Network Reconstruction from Intrinsic Noise: Non-Minimum-Phase Systems

in The proceedings of the The 19th World Congress of The International Federation of Automatic Control (2014)

This paper considers the problem of inferring the structure and dynamics of an unknown network driven by unknown noise inputs. Equivalently we seek to identify direct causal dependencies among manifest ... [more ▼]

This paper considers the problem of inferring the structure and dynamics of an unknown network driven by unknown noise inputs. Equivalently we seek to identify direct causal dependencies among manifest variables only from observations of these variables. We consider linear, time-invariant systems of minimal order and with one noise source per manifest state. It is known that if the transfer matrix from the inputs to manifest states is minimum phase, then this problem has a unique solution, irrespective of the network topology. Here we consider the general case where the transfer matrix may be non-minimum phase and show that solutions are characterized by an Algebraic Riccati Equation (ARE). Each solution to the ARE corresponds to at most one spectral factor of the output spectral density that satisfies the assumptions made. Hence in general the problem may not have a unique solution, but all solutions can be computed by solving an ARE and their number may be finite. [less ▲]

Network structure preserving model reduction with weak a priori structural information

in The proceedings of the Joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference (2009)

This paper extends a state projection method for structure preserving model reduction to situations where only a weaker notion of system structure is available. This weaker notion of structure ... [more ▼]

This paper extends a state projection method for structure preserving model reduction to situations where only a weaker notion of system structure is available. This weaker notion of structure, identifying the causal relationship between manifest variables of the system, is especially relevant is settings such as systems biology, where a clear partition of state variables into distinct subsystems may be unknown, or not even exist. The resulting technique, like similar approaches, does not provide theoretical performance guarantees, so an extensive computational study is conducted, and it is observed to work fairly well in practice. Moreover, conditions characterizing structurally minimal realizations and sufficient conditions characterizing edge loss resulting from the reduction process, are presented. [less ▲]

A network-wide assessment of local signal control policies’ performance in practical implementations

in Intelligent Transportation Systems (ITSC), 2016 IEEE 19th International Conference on (2016, November)

A New Mathematical Model for the Heat Shock Response

in Condon, Anne; Harel, David; Kok, Joost N. (Eds.) et al Algorithmic Bioprocesses (2009)

The NIS 2.0 Directive - Lessons learnt or lagging behind? A legal perspective

Scientific Conference (2022, May 10)

Nitsche’s method for two and three dimensional NURBS patch coupling

in Computational Mechanics (2014), 53(6), 1163-1182

We present a Nitche’s method to couple non-conforming two and three-dimensional NURBS (Non Uniform Rational B-splines) patches in the context of isogeometric analysis (IGA). We present results for linear ... [more ▼]

We present a Nitche’s method to couple non-conforming two and three-dimensional NURBS (Non Uniform Rational B-splines) patches in the context of isogeometric analysis (IGA). We present results for linear elastostatics in two and and three-dimensions. The method can deal with surface-surface or volume-volume coupling, and we show how it can be used to handle heterogeneities such as inclusions. We also present preliminary results on modal analysis. This simple coupling method has the potential to increase the applicability of NURBS-based isogeometric analysis for practical applications. [less ▲]

A node-based smoothed extended finite element method (NS-XFEM) for fracture analysis

in Computer Modeling in Engineering and Sciences (2011), 73(4), 331-355

This paper aims to incorporate the node-based smoothed finite element method (NS-FEM) into the extended finite element method (XFEM) to form a novel numerical method (NS-XFEM) for analyzing fracture ... [more ▼]

This paper aims to incorporate the node-based smoothed finite element method (NS-FEM) into the extended finite element method (XFEM) to form a novel numerical method (NS-XFEM) for analyzing fracture problems of 2D elasticity. NS-FEM uses the strain smoothing technique over the smoothing domains associated with nodes to compute the system stiffness matrix, which leads to the line integrations using directly the shape function values along the boundaries of the smoothing domains. As a result, we avoid integration of the stress singularity at the crack tip. It is not necessary to divide elements cut by cracks when we replace interior integration by boundary integration, simplifying integration of the discontinuous approximation. The key advantage of the NS-XFEM is that it provides more accurate solutions compared to the XFEM-T3 element. We will show for two numerical examples that the NS-XFEM significantly improves the results in the energy norm and the stress intensity factors. For the examples studied, we obtain super-convergent results. [less ▲]

Non-localised contact between beams with circular and elliptical cross-sections

in Computational Mechanics (2020), 65

The key novelty of this contribution is a dedicated technique to e fficiently determine the distance (gap) function between parallel or almost parallel beams with circular and elliptical cross-sections ... [more ▼]

The key novelty of this contribution is a dedicated technique to e fficiently determine the distance (gap) function between parallel or almost parallel beams with circular and elliptical cross-sections. The technique consists of parametrizing the surfaces of the two beams in contact, fixing a point on the centroid line of one of the beams and searching for a constrained minimum distance between the surfaces (two variants are investigated). The resulting unilateral (frictionless) contact condition is then enforced with the Penalty method, which introduces compliance to the, otherwise rigid, beams' cross-sections. Two contact integration schemes are considered: the conventional slave-master approach (which is biased as the contact virtual work is only integrated over the slave surface) and the so-called two-half-pass approach (which is unbiased as the contact virtual work is integrated over the two contacting surfaces). Details of the finite element formulation which is suitably implemented using Automatic Di fferentiation techniques are presented. A set of numerical experiments shows the overall performance of the framework and allows a quantitative comparison of the investigated variants. [less ▲]

Nonlinear local solver

Scientific Conference (2022, August)

Many engineering applications require solution of a global finite element problem coupled with nonlinear equations of local nature. Local in the sense, that for a known global state the local solution ... [more ▼]

Many engineering applications require solution of a global finite element problem coupled with nonlinear equations of local nature. Local in the sense, that for a known global state the local solution could be found on cell-by-cell basis. Examples include plastic deformation problems, static condensation (hybridization) of displacement-stress formulation or just a simple nonlinear constitutive laws to be satisfied at each quadrature point. These types of problems either required special libraries and extensions in order to be solved with FEniCS (and FEniCS-X) tools, or lead to very slow implementations due to hacks and tricks needed to achieve the solution (e.g. monolithic schemes which increase the matrix problem size). In this talk a unified approach tailored for the current state of FEniCS-X interfaces is presented. The approach computes consistent global tangent operator for nonlinear problems. In addition, local equations are formulated symbolically in UFL, and their derivatives are therefore computed automatically. Several low-level examples (incl. plasticity with symbolic yield surface, nonlinear static condensation and materials with implicit constitutive laws) that demonstrate the main concepts are presented. Finally, high-level wrappers for this functionality are presented. These come as a part of package `dolfiny` (https://github.com/michalhabera/dolfiny). [less ▲]

Nonlinear Observation and Control of a Lightweight Robotic Manipulator Actuated by Shape Memory Alloy (SMA) Wires

Doctoral thesis (2019)

In the last decade, the industry of Unmanned Aerial Vehicles (UAV) has gone through immense growth and diversification. Nowadays, we find drone based applications in a wide range of industries, such as ... [more ▼]

In the last decade, the industry of Unmanned Aerial Vehicles (UAV) has gone through immense growth and diversification. Nowadays, we find drone based applications in a wide range of industries, such as infrastructure, agriculture, transport, among others. This phenomenon has generated an increasing interest in the field of aerial manipulation. The implementation of aerial manipulators in the UAV industry could generate a significant increase in possible applications. However, the restriction on the available payload is one of the main setbacks of this approach. The impossibility to equip UAVs with heavy dexterous industrial robotic arms has driven the interest in the development of lightweight manipulators suitable for these applications. In the pursuit of providing an alternative lightweight solution for the aerial manipulators, this thesis proposes a lightweight robotic arm actuated by Shape Memory Alloy (SMA) wires. Although SMA wires represent a great alternative to conventional actuators for lightweight applications, they also imply highly nonlinear dynamics, which makes them difficult to control. Seeking to present a solution for the challenging task of controlling SMA wires, this work investigates the implications and advantages of the implementation of state feedback control techniques. The final aim of this study is the experimental implementation of a state feedback control for position regulation of the proposed lightweight robotic arm. Firstly, a mathematical model based on a constitutive model of the SMA wire is developed and experimentally validated. This model describes the dynamics of the proposed lightweight robotic arm from a mechatronics perspective. The proposed robotic arm is tested with three output feedback controllers for angular position control, namely a PID, a Sliding Mode and an Adaptive Controller. The controllers are tested in a MATLAB simulation and finally implemented and experimentally tested in various different scenarios. Following, in order to perform the experimental implementation of a state feedback control technique, a state and unknown input observer is developed. First, a non-switching observable model with unknown input of the proposed robotic arm is derived from the model previously presented. This model takes the martensite fraction rate of the original model as an unknown input, making it possible to eliminate the switching terms in the model. Then, a state and unknown input observer is proposed. This observer is based on the Extended Kalman Filter (EKF) for state estimation and sliding mode approach for unknown input estimation. Sufficient conditions for stability and convergence are established. The observer is tested in a MATLAB simulation and experimentally validated in various different scenarios. Finally, a state feedback control technique is tested in simulation and experimentally implemented for angular position control of the proposed lightweight robotic arm. Specifically, continuous and discrete-time State-Dependent Riccati Equation (SDRE) control laws are derived and implemented. To conclude, a quantitative and qualitative comparative analysis between an output feedback control approach and the implemented state feedback control is carried out under multiple scenarios, including position regulation, position tracking and tracking with changing payloads. [less ▲]