On the facet-to-facet property of solutions to convex parametric quadratic programs

In some of the recently developed algorithms for convex parametric quadratic programs it is implicitly assumed that the intersection of the closures of two adjacent critical regions is a facet of both closures; this will be referred to as the facet-to-facet property. It is shown by an example, whose solution is unique, that the facet-to-facet property does not hold in general. Consequently, some existing algorithms cannot guarantee that the entire parameter space will be explored. A simple modification, applicable to several existing algorithms, is presented for the purpose of overcoming this problem. Numerical results indicate that, compared to the original algorithms for parametric quadratic programs, the proposed method has lower computational complexity for problems whose solutions consist of a large number of critical regions.     

From regional sensitivity to intra-sensitivity for parametric analysis of free-form shapes: Application to ship design

Robust Parametric Sensitivity Analysis (PSA) is a prerequisite for efficient shape optimisation via parametric modelling. A major challenge PSA has to handle is related to the fact that a parameter can be sensitive in certain local areas of the design space but become insensitive in others. Therefore, setting an applicable space for this analysis becomes a difficult task. In this paper, we introduce the concept of intra-sensitivity to identify parameters whose perturbation has a major impact on the sensitivity index of the remaining parameters. For this purpose, we firstly appeal to Active Subspace Method (ASM) and develop an ASM-based regional sensitivity analysis, which investigates parametric sensitivity in local regions of the design space and aids conducing to parameters’ intra-sensitivity. This regional analysis is applied in conjunction with a Dynamic Propagation Sampling approach, for tackling the computational complexity arising when high-dimensional problems are concerned. Once sensitive and intra-sensitive parameters are identified, then free-form features, correlated to these parameters, are evaluated using a feature saliency map built with the aid of Hausdorff distance. The so resulting methodology has been validated in the area of computer-aided ship design using two parametric modellers: the first one is a Procedural Deformation (PD) modeller which is based on T-splines and involves 24 parameters while the second one is based on Free-Form Deformation (FFD) and involves 104 parameters. The corresponding design spaces have been generated using a parent hull close to the KCS container ship and are analysed against hull’s volume of displacement and total resistance. Finally, the convergence performance of the various components of this approach is compared with state-of-the-art techniques.     

Parametric polynomial spectral factorization using the sum of roots and its application to a control design problem

This paper presents an algebraic approach to polynomial spectral factorization, an important mathematical tool in signal processing and control. The approach exploits an intriguing relationship between the theory of Gröbner bases and polynomial spectral factorization which can be observed through the sum of roots, and allows us to perform polynomial spectral factorization in the presence of real parameters. It is discussed that parametric polynomial spectral factorization enables us to express quantities such as the optimal cost in terms of parameters and the sum of roots. Furthermore an optimization method over parameters is suggested that makes use of the results from parametric polynomial spectral factorization and also employs two quantifier elimination techniques. This proposed approach is demonstrated in a numerical example of a particular control problem.     

A procedure for the generation of interval type-2 membership functions from data

This paper proposes a new interval type-2 fuzzy set taking extended π interval type-2 membership function (IT2 MF) as its values, and presents a new procedure for generating a set of extended π IT2 MFs from data for an interval type-2 linguistic variable. An extended π IT2 MF is defined as the min and max of two extended π (type-1 or ordinary) membership functions. The procedure has the following steps: (i) for each interval type-2 linguistic variable, specifying the number of membership functions to be generated, i.e. the granularity level, (ii) choosing two fuzzy exponents to be used, (iii) for each fuzzy exponent, applying the fuzzy c-means variant (FCMV) proposed by Liao et al. [1] to obtain the corresponding centers and membership values, and (iv) carrying out parametric optimization by applying a metaheuristic or a hybrid metaheuristic algorithm to determine the optimal parameters associated with the extended π IT2 MFs so that the mean squared error (MSE) or sum of squared errors (SSE) between the membership values obtained by FCMV and those predicted by the extended π IT2 MFs is minimized. The proposed procedure was illustrated with an example and further tested with iris data and weld data. The effects of using two different interval distance measures and the cluster means obtained by the FCMV as part of the initial solutions in the differential evolution metaheuristic were also investigated and discussed.     

Revisiting timing in process algebra

We shortly review the framework of process algebras with timing presented by Baeten and Middelburg [Handbook of Process Algebra, Elsevier, 2001, Chapter 10]. In order to cover processes that are capable of performing certain actions at all points in some time interval, we add integration to the process algebra with continuous relative timing from this framework. This extension happens to reveal some points that are peculiar to relative timing. We go into these points. The most flagrant point is that, unlike in case of absolute timing, discretization cannot be added to the extension without first adding a mechanism for parametric timing like initial abstraction.     

Optimal sagittal gait with ZMP stability during complete walking cycle for humanoid robots

A parametric method to generate low energy gait for both single and double support phases with zero moment point（ZMP） stability is presented. The ZMP stability condition is expressed as a limit to the actuating torque of the support ankle, and the inverse dynamics of both walking phases is investigated. A parametric optimization method is implemented which approximates joint trajectories by cubic spline functions connected at uniformly distributed time knots and makes optimization parameters only involve finite discrete states describing key postures. Thus, the gait optimization is transformed into an ordinary constrained nonlinear programming problem. The effectiveness of the method is verified through numerical simulations conducted on the humanoid robot THBIP-I model.     

The homotopy model: a generalized model for smooth surface generation from cross sectional data

A generalized model, called the homotopy model, is presented to reconstruct surfaces from cross-sectional data of objects using a homotopy to generate surfaces connecting consecutive contours. The homotopy model consists of continuous toroidal graph representation and homotopic generation of surfaces from the representation. It is shown that the homotopy model includes triangulation as a special case and generates smooth parametric surfaces from contour-line definitions using homotopy. The model can be applied to contours represented by parametric curves as well as linear line segments. First, a heuristic method that finds the optimal path on the toroidal graph is presented. Then the toroidal graph is expanded to a continuous version. Finally, homotopy is used for reconstructing parametric surfaces from the toroidal graph representation. A loft surface is also a special case of homotopy, a straight-line homotopy. Homotopy that corresponds to the cardinal spline surface is also introduced. Three-dimensional surface reconstruction of human auditory surface reconstruction of human auditory ossicles illustrates the advantages of the homotopy model over the others.     

A C-tree decomposition algorithm for 2D and 3D geometric constraint solving

In this paper, we propose a method which can be used to decompose a 2D or 3D constraint problem into a C-tree. With this decomposition, a geometric constraint problem can be reduced into basic merge patterns, which are the smallest problems we need to solve in order to solve the original problem in certain sense. Based on the C-tree decomposition algorithm, we implemented a software package MMP/Geometer. Experimental results show that MMP/Geometer finds the smallest decomposition for all the testing examples efficiently.     

A constructive approach to calculate parameter ranges for systems of geometric constraints

Geometric constraints are at the heart of parametric and feature-based CAD systems. Changing values of geometric constraint parameters is one of the most common operations in such systems. However, because allowable parameter values are not known to the user beforehand, this is often a trial-and-error process. We present an approach for automatically determining the allowable range for parameters of geometric constraints. Considered are systems of distance and angle constraints on points in 3D that can be decomposed into triangular and tetrahedral subproblems, by which most practical situations in parametric and feature-based CAD systems can be represented. Our method uses the decomposition to find critical parameter values for which subproblems degenerate. By solving one problem instance for each interval between two subsequent critical values, the exact parameter range is determined for which a solution exists.     

Algebraically rectifiable parametric curves

Sufficient and necessary conditions for the arc length of a polynomial parametric curve to be an algebraic function of the parameter are formulated. It is shown that if the arc length is algebraic, it is no more complicated than the square root of a polynomial. Polynomial curves that have this property encompass the Pythagorean-hodograph curves—for which the arc length is just a polynomial in the parameter—as a proper subset. The algebraically rectifiable cubics, other than Pythagorean-hodograph curves, constitute a single-parameter family of cuspidal curves. The implications of the general algebraic rectifiability criterion are also completely enumerated in the case of quartics, in terms of their cusps and intrinsic shape freedoms. Finally, the characterization and construction of algebraically rectifiable quintics is briefly sketched. These forms offer a rich repertoire of curvilinear profiles, whose lengths are readily determined without numerical quadrature, for practical design problems.