The Case for Durative Actions: A Commentary on PDDL2.1

The addition of durative actions to PDDL2.1 sparked some controversy. Fox and Long argued that actions should be considered as instantaneous, but can start and stop processes. Ultimately, a limited notion of durative actions was incorporated into the language. I argue that this notion is still impoverished, and that the underlying philosophical position of regarding durative actions as being a shorthand for a start action, process, and stop action ignores the realities of modelling and execution for complex systems

Combustion instability sustained by unsteady vortex combustion

The determination of an internal feedback mechanism which leads to combustion instability inside a small scale laboratory combustor is presented in this paper. During combustion instability, the experimental findings show that a large vortical structure is formed at an acoustic resonant mode of the system. The subsequent unsteady burning, within the vortex as it is convected downstream, feeds energy into the acoustic field and sustains the large resonant oscillations. These vortices are formed when the acoustic velocity fluctuation at the flameholder is a large fraction of the mean flow velocity. The propagation of these vortices is not a strong function of the mean flow speed and appears to be dependent upon the frequency of the instability. Continued existence of large vortical structures which characterize unstable operation depends upon the fuel-air ratio, system acoustics, and fuel type

Recent advances in computational techniques

The determination of very precise orbits and geodynamic parameters from laser tracking data requires the continual development and improvement of the software systems and computational techniques. Computational accuracies at the few centimeter level are presently required to match the performance of the present day laser ranging systems and altimeters and in the next few years the accuracies are expected to increase further. The major error sources in orbit determination are briefly discussed and the present and future modeling activities needed to meet the accuracy requirements of the next few years are described

Prospects for TLRS baseline accuracies in the western USA

One of the main goals of the LAGEOS satellite mission is the detection of regional geotectonic movements. A parametric study with the intention to obtain the optimal baseline precision from dynamic solutions of laser ranging to LAGEOS is presented. The varied parameters are: length of reduced arc, number of tracking stations, data noise and rate, biases, refraction errors, system efficiency, gravity model errors in the value of GM. The baseline precisions are 1-10 cm depending upon the set of parameters adopted. General principles obtained are also presented

Planning Graph Heuristics for Belief Space Search

Some recent works in conditional planning have proposed reachability heuristics to improve planner scalability, but many lack a formal description of the properties of their distance estimates. To place previous work in context and extend work on heuristics for conditional planning, we provide a formal basis for distance estimates between belief states. We give a definition for the distance between belief states that relies on aggregating underlying state distance measures. We give several techniques to aggregate state distances and their associated properties. Many existing heuristics exhibit a subset of the properties, but in order to provide a standardized comparison we present several generalizations of planning graph heuristics that are used in a single planner. We compliment our belief state distance estimate framework by also investigating efficient planning graph data structures that incorporate BDDs to compute the most effective heuristics. We developed two planners to serve as test-beds for our investigation. The first, CAltAlt, is a conformant regression planner that uses A* search. The second, POND, is a conditional progression planner that uses AO* search. We show the relative effectiveness of our heuristic techniques within these planners. We also compare the performance of these planners with several state of the art approaches in conditional planning

Rubber-coated bellows improves vibration damping in vacuum lines

Compact-vibration damping systems, consisting of rubber-coated metal bellows with a sliding O-ring connector, are used in vacuum lines. The device presents a metallic surface to the vacuum system and combines flexibility with the necessary stiffness. It protects against physical damage, reduces fatigue failure, and provides easy mating of nonparallel lines

Precision tracking systems of the immediate future: A discussion

The present status and future expectations of four satellite tracking systems, satellite-to-satellite tracking, lasers, very long baseline interferometry (VLBI) and geoceiver are briefly discussed

Applications of inverse simulation to a nonlinear model of an underwater vehicle

Inverse simulation provides an important alternative to conventional simulation and to more formal mathematical techniques of model inversion. The application of inverse simulation methods to a nonlinear dynamic model of an unmanned underwater vehicle with actuator limits is found to give rise to a number of challenging problems. It is shown that this particular problem requires, in common with other applications that include hard nonlinearities in the model or discontinuities in the required trajectory, can best be approached using a search-based optimization algorithm for inverse simulation in place of the more conventional Newton- Raphson approach. Results show that meaningful inverse simulation results can be obtained but that multi-solution responses exist. Although the inverse solutions are not unique they are shown to generate the required trajectories when tested using conventional forward simulation methods

CFD Mixing Analysis of Jets Injected from Straight and Slanted Slots into Confined Crossflow in Rectangular Ducts

A CFD study was performed to analyze the mixing potential of opposed rows of staggered jets injected into confined crossflow in a rectangular duct. Three jet configurations were numerically tested: (1) straight (0 deg) slots; (2) perpendicular slanted (45 deg) slots angled in opposite directions on top and bottom walls; and (3) parallel slanted (45 deg) slots angled in the same direction on top and bottom walls. All three configurations were tested at slot spacing-to-duct height ratios (S/H) of 0.5, 0.75, and 1.0; a jet-to-mainstream momentum flux ratio (J) of 100; and a jet-to-mainstream mass flow ratio of 0.383. Each configuration had its best mixing performance at S/H of 0.75. Asymmetric flow patterns were expected and predicted for all slanted slot configurations. The parallel slanted slot configuration was the best overall configuration at x/H of 1.0 for S/H of 0.75