based on evolutionary algorithms to find Pareto optimal pair of state and control for multi-objective optimal control problems (MOOCP)'s is introduced‎. ‎In this approach‎, ‎first a discretized form of the time-control space is considered and then‎, ‎a piecewise linear control and a piecewise linear trajectory are obtained from the discretized time-control space using ...

In an earlier contribution we proposed a particle filter for underwater (UW) navigation, and applied it to an experimental trajectory. Here we focus on performance improvements and analysis. First, the Cramér Rao lower bound (CRLB) along the experimental trajectory is computed, which is only slightly lower than the particle filter estimate after initial transients. Simple rule of thumbs for how...

A numerical thought experiment with two momentum correlated particles is presented, in which particle A passes through a series of zig-zagging slits and particle B moves unobstructedly. It is shown that, if particle A’s meandering path is monitored by successive non-detections, particle B will loosely adhere to a similar trajectory without violating momentum conservation. The discussion relates...