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ORBi

Rapid Testing of Stabilised Finite Element Formulations for the Reissner-Mindlin Plate Problem using the FEniCS Project Hale, Jack ; Scientific Conference (2012, June) Detailed reference viewed: 72 (6 UL)Rationalised computational time in fracture simulation: adaptive model reduction and domain decomposition ; ; et al Scientific Conference (2011, June) Detailed reference viewed: 81 (1 UL)Re-Interpretation of Conceptualisation - A Contribution to the Advance of Design Theory ; Blessing, Lucienne in Lindemann, Udo (Ed.) Human Behaviour in Design. Individuals, Teams, Tools (2003) Detailed reference viewed: 68 (0 UL)Reachability analysis of continuous time piecewise linear systems ; Goncalves, Jorge in Proceedings of the 44th IEEE Conference on Decision and Control and European Control Conference (2005) This paper presents a new approach to the reachability problem for a class of hybrid systems called Piecewise Linear Systems (PLS). The principal tool used is the impact map between switching surfaces ... [more ▼] This paper presents a new approach to the reachability problem for a class of hybrid systems called Piecewise Linear Systems (PLS). The principal tool used is the impact map between switching surfaces. The method consists of specifying a ellipsoidal set on the initial switching surface and finding upper- and lower-bound estimates of the possible reach sets using tools such as the S-procedure to set up linear matrix inequalities, of which numerical solutions are then computed. [less ▲] Detailed reference viewed: 79 (0 UL)Reachability analysis of continuous-time piecewise affine systems ; Goncalves, Jorge in Automatica (2008), 44(12), 3189-3194 This paper proposes an algorithm for the characterization of reachable sets of states for continuous-time piecewise affine systems. Given a model of the system and a bounded set of possible initial states ... [more ▼] This paper proposes an algorithm for the characterization of reachable sets of states for continuous-time piecewise affine systems. Given a model of the system and a bounded set of possible initial states, the algorithm employs an LMI approach to compute both upper and lower bounds on reachable regions. Rather than performing computations in the state-space, this method uses impact maps to find the reachable sets on the switching surfaces of the system. This tool can then be used to deduce safety and performance results about the system. [less ▲] Detailed reference viewed: 108 (1 UL)Real Time Holding Control for Multiline Networks Laskaris, Georgios ; ; et al Poster (2020, January 12) We introduce a rule based multiline holding criterion for regularity in branch and trunk networks accounting for all passenger groups. On the shared transit corridor, we consider synchronization at the ... [more ▼] We introduce a rule based multiline holding criterion for regularity in branch and trunk networks accounting for all passenger groups. On the shared transit corridor, we consider synchronization at the merging or the diverging stop. The decision between holding for regularity or synchronization is taken by comparing the expected passenger cost of each control action. The proposed criterion is tested through simulation in a synthetic double fork network with different shares of transferring passengers, control schemes for regularity and synchronization. The results show that multiline control outperforms the state of the art schemes at the network level, stemming from benefits occurring at the first part of the route and the shared transit corridor and a 3.5% more stable joint headway compared to the other schemes. Additionally, it is advised to perform the synchronization at the diverging stop, as it proves to result in a more stable transferring time equal to the joint frequency of the corridor while reducing the transfer time variability up to -42.7%. [less ▲] Detailed reference viewed: 133 (12 UL)A real time hybrid controller for regulating bus operations and reducing stops at signals Laskaris, Georgios ; ; Viti, Francesco Scientific Conference (2019, June) We propose a hybrid controller which consists of holding and a Driver Advisory System (DAS). It combines the objectives of seeking the regularization of operation and the reduction of stop and go actions ... [more ▼] We propose a hybrid controller which consists of holding and a Driver Advisory System (DAS). It combines the objectives of seeking the regularization of operation and the reduction of stop and go actions at signalized intersections. A simple headway based holding criterion is applied at stops to define the time needed to maintain even spaced headways between buses and additionally a speed recommendation is given to traverse during green indication at the downstream signalized intersection. The controller is tested using simulation for a bus line of the city of Luxembourg, Luxembourg and compared to a benchmark scenario, the single application of bus holding, two advisory systems and different levels of transit signal priority. Results show that there are additional benefits compared to traditional holding in terms of regularity while similar performance to strong transit signal priority is achieved in terms of time spent at traffic lights. [less ▲] Detailed reference viewed: 65 (7 UL)Real time multiline holding control for networks with shared transit corridor Laskaris, Georgios ; ; et al Scientific Conference (2018, September 05) Detailed reference viewed: 52 (2 UL)Real-time Error Control for Surgical Simulation ; ; et al in IEEE Transactions on Biomedical Engineering (2017) To present the first real-time a posteriori error-driven adaptive finite element approach for realtime simulation and to demonstrate the method on a needle insertion problem. Methods: We use corotational ... [more ▼] To present the first real-time a posteriori error-driven adaptive finite element approach for realtime simulation and to demonstrate the method on a needle insertion problem. Methods: We use corotational elasticity and a frictional needle/tissue interaction model. The problem is solved using finite elements within SOFA. The refinement strategy relies upon a hexahedron-based finite element method, combined with a posteriori error estimation driven local h-refinement, for simulating soft tissue deformation. Results: We control the local and global error level in the mechanical fields (e.g. displacement or stresses) during the simulation. We show the convergence of the algorithm on academic examples, and demonstrate its practical usability on a percutaneous procedure involving needle insertion in a liver. For the latter case, we compare the force displacement curves obtained from the proposed adaptive algorithm with that obtained from a uniform refinement approach. Conclusions: Error control guarantees that a tolerable error level is not exceeded during the simulations. Local mesh refinement accelerates simulations. Significance: Our work provides a first step to discriminate between discretization error and modeling error by providing a robust quantification of discretization error during simulations. [less ▲] Detailed reference viewed: 151 (4 UL)Real-time error controlled adaptive mesh refinement in surgical simulation: Application to needle insertion simulation ; Tomar, Satyendra ; et al in IEEE Transactions on Biomedical Engineering (n.d.) This paper presents the first real-time discretisation-error-driven adaptive finite element approach for corotational elasticity problems involving strain localisation. We propose a hexahedron-based ... [more ▼] This paper presents the first real-time discretisation-error-driven adaptive finite element approach for corotational elasticity problems involving strain localisation. We propose a hexahedron-based finite element method combined with local oct-tree $h$-refinement, driven by a posteriori error estimation, for simulating soft tissue deformation. This enables to control the local error and global error level in the mechanical fields during the simulation. The local error level is used to refine the mesh only where it is needed, while maintaining a coarser mesh elsewhere. We investigate the convergence of the algorithm on academic examples, and demonstrate its practical usability on a percutaneous procedure involving needle insertion in a liver. For the latter case, we compare the force displacement curves obtained from the proposed adaptive algorithm with that obtained from a uniform refinement approach. [less ▲] Detailed reference viewed: 617 (63 UL)Real-time Fault Diagnosis for Large-Scale Nonlinear Power Networks Pan, Wei ; ; et al in The proceedings of the IEEE 52nd Annual Conference on Decision and Control (2013) In this paper, automatic fault diagnosis in large scale power networks described by second-order nonlinear swing equations is studied. This work focuses on a class of faults that occur in the transmission ... [more ▼] In this paper, automatic fault diagnosis in large scale power networks described by second-order nonlinear swing equations is studied. This work focuses on a class of faults that occur in the transmission lines. Transmission line protection is an important issue in power system engineering because a large portion of power system faults is occurring in transmission lines. This paper presents a novel technique to detect, isolate and identify the faults on transmissions using only a small number of observations. We formulate the problem of fault diagnosis of nonlinear power network into a compressive sensing framework and derive an optimisation-based formulation of the fault identification problem. An iterative reweighted ℓ1-minimisation algorithm is finally derived to solve the detection problem efficiently. Under the proposed framework, a real-time fault monitoring scheme can be built using only measurements of phase angles of nonlinear power networks. [less ▲] Detailed reference viewed: 89 (0 UL)Real-time graph-based SLAM in unknown environments using a small UAV Annaiyan, Arun ; Olivares Mendez, Miguel Angel ; Voos, Holger in 2017 International Conference on Unmanned Aircraft Systems (ICUAS); Miami 13-16 June 2017 (2017) Autonomous navigation of small Unmanned Aerial Vehicles (UAVs) in cluttered environments is still a challenging problem. In this work, we present an approach based on graph slam and loop closure detection ... [more ▼] Autonomous navigation of small Unmanned Aerial Vehicles (UAVs) in cluttered environments is still a challenging problem. In this work, we present an approach based on graph slam and loop closure detection for online mapping of unknown outdoor environments using a small UAV. Here, we used an onboard front facing stereo camera as the primary sensor. The data extracted by the cameras are used by the graph-based slam algorithm to estimate the position and create the graph-nodes and construct the map. To avoid multiple detections of one object as different objects and to identify re-visited locations, a loop closure detection is applied with optimization algorithm using the g2o toolbox to minimize the error. Furthermore, 3D occupancy map is used to represent the environment. This technique is used to save memory and computational time for the online processing. Real experiments are conducted in outdoor cluttered and open field environments.The experiment results show that our presented approach works under real time constraints, with an average time to process the nodes of the 3D map is 17.79ms. [less ▲] Detailed reference viewed: 221 (15 UL)Real-time Model Predictive Control for Aerial Manipulation Dentler, Jan Eric Doctoral thesis (2018) The rapid development in the field of Unmanned Aerial Vehicles (UAVs) is driven by new applications in agriculture, logistics, inspection and smart manufacturing. The future keys in these domains are the ... [more ▼] The rapid development in the field of Unmanned Aerial Vehicles (UAVs) is driven by new applications in agriculture, logistics, inspection and smart manufacturing. The future keys in these domains are the abilities to autonomously interact with the environment and with other robotic systems. This thesis is providing control engineering solutions to contribute to these key capabilities. The first step of this thesis is to develop an understanding of the dynamic behavior of UAVs. For this purpose, dynamic and kinematic models are presented to describe a UAV's motion. This includes a kinematic model which is suitable for off-the-shelf UAVs and combines full 360° heading operation with a low computational complexity. The presented models are subsequently used to develop a nonlinear model predictive control NMPC strategy. In this context, the performance of several NMPC solvers and inequality constraint handling techniques is evaluated. The real-time capability and NMPC performance are validated with real AR.Drone 2.0 and DJI M100 quadrotors. This includes collision avoidance and advanced tracking scenarios. The design work-flow for the related control objectives and constraints is presented accordingly. As a next step, this UAV NMPC strategy is extended for a UAV with attached robotic arm. For this purpose, the forward kinematics of the robotic arm are developed and combined with the kinematic model of the UAV. The resulting NMPC strategy is validated in a grasping scenario with a real aerial manipulator. The final step of this thesis is the NMPC of cooperating UAVs. The computational complexity of such scenarios conflicts directly with the fast UAV dynamics. In addition, control objectives and system topologies can dynamically change. To address these challenges, this thesis presents the DENMPC software framework. DENMPC provides a computationally efficient central NMPC strategy that allows changing the control scenario at runtime. This is finally stated in the control of a real cooperative aerial manipulation scenario. [less ▲] Detailed reference viewed: 591 (30 UL)A real-time model predictive position control with collision avoidance for commercial low-cost quadrotors Dentler, Jan Eric ; Kannan, Somasundar ; Olivares Mendez, Miguel Angel et al in IEEE Multi-Conference on Systems and Control (MSC 2016), Buenos Aires, Argentina, 2016 (2016, September 20) Unmanned aerial vehicles (UAVs) are the future technology for autonomous fast transportation of individual goods. They have the advantage of being small, fast and not to be limited to the local ... [more ▼] Unmanned aerial vehicles (UAVs) are the future technology for autonomous fast transportation of individual goods. They have the advantage of being small, fast and not to be limited to the local infrastructure. This is not only interesting for delivery of private consumption goods up to the doorstep, but also particularly for smart factories. One drawback of autonomous drone technology is the high development costs, that limit research and development to a small audience. This work is introducing a position control with collision avoidance as a first step to make low-cost drones more accessible to the execution of autonomous tasks. The paper introduces a semilinear state-space model for a commercial quadrotor and its adaptation to the commercially available AR.Drone 2 system. The position control introduced in this paper is a model predictive control (MPC) based on a condensed multiple-shooting continuation generalized minimal residual method (CMSCGMRES). The collision avoidance is implemented in the MPC based on a sigmoid function. The real-time applicability of the proposed methods is demonstrated in two experiments with a real AR.Drone quadrotor, adressing position tracking and collision avoidance. The experiments show the computational efficiency of the proposed control design with a measured maximum computation time of less than 2ms. [less ▲] Detailed reference viewed: 394 (44 UL)Recent developments in CAD/analysis integration ; Bordas, Stéphane ; in Computational Technology Reviews (2012), 6 For linear elastic problems, it is well-known that mesh generation dominates the total analysis time. Different types of methods have been proposed to directly or indirectly alleviate this burden ... [more ▼] For linear elastic problems, it is well-known that mesh generation dominates the total analysis time. Different types of methods have been proposed to directly or indirectly alleviate this burden associated with mesh generation. We review in this paper a subset of such methods centred on tighter coupling between computer aided design (CAD) and analysis (finite element or boundary element methods). We focus specifically on frameworks which rely on constructing a discretisation directly from the functions used to describe the geometry of the object in CAD. Examples include B-spline subdivision surfaces, isogeometric analysis, NURBS-enhanced FEM and parametric-based implicit boundary definitions. We review recent advances in these methods and compare them to other paradigms which also aim at alleviating the burden of mesh generation in computational mechanics. [less ▲] Detailed reference viewed: 472 (9 UL)Reconstruction of Gene Regulatory Networks using an Error Filtering Learning Scheme ; ; Mombaerts, Laurent Scientific Conference (2017) One of the fundamental and most challenging problems in system biology is the reconstruction of gene regulatory networks from input-output data based on non-linear differential equations. This paper ... [more ▼] One of the fundamental and most challenging problems in system biology is the reconstruction of gene regulatory networks from input-output data based on non-linear differential equations. This paper presents an approach to estimate the unknown nonlinearities and to identify the true network that generated the data, based on an error filtering learning scheme and a Lyapunov synthesis method. Unknown nonlinearities are modelled by networks using radial basis functions and model validation is performed by taking advantage of the so-called persistency of excitation of input signals, a condition that is shown to play a significant role in the problem of uncovering the true network structure. The proposed methodology and the theoretical results are validated through an illustrative example. [less ▲] Detailed reference viewed: 69 (3 UL)Recurrent neural network prediction of steam production in a Kraft recovery boiler Sainlez, Matthieu ; in E.N. Pistikopoulos, M. C. Georgiadis; Kokossis, A. C. (Eds.) 21st European Symposium on Computer Aided Process Engineering (2011) Detailed reference viewed: 84 (0 UL)Reduced basis Nitsche-based domain decomposition: a biomedical application Baroli, Davide ; Beex, Lars ; Hale, Jack et al Scientific Conference (2017, March 10) Nowadays, the personalized biomedical simulations demand real-time efficient and reliable method to alleviate the computational complexity of high-fidelity simulation. In such applications, the necessity ... [more ▼] Nowadays, the personalized biomedical simulations demand real-time efficient and reliable method to alleviate the computational complexity of high-fidelity simulation. In such applications, the necessity of solving different substructure, e.g. tissues or organs, with different numbers of the degrees of freedom and of coupling the reduced order spaces for each substructure poses a challenge in the on-fly simulation. In this talk, this challenge is taken into account employing the Nitsche-based domain decomposition technique inside the reduced order model [1]. This technique with respect to other domain decomposition approach allows obtaining a solution with the same accuracy of underlying finite element formulation and to flexibly treat interface with non-matching mesh. The robustness of the coupling is determined by the penalty coefficients that is chosen using ghost penalty technique [2]. Furthermore, to reduce the computational complexity of the on-fly assembling it is employed the empirical interpolation approach proposed in [3]. The numerical tests, performed using FEniCS[4], petsc4py and slepc4py [5], shows the good performance of the method and the reduction of computation cost. [1] Baroli, D., Beex L. and Bordas, S. Reduced basis Nitsche-based domain decomposition. In preparation. [2] Burman, E., Claus, S., Hansbo, P., Larson, M. G., & Massing, A. (2015). CutFEM: Discretizing geometry and partial differential equations. International Journal for Numerical Methods in Engineering, 104(7), 472-501. [3] E. Schenone, E., Beex,L., Hale, J.S., Bordas S. Proper Orthogonal Decomposition with reduced integration method. Application to nonlinear problems. In preparation. [4] A. Logg, K.-A. Mardal, G. N. Wells et al. Automated Solution of Differential Equations by the Finite Element Method, Springer 2012. [5] L. Dalcin, P. Kler, R. Paz, and A. Cosimo, Parallel Distributed Computing using Python, Advances in Water Resources, 34(9):1124-1139, 2011. http://dx.doi.org/10.1016/j.advwatres.2011.04.013 [less ▲] Detailed reference viewed: 258 (10 UL)A Reduced Order Kalman Filter for Computational Fluid-Dynamics Applications ; ; et al Poster (2018) Detailed reference viewed: 123 (4 UL)Reduced order modelling: towards tractable computational homogenisation schemes ; ; et al Presentation (2014, May 15) Towards rationalised computational expense for simulating fracture over multiple scales The project focuses on the numerical simulation of the failure of complex, heterogeneous structures. The simulation ... [more ▼] Towards rationalised computational expense for simulating fracture over multiple scales The project focuses on the numerical simulation of the failure of complex, heterogeneous structures. The simulation of such physical phenomena is of particular interest to practitioners as it enables to limit the number of destructive tests required to design and assess structures, and, ultimately, to decrease the safety factors used in design. In such heterogeneous media, the description of crack or damage initiation and propagation must be done at the scale of the inhomogeneities (e.g. aggregates in a concrete structure) in order for the results to be predictive. If one uses such a fine-scale material model to simulate structures at an engineering scale (e.g. an aircraft composite panel or a concrete beam), very large numerical problems need to be solved. In addition, there is a strong need for engineers to run their models numerous times, for different sets of the design parameters (e.g. loading conditions, geometry or material properties). Tackling such parametric multiscale problems is prohibitively expensive when using brute force parallel computing. However, one can use the fact that solutions to parametric problems usually evolve in a relatively coarse space: solutions to nearby parameter sets are usually close in a certain sense. This idea is classically used in Model Order Reduction, which proposes to reduce the size of the initial problem by several order of magnitude by simply reusing the information generated when solving the initial problem for several different sets of parameters. However, in the case of fracture, the information provided by the initial problem is most of the time insufficient to describe the behaviour of the system for arbitrary parameters. Crack paths, defects, and subsequent ultimate strengths are strongly influenced by an even slight variation in the parameter set. Fortunately, we showed in our previous research that this characteristic only affects a local region surrounding the structural defects, whilst the behaviour far from these regions is remains relatively unchanged for a wide range of parameter values. The proposed project will make use of this observation in a generic way, by coupling Reduced Order Modeling and Domain Decomposition. The structure will be divided in smaller subcomponents, on which Reduced Order Modeling will be applied separately. The consequence will be that the computational efforts will be greatly decreased in the regions that are far away from the damaged zone. Within the process zone itself, the substructuring framework will allow us to automatically switch to classical direct solvers. In this sense, the research aims at rationalising the computational costs associated to the simulation of parametrised multiscale fracture simulations, by concentrating the numerical effort where it is most required and with minimal intervention of the user. [less ▲] Detailed reference viewed: 205 (7 UL) |
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