Search results for: the numerical simulation
3015 Robust BIBO Stabilization Analysis for Discrete-time Uncertain System
Authors: Zixin Liu, Shu Lü, Shouming Zhong, Mao Ye
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The discrete-time uncertain system with time delay is investigated for bounded input bounded output (BIBO). By constructing an augmented Lyapunov function, three different sufficient conditions are established for BIBO stabilization. These conditions are expressed in the form of linear matrix inequalities (LMIs), whose feasibility can be easily checked by using Matlab LMI Toolbox. Two numerical examples are provided to demonstrate the effectiveness of the derived results.
Keywords: Robust BIBO stabilization, delay-dependent stabilization, discrete-time system, time delay.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 15893014 The Performance Analysis of CSS-based Communication Systems in the Jamming Environment
Authors: Youngpo Lee, Sanghun Kim, Youngyoon Lee, Seokho Yoon
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Due to its capability to resist jamming signals, chirp spread spectrum (CSS) technique has attracted much attention in the area of wireless communications. However, there has been little rigorous analysis for the performance of the CSS communication system in jamming environments. In this paper, we present analytic results on the performance of a CSS system by deriving symbol error rate (SER) expressions for a CSS M-ary phase shift keying (MPSK) system in the presence of broadband and tone jamming signals, respectively. The numerical results show that the empirical SER closely agrees with the analytic result.Keywords: CSS, DM, jamming, broadband jamming, tone jamming.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 16403013 Two Fourth-order Iterative Methods Based on Continued Fraction for Root-finding Problems
Authors: Shengfeng Li, Rujing Wang
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In this paper, we present two new one-step iterative methods based on Thiele-s continued fraction for solving nonlinear equations. By applying the truncated Thiele-s continued fraction twice, the iterative methods are obtained respectively. Analysis of convergence shows that the new methods are fourth-order convergent. Numerical tests verifying the theory are given and based on the methods, two new one-step iterations are developed.Keywords: Iterative method, Fixed-point iteration, Thiele's continued fraction, Order of convergence.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 18813012 Holistic Approach to Assess the Potential of Using Traditional and Advance Insulation Materials for Energy Retrofit of Office Buildings
Authors: Marco Picco, Mahmood Alam
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Improving the energy performance of existing buildings can be challenging, particularly when facades cannot be modified, and the only available option is internal insulation. In such cases, the choice of the most suitable material becomes increasingly complex, as in addition to thermal transmittance and capital cost, the designer needs to account for the impact of the intervention on the internal spaces, and in particular the loss of usable space due to the additional layers of materials installed. This paper explores this issue by analyzing a case study of an average office building needing to go through a refurbishment in order to reach the limits imposed by current regulations to achieve energy efficiency in buildings. The building is simulated through dynamic performance simulation under three different climate conditions in order to evaluate its energy needs. The use of Vacuum Insulated Panels as an option for energy refurbishment is compared to traditional insulation materials (XPS, Mineral Wool). For each scenario, energy consumptions are calculated and, in combination with their expected capital costs, used to perform a financial feasibility analysis. A holistic approach is proposed, taking into account the impact of the intervention on internal space by quantifying the value of the lost usable space and used in the financial feasibility analysis. The proposed approach highlights how taking into account different drivers will lead to the choice of different insulation materials, showing how accounting for the economic value of space can make VIPs an attractive solution for energy retrofitting under various climate conditions.
Keywords: Vacuum insulated panels, building performance simulation, payback period, building energy retrofit.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 5213011 Insertion of Thiazolidinediones into Carbon Nanotube
Authors: Behnoush Zare, Mojdeh Akhavan, Ahmad Reza Dehpour
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In this study we investigate the insertion of pioglitazone, a Thiazolidinedione, into the two different sizes of Carbon nanotub. It was shown that the insertion of pioglitazone into the carbon nanotube in a water solute environment could be related to the diameter of the nanotube and in the flow of the waters via hydrophilic interactions. This encapsulated drug-carbon nanotube molecule can be further applicable in other investigations in target therapy with these agents regarding to reduce their potential toxic effects.Keywords: Carbon Nanotube, MD Simulation, Thiazolidinedions
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 18263010 A Study of Shear Stress Intensity Factor of PP and HDPE by a Modified Experimental Method together with FEM
Authors: Md. Shafiqul Islam, Abdullah Khan, Sharon Kao-Walter, Li Jian
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Shear testing is one of the most complex testing areas where available methods and specimen geometries are different from each other. Therefore, a modified shear test specimen (MSTS) combining the simple uniaxial test with a zone of interest (ZOI) is tested which gives almost the pure shear. In this study, material parameters of polypropylene (PP) and high density polyethylene (HDPE) are first measured by tensile tests with a dogbone shaped specimen. These parameters are then used as an input for the finite element analysis. Secondly, a specially designed specimen (MSTS) is used to perform the shear stress tests in a tensile testing machine to get the results in terms of forces and extension, crack initiation etc. Scanning Electron Microscopy (SEM) is also performed on the shear fracture surface to find material behavior. These experiments are then simulated by finite element method and compared with the experimental results in order to confirm the simulation model. Shear stress state is inspected to find the usability of the proposed shear specimen. Finally, a geometry correction factor can be established for these two materials in this specific loading and geometry with notch using Linear Elastic Fracture Mechanics (LEFM). By these results, strain energy of shear failure and stress intensity factor (SIF) of shear of these two polymers are discussed in the special application of the screw cap opening of the medical or food packages with a temper evidence safety solution.
Keywords: Shear test specimen, Stress intensity factor, Finite Element simulation, Scanning electron microscopy, Screw cap opening.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 29233009 Some Results on New Preconditioned Generalized Mixed-Type Splitting Iterative Methods
Authors: Guangbin Wang, Fuping Tan, Deyu Sun
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In this paper, we present new preconditioned generalized mixed-type splitting (GMTS) methods for solving weighted linear least square problems. We compare the spectral radii of the iteration matrices of the preconditioned and the original methods. The comparison results show that the preconditioned GMTS methods converge faster than the GMTS method whenever the GMTS method is convergent. Finally, we give a numerical example to confirm our theoretical results.
Keywords: Preconditioned, GMTS method, linear system, convergence, comparison.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 14443008 The Use of Minor Setups in an EPQ Model with Constrained Production Period Length
Authors: Behrouz Afshar Nadjafi
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Extensive research has been devoted to economic production quantity (EPQ) problem. However, no attention has been paid to problems where production period length is constrained. In this paper, we address the problem of deciding the optimal production quantity and the number of minor setups within each cycle, in which, production period length is constrained but a minor setup is possible for pass the constraint. A mathematical model is developed and Iterated Local Search (ILS) is proposed to solve this problem. Finally, solution procedure illustrated with a numerical example and results are analyzed.Keywords: EPQ, Inventory control, minor setup, ILS.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 13463007 New PTH Moment Stable Criteria of Stochastic Neural Networks
Authors: Zixin Liu, Huawei Yang, Fangwei Chen
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In this paper, the issue of pth moment stability of a class of stochastic neural networks with mixed delays is investigated. By establishing two integro-differential inequalities, some new sufficient conditions ensuring pth moment exponential stability are obtained. Compared with some previous publications, our results generalize some earlier works reported in the literature, and remove some strict constraints of time delays and kernel functions. Two numerical examples are presented to illustrate the validity of the main results.
Keywords: Neural networks, stochastic, PTH moment stable, time varying delays, distributed delays.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 14693006 Efficient Study of Substrate Integrated Waveguide Devices
Authors: J. Hajri, H. Hrizi, N. Sboui, H. Baudrand
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This paper presents a study of SIW circuits (Substrate Integrated Waveguide) with a rigorous and fast original approach based on Iterative process (WCIP). The theoretical suggested study is validated by the simulation of two different examples of SIW circuits. The obtained results are in good agreement with those of measurement and with software HFSS.
Keywords: Convergence study, HFSS, Modal decomposition, SIW Circuits, WCIP Method.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 20263005 Reliability-Based Life-Cycle Cost Model for Engineering Systems
Authors: Reza Lotfalian, Sudarshan Martins, Peter Radziszewski
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The effect of reliability on life-cycle cost, including initial and maintenance cost of a system is studied. The failure probability of a component is used to calculate the average maintenance cost during the operation cycle of the component. The standard deviation of the life-cycle cost is also calculated as an error measure for the average life-cycle cost. As a numerical example, the model is used to study the average life-cycle cost of an electric motor.
Keywords: Initial Cost, Life-cycle cost, Maintenance Cost, Reliability.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 22153004 An Asymptotic Solution for the Free Boundary Parabolic Equations
Authors: Hsuan-Ku Liu, Ming Long Liu
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In this paper, we investigate the solution of a two dimensional parabolic free boundary problem. The free boundary of this problem is modelled as a nonlinear integral equation (IE). For this integral equation, we propose an asymptotic solution as time is near to maturity and develop an integral iterative method. The computational results reveal that our asymptotic solution is very close to the numerical solution as time is near to maturity.
Keywords: Integral equation, asymptotic solution, free boundary problem, American exchange option.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 14723003 Sliding Mode Control of a Bus Suspension System
Authors: Mujde Turkkan, Nurkan Yagiz
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The vibrations, caused by the irregularities of the road surface, are to be suppressed via suspension systems. In this paper, sliding mode control for a half bus model with air suspension system is presented. The bus is modelled as five degrees of freedom (DoF) system. The mathematical model of the half bus is developed using Lagrange Equations. For time domain analysis, the bus model is assumed to travel at certain speed over the bump road. The numerical results of the analysis indicate that the sliding mode controllers can be effectively used to suppress the vibrations and to improve the ride comfort of the busses.
Keywords: Sliding mode control, bus model, air suspension.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 17693002 New Delay-dependent Stability Conditions for Neutral Systems with Nonlinear Perturbations
Authors: Lianglin Xiong, Xiuyong Ding, Shouming Zhong
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In this paper, the problem of asymptotical stability of neutral systems with nonlinear perturbations is investigated. Based on a class of novel augment Lyapunov functionals which contain freeweighting matrices, some new delay-dependent asymptotical stability criteria are formulated in terms of linear matrix inequalities (LMIs) by using new inequality analysis technique. Numerical examples are given to demonstrate the derived condition are much less conservative than those given in the literature.
Keywords: Asymptotical stability, neutral system, nonlinear perturbation, delay-dependent, linear matrix inequality (LMI).
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 15203001 A Time-Reducible Approach to Compute Determinant |I-X|
Authors: Wang Xingbo
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Computation of determinant in the form |I-X| is primary and fundamental because it can help to compute many other determinants. This article puts forward a time-reducible approach to compute determinant |I-X|. The approach is derived from the Newton’s identity and its time complexity is no more than that to compute the eigenvalues of the square matrix X. Mathematical deductions and numerical example are presented in detail for the approach. By comparison with classical approaches the new approach is proved to be superior to the classical ones and it can naturally reduce the computational time with the improvement of efficiency to compute eigenvalues of the square matrix.Keywords: Algorithm, determinant, computation, eigenvalue, time complexity.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 11543000 Reliable Consensus Problem for Multi-Agent Systems with Sampled-Data
Authors: S. H. Lee, M. J. Park, O. M. Kwon
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In this paper, reliable consensus of multi-agent systems with sampled-data is investigated. By using a suitable Lyapunov-Krasovskii functional and some techniques such as Wirtinger Inequality, Schur Complement and Kronecker Product, the results of such system are obtained by solving a set of Linear Matrix Inequalities (LMIs). One numerical example is included to show the effectiveness of the proposed criteria.
Keywords: Multi-agent, Linear Matrix Inequalities (LMIs), Kronecker Product, Sampled-Data, Lyapunov method.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 17422999 Error Propagation in the RK5GL3 Method
Authors: J.S.C. Prentice
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The RK5GL3 method is a numerical method for solving initial value problems in ordinary differential equations, and is based on a combination of a fifth-order Runge-Kutta method and 3-point Gauss-Legendre quadrature. In this paper we describe the propagation of local errors in this method, and show that the global order of RK5GL3 is expected to be six, one better than the underlying Runge- Kutta method.Keywords: RK5GL3, RKrGLm, Runge-Kutta, Gauss-Legendre, initial value problem, order, local error, global error.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 12102998 Accuracy of Peak Demand Estimates for Office Buildings Using eQUEST
Authors: Mahdiyeh Zafaranchi, Ethan S. Cantor, William T. Riddell, Jess W. Everett
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The New Jersey Department of Military and Veteran’s Affairs (NJ DMAVA) operates over 50 facilities throughout the state of New Jersey, US. NJ DMAVA is under a mandate to move toward decarbonization, which will eventually include eliminating the use of natural gas and other fossil fuels for heating. At the same time, the organization requires increased resiliency regarding electric grid disruption. These competing goals necessitate adopting the use of on-site renewables such as photovoltaic and geothermal power, as well as implementing power control strategies through microgrids. Planning for these changes requires a detailed understanding of current and future electricity use on yearly, monthly, and shorter time scales, as well as a breakdown of consumption by heating, ventilation, and air conditioning (HVAC) equipment. This paper discusses case studies of two buildings that were simulated using the QUick Energy Simulation Tool (eQUEST). Both buildings use electricity from the grid and photovoltaics. One building also uses natural gas. While electricity use data are available in hourly intervals and natural gas data are available in monthly intervals, the simulations were developed using monthly and yearly totals. This approach was chosen to reflect the information available for most NJ DMAVA facilities. Once completed, simulation results are compared to metrics recommended by several organizations to validate energy use simulations. In addition to yearly and monthly totals, the simulated peak demands are compared to actual monthly peak demand values. The simulations resulted in monthly peak demand values that were within 30% of the measured values. These benchmarks will help to assess future energy planning efforts for NJ DMAVA.
Keywords: Building Energy Modeling, eQUEST, peak demand, smart meters.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1772997 An Iterative Method for the Least-squares Symmetric Solution of AXB+CYD=F and its Application
Authors: Minghui Wang
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Based on the classical algorithm LSQR for solving (unconstrained) LS problem, an iterative method is proposed for the least-squares like-minimum-norm symmetric solution of AXB+CYD=E. As the application of this algorithm, an iterative method for the least-squares like-minimum-norm biymmetric solution of AXB=E is also obtained. Numerical results are reported that show the efficiency of the proposed methods.
Keywords: Matrix equation, bisymmetric matrix, least squares problem, like-minimum norm, iterative algorithm.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 14882996 Heat Transfer from Two Cam Shaped Cylinders in Side-by-Side Arrangement
Authors: Arash Mir Abdolah Lavasani, Hamidreza Bayat
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Heat transfer from two cam shape cylinder in side-byside arrangement had been studied numerically. The transverse gap between the centers of cylinders (T) is allowed to vary to change the pitch ratio (T/Deq). The equivalent diameter of the cylinder (Deq) is 27.6 mm and pitch ratio varies in range of 1≤T/Deq≤3. The Reynolds numbers based on equivalent circular cylinder are within 50≤ Reeq≤150. Results show that Nusselt number of cylinders increases about 1 to 36 percent when pitch ratio increases from 1 to 3.Keywords: Cam shaped, side-by-side cylinders, numerical, heat Transfer.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 15062995 A Numerical Study on the Influence of CO2 Dilution on Combustion Characteristics of a Turbulent Diffusion Flame
Authors: Yasaman Tohidi, Rouzbeh Riazi, Shidvash Vakilipour, Masoud Mohammadi
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The objective of the present study is to numerically investigate the effect of CO2 replacement of N2 in air stream on the flame characteristics of the CH4 turbulent diffusion flame. The Open source Field Operation and Manipulation (OpenFOAM) has been used as the computational tool. In this regard, laminar flamelet and modified k-ε models have been utilized as combustion and turbulence models, respectively. Results reveal that the presence of CO2 in air stream changes the flame shape and maximum flame temperature. Also, CO2 dilution causes an increment in CO mass fraction.Keywords: CH4 diffusion flame, CO2 dilution, OpenFOAM, turbulent flame.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 7692994 A Novel Antenna Design for Telemedicine Applications
Authors: Amar Partap Singh Pharwaha, Shweta Rani
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To develop a reliable and cost effective communication platform for the telemedicine applications, novel antenna design has been presented using bacterial foraging optimization (BFO) technique. The proposed antenna geometry is achieved by etching a modified Koch curve fractal shape at the edges and a square shape slot at the center of the radiating element of a patch antenna. It has been found that the new antenna has achieved 43.79% size reduction and better resonating characteristic than the original patch. Representative results for both simulations and numerical validations are reported in order to assess the effectiveness of the developed methodology.
Keywords: BFO, electrical permittivity, fractals, Koch curve.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 23162993 Evaluation of a Surrogate Based Method for Global Optimization
Authors: David Lindström
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We evaluate the performance of a numerical method for global optimization of expensive functions. The method is using a response surface to guide the search for the global optimum. This metamodel could be based on radial basis functions, kriging, or a combination of different models. We discuss how to set the cyclic parameters of the optimization method to get a balance between local and global search. We also discuss the eventual problem with Runge oscillations in the response surface.Keywords: Expensive function, infill sampling criterion, kriging, global optimization, response surface, Runge phenomenon.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 23802992 Pattern Recognition of Biological Signals
Authors: Paulo S. Caparelli, Eduardo Costa, Alexsandro S. Soares, Hipolito Barbosa
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This paper presents an evolutionary method for designing electronic circuits and numerical methods associated with monitoring systems. The instruments described here have been used in studies of weather and climate changes due to global warming, and also in medical patient supervision. Genetic Programming systems have been used both for designing circuits and sensors, and also for determining sensor parameters. The authors advance the thesis that the software side of such a system should be written in computer languages with a strong mathematical and logic background in order to prevent software obsolescence, and achieve program correctness.Keywords: Pattern recognition, evolutionary computation, biological signal, functional programming.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 17422991 Numerical Analysis of Fractured Process in Locomotive Steel Wheels
Authors: J. Alizadeh K., R. S. Ashofteh, A. Asadi Lari
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Railway vehicle wheels are designed to operate in harsh environments and to withstand high hydrostatic contact pressures. This situation may result in critical circumstances, in particular wheel breakage. This paper presents a time history of a series of broken wheels during a time interval [2007-2008] belongs to locomotive fleet on Iranian Railways. Such fractures in locomotive wheels never reported before. Due to the importance of this issue, a research study has been launched to find the potential reasons of this problem. The authors introduce a FEM model to indicate how and where the wheels could have been affected during their operation. Then, the modeling results are presented and discussed in detail.
Keywords: Crack, fatigue, FE analysis, wheel.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 23572990 Application of the Hybrid Methods to Solving Volterra Integro-Differential Equations
Authors: G.Mehdiyeva, M.Imanova, V.Ibrahimov
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Beginning from the creator of integro-differential equations Volterra, many scientists have investigated these equations. Classic method for solving integro-differential equations is the quadratures method that is successfully applied up today. Unlike these methods, Makroglou applied hybrid methods that are modified and generalized in this paper and applied to the numerical solution of Volterra integro-differential equations. The way for defining the coefficients of the suggested method is also given.Keywords: Integro-differential equations, initial value problem, hybrid methods, predictor-corrector method
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 17312989 Approximate Solution of Nonlinear Fredholm Integral Equations of the First Kind via Converting to Optimization Problems
Authors: Akbar H. Borzabadi, Omid S. Fard
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In this paper we introduce an approach via optimization methods to find approximate solutions for nonlinear Fredholm integral equations of the first kind. To this purpose, we consider two stages of approximation. First we convert the integral equation to a moment problem and then we modify the new problem to two classes of optimization problems, non-constraint optimization problems and optimal control problems. Finally numerical examples is proposed.Keywords: Fredholm integral equation, Optimization method, Optimal control, Nonlinear and linear programming
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 17722988 Application of Adaptive Genetic Algorithm in Function Optimization
Authors: Panpan Xu, Shulin Sui
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The crossover probability and mutation probability are the two important factors in genetic algorithm. The adaptive genetic algorithm can improve the convergence performance of genetic algorithm, in which the crossover probability and mutation probability are adaptively designed with the changes of fitness value. We apply adaptive genetic algorithm into a function optimization problem. The numerical experiment represents that adaptive genetic algorithm improves the convergence speed and avoids local convergence.
Keywords: Genetic algorithm, Adaptive genetic algorithm, Function optimization.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 17222987 Preconditioned Mixed-Type Splitting Iterative Method For Z-Matrices
Authors: Li Jiang, Baoguang Tian
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In this paper, we present the preconditioned mixed-type splitting iterative method for solving the linear systems, Ax = b, where A is a Z-matrix. And we give some comparison theorems to show that the convergence rate of the preconditioned mixed-type splitting iterative method is faster than that of the mixed-type splitting iterative method. Finally, we give a numerical example to illustrate our results.Keywords: Z-matrix, mixed-type splitting iterative method, precondition, comparison theorem, linear system.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 12022986 Navigation and Guidance System Architectures for Small Unmanned Aircraft Applications
Authors: Roberto Sabatini, Celia Bartel, Anish Kaharkar, Tesheen Shaid, Subramanian Ramasamy
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Two multisensor system architectures for navigation and guidance of small Unmanned Aircraft (UA) are presented and compared. The main objective of our research is to design a compact, light and relatively inexpensive system capable of providing the required navigation performance in all phases of flight of small UA, with a special focus on precision approach and landing, where Vision Based Navigation (VBN) techniques can be fully exploited in a multisensor integrated architecture. Various existing techniques for VBN are compared and the Appearance-Based Navigation (ABN) approach is selected for implementation. Feature extraction and optical flow techniques are employed to estimate flight parameters such as roll angle, pitch angle, deviation from the runway centreline and body rates. Additionally, we address the possible synergies of VBN, Global Navigation Satellite System (GNSS) and MEMS-IMU (Micro-Electromechanical System Inertial Measurement Unit) sensors, and the use of Aircraft Dynamics Model (ADM) to provide additional information suitable to compensate for the shortcomings of VBN and MEMS-IMU sensors in high-dynamics attitude determination tasks. An Extended Kalman Filter (EKF) is developed to fuse the information provided by the different sensors and to provide estimates of position, velocity and attitude of the UA platform in real-time. The key mathematical models describing the two architectures i.e., VBN-IMU-GNSS (VIG) system and VIGADM (VIGA) system are introduced. The first architecture uses VBN and GNSS to augment the MEMS-IMU. The second mode also includes the ADM to provide augmentation of the attitude channel. Simulation of these two modes is carried out and the performances of the two schemes are compared in a small UA integration scheme (i.e., AEROSONDE UA platform) exploring a representative cross-section of this UA operational flight envelope, including high dynamics manoeuvres and CAT-I to CAT-III precision approach tasks. Simulation of the first system architecture (i.e., VIG system) shows that the integrated system can reach position, velocity and attitude accuracies compatible with the Required Navigation Performance (RNP) requirements. Simulation of the VIGA system also shows promising results since the achieved attitude accuracy is higher using the VBN-IMU-ADM than using VBN-IMU only. A comparison of VIG and VIGA system is also performed and it shows that the position and attitude accuracy of the proposed VIG and VIGA systems are both compatible with the RNP specified in the various UA flight phases, including precision approach down to CAT-II.
Keywords: Global Navigation Satellite System (GNSS), Lowcost Navigation Sensors, MEMS Inertial Measurement Unit (IMU), Unmanned Aerial Vehicle, Vision Based Navigation.
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