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This paper presents an open-source miniature car-like robot with low-cost sensing and a pipeline for optimization-based system identification, state estimation, and control. The overall robotics platform comes at a cost of less than $700 and thus significantly simplifies the verification of advanced algorithms in a realistic setting. We present a modified bicycle model with Pacejka tire forces to model the dynamics of the considered all-wheel drive vehicle and to prevent singularities of the model at low velocities. Furthermore, we provide an optimization-based system identification approach and a moving horizon estimation (MHE) scheme. In extensive hardware experiments, we show that the presented system identification approach results in a model with high prediction accuracy, while the MHE results in accurate state estimates. Finally, the overall closed-loop system is shown to perform well even in the presence of sensor failure for limited time intervals. All hardware, firmware, and control and estimation software is released under a BSD 2-clause license to promote widespread adoption and collaboration within the community.

We study steady axisymmetric water waves with general vorticity and swirl, subject to the influence of surface tension. Explicit solutions to such a water wave problem are static configurations where the surface is an unduloid, that is, a periodic surface of revolution with constant mean curvature. We prove that to any such configuration there connects a global continuum of non-static solutions by means of a global implicit function theorem. To prove this, the key is strict monotonicity of a certain function describing the mean curvature of an unduloid and involving complete elliptic integrals. From this point of view, this paper is an interesting interplay between water waves, geometry, and properties of elliptic integrals.

In this work, we develop a high energy laser at 1.4 {\mu}m wavelength through the 1st order vibrational Raman Stokes generation in a nitrogen (N2) filled nodeless anti-resonant hollow core fiber (ARHCF), pumped using a custom-made 1060 nm Yb-doped narrow-linewidth fiber laser with 3.7 ns pulse duration and 98 {\mu}J pulse energy. The maximum Raman energy of 26.5 {\mu}J is achieved at 15 bar N2 pressure, corresponding to a quantum efficiency of 45% and peak power of 8.03 kW with 3.3 ns pulse width. This Raman laser has a narrow linewidth of 0.16 nm, and it is tunable over ~2 nm range by thermally tuning the laser diode seed wavelength of the pump fiber laser. This work provides a promising alternative for developing high energy and narrow-linewidth lasers outside the gain spectral regions of rare earth ion doped fibers., Comment: 6 pages

In this paper we consider three-dimensional steady water waves with vorticity, under the action of gravity and surface tension; in particular we consider so-called Beltrami flows, for which the velocity field and the vorticity are collinear. We discuss a recent variational formulation of the problem which involves a generalisation of the classical Dirichlet-Neumann operator. We study this operator in detail, extending some well-known results for the classical Dirichlet-Neumann operator, such as the Taylor expansion in homogeneous powers of the wave profile, the computation of its differential and the asymptotic expansion of its associated symbol. A new formulation of the problem as a single equation for the wave profile is also presented and discussed in a similar vein. As an application of these results we rigorously prove existence of doubly periodic gravity-capillary steady waves and construct approximate doubly periodic gravity steady waves.

For two-dimensional steady pure-gravity water waves with a unidirectional flow of constant favourable vorticity, we prove an explicit bound on the amplitude of the wave, which decays to zero as the vorticity tends to infinity. Notably, our result holds true for arbitrary water waves, that is, we do not have to restrict ourselves to periodic or solitary or symmetric waves.

We construct small amplitude gravity-capillary water waves with small nonzero vorticity, in three spatial dimensions, bifurcating from uniform flows. The waves are symmetric, and periodic in both horizontal coordinates. The proof is inspired by Lortz' construction of magnetohydrostatic equilibria in reflection-symmetric toroidal domains. It relies on a global representation of the vorticity as the cross product of two gradients, and on prescribing a functional relationship between the Bernoulli function and the orbital period of the water particles. The presence of the free surface introduces significant new challenges. In particular, the resulting free boundary problem is not elliptic, and the involved maps incur a loss of regularity under Fr\'echet differentiation. Nevertheless, we show that a version of the Crandall-Rabinowitz local bifurcation method applies, by carefully tracking the loss of regularity.

We consider two-dimensional steady periodic gravity waves on water of finite depth with a prescribed but arbitrary vorticity distribution. The water surface is allowed to be overhanging and no assumptions regarding the absence of stagnation points and critical layers are made. Using conformal mappings and a new reformulation of Bernoulli's equation, we uncover an equivalent formulation as "identity plus compact," which is amenable to Rabinowitz's global bifurcation theorem. This allows us to construct a global connected set of solutions, bifurcating from laminar flows with a flat surface. Moreover, a nodal analysis is carried out for these solutions under a certain spectral assumption involving the vorticity function. Lastly, downstream waves are investigated in more detail.

We study the transverse dynamics of two-dimensional traveling periodic waves for the gravity--capillary water-wave problem. The governing equations are the Euler equations for the irrotational flow of an inviscid fluid layer with free surface under the forces of gravity and surface tension. We focus on two open sets of dimensionless parameters $(\alpha,\beta)$, where $\alpha$ and $\beta$ are the inverse square of the Froude number and the Weber number, respectively. For each arbitrary but fixed pair $(\alpha,\beta)$ in one of these sets, two-dimensional traveling periodic waves bifurcate from the trivial constant flow. In one open set we find a one-parameter family of periodic waves, whereas in the other open set we find two geometrically distinct one-parameter families of periodic waves. Starting from a transverse spatial dynamics formulation of the governing equations, we investigate the transverse linear instability of these periodic waves and the induced dimension-breaking bifurcation. The two results share a common analysis of the purely imaginary spectrum of the linearization at a periodic wave. We apply a simple general criterion for the transverse linear instability problem and a Lyapunov center theorem for the dimension-breaking bifurcation. For parameters $(\alpha,\beta)$ in the open set where there is only one family of periodic waves, we prove that these waves are linearly transversely unstable. For the other open set, we show that the waves with larger wavenumber are transversely linearly unstable. We also identify an open subset of parameters for which both families of periodic waves are tranversely linearly unstable. For each of these transversely linearly unstable periodic waves, a dimension-breaking bifurcation occurs in which three-dimensional doubly periodic waves bifurcate from the two-dimensional periodic wave.

We study steady axisymmetric water waves with general vorticity and swirl, subject to the influence of surface tension. This can be formulated as an elliptic free boundary problem in terms of Stokes' stream function. A change of variables allows us to overcome the generic coordinate-induced singularities and to cast the problem in the form "identity plus compact", which is amenable to Rabinowitz' global bifurcation theorem, while no restrictions regarding the absence of stagnation points in the flow have to be made. Within the scope of this new formulation, local and global solution curves, bifurcating from laminar flows with a flat surface, are constructed.

This survey covers the mathematical theory of steady water waves with an emphasis on topics that are at the forefront of current research. These areas include: variational characterizations of traveling water waves; analytical and numerical studies of periodic waves with critical layers that may overhang; existence, nonexistence, and qualitative theory of solitary waves and fronts; traveling waves with localized vorticity or density stratification; and waves in three dimensions., Comment: 79 pages, 29 figures

We study two-dimensional periodic capillary-gravity water waves propagating at the free surface of water in a flow with arbitrary, prescribed vorticity over a flat bed. Using conformal mappings and a new Babenko-type reformulation of Bernoulli's equation, the problem is equivalently cast into the form "identity plus compact", which is amenable to Rabinowitz' global bifurcation theorem, while no restrictions on the geometry of the surface profile and no assumptions regarding the absence of stagnation points in the flow have to be made. Within the scope of this new formulation, local and global solution curves, bifurcating from laminar flows with a flat surface, are constructed.

Fully localised solitary waves are travelling-wave solutions of the three-dimensional gravity-capillary water wave problem which decay to zero in every horizontal spatial direction. Their existence for water of finite depth has recently been established, and in this article we present an existence theory for water of infinite depth. The governing equations are reduced to a perturbation of the two-dimensional nonlinear Schr\"{o}dinger equation, which admits a family of localised solutions. Two of these solutions are symmetric in both horizontal directions and an application of a suitable version of the implicit-function theorem shows that they persist under perturbations., Comment: 24 pages. arXiv admin note: text overlap with arXiv:1603.09189

The Whitham equation is a nonlocal shallow water-wave model which combines the quadratic nonlinearity of the KdV equation with the linear dispersion of the full water wave problem. Whitham conjectured the existence of a highest, cusped, traveling-wave solution, and his conjecture was recently verified in the periodic case by Ehrnstr\"om and Wahl\'en. In the present paper we prove it for solitary waves. Like in the periodic case, the proof is based on global bifurcation theory but with several new challenges. In particular, the small-amplitude limit is singular and cannot be handled using regular bifurcation theory. Instead we use an approach based on a nonlocal version of the center manifold theorem. In the large-amplitude theory a new challenge is a possible loss of compactness, which we rule out using qualitative properties of the equation. The highest wave is found as a limit point of the global bifurcation curve., Comment: Journal version. Mathematische Annalen, Online First. 45 pages, 3 figures

This study investigates nonlinear gravity waves in the compressible atmosphere from the Earth's surface to the deep atmosphere. These waves are effectively described by Grimshaw's dissipative modulation equations which provide the basis for finding stationary solutions such as mountain lee waves and testing their stability in an analytic fashion. Assuming energetically consistent boundary and far-field conditions, that is no energy flux through the surface, free-slip boundary, and finite total energy, general wave solutions are derived and illustrated in terms of realistic background fields. These assumptions also imply that the wave-Reynolds number must become less than unity above a certain height. The modulational stability of admissible, both non-hydrostatic and hydrostatic, waves is examined. It turns out that, when accounting for the self-induced mean flow, the wave-Froude number has a resonance condition. If it becomes $1/\sqrt{2}$, then the wave destabilizes due to perturbations from the essential spectrum of the linearized modulation equations. However, if the horizontal wavelength is large enough, waves overturn before they can reach the modulational stability condition.

We prove the existence of three-dimensional steady gravity-capillary waves with vorticity on water of finite depth. The waves are periodic with respect to a given two-dimensional lattice and the relative velocity field is a Beltrami field, meaning that the vorticity is collinear to the velocity. The existence theory is based on multi-parameter bifurcation theory., Comment: Arch Rational Mech Anal (2020), Online First

This paper investigates the stability of traveling wave solutions to the free boundary Euler equations with a submerged point vortex. We prove that sufficiently small-amplitude waves with small enough vortex strength are conditionally orbitally stable. In the process of obtaining this result, we develop a quite general stability/instability theory for bound state solutions of a large class of infinite-dimensional Hamiltonian systems in the presence of symmetry. This is in the spirit of the seminal work of Grillakis, Shatah, and Strauss, but with hypotheses that are relaxed in a number of ways necessary for the point vortex system, and for other hydrodynamical applications more broadly. In particular, we are able to allow the Poisson map to have merely dense range, as opposed to being surjective, and to be state-dependent. As a second application of the general theory, we consider a family of nonlinear dispersive PDEs that includes the generalized KdV and Benjamin--Ono equations. The stability/instability of solitary waves for these systems has been studied extensively, notably by Bona, Souganidis, and Strauss, who used a modification of the GSS method. We provide a new, more direct proof of these results that follows as a straightforward consequence of our abstract theory. At the same time, we extend them to fractional order dispersive equations., Comment: 45 pages

We consider steady three-dimensional gravity-capillary water waves with vorticity propagating on water of finite depth. We prove a variational principle for doubly periodic waves with relative velocities given by Beltrami vector fields, under general assumptions on the wave profile.

We apply spectral stability theory to investigate nonlinear gravity waves in the atmosphere. These waves are determined by modulation equations that result from Wentzel-Kramers-Brillouin theory. First, we establish that plane waves, which represent exact solutions to the inviscid Boussinesq equations, are spectrally stable with respect to their nonlinear modulation equations under the same conditions as what is known as modulational stability from weakly nonlinear theory. In contrast to Boussinesq, the pseudo-incompressible regime does account for the altitudinal varying background density. Second, we show for the first time that upward-traveling wave fronts solving the inviscid modulation equations, that compare to pseudo-incompressible theory, are unconditionally unstable. Both inviscid regimes turn out to be ill-posed as the spectra allow for arbitrarily large instability growth rates. Third, a regularization is found by including dissipative effects. The corresponding traveling wave solutions have localized amplitude and blow up unconditionally by embedded eigenvalue instabilities but the instability growth rate is bounded from above. Additionally, all three types of nonlinear modulation equations are solved numerically to further investigate and illustrate the nature of the analytic stability results.

We consider the stationary flow of an inviscid and incompressible fluid of constant density in the region $D=(0, L)\times \mathbb{R}^2$. We are concerned with flows that are periodic in the second and third variables and that have prescribed flux through each point of the boundary $\partial D$. The Bernoulli equation states that the "Bernoulli function" $H:= \frac 1 2 |v|^2+p$ (where $v$ is the velocity field and $p$ the pressure) is constant along stream lines, that is, each particle is associated with a particular value of $H$. We also prescribe the value of $H$ on $\partial D$. The aim of this work is to develop an existence theory near a given constant solution. It relies on writing the velocity field in the form $v=\nabla f\times \nabla g$ and deriving a degenerate nonlinear elliptic system for $f$ and $g$. This system is solved using the Nash-Moser method, as developed for the problem of isometric embeddings of Riemannian manifolds; see e.g. the book by Q. Han and J.-X. Hong (2006). Since we can allow $H$ to be non-constant on $\partial D$, our theory includes three-dimensional flows with non-vanishing vorticity.

Doubly occupied configuration interaction (DOCI), the exact diagonalization of the Hamiltonian in the paired (seniority zero) sector of the Hilbert space, is a combinatorial cost wave function that can be very efficiently approximated by pair coupled cluster doubles (pCCD) at mean-field computational cost. As such, it is a very interesting candidate as a starting point for building the full configuration interaction (FCI) ground state eigenfunction belonging to all (not just paired) seniority sectors. The true seniority zero sector of FCI (referred to here as FCI${}_0$) includes the effect of coupling between all seniority sectors rather than just seniority zero, and is, in principle, different from DOCI. We here study the accuracy with which DOCI approximates FCI${}_0$. Using a set of small Hubbard lattices, where FCI is possible, we show that DOCI $\sim$ FCI${}_0$ under weak correlation. However, in the strong correlation regime, the nature of the FCI${}_0$ wavefunction can change significantly, rendering DOCI and pCCD a less than ideal starting point for approximating FCI.

We provide the existence and asymptotic description of solitary wave solutions to a class of modified Green-Naghdi systems, modeling the propagation of long surface or internal waves. This class was recently proposed by Duch{\^e}ne, Israwi and Talhouk (Stud. Appl. Math.,137 (2016)) in order to improve the frequency dispersion of the original Green-Naghdi system while maintaining the same precision. The solitary waves are constructed from the solutions of a constrained minimization problem. The main difficulties stem from the fact that the functional at stake involves low order non-local operators, intertwining multiplications and convolutions through Fourier multipliers.

Coupled cluster and symmetry projected Hartree-Fock are two central paradigms in electronic structure theory. However, they are very different. Single reference coupled cluster is highly successful for treating weakly correlated systems, but fails under strong correlation unless one sacrifices good quantum numbers and works with broken-symmetry wave functions, which is unphysical for finite systems. Symmetry projection is effective for the treatment of strong correlation at the mean-field level through multireference non-orthogonal configuration interaction wavefunctions, but unlike coupled cluster, it is neither size extensive nor ideal for treating dynamic correlation. We here examine different scenarios for merging these two dissimilar theories. We carry out this exercise over the integrable Lipkin model Hamiltonian, which despite its simplicity, encompasses non-trivial physics for degenerate systems and can be solved via diagonalization for a very large number of particles. We show how symmetry projection and coupled cluster doubles individually fail over different correlation limits, whereas models that merge these two theories are highly successful over the entire phase diagram. Despite the simplicity of the Lipkin Hamiltonian, the lessons learned in this work will be useful for building an ab initio symmetry projected coupled cluster theory that we expect to be accurate over the weakly and strongly correlated limits, as well as the recoupling regime.

We present a method incorporating biorthogonal orbital-optimization, symmetry projection, and double-occupancy screening with a non-unitary similarity transformation generated by the Gutzwiller factor $ n_{i\uparrow}n_{i\downarrow}$, and apply it to the Hubbard model. Energies are calculated with mean-field computational scaling with high-quality results comparable to coupled cluster singles and doubles. This builds on previous work performing similarity transformations with more general, two-body Jastrow-style correlators. The theory is tested on two-dimensional lattices ranging from small systems into the thermodynamic limit and is compared to available reference data.

We present an existence and stability theory for gravity-capillary solitary waves on the top surface of and interface between two perfect fluids of different densities, the lower one being of infinite depth. Exploiting a classical variational principle, we prove the existence of a minimiser of the wave energy $\mathcal{E}$ subject to the constraint $\mathcal{I}=2\mu$, where $\mathcal{I}$ is the wave momentum and $0< \mu < \mu_0$, where $\mu_0$ is chosen small enough for the validity of our calculations. Since $\mathcal{E}$ and $\mathcal{I}$ are both conserved quantities a standard argument asserts the stability of the set $D_\mu$ of minimisers: solutions starting near $D_\mu$ remain close to $D_\mu$ in a suitably defined energy space over their interval of existence. The solitary waves which we construct are of small amplitude and are to leading order described by the cubic nonlinear Schr\"odinger equation. They exist in a parameter region in which the `slow' branch of the dispersion relation has a strict non-degenerate global minimum and the corresponding nonlinear Schr\"odinger equation is of focussing type. We show that the waves detected by our variational method converge (after an appropriate rescaling) to solutions of the model equation as $\mu \downarrow 0$., Comment: arXiv admin note: text overlap with arXiv:1307.0028

This paper presents an existence theory for solitary waves at the interface between a thin ice sheet (modelled using the Cosserat theory of hyperelastic shells) and an ideal fluid (of finite depth and in irrotational motion) for sufficiently large values of a dimensionless parameter $\gamma$. We establish the existence of a minimiser of the wave energy ${\mathcal E}$ subject to the constraint ${\mathcal I}=2\mu$, where ${\mathcal I}$ is the horizontal impulse and $0< \mu \ll 1$, and show that the solitary waves detected by our variational method converge (after an appropriate rescaling) to solutions of he nonlinear Schr\"{o}dinger equation with cubic focussing nonlinearity as $\mu \downarrow 0$., Comment: As accepted for publication

We consider a fifth-order Kadomtsev-Petviashvili equation which arises as a two-dimensional model in the classical water-wave problem. This equation possesses a family of generalized line solitary waves which decay exponentially to periodic waves at infinity. We prove that these solitary waves are transversely spectrally unstable and that this instability is induced by the transverse instability of the periodic tails. We rely upon a detailed spectral analysis of some suitably chosen linear operators., Comment: To appear in Journal of Differential Equations

Fully localised solitary waves are travelling-wave solutions of the three-dimensional gravity-capillary water wave problem which decay to zero in every horizontal spatial direction. Their existence has been predicted on the basis of numerical simulations and model equations (in which context they are usually referred to as `lumps'), and a mathematically rigorous existence theory for strong surface tension (Bond number $\beta$ greater than $\frac{1}{3}$) has recently been given. In this article we present an existence theory for the physically more realistic case $0<\beta<\frac{1}{3}$. A classical variational principle for fully localised solitary waves is reduced to a locally equivalent variational principle featuring a perturbation of the functional associated with the Davey-Stewartson equation. A nontrivial critical point of the reduced functional is found by minimising it over its natural constraint set., Comment: To appear in Archive for Rational Mechanics and Analysis

We consider the Whitham equation $u_t + 2u u_x+Lu_x = 0$, where L is the nonlocal Fourier multiplier operator given by the symbol $m(\xi) = \sqrt{\tanh \xi /\xi}$. G. B. Whitham conjectured that for this equation there would be a highest, cusped, travelling-wave solution. We find this wave as a limiting case at the end of the main bifurcation curve of $P$-periodic solutions, and give several qualitative properties of it, including its optimal $C^{1/2}$-regularity. An essential part of the proof consists in an analysis of the integral kernel corresponding to the symbol $m(\xi)$, and a following study of the highest wave. In particular, we show that the integral kernel corresponding to the symbol $m(\xi)$ is completely monotone, and provide an explicit representation formula for it., Comment: 40 pages, 3 figures. This version is identical to the one accepted for publication in Annales de l'Institut Henri Poincare, Analyse non lineaire