Moving loads on flexible structures presented in the floating frame of reference formulation

The introduction of moving loads in the Floating Frame of Reference Formulation is presented. We derive the kinematics and governing equations of motion of a general flexible multibody system and their extension to moving loads. The equivalence of convective effects with Coriolis and centripetal forces is shown. These effects are measured numerically and their significance in moving loads traveling at high speed is confirmed. A method is presented to handle discontinuities when moving loads separate from the flexible structure. The method is extended from beam models to general flexible structures obtained by means of the Finite Element Method. An interpolation method for the deformation field of the modal representation of these bodies is introduced.The work is concluded by application of the method to modern mechanical problems in numerical simulations.     

Singularity-free time integration of rotational quaternions using non-redundant ordinary differential equations

A novel ODE time stepping scheme for solving rotational kinematics in terms of unit quaternions is presented in the paper. This scheme inherently respects the unit-length condition without including it explicitly as a constraint equation, as it is common practice. In the standard algorithms, the unit-length condition is included as an additional equation leading to kinematical equations in the form of a system of differential-algebraic equations (DAEs). On the contrary, the proposed method is based on numerical integration of the kinematic relations in terms of the instantaneous rotation vector that form a system of ordinary differential equations (ODEs) on the Lie algebra \(\mathit{so}(3)\) of the rotation group \(\mathit{SO}(3)\). This rotation vector defines an incremental rotation (and thus the associated incremental unit quaternion), and the rotation update is determined by the exponential mapping on the quaternion group. Since the kinematic ODE on \(\mathit{so}(3)\) can be solved by using any standard (possibly higher-order) ODE integration scheme, the proposed method yields a non-redundant integration algorithm for the rotational kinematics in terms of unit quaternions, avoiding integration of DAE equations. Besides being ‘more elegant’—in the opinion of the authors—this integration procedure also exhibits numerical advantages in terms of better accuracy when longer integration steps are applied during simulation. As presented in the paper, the numerical integration of three non-linear ODEs in terms of the rotation vector as canonical coordinates achieves a higher accuracy compared to integrating the four (linear in ODE part) standard-quaternion DAE system. In summary, this paper solves the long-standing problem of the necessity of imposing the unit-length constraint equation during integration of quaternions, i.e. the need to deal with DAE’s in the context of such kinematical model, which has been a major drawback of using quaternions, and a numerical scheme is presented that also allows for longer integration steps during kinematic reconstruction of large three-dimensional rotations.     

Formation control of underactuated bio-inspired snake robots

This paper considers formation control of snake robots. In particular, based on a simplified locomotion model, and using the method of virtual holonomic constraints, we control the body shape of the robot to a desired gait pattern defined by some pre-specified constraint functions. These functions are dynamic in that they depend on the state variables of two compensators which are used to control the orientation and planar position of the robot, making this a dynamic maneuvering control strategy. Furthermore, using a formation control strategy we make the multi-agent system converge to and keep a desired geometric formation, and enforce the formation follow a desired straight line path with a given speed profile. Specifically, we use the proposed maneuvering controller to solve the formation control problem for a group of snake robots by synchronizing the commanded velocities of the robots. Simulation results are presented which illustrate the successful performance of the theoretical approach.     

Automatisches Sicherheitstesten

Moderne Testgeneratoren finden Schwachstellen in Eingabeschnittstellen von Programmen, indem sie in Sekunden tausende Eingaben zufällig erzeugen. Die Werkzeuge lassen sich leicht von jedermann einsetzen–zum Angriff oder zur Verteidigung.     

3D interactive topology optimization on hand-held devices

This educational paper describes the implementation aspects, user interface design considerations and workflow potential of the recently published TopOpt 3D App. The app solves the standard minimum compliance problem in 3D and allows the user to change design settings interactively at any point in time during the optimization. Apart from its educational nature, the app may point towards future ways of performing industrial design. Instead of the usual geometrize, then model and optimize approach, the geometry now automatically adapts to the varying boundary and loading conditions. The app is freely available for iOS at Apple’s App Store and at http://www.topopt.dtu.dk/TopOpt3D for Windows and OSX.     

Mixing matrix estimation using discriminative clustering for blind source separation

Mixing matrix estimation in instantaneous blind source separation (BSS) can be performed by exploiting the sparsity and disjoint orthogonality of source signals. As a result, approaches for estimating the unknown mixing process typically employ clustering algorithms on the mixtures in a parametric domain, where the signals can be sparsely represented. In this paper, we propose two algorithms to perform discriminative clustering of the mixture signals for estimating the mixing matrix. For the case of overdetermined BSS, we develop an algorithm to perform linear discriminant analysis based on similarity measures and combine it with K-hyperline clustering. Furthermore, we propose to perform discriminative clustering in a high-dimensional feature space obtained by an implicit mapping, using the kernel trick, for the case of underdetermined source separation. Using simulations on synthetic data, we demonstrate the improvements in mixing matrix estimation performance obtained using the proposed algorithms in comparison to other clustering methods. Finally we perform mixing matrix estimation from speech mixtures, by clustering single source points in the time-frequency domain, and show that the proposed algorithms achieve higher signal to interference ratio when compared to other baseline algorithms.     

Generic visual analysis for multi- and hyperspectral image data

Multi- and hyperspectral imaging and data analysis has been investigated in the last decades in the context of various fields of application like remote sensing or microscopic spectroscopy. However, recent developments in sensor technology and a growing number of application areas require a more generic view on data analysis, that clearly expands the current, domain-specific approaches. In this context, we address the problem of interactive exploration of multi- and hyperspectral data, consisting of (semi-)automatic data analysis and scientific visualization in a comprehensive fashion. In this paper, we propose an approach that enables a generic interactive exploration and easy segmentation of multi- and hyperspectral data, based on characterizing spectra of an individual dataset, the so-called endmembers. Using the concepts of existing endmember extraction algorithms, we derive a visual analysis system, where the characteristic spectra initially identified serve as input to interactively tailor a problem-specific visual analysis by means of visual exploration. An optional outlier detection improves the robustness of the endmember detection and analysis. An adequate system feedback of the costly unmixing procedure for the spectral data with respect to the current set of endmembers is ensured by a novel technique for progressive unmixing and view update which is applied at user modification. The progressive unmixing is based on an efficient prediction scheme applied to previous unmixing results. We present a detailed evaluation of our system in terms of confocal Raman microscopy, common multispectral imaging and remote sensing.     

Spatial inverse query processing

Traditional spatial queries return, for a given query object q, all database objects that satisfy a given predicate, such as epsilon range and k-nearest neighbors. This paper defines and studies inverse spatial queries, which, given a subset of database objects Q and a query predicate, return all objects which, if used as query objects with the predicate, contain Q in their result. We first show a straightforward solution for answering inverse spatial queries for any query predicate. Then, we propose a filter-and-refinement framework that can be used to improve efficiency. We show how to apply this framework on a variety of inverse queries, using appropriate space pruning strategies. In particular, we propose solutions for inverse epsilon range queries, inverse k-nearest neighbor queries, and inverse skyline queries. Furthermore, we show how to relax the definition of inverse queries in order to ensure non-empty result sets. Our experiments show that our framework is significantly more efficient than naive approaches.     

Robustness of an aerobic metabolically vinyl chloride degrading bacterial enrichment culture

Degradation of the lower chlorinated ethenes is crucial to the application of natural attenuation or in situ bioremediation on chlorinated ethene contaminated sites. Recently, within mixtures of several chloroethenes as they can occur in contaminated groundwater inhibiting effects on aerobic chloroethene degradation have been shown. The current study demonstrated that metabolic vinyl chloride (VC) degradation by an enrichment culture originating from groundwater was not affected by an equimolar concentration (50 μM) of cis-1,2-dichloroethene (cDCE). Only cDCE concentrations at a ratio of 2.4:1 (initial cDCE to VC concentration) caused minor inhibition of VC degradation. Furthermore, the degradation of VC was not affected by the presence of trans-1,2-dichloroethene (tDCE), 1,1-dichloroethene (1,1-DCE), trichloroethene (TCE), and tetrachloroethene (PCE) in equimolar concentrations (50 μM). Only cDCE and tDCE were cometabolically degraded in small amounts. The VC-degrading culture demonstrated a broad pH tolerance from 5 to 9 with an optimum between 6 and 7. Results also showed that the culture could degrade VC concentrations up to 1,800 μM (110 mg/L).     

Examining the dimensionality of genuine multipartite entanglement

Entanglement in high-dimensional many-body systems plays an increasingly vital role in the foundations and applications of quantum physics. In the present paper, we introduce a theoretical concept which allows to categorize multipartite states by the number of degrees of freedom being entangled. In this regard, we derive computable and experimentally friendly criteria for arbitrary multipartite qudit systems that enable to examine in how many degrees of freedom a mixed state is genuine multipartite entangled.