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See detailCalculating the Malliavin derivative of some stochastic mechanics problems
Hauseux, Paul UL; Hale, Jack UL; Bordas, Stéphane UL

in PLoS ONE (2017), 12(12), 0189994

The Malliavin calculus is an extension of the classical calculus of variations from deterministic functions to stochastic processes. In this paper we aim to show in a practical and didactic way how to ... [more ▼]

The Malliavin calculus is an extension of the classical calculus of variations from deterministic functions to stochastic processes. In this paper we aim to show in a practical and didactic way how to calculate the Malliavin derivative, the derivative of the expectation of a quantity of interest of a model with respect to its underlying stochastic parameters, for four problems found in mechanics. The non-intrusive approach uses the Malliavin Weight Sampling (MWS) method in conjunction with a standard Monte Carlo method. The models are expressed as ODEs or PDEs and discretised using the finite difference or finite element methods. Specifically, we consider stochastic extensions of; a 1D Kelvin-Voigt viscoelastic model discretised with finite differences, a 1D linear elastic bar, a hyperelastic bar undergoing buckling, and incompressible Navier-Stokes flow around a cylinder, all discretised with finite elements. A further contribution of this paper is an extension of the MWS method to the more difficult case of non-Gaussian random variables and the calculation of second-order derivatives. We provide open-source code for the numerical examples in this paper. [less ▲]

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See detailNASA-FDL Artificial Intelligence in Planetary Science; Lunar Resource Mission
Backes, Dietmar UL

Scientific Conference (2017, December 15)

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See detailStatic and fatigue strength of a novel anatomically contoured implant compared to five current open-wedge high tibial osteotomy plates
Diffo Kaze, Arnaud UL; Maas, Stefan UL; Belsey, James et al

in Journal of Experimental Orthopaedics (2017), 4(39),

Abstract Background The purpose of the present study was to compare the mechanical static and fatigue strength of the size 2 osteotomy plate “Activmotion” with the following five other common implants for ... [more ▼]

Abstract Background The purpose of the present study was to compare the mechanical static and fatigue strength of the size 2 osteotomy plate “Activmotion” with the following five other common implants for the treatment of medial knee joint osteoarthritis: the TomoFix small stature, the TomoFix standard, the Contour Lock, the iBalance and the second generation PEEKPower. Methods Six fourth-generation tibial bone composites underwent a medial open-wedge high tibial osteotomy (HTO), according to standard techniques, using size 2 Activmotion osteotomy plates. All bone-implant constructs were subjected to static compression load to failure and load-controlled cyclic fatigue failure testing, according to a previously defined testing protocol. The mechanical stability was investigated by considering different criteria and parameters: maximum forces, the maximum number of loading cycles, stiffness, the permanent plastic deformation of the specimens during the cyclic fatigue tests, and the maximum displacement range in the hysteresis loops of the cyclic loading responses. Results In each test, all bone-implant constructs with the size 2 Activmotion plate failed with a fracture of the lateral cortex, like with the other five previously tested implants. For the static compression tests the failure occurred in each tested implant above the physiological loading of slow walking (> 2400 N). The load at failure for the Activmotion group was the highest (8200 N). In terms of maximum load and number of cycles performed prior to failure, the size 2 Activmotion plate showed higher results than all the other tested implants except the ContourLock plate. The iBalance implant offered the highest stiffness (3.1 kN/mm) for static loading on the lateral side, while the size 2 Activmotion showed the highest stiffness (4.8 kN/mm) in cyclic loading. Conclusions Overall, regarding all of the analysed strength parameters, the size 2 Activmotion plate provided equivalent or higher mechanical stability compared to the previously tested implant. Implants with a metaphyseal slope adapted to the tibia anatomy, and positioned more anteriorly on the proximal medial side of the tibia, should provide good mechanical stability. [less ▲]

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See detailNeuro-Inspired Reward-Based Tracking Control for Robotic Manipulators with Unknown Dynamics
Klecker, Sophie UL; Hichri, Bassem UL; Plapper, Peter UL

in Proceedings of the 2017 2nd International Conference on Robotics and Automation Engineering (ICRAE) (2017, December)

Tracking control for robotic manipulators is required for numerous automation tasks in manufacturing engineering. For this purpose, model-free PD-controllers are largely implemented by default in ... [more ▼]

Tracking control for robotic manipulators is required for numerous automation tasks in manufacturing engineering. For this purpose, model-free PD-controllers are largely implemented by default in commercially available robot arms and provide satisfactory performance for simple path following applications. Ever more complex automation tasks however ask for novel intelligent and adaptive tracking control strategies. In surface finishing processes, discontinuous freeform paths as well as changing constraints between the robotic end-effector and its surrounding environment affect the tracking control by undermining the stable system performance. The lacking knowledge of industrial robot dynamic parameters presents an additional challenge for the tracking control algorithms. In this paper the control problem of robotic manipulators with unknown dynamics and varying constraints is addressed. A robust sliding mode controller is combined with an RBF (Radial Basis Function) Neural Network-estimator and an intelligent, biomimetic BELBIC (Brain Emotional Learning-Based Intelligent Control) term to approximate the nonlinear robot dynamics function and achieve a robust and adaptive tracking performance. [less ▲]

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See detailA global optimization heuristic for the decomposed static anticipatory network traffic control problem anticipatory network traffic control problem
Rinaldi, Marco UL; Tampére, Chris; Viti, Francesco UL

in Transportation Research Procedia (2017)

Developing traffic control strategies taking explicitly into account the route choice behavior of users has been widely recognized irregularities in the solution space shape, such as non-convexity and non ... [more ▼]

Developing traffic control strategies taking explicitly into account the route choice behavior of users has been widely recognized irregularities in the solution space shape, such as non-convexity and non-smoothness. In this work, we propose an extended as a very challenging problem. Furthermore, the inclusion of user behavior in optimization based control schemes introduces strong decomposition scheme for the anticipatory traffic control problem, based upon our previous contributions, which aims at i) reducing irregularities in the solution space shape, such as non-convexity and non-smoothness. In this work, we propose an extended the computational complexity of the problem by approaching it in a controller-by-controller fashion, and ii) internalizing specific decomposition scheme for the anticipatory traffic control problem, based upon our previous contributions, which aims at i) reducing constraints in the objective function, guiding the optimization process away from non-significant minima, such as flat regions. the computational complexity of the problem by approaching it in a controller-by-controller fashion, and ii) internalizing specific Through two small scale test networks and different, randomly chosen initial points, we compare how the proposed extension constraints in the objective function, guiding the optimization process away from non-significant minima, such as flat regions. influences optimization results with respect to our previously developed decomposed approach, as well as centralized schemes. Through two small scale test networks and different, randomly chosen initial points, we compare how the proposed extension influences optimization results with respect to our previously developed decomposed approach, as well as centralized schemes. [less ▲]

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See detailExperimental design trade-offs for gene regulatory network inference: an in silico study of the yeast Saccharomyces cerevisiae cell cycle
Markdahl, Johan UL; Colombo, Nicolo UL; Thunberg, Johan UL et al

in Proceedings of the 56th IEEE Conference on Decision and Control (2017, December)

Time-series of high throughput gene sequencing data intended for gene regulatory network (GRN) inference are often short due to the high costs of sampling cell systems. Moreover, experimentalists lack a ... [more ▼]

Time-series of high throughput gene sequencing data intended for gene regulatory network (GRN) inference are often short due to the high costs of sampling cell systems. Moreover, experimentalists lack a set of quantitative guidelines that prescribe the minimal number of samples required to infer a reliable GRN model. We study the temporal resolution of data vs.quality of GRN inference in order to ultimately overcome this deficit. The evolution of a Markovian jump process model for the Ras/cAMP/PKA pathway of proteins and metabolites in the G1 phase of the Saccharomyces cerevisiae cell cycle is sampled at a number of different rates. For each time-series we infer a linear regression model of the GRN using the LASSO method. The inferred network topology is evaluated in terms of the area under the precision-recall curve (AUPR). By plotting the AUPR against the number of samples, we show that the trade-off has a, roughly speaking, sigmoid shape. An optimal number of samples corresponds to values on the ridge of the sigmoid. [less ▲]

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See detailUniversal health coverage: an urgent need for collaborative learning and technology in primary care
Patel, Kunal D.; Mcloughlin, Clodagh; Lygidakis, Charilaos UL et al

in Education for Primary Care (2017)

Universal health coverage is an achievable goal for all health professionals globally. However, for it to be implemented technology and collaboration are essential. This letter focuses on recently ... [more ▼]

Universal health coverage is an achievable goal for all health professionals globally. However, for it to be implemented technology and collaboration are essential. This letter focuses on recently published recommendations for technology in primary care education in respect to Universal Health Coverage. [less ▲]

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See detailRandomised controlled non-inferiority trial of primary care-based facilitated access to an alcohol reduction website: cost-effectiveness analysis
Hunter, Rachael; Wallace, Paul; Struzzo, Pierluigi et al

in BMJ Open (2017), 7(11),

Objectives To evaluate the 12-month costs and quality-adjusted life years (QALYs) gained to the Italian National Health Service of facilitated access to a website for hazardous drinkers compared with a ... [more ▼]

Objectives To evaluate the 12-month costs and quality-adjusted life years (QALYs) gained to the Italian National Health Service of facilitated access to a website for hazardous drinkers compared with a standard face-to-face brief intervention (BI). Design Randomised 1:1 non-inferiority trial. Setting Practices of 58 general practitioners (GPs) in Italy. Participants Of 9080 patients (>18 years old) approached to take part in the trial, 4529 (49·9%) logged on to the website and 3841 (84.8%) undertook online screening for hazardous drinking. 822 (21.4%) screened positive and 763 (19.9%) were recruited to the trial. Interventions Patients were randomised to receive either a face-to-face BI or access via a brochure from their GP to an alcohol reduction website (facilitated access). Primary and secondary outcome measures The primary outcome is the cost per QALY gained of facilitated access compared with face-to-face. A secondary analysis includes total costs and benefits per 100 patients, including number of hazardous drinkers prevented at 12 months. Results The average time required for the face-to-face BI was 8 min (95% CI 7.5 min to 8.6 min). Given the maximum time taken for facilitated access of 5 min, face-to-face is an additional 3 min: equivalent to having time for another GP appointment for every three patients referred to the website. Complete case analysis adjusting for baseline the difference in QALYs for facilitated access is 0.002 QALYs per patient (95% CI −0.007 to 0.011). Conclusions Facilitated access to a website to reduce hazardous drinking costs less than a face-to-face BI given by a GP with no worse outcomes. The lower cost of facilitated access, particularly in regards to investment of time, may facilitate the increase in provision of BIs for hazardous drinking. Trial registration number NCT01638338;Post-results. [less ▲]

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See detailDeadzone-Quadratic Penalty Function for Predictive Extended Cruise Control with Experimental Validation
Sajadi Alamdari, Seyed Amin UL; Voos, Holger UL; Darouach, Mohamed

in ROBOT 2017: Third Iberian Robotics Conference, Sevilla, Spain 22-24 November 2017 (2017, November)

Battery Electric Vehicles have high potentials for the modern transportations, however, they are facing limited cruising range. To address this limitation, we present a semi-autonomous ecological driver ... [more ▼]

Battery Electric Vehicles have high potentials for the modern transportations, however, they are facing limited cruising range. To address this limitation, we present a semi-autonomous ecological driver assistance system to regulate the velocity with energy-efficient techniques. The main contribution of this paper is the design of a real-time nonlinear receding horizon optimal controller to plan the online cost-effective cruising velocity. Instead of conventional L2-norms, a deadzone-quadratic penalty function for the nonlinear model predictive controller is proposed. Obtained field experimental results demonstrate the effectiveness of the proposed method for a semi-autonomous electric vehicle in terms of real-time energy-efficient velocity regulation and constraints satisfaction. [less ▲]

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See detailAn adaptive variational Quasicontinuum methodology for lattice networks with localized damage
Rokos, Ondrej; Peerlings, Ron; Zeman, Jan et al

in International Journal for Numerical Methods in Engineering (2017), 112(2),

Lattice networks with dissipative interactions can be used to describe the mechanics of discrete meso‐structures of materials such as 3D‐printed structures and foams. This contribution deals with the ... [more ▼]

Lattice networks with dissipative interactions can be used to describe the mechanics of discrete meso‐structures of materials such as 3D‐printed structures and foams. This contribution deals with the crack initiation and propagation in such materials and focuses on an adaptive multiscale approach that captures the spatially evolving fracture. Lattice networks naturally incorporate non‐locality, large deformations and dissipative mechanisms taking place inside fracture zones. Because the physically relevant length scales are significantly larger than those of individual interactions, discrete models are computationally expensive. The Quasicontinuum (QC) method is a multiscale approach specifically constructed for discrete models. This method reduces the computational cost by fully resolving the underlying lattice only in regions of interest, while coarsening elsewhere. In this contribution, the (variational) QC is applied to damageable lattices for engineering‐scale predictions. To deal with the spatially evolving fracture zone, an adaptive scheme is proposed. Implications induced by the adaptive procedure are discussed from the energy‐consistency point of view, and theoretical considerations are demonstrated on two examples. The first one serves as a proof of concept, illustrates the consistency of the adaptive schemes and presents errors in energies. The second one demonstrates the performance of the adaptive QC scheme for a more complex problem. [less ▲]

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See detailMicro-structured materials: inhomogeneities and imperfect interfaces in plane micropolar elasticity, a boundary element approach
Atroshchenko, Elena; Hale, Jack UL; Videla, Javier A. et al

in Engineering Analysis with Boundary Elements (2017), 83

In this paper we tackle the simulation of microstructured materials modelled as heterogeneous Cosserat media with both perfect and imperfect interfaces. We formulate a boundary value problem for an ... [more ▼]

In this paper we tackle the simulation of microstructured materials modelled as heterogeneous Cosserat media with both perfect and imperfect interfaces. We formulate a boundary value problem for an inclusion of one plane strain micropolar phase into another micropolar phase and reduce the problem to a system of boundary integral equations, which is subsequently solved by the boundary element method. The inclusion interface condition is assumed to be imperfect, which permits jumps in both displacements/microrotations and tractions/couple tractions, as well as a linear dependence of jumps in displacements/microrotations on continuous across the interface tractions/couple traction (model known in elasticity as homogeneously imperfect interface). These features can be directly incorporated into the boundary element formulation. The BEM-results for a circular inclusion in an in finite plate are shown to be in excellent agreement with the analytical solutions. The BEM-results for inclusions in finite plates are compared with the FEM-results obtained with FEniCS. [less ▲]

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See detailMultiscale Modelling of Damage and Fracture in Discrete Materials Using a Variational Quasicontinuum Method
Rokos, Ondrej; Peerlings, Ron; Beex, Lars UL et al

Scientific Conference (2017, September 05)

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See detailRobotix-Academy Conference for Industrial Robotics (RACIR) 2017
Müller, Rainer; Plapper, Peter UL; Brüls, Olivier et al

Book published by Shaker Verlag - 1st ed (2017)

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See detailImplementation and validation of an event-based real-time nonlinear model predictive control framework with ROS interface for single and multi-robot systems
Dentler, Jan Eric UL; Kannan, Somasundar UL; Olivares Mendez, Miguel Angel UL et al

in 2017 IEEE Conference on Control Technology and Applications (CCTA) (2017, August 30)

This paper presents the implementation and experimental validation of a central control framework. The presented framework addresses the need for a controller, which provides high performance combined ... [more ▼]

This paper presents the implementation and experimental validation of a central control framework. The presented framework addresses the need for a controller, which provides high performance combined with a low-computational load while being on-line adaptable to changes in the control scenario. Examples for such scenarios are cooperative control, task-based control and fault-tolerant control, where the system's topology, dynamics, objectives and constraints are changing. The framework combines a fast Nonlinear Model Predictive Control (NMPC), a communication interface with the Robot Operating System (ROS) [1] as well as a modularization that allows an event-based change of the NMPC scenario. To experimentally validate performance and event-based adaptability of the framework, this paper is using a cooperative control scenario of Unmanned Aerial Vehicles (UAVs). The source code of the proposed framework is available under [2]. [less ▲]

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See detailIsogeometric analysis of thin Reissner-Mindlin plates and shells: Locking phenomena and generalized local B-bar method
Hu, Qingyuan UL; Xia, Yang; Natarajan, Sundararajan et al

E-print/Working paper (2017)

We propose a generalized local $\bar{B}$ framework, addressing locking in degenerated Reissner-Mindlin plate and shell formulations in the context of isogeometric analysis. Parasitic strain components are ... [more ▼]

We propose a generalized local $\bar{B}$ framework, addressing locking in degenerated Reissner-Mindlin plate and shell formulations in the context of isogeometric analysis. Parasitic strain components are projected onto the physical space locally, i.e. at the element level, using a least-squares approach. The formulation is general and allows the flexible utilization of basis functions of different order as the projection bases. The present formulation is much cheaper computationally than the global $\bar{B}$ method. Through numerical examples, we show the consistency of the scheme, although the method is not Hu-Washizu variationally consistent. The numerical examples show that the proposed formulation alleviates locking and yields good accuracy for various thicknesses, even for slenderness ratios of $1 \times 10^5$, and has the ability to capture deformations of thin shells using relatively coarse meshes. From the detailed numerical study, it can be opined that the proposed method is less sensitive to locking and mesh distortion. [less ▲]

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See detailACTIVITY-TRAVEL BEHAVIOUR IN THE CONTEXT OF WORKPLACE RELOCATION
Sprumont, François UL

Doctoral thesis (2017)

Travel behaviour analysis is a complex task because of the myriad of determinants influencing decision makers. The commuting trip constitutes an important travel purpose, but is not the dominant one ... [more ▼]

Travel behaviour analysis is a complex task because of the myriad of determinants influencing decision makers. The commuting trip constitutes an important travel purpose, but is not the dominant one. Because of its spatial and temporal concentration, the commuting flow is an ideal target for mobility management measures aiming at decreasing its negative externalities. Nevertheless, commuting travels are done in the frame of a more complex activity-travel chain, and some choices, whether on the short term (e.g. commuting mode choice) or in the longer term (e.g. where to live, buy a car) are done considering an ensemble of trips. Our research hypothesis is that workplace relocation, or more generally an event that strongly affects travellers’ trip chains, induces different and interrelated responses. Our research aim is to gain insight into this complex decision-making process, in order to better understand its relation with transport policy measures. [less ▲]

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See detailBayesian inference to identify parameters in viscoelasticity
Rappel, Hussein UL; Beex, Lars UL; Bordas, Stéphane UL

in Mechanics of Time-Dependent Materials (2017)

This contribution discusses Bayesian inference (BI) as an approach to identify parameters in viscoelasticity. The aims are: (i) to show that the prior has a substantial influence for viscoelasticity, (ii ... [more ▼]

This contribution discusses Bayesian inference (BI) as an approach to identify parameters in viscoelasticity. The aims are: (i) to show that the prior has a substantial influence for viscoelasticity, (ii) to show that this influence decreases for an increasing number of measurements and (iii) to show how different types of experiments influence the identified parameters and their uncertainties. The standard linear solid model is the material description of interest and a relaxation test, a constant strain-rate test and a creep test are the tensile experiments focused on. The experimental data are artificially created, allowing us to make a one-to-one comparison between the input parameters and the identified parameter values. Besides dealing with the aforementioned issues, we believe that this contribution forms a comprehensible start for those interested in applying BI in viscoelasticity. [less ▲]

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