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Aug 20

An Idealized Delay-Differential Model of Scuba Diver Porpoising and Runaway Ascent

A scuba diver holding constant depth balances on an unstable equilibrium: the gas carried in the suit and buoyancy compensator compresses with depth, so the buoyant force falls as the diver sinks and rises as the diver ascends. We represent the diver as a proportional-derivative controller that regulates this compressible-buoyancy saddle after a finite reaction delay, and we derive the governing delay differential equation from the vertical force balance and the isothermal gas law, reducing it to a damping ratio, two control gains, and a dimensionless delay. The characteristic spectrum, obtained by pseudospectral collocation of the semigroup generator and checked against a direct Newton solution of the characteristic equation, locates the Hopf boundary that separates stable hovering from sustained porpoising; for the baseline diver the critical reaction delay is 3.36 s and the onset period is 28.8 s. The bifurcation is supercritical, and because the saturating force is the quadratic hydrodynamic drag, the limit-cycle amplitude grows in proportion to the delay excess rather than as its square root. The safe-operating envelope shows that runaway ascent is triggered by saturation of the compensator, not by loss of linear stability, so a stable and an unstable diver can share the same escape threshold. As onset is approached, the lag-one autocorrelation and variance rise while the fitted recovery rate falls and matches the spectral abscissa, giving an eigenvalue-exact early warning of the transition.

  • 8 authors
·
Aug 14

Drag reduction regimes in air lubrication

Air lubrication regimes were studied using simultaneous drag force measurements and multi-plane imaging to characterize the regimes and identify the governing mechanisms of drag reduction. A bubbly, transitional, and air layer regime are identified over a large range of freestream velocities (U_{infty}), air flow rates (Q_{air}), and Froude-depth numbers (Fr_d). For the lowest U_{infty}, drag reduction lags significantly behind the non-wetted area coverage at all cases and no simple correlation exists. Within the bubbly regime, a drag increase is found for low U_{infty} with large, slow-moving bubbles forming a single layer over the plate height. For higher velocities, bubbles become smaller and disperse vertically, while the drag starts decreasing. For higher Q_{air}, irrespective of U_{infty}, air patches start to form (transitional regime) and drag monotonically decreases, with the onset of the air layer regime at 60\% drag reduction. A new scaling of the associated critical Q_{air} is proposed, combining the air exit velocity, the liquid velocity close to the air layer and Fr_d. For a further increase of Q_{air} and low U_{infty}, a thicker and smoother air layer is formed with even lower drag; for higher U_{infty}, marginal differences are observed. The air layer morphology is significantly altered however, depending on Fr_d: for Fr_d>0.7, it is unbounded, extending beyond the current test section length, and for subcritical conditions (deep water regime, Fr_d<0.61) a closure is formed and the air layer transitions to a cavity of a specific length.

  • 5 authors
·
Apr 18

Equilibrium Propagation: Bridging the Gap Between Energy-Based Models and Backpropagation

We introduce Equilibrium Propagation, a learning framework for energy-based models. It involves only one kind of neural computation, performed in both the first phase (when the prediction is made) and the second phase of training (after the target or prediction error is revealed). Although this algorithm computes the gradient of an objective function just like Backpropagation, it does not need a special computation or circuit for the second phase, where errors are implicitly propagated. Equilibrium Propagation shares similarities with Contrastive Hebbian Learning and Contrastive Divergence while solving the theoretical issues of both algorithms: our algorithm computes the gradient of a well defined objective function. Because the objective function is defined in terms of local perturbations, the second phase of Equilibrium Propagation corresponds to only nudging the prediction (fixed point, or stationary distribution) towards a configuration that reduces prediction error. In the case of a recurrent multi-layer supervised network, the output units are slightly nudged towards their target in the second phase, and the perturbation introduced at the output layer propagates backward in the hidden layers. We show that the signal 'back-propagated' during this second phase corresponds to the propagation of error derivatives and encodes the gradient of the objective function, when the synaptic update corresponds to a standard form of spike-timing dependent plasticity. This work makes it more plausible that a mechanism similar to Backpropagation could be implemented by brains, since leaky integrator neural computation performs both inference and error back-propagation in our model. The only local difference between the two phases is whether synaptic changes are allowed or not.

  • 2 authors
·
Mar 27, 2017