arXiv subjects

Davide Cuccato

Publications and source records attributed to Davide Cuccato.

4 recordsLinked to original sources

arXiv2018

An Adaptive Partial Sensitivity Updating Scheme for Fast Nonlinear Model Predictive Control

In recent years, efficient optimization algorithms for Nonlinear Model Predictive Control (NMPC) have been proposed, that significantly reduce the on-line computational time. In particular, direct multiple shooting and Sequential Quadratic Programming (SQP) are used to efficiently solve Nonlinear Programming (NLP) problems arising from continuous-time NMPC applications. One of the computationally demanding steps for on-line optimization is the computation of sensitivities of the nonlinear dynamics at every sampling instant, especially for systems of large dimensions, strong stiffness, and when using long prediction horizons. In this paper, within the algorithmic framework of the Real-Time Iteration (RTI) scheme based on multiple shooting, an inexact sensitivity updating scheme is proposed, that performs a partial update of the Jacobian of the constraints in the NLP. Such update is triggered by using a Curvature-like Measure of Nonlinearity (CMoN), so that only sensitivities exhibiting highly nonlinear behaviour are updated, thus adapting to system operating conditions and possibly reducing the computational burden. An advanced tuning strategy for the updating scheme is provided to automatically determine the number of sensitivities being updated, with a guaranteed bounded error on the Quadratic Programming (QP) solution. Numerical and control performance of the scheme is evaluated by means of two simulation examples performed on a dedicated implementation. Local convergence analysis is also presented and a tunable convergence rate is proven, when applied to the SQP method.

eess.SY↗

arXiv2016

First Results of GINGERino, a deep underground ringlaser

Large ring-laser gyroscopes are capable of measuring angular rotations with a precision well below fractions of $prad/s$, not far from $10^{-14}$ $rad/s$, the accuracy required for General Relativity tests, this is what the GINGER (Gyroscope-IN-GEneral-Relativity) experiment is aiming for. These features do not guarantee the possibility of measuring the General Relativity Lense--Thirring effect, that manifests itself as a tiny ($\approx 10^{-9} \times Ω_E$) perturbation of the Earth rotation rate. An underground location being in principle less affected by external local disturbances represents a good candidate for housing such a challenging experiment. GINGERino is a test apparatus to investigate the residual local disturbances in the most inner part of the underground international laboratory of the GranSasso (LNGS). It consists of a square ring laser with a $3.6$ m side. The instrument has been tailored to be the larger allowed by the particular location inside the laboratory. Its main objective is to measure the very low frequency rotational motions, in order to prove that LNGS is a suitable location for very low noise measurements and, possibly, General Relativity tests. Aside this main goal, GINGERino will provide unique data for geodesy and geophysics. Its installation has been completed during 2015. Since then, several long set of data have been collected, and the apparatus has been continuously running unattended for more than one week. The typical power spectrum sensitivity was a few $ 10^{-10} rad/s/\sqrt(Hz)$, with integration time not longer than tens of seconds. Improvements of the apparatus are ongoing in order to improve the integration time.

physics.ins-det↗

arXiv2016

Computing the laser beam path in optical cavities: a geometric Newton's method based approach

In the last decade, increasing attention has been drawn to high precision optical experiments, which push resolution and accuracy of the measured quantities beyond their current limits. This challenge requires to place optical elements (e.g. mirrors, lenses, etc.) and to steer light beams with sub-nanometer precision. Existing methods for beam direction computing in resonators, e.g. iterative ray tracing or generalized ray transfer matrices, are either computationally expensive or rely on overparametrized models of optical elements. By exploiting Fermat's principle, we develop a novel method to compute the steady-state beam configurations in resonant optical cavities formed by spherical mirrors, as a function of mirror positions and curvature radii. The proposed procedure is based on the geometric Newton method on matrix manifold, a tool with second order convergence rate that relies on a second order model of the cavity optical length. As we avoid coordinates to parametrize the beam position on mirror surfaces, the computation of the second order model does not involve the second derivatives of the parametrization. With the help of numerical tests, we show that the convergence properties of our procedure hold for non-planar polygonal cavities, and we assess the effectiveness of the geometric Newton method in determining their configurations with high degree of accuracy and negligible computational effort.

physics.optics↗

arXiv2013

Controlling the nonlinear intracavity dynamics of large He-Ne laser gyroscopes

A model based on Lamb's theory of gas lasers is applied to a He-Ne ring laser gyroscope in order to estimate and remove the laser dynamics contribution from the rotation measurements. The intensities of the counter-propagating laser beams exiting one cavity mirror are continuously observed together with a monitor of the laser population inversion. These observables, once properly calibrated with a dedicated procedure, allow us to estimate cold cavity and active medium parameters driving the main part of the nonlinearities of the system. The parameters identification and noise subtraction procedure has been verified by means of a Monte Carlo study of the system, and experimentally tested on the G-Pisa ring laser oriented with the normal to the ring plane almost parallel to the Earth rotation axis. In this configuration the Earth rotation-rate provides the maximum Sagnac effect while the contribution of the orientation error is reduced at minimum. After the subtraction of laser dynamics by a Kalman filter, the relative systematic errors of G-PISA reduce from 50 to 5 part in 10^3 and can be attributed to the residual uncertainties on geometrical scale factor and orientation of the ring.

physics.optics↗