Model validation and model structure determination

This paper gives a tutorial overview of basic approaches for model validation and model structure determination.Work partially supported by the Swedish Research Council for Engineering Sciences under contract 98-654.     

Higher Order Barycentric Coordinates

In recent years, a wide range of generalized barycentric coordinates has been suggested. However, all of them lack control over derivatives. We show how the notion of barycentric coordinates can be extended to specify derivatives at control points. This is also known as Hermite interpolation. We introduce a method to modify existing barycentric coordinates to higher order barycentric coordinates and demonstrate, using higher order mean value coordinates, that our method, although conceptually simple and easy to implement, can be used to give easy and intuitive control at interactive frame rates over local space deformations such as rotations.     

Issues in nonlinear stochastic grey box identification

Grey box identification refers to the practice of identifying dynamical systems in model structures exploiting partial prior information. This contribution reviews a method for stochastic grey box identification and surveys experiences and lessons of applying it to a number of industrial processes. Issues to be addressed include advantages and costs of introducing stochastics into the model, the question of what contribution must be expected from the model designer as opposed to what can be formalized in computer algorithms, and an outlook on future plans to resolve present shortcomings.     

Efficient reconstruction from non-uniform point sets

We propose a method for non-uniform reconstruction of 3D scalar data. Typically, radial basis functions, trigonometric polynomials or shift-invariant functions are used in the functional approximation of 3D data. We adopt a variational approach for the reconstruction and rendering of 3D data. The principle idea is based on data fitting via thin-plate splines. An approximation by B-splines offers more compact support for fast reconstruction. We adopt this method for large datasets by introducing a block-based reconstruction approach. This makes the method practical for large datasets. Our reconstruction will be smooth across blocks. We give reconstruction measurements as error estimations based on different parameter settings and also an insight on the computational effort. We show that the block size used in reconstruction has a negligible effect on the reconstruction error. Finally we show rendering results to emphasize the quality of this 3D reconstruction technique.     

A GRL-compliant iStar extension for collaborative cyber-physical systems

Requirements Engineering - Collaborative cyber-physical systems are capable of forming networks at runtime to achieve goals that are unachievable for individual systems. They do so by connecting to...     

Near-Surface Deformation in an Alumina–Silicon Carbide-Whisker Composite due to Surface Machining

Deformation due to two different surface-machining conditions—grinding (126 μm diamond) and polishing (3 μm diamond)—in an uniaxial hot-pressed Al₂O₃–30%-SiC-whisker composite has been investigated. A Warren–Averbach analysis of grazing incidence X-ray diffractometry data shows that the deformation is localized to the very top surface zone. The cell size and the root mean square of the strain show a gradient in the deformed layer. Transmission electron microscopy studies, in cross-sectional view, also show a near-surface deformation zone containing dislocations, twins, and cracks. This is seen for both machining procedures, but the depth of the zone and the degree of deformation, in terms of dislocation density and number of cracks, is much higher in the roughly ground specimen than in the polished one. For comparison, a monolithic Al₂O₃ sample also has been studied after grinding. The deformation zone is very similar to the Al₂O₃–SiC sample with the same grinding condition, but cracks and dislocations are present at a slightly larger depth. The deformation depth for the polished Al₂O₃–SiC sample is ∼50 nm. In the ground Al₂O₃–SiC sample, the deformation depth is 1–1.5 μm and corresponds to the grain size. The deformation zone in the ground monolithic Al₂O₃ sample is 1.5–2 μm deep. The observed grain-boundary cracks are almost parallel to the surface and may originate from nonaccommodated plastic flow between grains.     

Dependable Low‐altitude Obstacle Avoidance for Robotic Helicopters Operating in Rural Areas

This paper presents a system enabling robotic helicopters to fly safely without user interaction at low altitude over unknown terrain with static obstacles. The system includes a novel reactive behavior‐based method that guides rotorcraft reliably to specified locations in sparsely occupied environments. System dependability is, among other things, achieved by utilizing proven system components in a component‐based design and incorporating safety margins and safety modes. Obstacle and terrain detection is based on a vertically mounted off‐the‐shelf two‐dimensional LIDAR system. We introduce two flight modes, pirouette descent and waggle cruise, which extend the field of view of the sensor by yawing the aircraft. The two flight modes ensure that all obstacles above a minimum size are detected in the direction of travel. The proposed system is designed for robotic helicopters with velocity and yaw control inputs and a navigation system that provides position, velocity, and attitude information. It is cost effective and can be easily implemented on a variety of helicopters of different sizes. We provide sufficient detail to facilitate the implementation on single‐rotor helicopters with a rotor diameter of approximately 1.8 m. The system was extensively flight‐tested in different real‐world scenarios in Queensland, Australia. The tests included flights beyond visual range without a backup pilot. Experimental results show that it is feasible to perform dependable autonomous flight using simple but effective methods. © 2013 Wiley Periodicals, Inc.     

The Lattice-Boltzmann Method on Optimal Sampling Lattices

In this paper, we extend the single relaxation time Lattice-Boltzmann Method (LBM) to the 3D body-centered cubic (BCC) lattice. We show that the D3bQ15 lattice defined by a 15 neighborhood connectivity of the BCC lattice is not only capable of more accurately discretizing the velocity space of the continuous Boltzmann equation as compared to the D3Q15 Cartesian lattice, it also achieves a comparable spatial discretization with 30 percent less samples. We validate the accuracy of our proposed lattice by investigating its performance on the 3D lid-driven cavity flow problem and show that the D3bQ15 lattice offers significant cost savings while maintaining a comparable accuracy. We demonstrate the efficiency of our method and the impact on graphics and visualization techniques via the application of line-integral convolution on 2D slices as well as the extraction of streamlines of the 3D flow. We further study the benefits of our proposed lattice by applying it to the problem of simulating smoke and show that the D3bQ15 lattice yields more detail and turbulence at a reduced computational cost.