MCM 2015 Summary Sheet for Team 35565For office use onlyT1________________ T2________________ T3________________ T4________________Team Control Number35565Problem ChosenBFor office use onlyF1________________F2________________F3________________F4________________ SummaryThe lost MH370 urges us to build a universal search plan to assist searchers to locate the lost plane effi-ciently and optimize the arrangement of search plans.For the location of the search area, we divided it into two stages, respectively, to locate the splash point and the wreckage‟s sunk point. In the first stage, we consider the types of crashed aircraft, its motion and different position out of contact. We also consider the Earth‟s rotation, and other factors. Taking all these into account, we establish a model to locate the splash point. Then we apply this model to MH370. we can get the splash point in the open water is 6.813°N 103.49°E and the falling time is 52.4s. In the second stage, considering resistances of the wreckage in different shapes and its distribution affected by ocean currents, we establish a wreckage sunk point model to calculate the horizontal displacement and the angle deviation affected by the ocean currents. The result is 1517m and 0.11°respectively. Next, we extract a satellite map of submarine topography and use MATLAB to depict seabed topography map, determining the settlement of the wreckage by using dichotomy algorithm under different terrains. Finally, we build a Bayesian model and calculate the weight of corresponding area, sending aircrafts to obtain new evidence and refresh suspected wreckage area.For the assignment of the search planes, we divide it into two stages, respectively, to determine the num-ber of the aircraft and the assignment scheme of the search aircraft. In the first stage, we consider the search ability of each plane and other factors. And then we establish global optimization model. Next we use Dinkelbach algorithm to select the best n search aircrafts from all search aircrafts. In the second stage, we divide the assignment into two cases whether there are search aircrafts in the target area. If there is no search aircraft, we take the search area as an arbitrary polygon and establish the subdivision model. Considering the searching ability of each plane, we divide n small polygons into 2n sub-polygons by using NonconvexDivide algorithm, which assigns specific anchor points to these 2n sub-polygons re-spectively. If there exist search aircrafts, we divide the search area into several polygons with the search aircrafts being at the boundary of the small polygons. To improve search efficiency, we introduce” ma x-imize the minimum angle strategy” to maximize right-angle subdivision so that we can reduce the turning times of search aircraft. When we changed the speed of the crashed plane about 36m/s, the latitude of the splash point changes about 1°.When a wreck landing at 5.888m out from the initial zone, it will divorce from suspected searching area, which means our models are fairly robust to the changes in parameters. Our model is able to efficiently deal with existing data and modify some parameters basing the practical situation. The model has better versatility and stability. The weakness of our model is neglect of human factors, the search time and other uncontrollable factors that could lead to deviation compared to practical data. Therefore, we make some in-depth discussions about the model, modifying assumptions establish-Searching For a Lost PlaneControl#35565February 10, 2014Team # 35565 Page 3 of 57 Contents1 Introduction (5)1.1 Restatement of the Problem (5)1.2 Literature Review (6)2 Assumptions and Justifications (7)3 Notations (7)4 Model Overview (10)5 Modeling For Locating the Lost Plane (10)5.1 Modeling For Locating the Splash Poin t (11)5.1.1 Types of Planes (11)5.1.2 Preparation of the Model—Earth Rotation (12)5.1.3 Modeling (13)5.1.4 Solution of The Model (14)5.2 Modeling For Locating Wreckage (15)5.2.1 Assumptions of the Model (16)5.2.2 Preparation of the Model (16)5.2.3 Modeling (21)5.2.4 Solution of the Model (25)5.3 Verification of the Model (26)5.3.1 Verification of the Splash Point (26)5.3.2 Verification of the binary search algorithm (27)6 Modeling For Optimization of Search Plan (29)6.1 The Global Optimization Model (29)6.1.1 Preparation of the Model (29)6.1.2 Modeling (31)6.1.3 Solution of the Model (31)6.2 The Area Partition Algorithm (33)6.2.1 Preparation of the Model (33)6.2.2 Modeling (34)6.2.3 Solution of the Model (35)6.2.4 Improvement of the Model (36)7 Sensitivity Analysis (38)8 Further Discussions (39)9 Strengths and Weaknesses (41)9.1 Strengths (41)9.2 Weaknesses (42)10 Non-technical Paper (42)1 IntroductionAn airplane (informally plane) is a powered, fixed-wing aircraft that is propelled for-ward by thrust from a jet engine or propeller. Its main feature is fast and safe. Typi-cally, air travel is approximately 10 times safer than travel by car, rail or bus. Howev-er, when using the deaths per journey statistic, air travel is significantly more danger-ous than car, rail, or bus travel. In an aircraft crash, almost no one could survive [1]. Furthermore, the wreckage of the lost plane is difficult to find due to the crash site may be in the open ocean or other rough terrain.Thus, it will be exhilarating if we can design a model that can find the lost plane quickly. In this paper, we establish several models to find the lost plane in seawater and develop an op-timal scheme to assign search planes to model to locate the wreckage of the lost plane.1.1 Restatement of the ProblemWe are required to build a mathematical model to find the lost plane crashed in open water. We decompose the problem into three sub-problems:●Work out the position and distributions of the plane‟s wreckage●Arrange a mathematical scheme to schedule searching planesIn the first step, we seek to build a model with the inputs of altitude and other factors to locate the splash point on the sea-level. Most importantly, the model should reflect the process of the given plane. Then we can change the inputs to do some simulations. Also we can change the mechanism to apply other plane crash to our model. Finally, we can obtain the outputs of our model.In the second step, we seek to extend our model to simulate distribution of the plane wreckage and position the final point of the lost plane in the sea. We will consider more realistic factors such as ocean currents, characteristics of plane.We will design some rules to dispatch search planes to confirm the wreckage and de-cide which rule is the best.Then we attempt to adjust our model and apply it to lost planes like MH370. We also consider some further discussion of our model.1.2 Literature ReviewA model for searching the lost plane is inevitable to study the crashed point of the plane and develop a best scheme to assign search planes.According to Newton's second law, the simple types of projectile motion model can work out the splash point on the seafloor. We will analyze the motion state ofthe plane when it arrives at the seafloor considering the effect of the earth's rotation,After the types of projectile motion model was established, several scientists were devoted to finding a method to simulate the movement of wreckage. The main diffi-culty was to combine natural factors with the movement. Juan Santos-Echeandía introduced a differential equation model to simplify the difficulty [2]. Moreover,A. Boultif and D. Louër introduced a dichotomy iteration algorithm to circular compu-ting which can be borrowed to combine the motion of wreckage with underwater ter-rain [3]. Several conditions have to be fulfilled before simulating the movement: (1) Seawater density keeps unchanged despite the seawater depth. (2) The velocity of the wreck stay the same compared with velocity of the plane before it crashes into pieces.(3) Marine life will not affect our simulation. (4) Acting forceof seawater is a function of the speed of ocean currents.However the conclusion above cannot describe the wreckage zone accurately. This inaccuracy results from simplified conditions and ignoring the probability distribution of wreckage. In 1989, Stone et.al introduced a Bayesian search approach for searching problems and found the efficient search plans that maximize the probability of finding the target given a fixed time limit by maintaining an accurate target location probabil-ity density function, and by explicitly modeling the target‟s process model [4].To come up with a concrete dispatch plan. Xing Shenwei first simulated the model with different kinds of algorithm. [5] In his model, different searching planes are as-sessed by several key factors. Then based on the model established before, he use the global optimization model and an area partition algorithm to propose the number of aircrafts. He also arranged quantitative searching recourses according to the maxi-mum speed and other factors. The result shows that search operations can be ensured and effective.Further studies are carried out based on the comparison between model andreality.Some article illustrate the random error caused by assumptions.2 Assumptions and JustificationsTo simplify the problem, we make the following basic assumptions, each ofwhich is properly justified.●Utilized data is accuracy. A common modeling assumption.●We ignore the change of the gravitational acceleration. The altitude of anaircraft is less than 30 km [6]. The average radius of the earth is 6731.004km, which is much more than the altitude of an aircraft. The gravitational accele-ration changes weakly.●We assume that aeroengine do not work when a plane is out of contact.Most air crash resulted from engine failure caused by aircraft fault, bad weather, etc.●In our model, the angle of attack do not change in an air crash and thefuselage don’t wag from side to side. We neglect the impact of natural and human factors●We treat plane as a material point the moment it hit the sea-level. Thecrashing plane moves fast with a short time-frame to get into the water. The shape and volume will be negligible.●We assume that coefficient of air friction is a constant. This impact is neg-ligible compared with that of the gravity.●Planes will crash into wreckage instantly when falling to sea surface.Typically planes travel at highly speed and may happen explosion accident with water. So we ignore the short time.3 NotationsAll the variables and constants used in this paper are listed in Table 1 and Table 2.Table 1 Symbol Table–ConstantsSymbol DefinitionωRotational angular velocity of the earthg Gravitational accelerationr The average radius of the earthC D Coefficient of resistance decided by the angle of attack ρAtmospheric densityφLatitude of the lost contact pointμCoefficient of viscosityS0Area of the initial wrecking zoneS Area of the wrecking zoneS T Area of the searching zoneK Correction factorTable 2 Symbol Table-VariablesSymbol DefinitionF r Air frictionF g Inertial centrifugal forceF k Coriolis forceW Angular velocity of the crash planev r Relative velocity of the crash planev x Initial velocity of the surface layer of ocean currentsk Coefficient of fluid frictionF f Buoyancy of the wreckagef i Churning resistance of the wreckage from ocean currents f Fluid resistance opposite to the direction of motionG Gravity of the wreckageV Volume of the wreckageh Decent height of the wreckageH Marine depthS x Displacement of the wreckageS y Horizontal distance of S xα Deviation angle of factually final position of the wreckage s Horizontal distance between final point and splash point p Probability of a wreck in a given pointN The number of the searching planeTS ' The area of sea to be searched a i V ˆ The maximum speed of each planeai D The initial distance from sea to search planeai A The search ability of each plane is),(h T L i The maximum battery life of each plane isi L The mobilized times of each plane in the whole search )1(N Q Q a a ≤≤ The maximum number of search plane in the searching zone T(h) The time the whole action takes4 Model OverviewMost research for searching the lost plane can be classified as academic and practical. As practical methods are difficult to apply to our problem, we approach theproblem with academic techniques. Our study into the searching of the lost plane takes several approaches.Our basic model allows us to obtain the splash point of the lost plane. We focus on the force analysis of the plane. Then we We turn to simple types of projectile motion model. This model gives us critical data about the movement and serves as a stepping stone to our later study.The extended model views the problem based on the conclusion above. We run diffe-rential equation method and Bayesian search model to simulate the movement of wreckage. The essence of the model is the way to combine the effect of natural factors with distribution of the wreckage. Moreover, using distributing conditions, we treat size of the lost plane as “initial wreckage zone” so as to approximately describe the distribution. Thus, after considering the natural factors, we name the distribution of wreckage a “wreck zone” to minimize searching zone. While we name all the space needed to search “searching zone”.Our conclusive model containing several kinds of algorithm attempts to tackle a more realistic and more challenging problem. We add the global optimization model and an area partition algorithm to improve the efficiency of search aircrafts according to the area of search zone. An assessment of search planes consisting of search capabili-ties and other factors are also added. The Dinkelbach and NonConvexDivide algo-rithm for the solutions of the results are also added.We use the extended and conclusive model as a standard model to analyze the problem and all results have this two model at their cores.5 Modeling For Locating the Lost PlaneWe will start with the idea of the basic model. Then we present the Bayesian search model to get the position of the sinking point.5.1 Modeling For Locating the Splash PointThe basic model is a academic approach. A typical types of projectile behavior con-sists of horizontal and vertical motion. We also add another dimension consider-ing the effect of the earth's rotation. Among these actions, the force analysis is the most crucial part during descent from the point out of contact to the sea-level. Types of plane might impact trajectory of the crashing plane.5.1.1 Types of PlanesWe classify the planes into six groups [7]:●Helicopters: A helicopter is one of the most timesaving ways to transfer be-tween the city and airport, alternatively an easy way to reach remote destina-tions.●Twins Pistons: An economical aircraft range suitable for short distance flights.Aircraft seating capacity ranging from 3 to 8 passengers.●Turboprops: A wide range of aircraft suitable for short and medium distanceflights with a duration of up to 2-4 hours. Aircraft seating capacity ranging from 4 to 70 passengers.●Executive Jets:An Executive Jet is suitable for medium or long distanceflights. Aircraft seating capacity ranging from 4 to 16 passengers●Airliners:Large jet aircraft suitable for all kinds of flights. Aircraft seatingcapacity ranging from 50 to 400 passengers.●Cargo Aircrafts:Any type of cargo. Ranging from short notice flights carry-ing vital spare parts up to large cargo aircraft that can transport any volumin-ous goods.The lost plane may be one of these group. Then we extract the characteristics of planes into three essential factors: mass, maximum flying speed, volume. We use these three factors to abstract a variety of planes:●Mass: Planes of different product models have their own mass.●Maximum flying speed: Different planes are provided with kinds of me-chanical configuration, which will decide their properties such as flying speed.●Volume: Planes of distinct product models have different sizes and configura-tion, so the volume is definitive .5.1.2 Preparation of the Model —Earth RotationWhen considering the earth rotation, we should know that earth is a non-inertial run-ning system. Thus, mobile on the earth suffers two other non-inertial forces except air friction F r . They are inertial centrifugal force F g and Coriolis force F k . According to Newton ‟s second law of motion, the law of object relative motion to the earth is:Rotational angular velocity of the earth is very small, about .For a big mobile v r , it suffers far less inertial centrifugal force than Coriolis force, so we can ignore it. Thus, the equation can be approximated as follows:Now we establish a coordinate system: x axis z axis pointing to the east and south re-spectively, y axis vertical upward, then v r , ω and F r in the projection coordinate system are as follows:⎪⎪⎩⎪⎪⎨⎧++=⋅⋅-⋅⋅=++=kdt dz j dt dy i dt dx m v k j w kF j F i F F r rz ry rx r φωφωcos sinφis the latitude of the lost contact point of the lost plane. Put equation 1-3 and equa-tion 1-2 together, then the component of projectile movement in differential equation is:ma FF F k g r=++srad ⋅⨯=-5103.7ωmamv F r r =+ω2⎪⎪⎪⎩⎪⎪⎪⎨⎧+⋅=+⋅=+⎪⎭⎫ ⎝⎛+⋅-=m F dt dx w dt z d m F dt dx w dt y d m F dt dz dt dy w dtx d rz ry rx φφφφsin 2cos 2sin cos 22222225.1.3 ModelingConsidering the effect caused by earth rotation and air draught to plane when crashing to sea level, we analyze the force on the X axis by using Newton ‟s second law, the differential equation on x y and axis, we can conclude:In conclusion, we establish the earth rotation and types of projectile second order dif-ferential model:()⎪⎩⎪⎨⎧+-⋅'⋅⋅=''-⋅'+⋅'⋅⋅-=''-⋅'⋅⋅=''m gf y w m z m f z x w m y m f y w m x m obj 321cos 2cos sin 2sin 2.φφφφAccording to Coriolis theorem, we analyze the force of the plane on different direc-tions. By using the Newton ‟s laws of motion, we can work out the resultant accelera-tion on all directions:⎪⎪⎪⎪⎪⎪⎪⎪⎩⎪⎪⎪⎪⎪⎪⎪⎪⎨⎧'+'+'⋅'⋅⋅⨯+='+'+'⋅'⋅⋅⨯+='+'+'⋅'⋅⋅⨯+=⋅⋅-⋅⋅=⋅⨯=⋅'''⋅===-2222222225)()()(21)()()(21)()()(21cos sin 103.704.022z y x z c F f z y x y c F f z y x x c F f k j w s rad S y x F c D rz D ryD rx D ρρρφωφωωμφC D is the angle of attack of a plane flew in the best state, w is the angular speed of a moving object, vector j and k are the unit vector on y and z direction respectively,μisrx F y w m x m -⋅'⋅⋅⨯=''φsin 2()ry F z x w m y m -'+⋅'⋅⨯-=''φφcos sin 2mg F y w m z m rz +-⋅'⋅⋅⋅=''φcos 2the coefficient of viscosity of the object.5.1.4 Solution of the ModelWhen air flows through an object, only the air close to layer on the surface of the ob-ject in the laminar airflow is larger, whose air viscosity performance is more noticea-ble while the outer region has negligible viscous force [8]. Typically, to simplify cal-culation, we ignore the viscous force produced by plane surface caused by air resis-tance.Step 1: the examination of dimension in modelTo verify the validity of the model based on Newton ‟s second theorem, first, we standardize them respectively, turn them into the standardization of dimensionless data to diminish the influence of dimensional data. The standard equation is:Step 2: the confirmation of initial conditionsIn a space coordinate origin based on plane, we assume the earth's rotation direc-tion for the x axis, the plane's flight heading as y axis, the vertical downward di-rection for z axis. Space coordinate system are as follows:Figure 1 Space coordinate systemStep 3: the simplification and solutionAfter twice integrations of the model, ignoring some of the dimensionless in thesxx y i -=integral process, we can simplify the model and get the following:⎪⎪⎪⎩⎪⎪⎪⎨⎧+'⋅⋅⋅-⋅'⋅⨯='''-⋅⋅⋅-⋅'⋅⨯-=''⋅'⋅⨯=''g z m s c y w z y v m s c z w y y w x D D 220)(2cos 2)(2cos 2sin 2ρφρφφWe can calculate the corresponding xyz by putting in specific data to get the in-formation about the point of losing contact.Step 4: the solution of the coordinateThe distance of every latitude on the same longitude is 111km and the distance ofevery longitude on the same latitude is 111*cos (the latitude of this point) (km). Moreover, the latitude distance of two points on the same longitude is r ×cos(a ×pi/180) and the longitude distance of two points on the same latitude is: r ×sin(a ×pi/180)[9].We assume a as the clockwise angle starting with the due north direction and r as the distance between two points; X 、Y are the latitude and longitude coordinates of the known point P respectively; Lon , Lat are the latitude and longitude coordi-nates of the unknown point B respectively.Therefore, the longitude and latitude coordinates of the unknown point Q is:⎪⎪⎩⎪⎪⎨⎧⨯⨯+=⨯⨯⨯⨯+=111)180/cos()180/cos(111)180/sin(pi a r Y Lat pi Y pi a r X LonThus, we can get coordinates of the point of splash by putting in specific data.5.2 Modeling For Locating WreckageIn order to understand how the wreckage distributes in the sea, we have to understand the whole process beginning from the plane crashing into water to reaching the seaf-loor. One intuition for modeling the problem is to think of the ocean currents as astochastic process decided by water velocity. Therefore, we use a differential equation method to simulate the impact on wreckage from ocean currents.A Bayesian Searching model is a continuous model that computing a probability dis-tribution on the location of the wreckage (search object) in the presence of uncertain-ties and conflicting information that require the use of subjective probabilities. The model requires an initial searching zone and a set of the posterior distribution given failure of the search to plan the next increment of search. As the search proceeds, the subjective estimates of the detection will be more reliable.5.2.1 Assumptions of the ModelThe following general assumptions are made based on common sense and weuse them throughout our model.●Seawater density keeps unchanged despite the seawater depth.Seawater density is determined by water temperature, pressure, salinity etc.These factors are decided by or affected by the seawater density. Considering the falling height, the density changes slightly. To simplify the calculation, we consider it as a constant.●The velocity of the wreck stay the same compared with velocity of theplane before it crashes into pieces. The whole process will end quickly witha little loss of energy. Thus, we simplify the calculation.●Marine life will not affect our simulation.Most open coast habitats arefound in the deep ocean beyond the edge of the continental shelf, while the falling height of the plane cannot hit.●Acting force of seawater is a function of the speed and direction of oceancurrents. Ocean currents is a complicated element affected by temperature, wide direction, weather pattern etc. we focus on a short term of open sea.Acting force of seawater will not take this factors into consideration.5.2.2 Preparation of the Model●The resistance of objects of different shapes is different. Due to the continuityof the movement of the water, when faced with the surface of different shapes, the water will be diverted, resulting in the loss of partial energy. Thus the pressure of the surface of objects is changed. Based on this, we first consider the general object, and then revise the corresponding coefficients.●Ocean currents and influencing factorsOcean currents, also called sea currents, are large-scale seawater movements which have relatively stable speed and direction. Only in the land along the coast, due to tides, terrain, the injection of river water, and other factors, the speed and direction of ocean currents changes.Figure 2Distribution of world ocean currentsIt can be known from Figure 2 that warm and cold currents exist in the area where aircraft incidences happened. Considering the fact that the speed of ocean currents slows down as the increase of the depth of ocean, the velocity with depth sea surface currents gradually slowed down, v x is set as the initial speed of ocean currents in subsequent calculations.●Turbulent layerTurbulent flow is one kind of state of the fluid. When the flow rate is very low, the fluid is separated into different layers, called laminar flow, which do not mix with each other. As the flow speed increases, the flow line of the fluid begins to appear wavy swing. And the swing frequency and amplitude in-creases as the flow rate increases. This kind of stream regimen is called tran-sition flow. When the flow rate becomes great, the flow line is no longer clear and many small whirlpools, called turbulence, appeared in the flow field.Under the influence of ocean currents, the flow speed of the fluid changes as the water depth changes gradually, the speed and direction of the fluid is un-certain, and the density of the fluid density changes, resulting in uneven flow distribution. This indirectly causes the change of drag coefficient, and the re-sistance of the fluid is calculated as follows:2fkvGLCM texture of submarine topographyIn order to describe the impact of submarine topography, we choose a rectan-gular region from 33°33…W, 5°01…N to 31°42‟W , 3°37‟N. As texture is formed by repetitive distribution of gray in the spatial position, there is a cer-tain gray relation between two pixels which are separated by a certain dis-tance, which is space correlation character of gray in images. GLCM is a common way to describe the texture by studying the space correlation cha-racter of gray. We use correlation function of GLCM texture in MATLAB:I=imread ('map.jpg'); imshow(I);We arbitrarily select a seabed images and import seabed images to get the coordinate of highlights as follows：Table 1Coordinate of highlightsNO. x/km y/km NO. x/km y/km NO. x/km y/km1 154.59 1.365 13 91.2 22.71 25 331.42 16.632 151.25 8.19 14 40.04 18.12 26 235.77 13.93 174.6 14.02 15 117.89 14.89 27 240.22 17.754 172.38 19.23 16 74.51 12.29 28 331.42 24.455 165.71 24.82 17 45.6 8.56 29 102.32 19.486 215.75 26.31 18 103.43 5.58 30 229.1 18.247 262.46 22.96 19 48.934 3.51 31 176.83 9.188 331.42 22.34 20 212.42 2.85 32 123.45 3.239 320.29 27.55 21 272.47 2.48 33 32.252 11.7910 272.47 27.55 22 325.85 6.45 34 31.14 27.811 107.88 28.79 23 230.21 7.32 35 226.88 16.0112 25.579 27.05 24 280.26 9.93 36 291.38 5.46Then we use HDVM algorithm to get the 3D image of submarine topography, which can be simulated by MATLAB.Figure 3 3D image of submarine topographyObjects force analysis under the condition of currentsf is the resistance, f i is the disturbance resistance, F f is the buoyancy, G isgravity of object.Figure 4Force analysis of object under the conditions of currentsConsidering the impact of currents on the sinking process of objects, wheninterfered with currents, objects will sheer because of uneven force. There-。