Search for: All records

n this paper, we focus on the problem of shrinking-horizon Model Predictive Control (MPC) in uncertain dynamic environments. We consider controlling a deterministic autonomous system that interacts with uncontrollable stochastic agents during its mission. Employing tools from conformal prediction, existing works derive high-confidence prediction regions for the unknown agent trajectories, and integrate these regions in the design of suitable safety constraints for MPC. Despite guaranteeing probabilistic safety of the closed-loop trajectories, these constraints do not ensure feasibility of the respective MPC schemes for the entire duration of the mission. We propose a shrinking-horizon MPC that guarantees recursive feasibility via a gradual relaxation of the safety constraints as new prediction regions become available online. This relaxation enforces the safety constraints to hold over the least restrictive prediction region from the set of all available prediction regions. In a comparative case study with the state of the art, we empirically show that our approach results in tighter prediction regions and verify recursive feasibility of our MPC scheme. 

Data from the Colorado State University (CSU) CHILL radar located near Greeley, Colorado during the Pre-CIP_2021 (Preparatory Rockies Experiment for the Campaign In the Pacific 2021) campaign in July and August 2021. CHILL is a dual wavelength S- and X-band, dual-polarization radar that conducted RHI and surveillance scans. 

Data from the Colorado State University (CSU) CHIVO radar located near Fort Collins, Colorado during the Pre-CIP_2021 (Preparatory Rockies Experiment for the Campaign In the Pacific 2021) campaign from May-August 2021. CHIVO is a C-band, dual-polarization radar that conducted RHI and surveillance scans. 

Abstract The Duluth Complex is a large mafic intrusive system located in northeastern Minnesota emplaced as part of the 1.1-Ga Midcontinent Rift. Several Fe–Ti oxide-bearing ultramafic intrusions are hosted along the Western Margin of the Duluth Complex, and are discordant bodies present in a variety of geometries, hosted in multiple rock types, and dominated by peridotite, pyroxenite, and semi-massive to massive Fe–Ti oxide rock types. Their origin has been debated, and here we present geochemical evidence and modeling that supports a purely magmatic origin for the Titac and Longnose Fe–Ti oxide-bearing ultramafic intrusions. Ilmenite and titanomagnetite textures indicate a protracted cooling process, and δ34S values of sulfides reveal little assimilation of the footwall Virginia Formation, a fine-grained pelitic unit that contains sulfide-rich bands. We model the crystallization of a hypothetical parental magma composition to the host intrusion of Longnose using Rhyolite-MELTS and demonstrate that the accumulation of Fe–Ti oxides in the discordant intrusions cannot be explained by density-driven segregation of crystallized Fe–Ti oxides. Instead, we show that the development of silicate liquid immiscibility, occurring by the unmixing of the silicate melt into conjugate Si- and Fe-rich melts, can result in the effective segregation and transportation of the Fe-rich melt. The Fe-rich melt is ~2 orders of magnitude less viscous than the Si-rich melt, allowing the Fe-rich melt to be more effectively segregated and transported in the mush regime (crystallinities >50%). This suggests that viscosity, in addition to density, plays a significant role in forming the discordant Fe–Ti oxide-bearing ultramafic intrusions. We propose a genetic model that could also be responsible for the Fe–Ti oxide-rich layers or bands that are hosted within the igneous stratigraphy of mafic intrusions of the Duluth Complex.