Nonlinear Attitude Filtering: A Comparison Study

This paper contains a concise comparison of a number of nonlinear attitude filtering methods that have attracted attention in the robotics and aviation literature. With the help of previously published surveys and comparison studies, the vast literature on the subject is narrowed down to a small pool of competitive attitude filters. Amongst these filters is a second-order optimal minimum-energy filter recently proposed by the authors. Easily comparable discretized unit quaternion implementations of the selected filters are provided. We conduct a simulation study and compare the transient behaviour and asymptotic convergence of these filters in two scenarios with different initialization and measurement errors inspired by applications in unmanned aerial robotics and space flight. The second-order optimal minimum-energy filter is shown to have the best performance of all filters, including the industry standard multiplicative extended Kalman filter (MEKF)

What triggers a radio AGN? The intriguing case of PKSB 1718-649

We present new Australia Telescope Compact Array (ATCA) observations of the young (< 10^2 years) radio galaxy PKS B1718-649. We study the morphology and the kinematics of the neutral hydrogen (HI) disk (M(HI) = 1.1x 10^10 M(sun), radius ~ 30 kpc). In particular, we focus on the analysis of the cold gas in relation to the triggering of the nuclear activity. The asymmetries at the edges of the disk date the last interaction with a companion to more than 1 Gyr ago. The tilted-ring model of the HI disk shows that this event may have formed the disk as we see it now, but that it may have not been responsible for triggering the AGN. The long timescales of the interaction are incompatible with the short ones of the radio activity. In absorption, we identify two clouds with radial motions which may represent a population that could be involved in the triggering of the radio activity. We argue that PKS B1718-649 may belong to a family of young low-excitation radio AGN where, rather than through a gas rich merger, the active nuclei (AGN) are triggered by local mechanisms such as accretion of small gas clouds.Comment: 8 pages, 9 figures, Accepted to A&

Estimating body-fixed frame velocity and attitude from inertial measurements for a quadrotor vehicle

© 2014 IEEE. A key requirement for effective control of quadrotor vehicles is estimation of both attitude and linear velocity. Recent work has demonstrated that it is possible to measure horizontal velocities of a quadrotor vehicle from strap-down ac-celerometers along with a system model. In this paper we extend this to full body-fixed-frame velocity measurement by exploiting recent work in aerodynamic modeling of rotor performance and measurements of mechanical power supplied to the rotor hub. We use these measurements in a combined attitude and velocity nonlinear observer design to jointly estimate attitude and body-fixed-frame linear velocity. Almost global asymptotic stability of the resulting system is demonstrated using Lyapunov analysis of the resulting error system. In the current work, we ignore bias and leave it for future work. The performance of the observer is verified by simulation results

Science advice for global challenges: learning from trade-offs in the IPCC

In the context of ongoing debates about the place of knowledge and expertise in the governance of global challenges, this article seeks to promote cross-sectoral learning about the politics and pitfalls of global science advice. It begins with the intertwined histories of the Intergovernmental Panel on Climate Change (IPCC) and the global climate policy regime, before examining the politics of different ‘framings’ of the climate problem and the challenges of building and communicating scientific consensus. We then identify three important trade-offs which the IPCC has had to negotiate: global versus local; scientific disinterestedness versus policy-relevance; and consensus versus plurality. These lessons are especially timely as global institutions begin to convene knowledge to address urgent sustainable development challenges posed by anti-microbial resistance (AMR). While the IPCC experience does not provide a wholly transportable model for science advice, we show why similar trade-offs need to be addressed at an early stage by architects of advisory systems for AMR as well as other global challenges

A search for 21 cm HI absorption in AT20G compact radio galaxies

We present results from a search for 21 cm associated HI absorption in a sample of 29 radio sources selected from the Australia Telescope 20 GHz survey. Observations were conducted using the Australia Telescope Compact Array Broadband Backend, with which we can simultaneously look for 21 cm absorption in a redshift range of 0.04 < z < 0.08, with a velocity resolution of 7 km/s . In preparation for future large-scale H I absorption surveys we test a spectral-line finding method based on Bayesian inference. We use this to assign significance to our detections and to determine the best-fitting number of spectral-line components. We find that the automated spectral-line search is limited by residuals in the continuum, both from the band-pass calibration and spectral-ripple subtraction, at spectral-line widths of \Deltav_FWHM > 103 km/s . Using this technique we detect two new absorbers and a third, previously known, yielding a 10 per cent detection rate. Of the detections, the spectral-line profiles are consistent with the theory that we are seeing different orientations of the absorbing gas, in both the host galaxy and circumnuclear disc, with respect to our line-of-sight to the source. In order to spatially resolve the spectral-line components in the two new detections, and so verify this conclusion, we require further high-resolution 21 cm observations (~0.01 arcsec) using very long baseline interferometry.Comment: 16 pages, 8 figures and 5 tables; accepted for publication in MNRAS (version 2 based on proof corrections

The Structure of the [Zn_In - V_P] Defect Complex in Zn Doped InP

We study the structure, the formation and binding energies and the transfer levels of the zinc-phosphorus vacancy complex [Zn_In - V_P] in Zn doped p-type InP, as a function of the charge, using plane wave ab initio DFT-LDA calculations in a 64 atom supercell. We find a binding energy of 0.39 eV for the complex, which is neutral in p-type material, the 0/-1 transfer level lying 0.50 eV above the valence band edge, all in agreement with recent positron annihilation experiments. This indicates that, whilst the formation of phosphorus vacancies (V_P) may be involved in carrier compensation in heavily Zn doped material, the formation of Zn-vacancy complexes is not. Regarding the structure: for charge states Q=+6 to -4 the Zn atom is in an sp^2 bonded DX position and electrons added/removed go to/come from the remaining dangling bonds on the triangle of In atoms. This reduces the effective vacancy volume monatonically as electrons are added to the complex, also in agreement with experiment. The reduction occurs through a combination of increased In-In bonding and increased Zn-In electrostatic attraction. In addition, for certain charge states we find complex Jahn-Teller behaviour in which up to three different structures, (with the In triangle dimerised, antidimerised or symmetric) are stable and are close to degenerate. We are able to predict and successfully explain the structural behaviour of this complex using a simple tight binding model.Comment: 10 pages text (postscript) plus 8 figures (jpeg). Submitted to Phys. Rev.

LOFAR discovery of a 700-kpc remnant radio galaxy at low redshift

Remnant radio galaxies represent the final dying phase of radio galaxy evolution, in which the jets are no longer active. Due to their rarity in flux limited samples and the difficulty of identification, this dying phase remains poorly understood and the luminosity evolution largely unconstrained. Here we present the discovery and detailed analysis of a large (700 kpc) remnant radio galaxy with a low surface brightness that has been identified in LOFAR images at 150 MHz. By combining LOFAR data with new follow-up Westerbork observations and archival data at higher frequencies, we investigated the source morphology and spectral properties from 116 to 4850 MHz. By modelling the radio spectrum we probed characteristic timescales of the radio activity. The source has a relatively smooth, diffuse, amorphous appearance together with a very weak central compact core which is associated with the host galaxy located at z=0.051. From our ageing and morphological analysis it is clear that the nuclear engine is currently switched off or, at most, active at a very low power state. The host galaxy is currently interacting with another galaxy located at a projected separation of 15 kpc and a radial velocity offset of 300 km/s. This interaction may have played a role in the triggering and/or shut down of the radio jets. The spectral shape of this remnant radio galaxy differs from the majority of the previously identified remnant sources, which show steep or curved spectra at low to intermediate frequencies. In light of this finding and in preparation for new-generation deep low-frequency surveys, we discuss the selection criteria to be used to select representative samples of these sources.Comment: 10 pages, 6 figures, 5 tables, A&A accepte