Graph Invariants – a Tool to Analyze Hydrogen Bonding in Ice and Water Clusters

Total Page:16

File Type:pdf, Size:1020Kb

Graph Invariants – a Tool to Analyze Hydrogen Bonding in Ice and Water Clusters Graph Invariants – A Tool to Analyze Hydrogen Bonding in Ice and Water Clusters DISSERTATION Presented in Partial Fulfillment of the Requirements for the Degree Doctor of Philosophy in the Graduate School of The Ohio State University By Jer-Lai Kuo, B.S., M.S. * * * * * The Ohio State University 2003 Dissertation Committee: Approved by Prof. Sherwin J. Singer, Adviser Prof. Anne B. McCoy Adviser Prof. James V. Coe Chemical Physics Program Prof. Eric Herbst ABSTRACT We have studied a wide range of aqueous systems, from the order/disorder in the hy- drogen bond network of ordinary ice, a fundamental problem in ice physics for over 70 years, to properties of water clusters. A common theoretical difficulty in these systems is the enormous number of hydrogen bond arrangements that must be considered in these systems, and for which no systematic treatment has been available. Our analytical method based on graph theory and the introduction of graph invariants provides a means for effi- cient and reliable analysis. Recent investigations of water clusters have demonstrated that graph invariants provide a powerful tool for capturing very complex behavior using only a small number of parameters, and some of our findings have uncovered unknown aspects of the behavior of water clusters. Applications of this analytic method provide insight into the nature of hydrogen bond disorder in ice, and impact our understanding of chemical reactions in water clusters important to environmental chemistry. ii To My Parents iii ACKNOWLEDGMENTS I would like to thank my advisor, Prof. Sherwin J. Singer, for his guidance and support through my graduate study. I also wish to thank Prof. Anne B. McCoy, Prof. James V. Coe and Prof. Eric Herbst for kindly serving on my dissertation examination committee. I owe a debt of thanks to Dr. Cristian V. Ciobanu and Prof. Lars P. Ojamae¨ and Prof. Isa- iah Shavitt have all in some way contribute to this thesis. I would like to acknowledge the Graduate School of the Ohio State University for the award of Presidential Fellowship. All the friends in Ohio State make my life in Columbus wonderful and memorable. My deepest thank goes to my family, through my life they have supported me with their love and encouragement. iv VITA January 12, 1973 . Born - Kinmen, Taiwan 1991-1995 . .B.S. Department of Physics, National Taiwan University, Taiwan 1995-1997 . .M.S. Department of Physics, National Taiwan University, Taiwan 1997-2001 . .Graduate Teaching and Research Associate, The Ohio State University. 2001-present . .Presidential Fellowship, The Ohio State University. PUBLICATIONS Research Publications Jer-Lai Kuo, Jame V. Coe, Sherwin Singer, Yehuda B. Band and Lars Ojamae¨ “On the Use of Graph Invariants for Efficiently Generating Hydrogen Bond Topologies and Predicting Physical Properties of Water Clusters and Ice”. J. Chem. Phys. 114, 2527-2540 (2001) FIELDS OF STUDY Major Field: Chemical Physics v TABLE OF CONTENTS Page Abstract . ii Dedication . iii Acknowledgments . iv Vita . v List of Tables . viii List of Figures . ix Chapters: 1. Introduction . 1 2. The Use of Graph Invariants for Efficiently Generating Hydrogen Bond Topolo- gies and Predicting Physical Properties of Water Clusters . 9 2.1 Graph invariants . 14 2.1.1 Generation of graph invariants . 18 2.1.2 Physical interpretation of graph invariants . 21 2.2 Graph invariants as a tool for enumerating H-bond topologies . 24 2.2.1 Sorting strategy . 26 2.2.2 Performation of sorting algorithm for realistic calculations . 27 2.3 Correlation and prediction of physical properties from H-Bond topology using graphical invariants . 31 ¡ £¦¥¨§ £ 2.3.1 ¢¡¤£¦¥¨§ © and . 31 2.3.2 Using invariants to calculate phase transitions: ¢¡£¥§ £ dodec- ahedral as a dry run . 37 vi 2.4 Discussion . 42 2.5 Appendix: Necessary and sufficient condition for a graphical invariant to be identically zero . 43 3. Graph Invariants for Periodic Systems: Predicting Physical Properties from the Hydrogen Bond Topology of Ice . 45 3.1 A gentle introduction to oriented graphs and graph invariants . 48 3.2 Graph invariants for periodic systems . 55 3.2.1 Graph invariants and space groups . 57 3.2.2 Invariants for arbitrary unit cell choice . 58 3.2.3 An illustration for square ice . 63 3.3 Graph invariants and graph enumeration for Ice-Ih . 69 3.3.1 Invariants for the 8-water orthorhombic unit cell . 69 3.3.2 Enumeration of H-bond arrangements in ice-Ih . 72 3.3.3 Analysis of enumeration results . 76 3.4 Conclusion . 80 3.5 Appendix: Graph invariants of the Orth § cell . 84 4. Effects of H-Bond Topology on Energetics, Structure and Chemistry on water clusters . 87 4.1 Cluster stability and H-bond topology . 89 4.2 Self-dissociation and zwitterionic structures . 91 4.3 Short H-bonds . 95 4.4 Discussion . 99 Bibliography . 100 vii LIST OF TABLES Table Page 2.1 Group of vertex permutations for the triangle graph shown in Fig. 2.1, and the induced group of signed permutations on the bonds of the trian- gle graph. For the vertex permutations, we denote the permutation taking § vertices 1,2 and 3 to and as . It is also common to indicate per- mutations in terms of independent cycles, in terms of which, for example, § "!$#%§ the permutation would be written as . Our notation for signed bond permutations follows that for vertices. 17 2.2 First and second order invariants for the ¢¡&£¦¥¨§ © cage structure shown in Fig. 2.2. The invariants are calculated using a permutation symmetry group £( on the vertices isomorphic to the ' point group. In the text we refer to the invariants by any of the bond products that generate the invariant by application of a projection operator. For example, )+*,-) ./,102030 is at the £ £ 5 03030 top of the list of 1st order invariants, while )%4564,7) heads the list of 89,:)3;<5 8=,>03030 2nd order invariants and )3*5 is at the bottom of the list. 23 3.1 Value of the bond variables and graph invariants associated with each of the graphs depicted in Fig. 3.2. 51 viii LIST OF FIGURES Figure Page 1.1 Examples of the H-bond network. (a) The simplest H-bonded system. (b) An example of how the H-bond network can be summarized by an oriented graph. By convention H-bonds point from H-bond donor to the H-bond acceptor. An H-bond arrangement of ¡&?@ ¡A£¦¥¨§ B is shown on the left and the direction of the H-bonds are summarized by the oriented graph in the right. 2 1.2 Three H-bond isomers of dodecahedral ¡&£¥§ £ . They have similar oxygen # positions and differ only in the direction of H-bonds. Among DC%E%EFE$E%E H-bond isomers, many of them are related by a symmetry operation and # ! C there exist EE symmetry-unique representatives. 3 1.3 Trans and cis configurations in water dimer. From a pure electrostatic point of view, the trans configuration is energetically more stable than cis because the reduced repulsion between the non-H-bonded hydrogen atoms. 6 2.1 A simple example of an oriented graph, which might represent the config- ¡ £¦¥§ uration of a * cluster, is shown on the left. The direction shown on the edges indicate the orientation of the edges if all the bond variables GIH were taken equal to J , canonical orientations chosen arbitrarily for each ¡K£L¥¨§ bond. Two different H-bond topologies for * are shown on the right, along with the value of the bond variables, as referenced to the canonical orientations of the graph on the left. 16 2.2 The cage structure of ¢¡K£¦¥¨§ © . One of the 27 possible symmetry-distinct H-bonding arrangements for the cage structure is shown. The arrows and bond labels indicate the directions of the bonds when the bond variables are equal to J . 22 ix 2.3 Enumeration of all symmetry-distinct H-bond topologies for a dodecahe- dral ¡ £¥§ £ was performed by considering a sequence of structures con- taining fewer bonds than the full dodecahedron. Additional H-bonds were added to the structures after all symmetry-related duplicates were elimi- nated. This process furnishes data on the computational cost of eliminating symmetry-related structures as a function of the number of graphs. This data shown is for the calculation as performed in Ref. [1], without the use of the sorting method introduced in this work. The computational cost per £ graph edge is plotted as a function of the number of graphs M before sym- £ metry comparisons were made. Least squares fits of CPU time to MNM * M and M clearly show that the computational cost scales as or worse without the sorting method. 29 2.4 Data for the same calculation as in Fig. 2.3, this time employing the sorting method introduced in this work. CPU time per graph edge for sorting the graphs is plotted against the number of graphs M in the bottom panel. The total CPU time for symmetry comparisons within groups of size OQP7R$E%E is shown in the top panel. Least square fits clearly show that the compu- £ MTSUM tational cost scales as either M or in each case, and definitely not like M as in Fig. 2.3. On the basis of arguments presented in section 2.2 we expect MTSUM scaling in the bottom panel and linear scaling in the top panel. 30 2.5 In the upper panel, we test the degree to which the energies of the 27 iso- mers of the ¡ £L¥¨§ © cage are correlated with H-bond topology, and the ef- fectiveness of graphical invariants in capturing that trend. The V -coordinate is the energy of the isomers using the PM3 semi-empirical theory.
Recommended publications
  • Proton Ordering and Reactivity of Ice
    1 Proton ordering and reactivity of ice Zamaan Raza Department of Chemistry University College London Thesis submitted for the degree of Doctor of Philosophy September 2012 2 I, Zamaan Raza, confirm that the work presented in this thesis is my own. Where information has been derived from other sources, I confirm that this has been indicated in the thesis. 3 For Chryselle, without whom I would never have made it this far. 4 I would like to thank my supervisors, Dr Ben Slater and Prof Angelos Michaelides for their patient guidance and help, particularly in light of the fact that I was woefully unprepared when I started. I would also like to express my gratitude to Dr Florian Schiffmann for his indispens- able advice on CP2K and quantum chemistry, Dr Alexei Sokol for various discussions on quantum mechanics, Dr Dario Alfé for his incredibly expensive DMC calculations, Drs Jiri Klimeš and Erlend Davidson for advice on VASP, Matt Watkins for help with CP2K, Christoph Salzmann for discussions on ice, Dr Stefan Bromley for allowing me to work with him in Barcelona and Drs Aron Walsh, Stephen Shevlin, Matthew Farrow and David Scanlon for general help, advice and tolerance. Thanks and also apologies to Stephen Cox, with whom I have collaborated, but have been unable to contribute as much as I should have. Doing a PhD is an isolating experience (more so in the Kathleen Lonsdale building), so I would like to thank my fellow students and friends for making it tolerable: Richard, Tiffany, and Chryselle. Finally, I would like to acknowledge UCL for my funding via a DTA and computing time on Legion, the Materials Chemistry Consortium (MCC) for computing time on HECToR and HPC-Europa2 for the opportunity to work in Barcelona.
    [Show full text]
  • Arxiv:2004.08465V2 [Cond-Mat.Stat-Mech] 11 May 2020
    Phase equilibrium of liquid water and hexagonal ice from enhanced sampling molecular dynamics simulations Pablo M. Piaggi1 and Roberto Car2 1)Department of Chemistry, Princeton University, Princeton, NJ 08544, USA a) 2)Department of Chemistry and Department of Physics, Princeton University, Princeton, NJ 08544, USA (Dated: 13 May 2020) We study the phase equilibrium between liquid water and ice Ih modeled by the TIP4P/Ice interatomic potential using enhanced sampling molecular dynamics simulations. Our approach is based on the calculation of ice Ih-liquid free energy differences from simulations that visit reversibly both phases. The reversible interconversion is achieved by introducing a static bias potential as a function of an order parameter. The order parameter was tailored to crystallize the hexagonal diamond structure of oxygen in ice Ih. We analyze the effect of the system size on the ice Ih-liquid free energy differences and we obtain a melting temperature of 270 K in the thermodynamic limit. This result is in agreement with estimates from thermodynamic integration (272 K) and coexistence simulations (270 K). Since the order parameter does not include information about the coordinates of the protons, the spontaneously formed solid configurations contain proton disorder as expected for ice Ih. I. INTRODUCTION ture forms in an orientation compatible with the simulation box9. The study of phase equilibria using computer simulations is of central importance to understand the behavior of a given model. However, finding the thermodynamic condition at II. CRYSTAL STRUCTURE OF ICE Ih which two or more phases coexist is particularly hard in the presence of first order phase transitions.
    [Show full text]
  • Herbert Ponting; Picturing the Great White South
    City University of New York (CUNY) CUNY Academic Works Dissertations and Theses City College of New York 2014 Herbert Ponting; Picturing the Great White South Maggie Downing CUNY City College How does access to this work benefit ou?y Let us know! More information about this work at: https://academicworks.cuny.edu/cc_etds_theses/328 Discover additional works at: https://academicworks.cuny.edu This work is made publicly available by the City University of New York (CUNY). Contact: [email protected] The City College of New York Herbert Ponting: Picturing the Great White South Submitted in partial fulfillment of the requirements for the degree of Master of Arts of the City College of the City University of New York. by Maggie Downing New York, New York May 2014 Dedicated to my Mother Acknowledgments I wish to thank, first and foremost my advisor and mentor, Prof. Ellen Handy. This thesis would never have been possible without her continuing support and guidance throughout my career at City College, and her patience and dedication during the writing process. I would also like to thank the rest of my thesis committee, Prof. Lise Kjaer and Prof. Craig Houser for their ongoing support and advice. This thesis was made possible with the assistance of everyone who was a part of the Connor Study Abroad Fellowship committee, which allowed me to travel abroad to the Scott Polar Research Institute in Cambridge, UK. Special thanks goes to Moe Liu- D'Albero, Director of Budget and Operations for the Division of the Humanities and the Arts, who worked the bureaucratic college award system to get the funds to me in time.
    [Show full text]
  • Evasive Ice X and Heavy Fermion Ice XII: Facts and Fiction About High
    Physica B 265 (1999) 113—120 Evasive ice X and heavy fermion ice XII: facts and fiction about high-pressure ices W.B. Holzapfel* Fachbereich Physik, Universita( t-GH Paderborn, D-33095 Paderborn, Germany Abstract Recent theoretical and experimental results on the structure and dynamics of ice in wide regions of pressure and temperature are compared with earlier models and predictions to illustrate the evasive nature of ice X, which was originally introduced as completely ordered form of ice with short single centred hydrogen bonds isostructural CuO. Due to the lack of experimental information on the proton ordering in the pressure and temperature region for the possible occurrence of ice X, effects of thermal and quantum delocalization are discussed with respect to the shape of the phase diagram and other structural models consistent with present optical and X-ray data for this region. Theoretical evidences for an additional orthorhombic modification (ice XI) at higher pressures are confronted with various reasons supporting a delocalization of the protons in the form of a heavy fermion system with very unique physical properties characterizing this fictitious new phase of ice XII. ( 1999 Elsevier Science B.V. All rights reserved. Keywords: Ices; Hydrogen bonds; Phase diagram; Equation of states 1. Introduction tunnelling [2]. Detailed Raman studies on HO and DO ice VIII to pressures in the range of The first in situ X-ray studies on HO and DO 50 GPa [3] revealed the expected softening in the ice VII under pressures up to 20 GPa [1] together molecular stretching modes and led to the deter- with a simple twin Morse potential (TMP) model mination of a critical O—H—O bond length of " for protons or deuterons in hydrogen bonds [2] R# 232 pm, where the central barrier of the effec- allowed almost 26 years ago first speculations tive double-well potential should disappear [4].
    [Show full text]
  • Novel Hydraulic Structures and Water Management in Iran: a Historical Perspective
    Novel hydraulic structures and water management in Iran: A historical perspective Shahram Khora Sanizadeh Department of Water Resources Research, Water Research Institute������, Iran Summary. Iran is located in an arid, semi-arid region. Due to the unfavorable distribution of surface water, to fulfill water demands and fluctuation of yearly seasonal streams, Iranian people have tried to provide a better condition for utilization of water as a vital matter. This paper intends to acquaint the readers with some of the famous Iranian historical water monuments. Keywords. Historic – Water – Monuments – Iran – Qanat – Ab anbar – Dam. Structures hydrauliques et gestion de l’eau en Iran : une perspective historique Résumé. L’Iran est situé dans une région aride, semi-aride. La répartition défavorable des eaux de surface a conduit la population iranienne à créer de meilleures conditions d’utilisation d’une ressource aussi vitale que l’eau pour faire face à la demande et aux fluctuations des débits saisonniers annuels. Ce travail vise à faire connaître certains des monuments hydrauliques historiques parmi les plus fameux de l’Iran. Mots-clés. Historique – Eau – Monuments – Iran – Qanat – Ab anbar – Barrage. I - Introduction Iran is located in an arid, semi-arid region. Due to the unfavorable distribution of surface water, to fulfill water demands and fluctuation of yearly seasonal streams, Iranian people have tried to provide a better condition for utilization of water as a vital matter. Iran is located in the south of Asia between 44º 02´ and 63º 20´ eastern longitude and 25º 03´ to 39º 46´ northern latitude. The country covers an area of about 1.648 million km2.
    [Show full text]
  • 11Th International Conference on the Physics and Chemistry of Ice, PCI
    11th International Conference on the Physics and Chemistry of Ice (PCI-2006) Bremerhaven, Germany, 23-28 July 2006 Abstracts _______________________________________________ Edited by Frank Wilhelms and Werner F. Kuhs Ber. Polarforsch. Meeresforsch. 549 (2007) ISSN 1618-3193 Frank Wilhelms, Alfred-Wegener-Institut für Polar- und Meeresforschung, Columbusstrasse, D-27568 Bremerhaven, Germany Werner F. Kuhs, Universität Göttingen, GZG, Abt. Kristallographie Goldschmidtstr. 1, D-37077 Göttingen, Germany Preface The 11th International Conference on the Physics and Chemistry of Ice (PCI- 2006) took place in Bremerhaven, Germany, 23-28 July 2006. It was jointly organized by the University of Göttingen and the Alfred-Wegener-Institute (AWI), the main German institution for polar research. The attendance was higher than ever with 157 scientists from 20 nations highlighting the ever increasing interest in the various frozen forms of water. As the preceding conferences PCI-2006 was organized under the auspices of an International Scientific Committee. This committee was led for many years by John W. Glen and is chaired since 2002 by Stephen H. Kirby. Professor John W. Glen was honoured during PCI-2006 for his seminal contributions to the field of ice physics and his four decades of dedicated leadership of the International Conferences on the Physics and Chemistry of Ice. The members of the International Scientific Committee preparing PCI-2006 were J.Paul Devlin, John W. Glen, Takeo Hondoh, Stephen H. Kirby, Werner F. Kuhs, Norikazu Maeno, Victor F. Petrenko, Patricia L.M. Plummer, and John S. Tse; the final program was the responsibility of Werner F. Kuhs. The oral presentations were given in the premises of the Deutsches Schiffahrtsmuseum (DSM) a few meters away from the Alfred-Wegener-Institute.
    [Show full text]
  • Anomalous Pressure-Induced Transition(S) in Ice XI
    PHYSICAL REVIEW LETTERS week ending VOLUME 92, NUMBER 10 12 MARCH 2004 Anomalous Pressure-Induced Transition(s) in Ice XI Koichiro Umemoto,1,2 Renata M. Wentzcovitch,1,2 Stefano Baroni,1 and Stefano de Gironcoli1 1SISSA–Scuola Internazionale Superiore di Studi Avanzati and INFM-DEMOCRITOS National Simulation Center, I-34014 Trieste, Italy 2Department of Chemical Engineering and Material Science and Minnesota Supercomputer Institute for Digital Simulation and Advanced Computation, University of Minnesota, Minneapolis, Minnesota 55455, USA (Received 23 May 2003; published 12 March 2004) The effects of pressure on the structure of ice XI — an ordered form of the phase of ice Ih, which is known to amorphize under pressure — are investigated theoretically using density-functional theory. We find that pressure induces a mechanical instability, which is initiated by the softening of an acoustic phonon occurring at an incommensurate wavelength, followed by the collapse of the entire acoustic band and by the violation of the Born stability criteria. It is argued that phonon collapse may be a quite general feature of pressure-induced amorphization. The implications of our findings for the amorph- ization of ice Ih are also discussed. DOI: 10.1103/PhysRevLett.92.105502 PACS numbers: 63.20.Dj, 64.70.Rh, 83.80.Nb Ice Ih is the first system which was observed to effects of hydrogen disorder, and draw a parallel between amorphize under pressure [1]. It was soon argued that our results and those previously obtained in -quartz. this behavior was related with the negative Clapeyron The structure of ice Ih consists of a hexagonal diamond slope of the melting line of ice Ih and that amorphiza- lattice of oxygen atoms with one hydrogen atom placed at tion would occur at the metastable extension of this line random in one of the two energy minima existing in in the stability field of another high-pressure phase.
    [Show full text]
  • Ice Engineering and Avalanche Forecasting and Control Gold, L
    NRC Publications Archive Archives des publications du CNRC Ice engineering and avalanche forecasting and control Gold, L. W.; Williams, G. P. This publication could be one of several versions: author’s original, accepted manuscript or the publisher’s version. / La version de cette publication peut être l’une des suivantes : la version prépublication de l’auteur, la version acceptée du manuscrit ou la version de l’éditeur. Publisher’s version / Version de l'éditeur: Technical Memorandum (National Research Council of Canada. Division of Building Research); no. DBR-TM-98, 1969-10-23 NRC Publications Archive Record / Notice des Archives des publications du CNRC : https://nrc-publications.canada.ca/eng/view/object/?id=50c4a1f1-0608-4db2-9ccd-74b038ef41bb https://publications-cnrc.canada.ca/fra/voir/objet/?id=50c4a1f1-0608-4db2-9ccd-74b038ef41bb Access and use of this website and the material on it are subject to the Terms and Conditions set forth at https://nrc-publications.canada.ca/eng/copyright READ THESE TERMS AND CONDITIONS CAREFULLY BEFORE USING THIS WEBSITE. L’accès à ce site Web et l’utilisation de son contenu sont assujettis aux conditions présentées dans le site https://publications-cnrc.canada.ca/fra/droits LISEZ CES CONDITIONS ATTENTIVEMENT AVANT D’UTILISER CE SITE WEB. Questions? Contact the NRC Publications Archive team at [email protected]. If you wish to email the authors directly, please see the first page of the publication for their contact information. Vous avez des questions? Nous pouvons vous aider. Pour communiquer directement avec un auteur, consultez la première page de la revue dans laquelle son article a été publié afin de trouver ses coordonnées.
    [Show full text]
  • Evaluations of Cultural Properties
    WHC-04/28COM/INF.14A UNESCO WORLD HERITAGE CONVENTION WORLD HERITAGE COMMITTEE 28th ordinary session (28 June – 7 July 2004) Suzhou (China) EVALUATIONS OF CULTURAL PROPERTIES Prepared by the International Council on Monuments and Sites (ICOMOS) The IUCN and ICOMOS evaluations are made available to members of the World Heritage Committee. A small number of additional copies are also available from the secretariat. Thank you 2004 WORLD HERITAGE LIST Nominations 2004 I NOMINATIONS OF MIXED PROPERTIES TO THE WORLD HERITAGE LIST A Europe – North America Extensions of properties inscribed on the World Heritage List United Kingdom – [N/C 387 bis] - St Kilda (Hirta) 1 B Latin America and the Caribbean New nominations Ecuador – [N/C 1124] - Cajas Lakes and the Ruins of Paredones 5 II NOMINATIONS OF CULTURAL PROPERTIES TO THE WORLD HERITAGE LIST A Africa New nominations Mali – [C 1139] - Tomb of Askia 9 Togo – [C 1140] - Koutammakou, the Land of the Batammariba 13 B Arab States New nominations Jordan – [C 1093] - Um er-Rasas (Kastron Mefa'a) 17 Properties deferred or referred back by previous sessions of the World Heritage Committee Morocco – [C 1058 rev] See addendum: - Portuguese City of El Jadida (Mazagan) WHC-04/28.COM/INF.15A Add C Asia – Pacific New nominations Australia – [C 1131] - Royal Exhibition Building and Carlton Gardens 19 China – [C 1135] - Capital Cities and Tombs of the Ancient Koguryo Kingdom 24 India – [C 1101] - Champaner-Pavagadh Archaeological Park 26 Iran – [C 1106] - Pasargadae (Pasargad) 30 Japan – [C 1142] - Sacred Sites
    [Show full text]
  • Performance Analysis of Ice-Relative Upward-Looking Doppler Navigation of Underwater Vehicles Beneath Moving Sea Ice
    Article Performance Analysis of Ice-Relative Upward-Looking Doppler Navigation of Underwater Vehicles Beneath Moving Sea Ice Laughlin D. L. Barker 1,2 and Louis L. Whitcomb 1,* 1 Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD 21218, USA; [email protected] 2 Department of Marine Operations, Monterey Bay Aquarium Research Institute, Moss Landing, CA 95039, USA * Correspondence: [email protected] Abstract: This paper addresses the problem of ice-relative underwater robotic vehicle navigation relative to moving or stationary contiguous sea ice. A review of previously-reported under-ice navigation methods is given, as well as motivation for the use of under-ice robotic vehicles with precision navigation capabilities. We then describe our proposed approach, which employs two or more satellite navigation beacons atop the sea ice along with other precision vehicle and ship mounted navigation sensors to estimate vehicle, ice, and ship states by means of an Extended Kalman Filter. A performances sensitivity analysis for a simulated 7.7 km under ice survey is reported. The number and the location of ice deployed satellite beacons, rotational and translational ice velocity, and separation of ship-based acoustic range sensors are varied, and their effects on estimate error Citation: Barker, L.D.L.; Whitcomb, and uncertainty are examined. Results suggest that increasing the number and/or separation of L.L. Performance Analysis of ice-deployed satellite beacons reduces estimate uncertainty, whereas increasing separation of ship- Ice-Relative Upward-Looking based acoustic range sensors has little impact on estimate uncertainty. Decreasing ice velocity is also Doppler Navigation of Underwater correlated with reduced estimate uncertainty.
    [Show full text]
  • Structural and Dynamical Properties of Inclusion Complexes Compounds and the Solvents from Rst-Principles Investigations
    Structural and dynamical properties of inclusion complexes compounds and the solvents from ¯rst-principles investigations Von der FakultÄat furÄ Naturwissenschaften der UniversitÄat Duisburg-Essen (Standort Duisburg) zur Erlangung des akademischen Grades eines Doktors der Naturwissenschaften (Dr. rer.nat.) genehmigte Dissertation von Waheed Adeniyi Adeagbo aus Ibadan, Oyo State, Nigeria Referent: Prof. Dr. P. Entel Korreferent: PD. Dr. A. BaumgÄartner Tag der mundlicÄ hen Prufung:Ä 20 April 2004 3 Abstract In this work, a series of ab-initio calculations based on density functional theory is presen- ted. We investigated the properties of water and the inclusion complexes of cyclodextrins with various guest compounds such as phenol, aspirin, pinacyanol chloride dye and bi- naphtyl molecules in the environment of water as solvent. Our investigation of water includes the cluster units of water, the bulk properties of the li- quid water and the crystalline ice structure. Some equilibrium structures of water clusters were prepared and their binding energies were calculated with the self-consistency den- sity functional tight binding (SCC-DFTB) method. The global minimum water clusters of TIP4P classical modelled potential were also calculated using the DFTB method and Vienna Ab-initio Simulation Package (VASP). All results show a non-linear behaviour of the binding energy per water molecule against water cluster size with some anomalies found for the lower clusters between 4 and 8 molecules. We also calculated the melting temperatures of these water clusters having solid-like behaviour by heating. Though, the melting region of the heated structures is not well de¯ned as a result of the pronoun- ced uctuations of the bonding network of the system giving rise to uctuations in the observed properties, but nevertheless the range where the breakdown occurs was de¯- ned as the melting temperature of the clusters.
    [Show full text]
  • Electrostatics of Proton Arrangements in Ice Ic
    ELSEVIER Physica B 240 (1997) 263-272 Electrostatics of proton arrangements in ice Ic J. Lekner* Department of Physics, Victoria University of Wellington, P.O. Box 600, Wellington, New Zealand Received 17 February 1997 Abstract Possible proton configurations in cubic ice lc are explored. In a unit cell of eight water molecules there are 90 possible arrangements of the protons, but degeneracy of the Coulomb energy reduces these to four different classes, of which the antiferroelectric structure has the lowest energy, and the fully ferroelectric structure the highest energy. The energy differences per water molecule are in the meV range. There is a one-to-one correspondence between the dipole moment of the unit cell and the electrostatic energy. The energy increments from the antiferroelectric configuration are proportional to the square of the dipole moment. In the 8-molecule cell there are four dipole types. In a cell with 16 oxygens and 32 hydrogens there are 15 dipole types. In both, the degeneracies of the weakly ferroelectric states are high. Keywords. Ice; Proton order; Electrostatics 1. Introduction Cubic ice Ic and hexagonal ice Ih are both tetrahedrally hydrogen-bonded, with very similar densities and other physical properties [1,2]. In both, the protons are disordered, each hydrogen nucleus being placed at about 1 A from the nearer oxygen nucleus along the line joining two neighbouring oxygens. Pauling [3] proposed the proton disorder to explain the low-temperature entropy of ice. The agreement between experiment and theoretical entropy calculations based on completely random proton positions is excellent [ 1,2]. However, ice Ih doped with KOH has been found to undergo a first-order transition to a ferroelectrically ordered phase of ice, named ice XI, at 72 K [4-6].
    [Show full text]