A logarithmic complexity divide-and-conquer algorithm for multi-flexible-body dynamics including large deformations

A new algorithm is presented for the modeling and simulation of multi-flexible-body systems. This algorithm is built upon a divide-and-conquer-based multibody dynamics framework, and it is capable of handling arbitrary large rotations and deformations in articulated flexible bodies. As such, this work extends the current capabilities of the flexible divide-and-conquer algorithm (Mukherjee and Anderson in Comput. Nonlinear Dyn. 2(1):10–21, 2007), which is limited to the use of assumed modes in a floating frame of reference configuration. The present algorithm utilizes the existing finite element modeling techniques to construct the equations of motion at the element level, as well as at the body level. It is demonstrated that these equations can be assembled and solved using a divide-and-conquer type methodology. In this respect, the new algorithm is applied using the absolute nodal coordinate formulation (ANCF) (Shabana, 1996). The ANCF is selected because of its straightforward implementation and effectiveness in modeling large deformations. It is demonstrated that the present algorithm provides an efficient and robust method for modeling multi-flexible-body systems that employ highly deformable bodies. The new algorithm is tested using three example systems employing deformable bodies in two and three spatial dimensions. The current examples are limited to the ANCF line or cable elements, but the approach may be extended to higher order elements. In its basic form, the divide-and-conquer algorithm is time and processor optimal, yielding logarithmic complexity O(log(N _b )) when implemented using O(N _b ) processors, where N _b is the number of bodies in the system.     

E-ARK: Harmony of Social/Cultural Records Across Europe

E-ARK (European Archiving of Records and Knowledge Preservation) is currently introducing standardization, new tools, and infrastructure into pan-European digital archival systems. The results of this pilot project can be applied to higher education where research data centers are required to preserve data for re-use in accordance with new open policies.

We elucidate how the E-ARK best practice survey has informed the development of new information packages for ingest, preservation, and re-use, and show how these can be applied to the Arts, Humanities, and Social Sciences with practical exemplars such as census data.     

Archival Appraisal and the Digital Record: Applying Past Tradition for Future Practice

The digital revolution has changed the daily work of archivists. As a result, archivists have refined their analog practices and initiated new ones to accommodate the unique information creation and access needs of users. While limitless storage and technological obsolescence may be surmountable challenges, appraisal continues to be a necessary component of this preservation enterprise. Macro-appraisal—a top-down functional assessment of an organization’s high-level decision making that defines the enduring value of specific bodies of documentary evidence of these creative or administrative processes—is used to facilitate the management of diverse bodies of born-digital records in archives and special collections.     

Safe Autonomous Agent Formation Operations Via Obstacle Collision Avoidance

In this paper, we consider the problem of flocking and shape‐orientation control of multi‐agent systems with inter‐agent and obstacle collision avoidance. We first consider the problem of forcing a set of autonomous agents to form a desired formation shape and orientation while avoiding inter‐agent collision and collision with convex obstacles, and following a trajectory known to only one of the agents, namely the leader of the formation. Then we build upon the solution given to this problem and solve the problem of guaranteeing obstacle collision avoidance by changing the size and the orientation of the formation. Changing the size and the orientation of the formation is helpful when the agents want to go through a narrow passage while the existing size or orientation of the formation does not allow this. We also propose collision avoidance algorithms that temporarily change the shape of the formation to avoid collision with stationary or moving nonconvex obstacles. Simulation results are presented to show the performance of the proposed control laws.     

An extended divide-and-conquer algorithm for a generalized class of multibody constraints

An extension to the divide-and-conquer algorithm (DCA) is presented in this paper to model constrained multibody systems. The constraints of interest are those applied to the system due to the inverse dynamics or control laws rather than the kinematically closed loops which have been studied in the literature. These imposed constraints are often expressed in terms of the generalized coordinates and speeds. A set of unknown generalized constraint forces must be considered in the equations of motion to enforce these algebraic constraints. In this paper dynamics of this class of multibody constrained systems is formulated using a Generalized-DCA. In this scheme, introducing dynamically equivalent forcing systems, each generalized constraint force is replaced by its dynamically equivalent spatial constraint force applied from the appropriate parent body to the associated child body at the connecting joint without violating the dynamics of the original system. The handle equations of motion are then formulated considering these dynamically equivalent spatial constraint forces. These equations in the GDCA scheme are used in the assembly and disassembly processes to solve for the states of the system, as well as the generalized constraint forces and/or Lagrange multipliers.     

Spectroscopic Multicomponent Analysis Using Multi-objective Optimization for Variable Selection

The multiple determination tasks of chemical properties are a classical problem in analytical chemistry. The major problem is concerned in to find the best subset of variables that better represents the compounds. These variables are obtained by a spectrophotometer device. This device measures hundreds of correlated variables related with physicocbemical properties and that can be used to estimate the component of interest. The problem is the selection of a subset of informative and uncorrelated variables that help the minimization of prediction error. Classical algorithms select a subset of variables for each compound considered. In this work we propose the use of the SPEA-II （strength Pareto evolutionary algorithm II）. We would like to show that the variable selection algorithm can selected just one subset used for multiple determinations using multiple linear regressions. For the case study is used wheat data obtained by NIR （near-infrared spectroscopy） spectrometry where the objective is the determination of a variable subgroup with information about E protein content （%）, test weight （Kg/HI）, WKT （wheat kernel texture） （%） and farinograph water absorption （%）. The results of traditional techniques of multivariate calibration as the SPA （successive projections algorithm）, PLS （partial least square） and mono-objective genetic algorithm are presents for comparisons. For NIR spectral analysis of protein concentration on wheat, the number of variables selected from 775 spectral variables was reduced for just 10 in the SPEA-II algorithm. The prediction error decreased from 0.2 in the classical methods to 0.09 in proposed approach, a reduction of 37%. The model using variables selected by SPEA-II had better prediction performance than classical algorithms and full-spectrum partial least-squares.     

Sensitivity of juvenile salmonid growth to future climate trends

Seasonal temperature and bioenergetic models were coupled to explore the impacts on juvenile salmonid growth of possible climate‐induced changes to mean annual water temperature and snowpack in four characteristic ecoregions. Increasing mean temperature increases juvenile growth in streams that currently experience cool spring temperatures. In streams with currently warm spring temperatures, an increase shortens the duration of optimal conditions and truncates growth. A loss of snow enhances growth in cool‐summer streams and decreases growth in warm‐summer streams. The relative impacts of such climate change trends will vary significantly across ecoregions. Copyright © 2010 John Wiley & Sons, Ltd.     

Caustic Forecasting: Unbiased Estimation of Caustic Lighting for Global Illumination

We present an unbiased method for generating caustic lighting using importance sampled Path Tracing with Caustic Forecasting. Our technique is part of a straightforward rendering scheme which extends the Illumination by Weak Singularities method to allow for fully unbiased global illumination with rapid convergence. A photon shooting preprocess, similar to that used in Photon Mapping, generates photons that interact with specular geometry. These photons are then clustered, effectively dividing the scene into regions which will contribute similar amounts of caustic lighting to the image. Finally, the photons are stored into spatial data structures associated with each cluster, and the clusters themselves are organized into a spatial data structure for fast searching. During rendering we use clusters to decide the caustic energy importance of a region, and use the local photons to aid in importance sampling, effectively reducing the number of samples required to capture caustic lighting.     

Asimov’s “three laws of robotics” and machine metaethics

Using Asimov’s “Bicentennial Man” as a springboard, a number of metaethical issues concerning the emerging field of machine ethics are discussed. Although the ultimate goal of machine ethics is to create autonomous ethical machines, this presents a number of challenges. A good way to begin the task of making ethics computable is to create a program that enables a machine to act an ethical advisor to human beings. This project, unlike creating an autonomous ethical machine, will not require that we make a judgment about the ethical status of the machine itself, a judgment that will be particularly difficult to make. Finally, it is argued that Asimov’s “three laws of robotics” are an unsatisfactory basis for machine ethics, regardless of the status of the machine.

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Addressing agent loss in vehicle formations and sensor networks

In this paper, we address the problem of agent loss in vehicle formations and sensor networks via two separate approaches: (1) perform a ‘self‐repair’ operation in the event of agent loss to recover desirable information architecture properties or (2) introduce robustness into the information architecture a priori such that agent loss does not destroy desirable properties. We model the information architecture as a graph G(V, E), where V is a set of vertices representing the agents and E is a set of edges representing information flow amongst the agents. We focus on two properties of the graph called rigidity and global rigidity, which are required for formation shape maintenance and sensor network self‐localization, respectively. For the self‐repair approach, we show that while previous results permit local repair involving only neighbours of the lost agent, the repair cannot always be implemented using only local information. We present new results that can be applied to make the local repair using only local information. We describe implementation and illustrate with algorithms and examples. For the robustness approach, we investigate the structure of graphs with the property that rigidity or global rigidity is preserved after removing any single vertex (we call the property as 2‐vertex‐rigidity or 2‐vertex‐global‐rigidity, respectively). Information architectures with such properties would allow formation shape maintenance or self‐localization to be performed even in the event of agent failure. We review a characterization of a class of 2‐vertex‐rigidity and develop a separate class, making significant strides towards a complete characterization. We also present a characterization of a class of 2‐vertex‐global‐rigidity. Copyright © 2008 John Wiley & Sons, Ltd.