Special Genetic Identification Algorithm with smoothing in the frequency domain

Due to the increase in speed and lightweight construction, modern robots vibrate significantly during motion. Thus, accurate mechanical modeling and detailed controller behavior is essential for accurate path planning and control design of robots. For the suppression of undesired vibrations detailed models are used to develop robust controllers. Least square identification methods require deep insight in the analytical equations and thus are not very suitable for identification of different highly nonlinear robot models. Recently, we presented our genetic parameter identification in Brussels, Ludwig and Gerstmayr (2011). It minimizes the error of measured and simulated quantities. Highly efficient models in the multibody system tool HOTINT lead to short computational times for various simulations with different parameters. The simulation models can easily be assembled by engineers without a detailed knowledge of the underlying multibody system. As drawback of genetic optimization, many sub-minima were detected. Many simulations were required for the determination of the global minimum. Our current approach was to extend our previous algorithm. Measured and simulated quantities are transformed into the frequency domain. In contrast to previous work, Ludwig and Gerstmayr (2013), amplitude spectra of measured and simulated quantities are smoothed prior to the L2-norm computation. The presented method is tested using small scale test problems as well as real robots. Smoothing in the frequency domain leads to a smaller number of simulations needed for obtaining higher accuracy. It turns out that the presented algorithm is more accurate and precise than a standard algorithm and reduces the computational cost.     

Inference control of open relational queries under closed-world semantics based on theorem proving

Relational database systems may serve to evaluate an open query under closed-world semantics. The evaluation returns an explicit output relation complemented with an often implicit statement about the completeness of that relation. The output relation is formed from all those tuples that both fit the format and satisfy the properties expressed in the query. Using first-order logic for specifying formal semantics, the output relation can be seen as a set of (ground) sentences obtained from the query formula by suitable substitutions of free variables by constants. A statement about the completeness of a relation can also explicitly be formalized as a sentence of first-order logic. Inference control for enforcing a confidentiality policy has to inspect and to possibly distort not only the sentences representing the tuples of the output relation but also the completeness sentences. Previously designed and formally verified control procedures employ theorem-proving for such inspections while iteratively considering candidates for those sentences and determining termination conditions, respectively. In this article, we outline an implementation of these control procedures and treat improvements of their runtime efficiency, in particular to overcome shortcomings of the underlying theorem prover, which is repeatedly called with an input comprising a completeness sentence of increasing size. The improvements are obtained by an equivalent rewriting of completeness sentences, exploiting the active domain or introducing new constants for combinations of the original constants, respectively, as well as by optimizing the number of such calls. Besides theoretical complexity considerations, we also present practical evaluations for some examples. These examples include queries that—without control—would return the whole underlying database relations and—with control—can be used for confidentiality-preserving data publishing.     

Seismic soil–structure interaction analysis of wind turbines in frequency domain

In this paper, the seismic behavior of wind turbines sitting on a finite flexible soil layer is investigated in three‐dimensional space. A numerical algorithm formulated in frequency domain is proposed in order to simulate the dynamic soil–structure interaction (SSI). The wind turbine is discretized using finite element method (FEM) while, the underlying soil is represented by complex dynamic stiffness functions based on cone models. A parametric study consisting of 24 ground motions and three soil profiles is carried out, and different response quantities of the wind tower model are calculated and presented in the paper. The free‐field ground motions are estimated based on an equivalent linear approach using SHAKE2000 computer software. Transfer functions for total acceleration of the wind tower are obtained under the considered soil profiles and the modal frequencies of the coupled wind turbine–soil foundation are estimated. It is shown that the response quantities such as displacement, rotation, acceleration, base shear and moment are significantly affected by SSI, although the effect of SSI on the fundamental frequencies of the wind tower is insignificant. The moment and shear force distribution along the height of the tower is highly influenced as the soil stiffness decreases. The change in seismic demand distribution along the tower height because of SSI is not addressed by simplified design approached and should be carefully considered in seismic design of wind towers. Copyright © 2016 John Wiley & Sons, Ltd.     

Port reduction in parametrized component static condensation: approximation and a posteriori error estimation

We introduce a port (interface) approximation and a posteriori error bound framework for a general component‐based static condensation method in the context of parameter‐dependent linear elliptic partial differential equations. The key ingredients are as follows: (i) efficient empirical port approximation spaces—the dimensions of these spaces may be chosen small to reduce the computational cost associated with formation and solution of the static condensation system; and (ii) a computationally tractable a posteriori error bound realized through a non‐conforming approximation and associated conditioner—the error in the global system approximation, or in a scalar output quantity, may be bounded relatively sharply with respect to the underlying finite element discretization. Our approximation and a posteriori error bound framework is of particular computational relevance for the static condensation reduced basis element (SCRBE) method. We provide several numerical examples within the SCRBE context, which serve to demonstrate the convergence rate of our port approximation procedure as well as the efficacy of our port reduction error bounds. Copyright © 2013 John Wiley & Sons, Ltd.     

A Gauss–Newton full-waveform inversion for material profile reconstruction in viscoelastic semi-infinite solid media

An inversion framework employing a Gauss–Newton method is developed to reconstruct material profiles in heterogeneous, viscoelastic, semi-infinite domains. In particular, a full-waveform inversion approach is investigated to image the elastic and attenuating parameters of a layered media. To account for the viscoelasticity of the medium, a Generalized Maxwell Body with one spring and two Maxwell elements in parallel (GMB2) is adopted in the forward and inverse wave propagation problems. Perfectly-matched-layers were introduced as wave absorbing buffers to simulate the semi-infinite extent of the domain. Using transient wave equations endowed with the GMB2 constitutive relation and the PML, a partial-differential-equations-constrained optimization scheme was implemented that lead to classic KKT (Karush–Kuhn–Tucker) conditions including time-dependent state, adjoint, and time-invariant control problems. An optimal solution of the viscoelastic parameters was obtained using a reduced-space approach based on a line search algorithm where the search direction was computed by the Gauss–Newton method. Considerable improvements on the accuracy and convergence rate of solutions were made by the developed Gauss–Newton inversion procedure compared to previous research using the Fletcher–Reeves method.     

Conventional and less conventional mechanisms of professionalisation underpinning knowledge-intensive activities: the case of design in food industries

Professions are not only primary targets of institutional change, but also key contributors to innovation processes. By focusing on how the knowledge needed in support of innovation is professionalised and reaches accepted modes of organising work, the paper examines the interplay between the emergence of a new professional domain and the institutional dynamics of the industry(ies) within which professionals operate. To this aim, we propose a reflection on the mechanisms that underpin the professionalisation of design activities in food industries. Empirical evidence draws attention to those practices that allow knowledge originated in different contexts to be socialised and converge towards the same institutional umbrella, that is, a new professional domain. The degree to which such professionalisation resonates with extant professions literature is discussed.     

使用邮件合并实现多条记录自动分类分页输出

该文介绍了如何利用EXCEL的基本操作和WORD的域和规则来实现邮件合并中多条记录的自动分类分页输出。     

An efficient algorithm for low-order direct discrete-time implementation of fractional order transfer functions

Fractional order systems become increasingly popular due to their versatility in modelling and control applications across various disciplines. However, the bottleneck in deploying these tools in practice is related to their implementation on real-life systems. Numerical approximations are employed but their complexity no longer match the attractive simplicity of the original fractional order systems. This paper proposes a low-order, computationally stable and efficient method for direct approximation of general order (fractional order) systems in the form of discrete-time rational transfer functions, e.g. processes, controllers. A fair comparison to other direct discretization methods is presented, demonstrating its added value with respect to the state of art.     

Finite-time annular domain stability of Itô stochastic impulsive systems with markovian jumping under asynchronous switching

ABSTRACT

This study examines the finite time annular domain stability (FTADS) and stabilisation of a class of Itô stochastic impulsive systems with asynchronous switching controller. The asynchronous switching means that the controller switching does not accurately coincide with system switching in delayed time interval. The design of the controller depends on the observed jumping parameters, which cannot be precisely measured in real-time because of switching delay. Our results apply to cases where some subsystems of the switched systems are not necessarily stable under the influence of input delay. When the subsystem is stable in the synchronous switching interval and unstable in the asynchronous case, a compromise among the average impulsive interval, the upper bound of delay, and the decay/increasing rate of Lyapunov function in the synchronous/asynchronous switching interval respectively is given. By the mode-dependent parameter approach (MDPA) and allowing the increase of the impulses on all the switching times, the extended FTADS criteria for Itô stochastic impulsive systems in generally nonlinear setting are derived first. Then, we focus on the case when the system in both synchronous and asynchronous switching intervals are unstable. By reaching a tradeoff among average impulsive interval, the upper bound of delay, the magnitude of impulses and the difference between the increasing rate of Lyapunov function in the synchronous and asynchronous switching interval, new sufficient conditions for existence of the state feedback controller are also developed by MDPA. In addition, we consider the effect of different impulsive strengths (harmful and beneficial impulses) and obtained less conservative results because the Lyapunov function may be non-decreasing during switching interval. Moreover, we extend the conclusion from nonlinear stochastic impulsive switching systems to linear case. Finally, we present two examples to illustrate the effectiveness of the results obtained in this study.     

基于马尔可夫随机场的加密二值图像有损压缩算法

尽管当前已有众多二值图像的压缩方法,但这些方法并不能直接应用于加密二值图像的压缩。在云计算、分布式处理等场景下,如何高效地对加密二值图像进行有损压缩仍然是一个挑战,而当前鲜有这方面的研究。针对此问题,提出了一种基于马尔可夫随机场(MRF)的加密二值图像有损压缩算法。该算法用MRF表征二值图像的空域统计特性,进而借助MRF及解压缩还原的像素推断加密二值图像压缩过程中被丢弃的像素。所提算法的发送方采用流密码对二值图像进行加密,云端先后利用分块均匀但块内随机的下抽样方式及低密度奇偶校验(LDPC)编码对加密二值图像进行压缩,接收方则通过构造包含解码、解密及MRF重构的联合因子图实现二值图像的有损重构。实验结果表明,所提算法获得了较好的压缩效率,在0.2~0.4 bpp压缩率时有损重构图像的比特误差率(BER)不超过5%;而与针对未加密原始二值图像的国际压缩标准JBIG2的压缩效率相比,所提算法的压缩效率与其相当。这些充分表明了所提算法的可行性与有效性。