Solar sail time-optimal interplanetary transfer trajectory design
International Nuclear Information System (INIS)
Gong Shengpin; Gao Yunfeng; Li Junfeng
2011-01-01
The fuel consumption associated with some interplanetary transfer trajectories using chemical propulsion is not affordable. A solar sail is a method of propulsion that does not consume fuel. Transfer time is one of the most pressing problems of solar sail transfer trajectory design. This paper investigates the time-optimal interplanetary transfer trajectories to a circular orbit of given inclination and radius. The optimal control law is derived from the principle of maximization. An indirect method is used to solve the optimal control problem by selecting values for the initial adjoint variables, which are normalized within a unit sphere. The conditions for the existence of the time-optimal transfer are dependent on the lightness number of the sail and the inclination and radius of the target orbit. A numerical method is used to obtain the boundary values for the time-optimal transfer trajectories. For the cases where no time-optimal transfer trajectories exist, first-order necessary conditions of the optimal control are proposed to obtain feasible solutions. The results show that the transfer time decreases as the minimum distance from the Sun decreases during the transfer duration. For a solar sail with a small lightness number, the transfer time may be evaluated analytically for a three-phase transfer trajectory. The analytical results are compared with previous results and the associated numerical results. The transfer time of the numerical result here is smaller than the transfer time from previous results and is larger than the analytical result.
Real-time trajectory optimization on parallel processors
Psiaki, Mark L.
1993-01-01
A parallel algorithm has been developed for rapidly solving trajectory optimization problems. The goal of the work has been to develop an algorithm that is suitable to do real-time, on-line optimal guidance through repeated solution of a trajectory optimization problem. The algorithm has been developed on an INTEL iPSC/860 message passing parallel processor. It uses a zero-order-hold discretization of a continuous-time problem and solves the resulting nonlinear programming problem using a custom-designed augmented Lagrangian nonlinear programming algorithm. The algorithm achieves parallelism of function, derivative, and search direction calculations through the principle of domain decomposition applied along the time axis. It has been encoded and tested on 3 example problems, the Goddard problem, the acceleration-limited, planar minimum-time to the origin problem, and a National Aerospace Plane minimum-fuel ascent guidance problem. Execution times as fast as 118 sec of wall clock time have been achieved for a 128-stage Goddard problem solved on 32 processors. A 32-stage minimum-time problem has been solved in 151 sec on 32 processors. A 32-stage National Aerospace Plane problem required 2 hours when solved on 32 processors. A speed-up factor of 7.2 has been achieved by using 32-nodes instead of 1-node to solve a 64-stage Goddard problem.
Optimization of extended propulsion time nuclear-electric propulsion trajectories
Sauer, C. G., Jr.
1981-01-01
This paper presents the methodology used in optimizing extended propulsion time NEP missions considering realistic thruster lifetime constraints. These missions consist of a powered spiral escape from a 700-km circular orbit at the earth, followed by a powered heliocentric transfer with an optimized coast phase, and terminating in a spiral capture phase at the target planet. This analysis is most applicable to those missions with very high energy requirements such as outer planet orbiter missions or sample return missions where the total propulsion time could greatly exceed the expected lifetime of an individual thruster. This methodology has been applied to the investigation of NEP missions to the outer planets where examples are presented of both constrained and optimized trajectories.
Verhoeven, Ronald; Dalmau Codina, Ramon; Prats Menéndez, Xavier; de Gelder, Nico
2014-01-01
1 Abstract In this paper an initial implementation of a real - time aircraft trajectory optimization algorithm is presented . The aircraft trajectory for descent and approach is computed for minimum use of thrust and speed brake in support of a “green” continuous descent and approach flight operation, while complying with ATC time constraints for maintaining runway throughput and co...
Minimum Time Trajectory Optimization of CNC Machining with Tracking Error Constraints
Directory of Open Access Journals (Sweden)
Qiang Zhang
2014-01-01
Full Text Available An off-line optimization approach of high precision minimum time feedrate for CNC machining is proposed. Besides the ordinary considered velocity, acceleration, and jerk constraints, dynamic performance constraint of each servo drive is also considered in this optimization problem to improve the tracking precision along the optimized feedrate trajectory. Tracking error is applied to indicate the servo dynamic performance of each axis. By using variable substitution, the tracking error constrained minimum time trajectory planning problem is formulated as a nonlinear path constrained optimal control problem. Bang-bang constraints structure of the optimal trajectory is proved in this paper; then a novel constraint handling method is proposed to realize a convex optimization based solution of the nonlinear constrained optimal control problem. A simple ellipse feedrate planning test is presented to demonstrate the effectiveness of the approach. Then the practicability and robustness of the trajectory generated by the proposed approach are demonstrated by a butterfly contour machining example.
Optimal bounds and extremal trajectories for time averages in nonlinear dynamical systems
Tobasco, Ian; Goluskin, David; Doering, Charles R.
2018-02-01
For any quantity of interest in a system governed by ordinary differential equations, it is natural to seek the largest (or smallest) long-time average among solution trajectories, as well as the extremal trajectories themselves. Upper bounds on time averages can be proved a priori using auxiliary functions, the optimal choice of which is a convex optimization problem. We prove that the problems of finding maximal trajectories and minimal auxiliary functions are strongly dual. Thus, auxiliary functions provide arbitrarily sharp upper bounds on time averages. Moreover, any nearly minimal auxiliary function provides phase space volumes in which all nearly maximal trajectories are guaranteed to lie. For polynomial equations, auxiliary functions can be constructed by semidefinite programming, which we illustrate using the Lorenz system.
On-line trajectory planning of time-jerk optimal for robotic arms
Directory of Open Access Journals (Sweden)
Nadir Bendali
2016-09-01
Full Text Available A method based on the computation of the time intervals of the knots for time-jerk optimal planning under kinematic constraints of robot manipulators in predefined operations is described in this paper. In order to ensure that the resulting trajectory is smooth enough, a cost function containing a term proportional to the integral of the squared jerk (defined as the derivative of the acceleration along the trajectory is considered. Moreover, a second term, proportional to the total execution time, is added to the expression of the cost function. A Cubic Spline functions are then used to compose overall trajectory. This method can meet the requirements of a short execution time and low arm vibration of the manipulator and the simulation provides good results.
Optimal bounds and extremal trajectories for time averages in dynamical systems
Tobasco, Ian; Goluskin, David; Doering, Charles
2017-11-01
For systems governed by differential equations it is natural to seek extremal solution trajectories, maximizing or minimizing the long-time average of a given quantity of interest. A priori bounds on optima can be proved by constructing auxiliary functions satisfying certain point-wise inequalities, the verification of which does not require solving the underlying equations. We prove that for any bounded autonomous ODE, the problems of finding extremal trajectories on the one hand and optimal auxiliary functions on the other are strongly dual in the sense of convex duality. As a result, auxiliary functions provide arbitrarily sharp bounds on optimal time averages. Furthermore, nearly optimal auxiliary functions provide volumes in phase space where maximal and nearly maximal trajectories must lie. For polynomial systems, such functions can be constructed by semidefinite programming. We illustrate these ideas using the Lorenz system, producing explicit volumes in phase space where extremal trajectories are guaranteed to reside. Supported by NSF Award DMS-1515161, Van Loo Postdoctoral Fellowships, and the John Simon Guggenheim Foundation.
Energy Technology Data Exchange (ETDEWEB)
Wang, Hesheng; Lai, Yinping [Department of Automation,Shanghai Jiao Tong University, Shanghai (China); Key Laboratory of System Control and Information Processing, Ministry of Education of China (China); Chen, Weidong, E-mail: wdchen@sjtu.edu.cn [Department of Automation,Shanghai Jiao Tong University, Shanghai (China); Key Laboratory of System Control and Information Processing, Ministry of Education of China (China)
2016-12-15
In this paper, a new optimization model of time optimal trajectory planning with limitation of operating task for the Tokamak inspecting manipulator is designed. The task of this manipulator is to inspect the components of Tokamak, the inspecting velocity of manipulator must be limited in the operating space in order to get the clear pictures. With the limitation of joint velocity, acceleration and jerk, this optimization model can not only get the minimum working time along a specific path, but also ensure the imaging quality of camera through the constraint of inspecting velocity. The upper bound of the scanning speed is not a constant but changes according to the observation distance of camera in real time. The relation between scanning velocity and observation distance is estimated by curve-fitting. Experiment has been carried out to verify the feasibility of optimization model, moreover, the Laplace image sharpness evaluation method is adopted to evaluate the quality of images obtained by the proposed method.
International Nuclear Information System (INIS)
Wang, Hesheng; Lai, Yinping; Chen, Weidong
2016-01-01
In this paper, a new optimization model of time optimal trajectory planning with limitation of operating task for the Tokamak inspecting manipulator is designed. The task of this manipulator is to inspect the components of Tokamak, the inspecting velocity of manipulator must be limited in the operating space in order to get the clear pictures. With the limitation of joint velocity, acceleration and jerk, this optimization model can not only get the minimum working time along a specific path, but also ensure the imaging quality of camera through the constraint of inspecting velocity. The upper bound of the scanning speed is not a constant but changes according to the observation distance of camera in real time. The relation between scanning velocity and observation distance is estimated by curve-fitting. Experiment has been carried out to verify the feasibility of optimization model, moreover, the Laplace image sharpness evaluation method is adopted to evaluate the quality of images obtained by the proposed method.
Directory of Open Access Journals (Sweden)
Dovrat Kohen
2017-06-01
Full Text Available When subjects are intentionally preparing a curved trajectory, they are engaged in a time-consuming trajectory planning process that is separate from target selection. To investigate the construction of such a plan, we examined the effect of artificially shortening preparation time on the performance of intentionally curved trajectories using the Timed Response task that enforces initiation of movements prematurely. Fifteen subjects performed obstacle avoidance movements toward one of four targets that were presented 25 or 350 ms before the “go” signal, imposing short and long preparation time conditions with mean values of 170 ms and 493 ms, respectively. While trajectories with short preparation times showed target specificity at their onset, they were significantly more variable and showed larger angular deviations from the lines connecting their initial position and the target, compared to the trajectories with long preparation times. Importantly, the trajectories of the short preparation time movements still reached their end-point targets accurately, with comparable movement durations. We hypothesize that success in the short preparation time condition is a result of an online control mechanism that allows further refinement of the plan during its execution and study this control mechanism with a novel trajectory analysis approach using minimum jerk optimization and geometrical modeling approaches. Results show a later agreement of the short preparation time trajectories with the optimal minimum jerk trajectory, accompanied by a later initiation of a parabolic segment. Both observations are consistent with the existence of an online trajectory planning process.Our results suggest that when preparation time is not sufficiently long, subjects execute a more variable and less optimally prepared initial trajectory and exploit online control mechanisms to refine their actions on the fly.
Kohen, Dovrat; Karklinsky, Matan; Meirovitch, Yaron; Flash, Tamar; Shmuelof, Lior
2017-01-01
When subjects are intentionally preparing a curved trajectory, they are engaged in a time-consuming trajectory planning process that is separate from target selection. To investigate the construction of such a plan, we examined the effect of artificially shortening preparation time on the performance of intentionally curved trajectories using the Timed Response task that enforces initiation of movements prematurely. Fifteen subjects performed obstacle avoidance movements toward one of four targets that were presented 25 or 350 ms before the “go” signal, imposing short and long preparation time conditions with mean values of 170 ms and 493 ms, respectively. While trajectories with short preparation times showed target specificity at their onset, they were significantly more variable and showed larger angular deviations from the lines connecting their initial position and the target, compared to the trajectories with long preparation times. Importantly, the trajectories of the short preparation time movements still reached their end-point targets accurately, with comparable movement durations. We hypothesize that success in the short preparation time condition is a result of an online control mechanism that allows further refinement of the plan during its execution and study this control mechanism with a novel trajectory analysis approach using minimum jerk optimization and geometrical modeling approaches. Results show a later agreement of the short preparation time trajectories with the optimal minimum jerk trajectory, accompanied by a later initiation of a parabolic segment. Both observations are consistent with the existence of an online trajectory planning process.Our results suggest that when preparation time is not sufficiently long, subjects execute a more variable and less optimally prepared initial trajectory and exploit online control mechanisms to refine their actions on the fly. PMID:28706478
Grisey, A.; Yon, S.; Pechoux, T.; Letort, V.; Lafitte, P.
2017-03-01
Treatment time reduction is a key issue to expand the use of high intensity focused ultrasound (HIFU) surgery, especially for benign pathologies. This study aims at quantitatively assessing the potential reduction of the treatment time arising from moving the focal point during long pulses. In this context, the optimization of the focal point trajectory is crucial to achieve a uniform thermal dose repartition and avoid boiling. At first, a numerical optimization algorithm was used to generate efficient trajectories. Thermal conduction was simulated in 3D with a finite difference code and damages to the tissue were modeled using the thermal dose formula. Given an initial trajectory, the thermal dose field was first computed, then, making use of Pontryagin's maximum principle, the trajectory was iteratively refined. Several initial trajectories were tested. Then, an ex vivo study was conducted in order to validate the efficicency of the resulting optimized strategies. Single pulses were performed at 3MHz on fresh veal liver samples with an Echopulse and the size of each unitary lesion was assessed by cutting each sample along three orthogonal planes and measuring the dimension of the whitened area based on photographs. We propose a promising approach to significantly shorten HIFU treatment time: the numerical optimization algorithm was shown to provide a reliable insight on trajectories that can improve treatment strategies. The model must now be improved in order to take in vivo conditions into account and extensively validated.
Directory of Open Access Journals (Sweden)
Maryam M Shanechi
Full Text Available Real-time brain-machine interfaces (BMI have focused on either estimating the continuous movement trajectory or target intent. However, natural movement often incorporates both. Additionally, BMIs can be modeled as a feedback control system in which the subject modulates the neural activity to move the prosthetic device towards a desired target while receiving real-time sensory feedback of the state of the movement. We develop a novel real-time BMI using an optimal feedback control design that jointly estimates the movement target and trajectory of monkeys in two stages. First, the target is decoded from neural spiking activity before movement initiation. Second, the trajectory is decoded by combining the decoded target with the peri-movement spiking activity using an optimal feedback control design. This design exploits a recursive Bayesian decoder that uses an optimal feedback control model of the sensorimotor system to take into account the intended target location and the sensory feedback in its trajectory estimation from spiking activity. The real-time BMI processes the spiking activity directly using point process modeling. We implement the BMI in experiments consisting of an instructed-delay center-out task in which monkeys are presented with a target location on the screen during a delay period and then have to move a cursor to it without touching the incorrect targets. We show that the two-stage BMI performs more accurately than either stage alone. Correct target prediction can compensate for inaccurate trajectory estimation and vice versa. The optimal feedback control design also results in trajectories that are smoother and have lower estimation error. The two-stage decoder also performs better than linear regression approaches in offline cross-validation analyses. Our results demonstrate the advantage of a BMI design that jointly estimates the target and trajectory of movement and more closely mimics the sensorimotor control system.
Optimal trajectories of aircraft and spacecraft
Miele, A.
1990-01-01
Work done on algorithms for the numerical solutions of optimal control problems and their application to the computation of optimal flight trajectories of aircraft and spacecraft is summarized. General considerations on calculus of variations, optimal control, numerical algorithms, and applications of these algorithms to real-world problems are presented. The sequential gradient-restoration algorithm (SGRA) is examined for the numerical solution of optimal control problems of the Bolza type. Both the primal formulation and the dual formulation are discussed. Aircraft trajectories, in particular, the application of the dual sequential gradient-restoration algorithm (DSGRA) to the determination of optimal flight trajectories in the presence of windshear are described. Both take-off trajectories and abort landing trajectories are discussed. Take-off trajectories are optimized by minimizing the peak deviation of the absolute path inclination from a reference value. Abort landing trajectories are optimized by minimizing the peak drop of altitude from a reference value. Abort landing trajectories are optimized by minimizing the peak drop of altitude from a reference value. The survival capability of an aircraft in a severe windshear is discussed, and the optimal trajectories are found to be superior to both constant pitch trajectories and maximum angle of attack trajectories. Spacecraft trajectories, in particular, the application of the primal sequential gradient-restoration algorithm (PSGRA) to the determination of optimal flight trajectories for aeroassisted orbital transfer are examined. Both the coplanar case and the noncoplanar case are discussed within the frame of three problems: minimization of the total characteristic velocity; minimization of the time integral of the square of the path inclination; and minimization of the peak heating rate. The solution of the second problem is called nearly-grazing solution, and its merits are pointed out as a useful
Hughes, Kyle M.; Knittel, Jeremy M.; Englander, Jacob A.
2017-01-01
This work presents an automated method of calculating mass (or time) optimal gravity-assist trajectories without a priori knowledge of the flyby-body combination. Since gravity assists are particularly crucial for reaching the outer Solar System, we use the Ice Giants, Uranus and Neptune, as example destinations for this work. Catalogs are also provided that list the most attractive trajectories found over launch dates ranging from 2024 to 2038. The tool developed to implement this method, called the Python EMTG Automated Trade Study Application (PEATSA), iteratively runs the Evolutionary Mission Trajectory Generator (EMTG), a NASA Goddard Space Flight Center in-house trajectory optimization tool. EMTG finds gravity-assist trajectories with impulsive maneuvers using a multiple-shooting structure along with stochastic methods (such as monotonic basin hopping) and may be run with or without an initial guess provided. PEATSA runs instances of EMTG in parallel over a grid of launch dates. After each set of runs completes, the best results within a neighborhood of launch dates are used to seed all other cases in that neighborhood---allowing the solutions across the range of launch dates to improve over each iteration. The results here are compared against trajectories found using a grid-search technique, and PEATSA is found to outperform the grid-search results for most launch years considered.
DEFF Research Database (Denmark)
Vestergaard, Christian Lyngby
2012-01-01
. The standard method for estimating diusion coecients from single-particle trajectories is based on leastsquares tting to the experimentally measured mean square displacements. This method is highly inecient, since it ignores the high correlations inherent in these. We derive the exact maximum likelihood...... of diusion coecients of hOgg1 repair proteins diusing on stretched uctuating DNA from data previously analyzed using a suboptimal method. Our analysis shows that the proteins have dierent eective diusion coecients and that their diusion coecients are correlated with their residence time on DNA. These results...
Ellison, Donald H.; Englander, Jacob A.; Conway, Bruce A.
2017-01-01
The multiple gravity assist low-thrust (MGALT) trajectory model combines the medium-fidelity Sims-Flanagan bounded-impulse transcription with a patched-conics flyby model and is an important tool for preliminary trajectory design. While this model features fast state propagation via Keplers equation and provides a pleasingly accurate estimation of the total mass budget for the eventual flight suitable integrated trajectory it does suffer from one major drawback, namely its temporal spacing of the control nodes. We introduce a variant of the MGALT transcription that utilizes the generalized anomaly from the universal formulation of Keplers equation as a decision variable in addition to the trajectory phase propagation time. This results in two improvements over the traditional model. The first is that the maneuver locations are equally spaced in generalized anomaly about the orbit rather than time. The second is that the Kepler propagator now has the generalized anomaly as its independent variable instead of time and thus becomes an iteration-free propagation method. The new algorithm is outlined, including the impact that this has on the computation of Jacobian entries for numerical optimization, and a motivating application problem is presented that illustrates the improvements that this model has over the traditional MGALT transcription.
Optimal Two-Impulse Trajectories with Moderate Flight Time for Earth-Moon Missions
Directory of Open Access Journals (Sweden)
Sandro da Silva Fernandes
2012-01-01
describe the motion of the space vehicle: the well-known patched-conic approximation and two versions of the planar circular restricted three-body problem (PCR3BP. In the patched-conic approximation model, the parameters to be optimized are two: initial phase angle of space vehicle and the first velocity impulse. In the PCR3BP models, the parameters to be optimized are four: initial phase angle of space vehicle, flight time, and the first and the second velocity impulses. In all cases, the optimization problem has one degree of freedom and can be solved by means of an algorithm based on gradient method in conjunction with Newton-Raphson method.
OPTIMAL AIRCRAFT TRAJECTORIES FOR SPECIFIED RANGE
Lee, H.
1994-01-01
For an aircraft operating over a fixed range, the operating costs are basically a sum of fuel cost and time cost. While minimum fuel and minimum time trajectories are relatively easy to calculate, the determination of a minimum cost trajectory can be a complex undertaking. This computer program was developed to optimize trajectories with respect to a cost function based on a weighted sum of fuel cost and time cost. As a research tool, the program could be used to study various characteristics of optimum trajectories and their comparison to standard trajectories. It might also be used to generate a model for the development of an airborne trajectory optimization system. The program could be incorporated into an airline flight planning system, with optimum flight plans determined at takeoff time for the prevailing flight conditions. The use of trajectory optimization could significantly reduce the cost for a given aircraft mission. The algorithm incorporated in the program assumes that a trajectory consists of climb, cruise, and descent segments. The optimization of each segment is not done independently, as in classical procedures, but is performed in a manner which accounts for interaction between the segments. This is accomplished by the application of optimal control theory. The climb and descent profiles are generated by integrating a set of kinematic and dynamic equations, where the total energy of the aircraft is the independent variable. At each energy level of the climb and descent profiles, the air speed and power setting necessary for an optimal trajectory are determined. The variational Hamiltonian of the problem consists of the rate of change of cost with respect to total energy and a term dependent on the adjoint variable, which is identical to the optimum cruise cost at a specified altitude. This variable uniquely specifies the optimal cruise energy, cruise altitude, cruise Mach number, and, indirectly, the climb and descent profiles. If the optimum
Parallel Aircraft Trajectory Optimization with Analytic Derivatives
Falck, Robert D.; Gray, Justin S.; Naylor, Bret
2016-01-01
Trajectory optimization is an integral component for the design of aerospace vehicles, but emerging aircraft technologies have introduced new demands on trajectory analysis that current tools are not well suited to address. Designing aircraft with technologies such as hybrid electric propulsion and morphing wings requires consideration of the operational behavior as well as the physical design characteristics of the aircraft. The addition of operational variables can dramatically increase the number of design variables which motivates the use of gradient based optimization with analytic derivatives to solve the larger optimization problems. In this work we develop an aircraft trajectory analysis tool using a Legendre-Gauss-Lobatto based collocation scheme, providing analytic derivatives via the OpenMDAO multidisciplinary optimization framework. This collocation method uses an implicit time integration scheme that provides a high degree of sparsity and thus several potential options for parallelization. The performance of the new implementation was investigated via a series of single and multi-trajectory optimizations using a combination of parallel computing and constraint aggregation. The computational performance results show that in order to take full advantage of the sparsity in the problem it is vital to parallelize both the non-linear analysis evaluations and the derivative computations themselves. The constraint aggregation results showed a significant numerical challenge due to difficulty in achieving tight convergence tolerances. Overall, the results demonstrate the value of applying analytic derivatives to trajectory optimization problems and lay the foundation for future application of this collocation based method to the design of aircraft with where operational scheduling of technologies is key to achieving good performance.
Optimal Hankel Norm Model Reduction by Truncation of Trajectories
Roorda, B.; Weiland, S.
2000-01-01
We show how optimal Hankel-norm approximations of dynamical systems allow for a straightforward interpretation in terms of system trajectories. It is shown that for discrete time single-input systems optimal reductions are obtained by cutting 'balanced trajectories', i.e., by disconnecting the past
Optimal heliocentric trajectories for solar sail with minimum area
Petukhov, Vyacheslav G.
2018-05-01
The fixed-time heliocentric trajectory optimization problem is considered for planar solar sail with minimum area. Necessary optimality conditions are derived, a numerical method for solving the problem is developed, and numerical examples of optimal trajectories to Mars, Venus and Mercury are presented. The dependences of the minimum area of the solar sail from the date of departure from the Earth, the time of flight and the departing hyperbolic excess of velocity are analyzed. In particular, for the rendezvous problem (approaching a target planet with zero relative velocity) with zero departing hyperbolic excess of velocity for a flight duration of 1200 days it was found that the minimum area-to-mass ratio should be about 12 m2/kg for trajectory to Venus, 23.5 m2/kg for the trajectory to Mercury and 25 m2/kg for trajectory to Mars.
Optimal Lunar Landing Trajectory Design for Hybrid Engine
Cho, Dong-Hyun; Kim, Donghoon; Leeghim, Henzeh
2015-01-01
The lunar landing stage is usually divided into two parts: deorbit burn and powered descent phases. The optimal lunar landing problem is likely to be transformed to the trajectory design problem on the powered descent phase by using continuous thrusters. The optimal lunar landing trajectories in general have variety in shape, and the lunar lander frequently increases its altitude at the initial time to obtain enough time to reduce the horizontal velocity. Due to the increment in the altitude,...
Helicopter trajectory planning using optimal control theory
Menon, P. K. A.; Cheng, V. H. L.; Kim, E.
1988-01-01
A methodology for optimal trajectory planning, useful in the nap-of-the-earth guidance of helicopters, is presented. This approach uses an adjoint-control transformation along with a one-dimensional search scheme for generating the optimal trajectories. In addition to being useful for helicopter nap-of-the-earth guidance, the trajectory planning solution is of interest in several other contexts, such as robotic vehicle guidance and terrain-following guidance for cruise missiles and aircraft. A distinguishing feature of the present research is that the terrain constraint and the threat envelopes are incorporated in the equations of motion. Second-order necessary conditions are examined.
Trajectory Optimization Based on Multi-Interval Mesh Refinement Method
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Ningbo Li
2017-01-01
Full Text Available In order to improve the optimization accuracy and convergence rate for trajectory optimization of the air-to-air missile, a multi-interval mesh refinement Radau pseudospectral method was introduced. This method made the mesh endpoints converge to the practical nonsmooth points and decreased the overall collocation points to improve convergence rate and computational efficiency. The trajectory was divided into four phases according to the working time of engine and handover of midcourse and terminal guidance, and then the optimization model was built. The multi-interval mesh refinement Radau pseudospectral method with different collocation points in each mesh interval was used to solve the trajectory optimization model. Moreover, this method was compared with traditional h method. Simulation results show that this method can decrease the dimensionality of nonlinear programming (NLP problem and therefore improve the efficiency of pseudospectral methods for solving trajectory optimization problems.
Optimal Trajectories Generation in Robotic Fiber Placement Systems
Gao, Jiuchun; Pashkevich, Anatol; Caro, Stéphane
2017-06-01
The paper proposes a methodology for optimal trajectories generation in robotic fiber placement systems. A strategy to tune the parameters of the optimization algorithm at hand is also introduced. The presented technique transforms the original continuous problem into a discrete one where the time-optimal motions are generated by using dynamic programming. The developed strategy for the optimization algorithm tuning allows essentially reducing the computing time and obtaining trajectories satisfying industrial constraints. Feasibilities and advantages of the proposed methodology are confirmed by an application example.
Computational Approaches to Simulation and Optimization of Global Aircraft Trajectories
Ng, Hok Kwan; Sridhar, Banavar
2016-01-01
This study examines three possible approaches to improving the speed in generating wind-optimal routes for air traffic at the national or global level. They are: (a) using the resources of a supercomputer, (b) running the computations on multiple commercially available computers and (c) implementing those same algorithms into NASAs Future ATM Concepts Evaluation Tool (FACET) and compares those to a standard implementation run on a single CPU. Wind-optimal aircraft trajectories are computed using global air traffic schedules. The run time and wait time on the supercomputer for trajectory optimization using various numbers of CPUs ranging from 80 to 10,240 units are compared with the total computational time for running the same computation on a single desktop computer and on multiple commercially available computers for potential computational enhancement through parallel processing on the computer clusters. This study also re-implements the trajectory optimization algorithm for further reduction of computational time through algorithm modifications and integrates that with FACET to facilitate the use of the new features which calculate time-optimal routes between worldwide airport pairs in a wind field for use with existing FACET applications. The implementations of trajectory optimization algorithms use MATLAB, Python, and Java programming languages. The performance evaluations are done by comparing their computational efficiencies and based on the potential application of optimized trajectories. The paper shows that in the absence of special privileges on a supercomputer, a cluster of commercially available computers provides a feasible approach for national and global air traffic system studies.
Trajectory Optimization for Differential Flat Systems
Kahina Louadj; Benjamas Panomruttanarug; Alexandre Carlos Brandao Ramos; Felix Mora-Camino
2016-01-01
International audience; The purpose of this communication is to investigate the applicability of Variational Calculus to the optimization of the operation of differentially flat systems. After introducingcharacteristic properties of differentially flat systems, the applicability of variational calculus to the optimization of flat output trajectories is displayed. Two illustrative examples are also presented.
Directory of Open Access Journals (Sweden)
Arash Ramezani
2017-01-01
Full Text Available The threat imposed by terrorist attacks is a major hazard for military installations, for example, in Iraq and Afghanistan. The large amounts of rockets, artillery projectiles, and mortar grenades (RAM that are available pose serious threats to military forces. An important task for international research and development is to protect military installations and implement an accurate early warning system against RAM threats on conventional computer systems in out-of-area field camps. This work presents a method for determining the trajectory, caliber, and type of a projectile based on the estimation of the ballistic coefficient. A simulation-based optimization process is presented that enables iterative adjustment of predicted trajectories in real time. Analytical and numerical methods are used to reduce computing time for out-of-area missions and low-end computer systems. A GUI is programmed to present the results. It allows for comparison between predicted and actual trajectories. Finally, different aspects and restrictions for measuring the quality of the results are discussed.
Optimization approaches for robot trajectory planning
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Carlos Llopis-Albert
2018-03-01
Full Text Available The development of optimal trajectory planning algorithms for autonomous robots is a key issue in order to efficiently perform the robot tasks. This problem is hampered by the complex environment regarding the kinematics and dynamics of robots with several arms and/or degrees of freedom (dof, the design of collision-free trajectories and the physical limitations of the robots. This paper presents a review about the existing robot motion planning techniques and discusses their pros and cons regarding completeness, optimality, efficiency, accuracy, smoothness, stability, safety and scalability.
Receding Horizon Trajectory Optimization with Terminal Impact Specifications
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Limin Zhang
2014-01-01
Full Text Available The trajectory optimization problem subject to terminal impact time and angle specifications can be reformulated as a nonlinear programming problem using the Gauss pseudospectral method. The cost function of the trajectory optimization problem is modified to reduce the terminal control energy. A receding horizon optimization strategy is implemented to reject the errors caused by the motion of a surface target. Several simulations were performed to validate the proposed method via the C programming language. The simulation results demonstrate the effectiveness of the proposed algorithm and that the real-time requirement can be easily achieved if the C programming language is used to realize it.
On the Optimization of Aerospace Plane Ascent Trajectory
Al-Garni, Ahmed; Kassem, Ayman Hamdy
A hybrid heuristic optimization technique based on genetic algorithms and particle swarm optimization has been developed and tested for trajectory optimization problems with multi-constraints and a multi-objective cost function. The technique is used to calculate control settings for two types for ascending trajectories (constant dynamic pressure and minimum-fuel-minimum-heat) for a two-dimensional model of an aerospace plane. A thorough statistical analysis is done on the hybrid technique to make comparisons with both basic genetic algorithms and particle swarm optimization techniques with respect to convergence and execution time. Genetic algorithm optimization showed better execution time performance while particle swarm optimization showed better convergence performance. The hybrid optimization technique, benefiting from both techniques, showed superior robust performance compromising convergence trends and execution time.
Propositional Optimal Trajectory Programming for Improving Stability ...
African Journals Online (AJOL)
Propositional Optimal Trajectory Programming for Improving Stability of Hermite Definite Control System. ... PROMOTING ACCESS TO AFRICAN RESEARCH. AFRICAN JOURNALS ONLINE (AJOL) ... Knowledge of systems operation subjected to heat diffusion constraints is required of systems analysts. In an instance that ...
Optimizing interplanetary trajectories with deep space maneuvers
Navagh, John
1993-09-01
Analysis of interplanetary trajectories is a crucial area for both manned and unmanned missions of the Space Exploration Initiative. A deep space maneuver (DSM) can improve a trajectory in much the same way as a planetary swingby. However, instead of using a gravitational field to alter the trajectory, the on-board propulsion system of the spacecraft is used when the vehicle is not near a planet. The purpose is to develop an algorithm to determine where and when to use deep space maneuvers to reduce the cost of a trajectory. The approach taken to solve this problem uses primer vector theory in combination with a non-linear optimizing program to minimize Delta(V). A set of necessary conditions on the primer vector is shown to indicate whether a deep space maneuver will be beneficial. Deep space maneuvers are applied to a round trip mission to Mars to determine their effect on the launch opportunities. Other studies which were performed include cycler trajectories and Mars mission abort scenarios. It was found that the software developed was able to locate quickly DSM's which lower the total Delta(V) on these trajectories.
Design and Analysis of Optimal Ascent Trajectories for Stratospheric Airships
Mueller, Joseph Bernard
Stratospheric airships are lighter-than-air vehicles that have the potential to provide a long-duration airborne presence at altitudes of 18-22 km. Designed to operate on solar power in the calm portion of the lower stratosphere and above all regulated air traffic and cloud cover, these vehicles represent an emerging platform that resides between conventional aircraft and satellites. A particular challenge for airship operation is the planning of ascent trajectories, as the slow moving vehicle must traverse the high wind region of the jet stream. Due to large changes in wind speed and direction across altitude and the susceptibility of airship motion to wind, the trajectory must be carefully planned, preferably optimized, in order to ensure that the desired station be reached within acceptable performance bounds of flight time and energy consumption. This thesis develops optimal ascent trajectories for stratospheric airships, examines the structure and sensitivity of these solutions, and presents a strategy for onboard guidance. Optimal ascent trajectories are developed that utilize wind energy to achieve minimum-time and minimum-energy flights. The airship is represented by a three-dimensional point mass model, and the equations of motion include aerodynamic lift and drag, vectored thrust, added mass effects, and accelerations due to mass flow rate, wind rates, and Earth rotation. A representative wind profile is developed based on historical meteorological data and measurements. Trajectory optimization is performed by first defining an optimal control problem with both terminal and path constraints, then using direct transcription to develop an approximate nonlinear parameter optimization problem of finite dimension. Optimal ascent trajectories are determined using SNOPT for a variety of upwind, downwind, and crosswind launch locations. Results of extensive optimization solutions illustrate definitive patterns in the ascent path for minimum time flights across
Implementation of optimal trajectory control of series resonant converter
Oruganti, Ramesh; Yang, James J.; Lee, Fred C.
1987-01-01
Due to the presence of a high-frequency LC tank circuit, the dynamics of a resonant converter are unpredictable. There is often a large surge of tank energy during transients. Using state-plane analysis technique, an optimal trajectory control utilizing the desired solution trajectory as the control law was previously proposed for the series resonant converters. The method predicts the fastest response possible with minimum energy surge in the resonant tank. The principle of the control and its experimental implementation are described here. The dynamics of the converter are shown to be close to time-optimal.
Optimal Lunar Landing Trajectory Design for Hybrid Engine
Directory of Open Access Journals (Sweden)
Dong-Hyun Cho
2015-01-01
Full Text Available The lunar landing stage is usually divided into two parts: deorbit burn and powered descent phases. The optimal lunar landing problem is likely to be transformed to the trajectory design problem on the powered descent phase by using continuous thrusters. The optimal lunar landing trajectories in general have variety in shape, and the lunar lander frequently increases its altitude at the initial time to obtain enough time to reduce the horizontal velocity. Due to the increment in the altitude, the lunar lander requires more fuel for lunar landing missions. In this work, a hybrid engine for the lunar landing mission is introduced, and an optimal lunar landing strategy for the hybrid engine is suggested. For this approach, it is assumed that the lunar lander retrofired the impulsive thruster to reduce the horizontal velocity rapidly at the initiated time on the powered descent phase. Then, the lunar lander reduced the total velocity and altitude for the lunar landing by using the continuous thruster. In contradistinction to other formal optimal lunar landing problems, the initial horizontal velocity and mass are not fixed at the start time. The initial free optimal control theory is applied, and the optimal initial value and lunar landing trajectory are obtained by simulation studies.
Optimal trajectory generation for mechanical arms. M.S. Thesis
Iemenschot, J. A.
1972-01-01
A general method of generating optimal trajectories between an initial and a final position of an n degree of freedom manipulator arm with nonlinear equations of motion is proposed. The method is based on the assumption that the time history of each of the coordinates can be expanded in a series of simple time functions. By searching over the coefficients of the terms in the expansion, trajectories which minimize the value of a given cost function can be obtained. The method has been applied to a planar three degree of freedom arm.
Displaced Electric Sail Orbits Design and Transition Trajectory Optimization
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Naiming Qi
2014-01-01
Full Text Available Displaced orbits for spacecraft propelled by electric sails are investigated as an alternative to the use of solar sails. The orbital dynamics of electric sails based spacecraft are studied within a spherical coordinate system, which permits finding the solutions of displaced electric sail orbits and optimize transfer trajectory. Transfer trajectories from Earth's orbit to displaced orbit are also studied in an optimal framework, by using genetic algorithm and Gauss pseudospectral method. The initial guesses for the state and control histories used in the Gauss pseudospectral method are interpolated from the best solution of a genetic algorithm. Numerical simulations show that the electric sail is able to perform the transfer from Earth’s orbit to displaced orbit in acceptable time, and the hybrid optimization method has the capability to search the feasible and optimal solution without any initial value guess.
Optimal Collision Avoidance Trajectories for Unmanned/Remotely Piloted Aircraft
2014-12-26
collocation method to solve this problem and then analyzes these results for di↵erent collision avoidance scenarios. iv To my beautiful “ Proverbs 31” wife... le ( d e g ) Optimal Control JOCA Baseline 0 10 20 30 40 50 60 0.8 1 1.2 1.4 N z Control time (sec) N z Optimal Control JOCA Baseline (b...Optimal Control JOCA Baseline (a) Trajectory Deviation 0 10 20 30 40 50 60 70 −20 −10 0 10 20 µ Control time (sec) a n g le ( d e g
Optimization of Low-Thrust Spiral Trajectories by Collocation
Falck, Robert D.; Dankanich, John W.
2012-01-01
As NASA examines potential missions in the post space shuttle era, there has been a renewed interest in low-thrust electric propulsion for both crewed and uncrewed missions. While much progress has been made in the field of software for the optimization of low-thrust trajectories, many of the tools utilize higher-fidelity methods which, while excellent, result in extremely high run-times and poor convergence when dealing with planetocentric spiraling trajectories deep within a gravity well. Conversely, faster tools like SEPSPOT provide a reasonable solution but typically fail to account for other forces such as third-body gravitation, aerodynamic drag, solar radiation pressure. SEPSPOT is further constrained by its solution method, which may require a very good guess to yield a converged optimal solution. Here the authors have developed an approach using collocation intended to provide solution times comparable to those given by SEPSPOT while allowing for greater robustness and extensible force models.
Augmenting Parametric Optimal Ascent Trajectory Modeling with Graph Theory
Dees, Patrick D.; Zwack, Matthew R.; Edwards, Stephen; Steffens, Michael
2016-01-01
It has been well documented that decisions made in the early stages of Conceptual and Pre-Conceptual design commit up to 80% of total Life-Cycle Cost (LCC) while engineers know the least about the product they are designing [1]. Once within Preliminary and Detailed design however, making changes to the design becomes far more difficult to enact in both cost and schedule. Primarily this has been due to a lack of detailed data usually uncovered later during the Preliminary and Detailed design phases. In our current budget-constrained environment, making decisions within Conceptual and Pre-Conceptual design which minimize LCC while meeting requirements is paramount to a program's success. Within the arena of launch vehicle design, optimizing the ascent trajectory is critical for minimizing the costs present within such concerns as propellant, aerodynamic, aeroheating, and acceleration loads while meeting requirements such as payload delivered to a desired orbit. In order to optimize the vehicle design its constraints and requirements must be known, however as the design cycle proceeds it is all but inevitable that the conditions will change. Upon that change, the previously optimized trajectory may no longer be optimal, or meet design requirements. The current paradigm for adjusting to these updates is generating point solutions for every change in the design's requirements [2]. This can be a tedious, time-consuming task as changes in virtually any piece of a launch vehicle's design can have a disproportionately large effect on the ascent trajectory, as the solution space of the trajectory optimization problem is both non-linear and multimodal [3]. In addition, an industry standard tool, Program to Optimize Simulated Trajectories (POST), requires an expert analyst to produce simulated trajectories that are feasible and optimal [4]. In a previous publication the authors presented a method for combatting these challenges [5]. In order to bring more detailed information
Terminal Control Area Aircraft Scheduling and Trajectory Optimization Approaches
Directory of Open Access Journals (Sweden)
Samà Marcella
2017-01-01
Full Text Available Aviation authorities are seeking optimization methods to better use the available infrastructure and better manage aircraft movements. This paper deals with the realtime scheduling of take-off and landing aircraft at a busy terminal control area and with the optimization of aircraft trajectories during the landing procedures. The first problem aims to reduce the propagation of delays, while the second problem aims to either minimize the travel time or reduce the fuel consumption. Both problems are particularly complex, since the first one is NP-hard while the second one is nonlinear and a combined solution needs to be computed in a short-time during operations. This paper proposes a framework for the lexicographic optimization of the two problems. Computational experiments are performed for the Milano Malpensa airport and show the existing gaps between the performance indicators of the two problems when different lexicographic optimization approaches are considered.
Adaptive density trajectory cluster based on time and space distance
Liu, Fagui; Zhang, Zhijie
2017-10-01
There are some hotspot problems remaining in trajectory cluster for discovering mobile behavior regularity, such as the computation of distance between sub trajectories, the setting of parameter values in cluster algorithm and the uncertainty/boundary problem of data set. As a result, based on the time and space, this paper tries to define the calculation method of distance between sub trajectories. The significance of distance calculation for sub trajectories is to clearly reveal the differences in moving trajectories and to promote the accuracy of cluster algorithm. Besides, a novel adaptive density trajectory cluster algorithm is proposed, in which cluster radius is computed through using the density of data distribution. In addition, cluster centers and number are selected by a certain strategy automatically, and uncertainty/boundary problem of data set is solved by designed weighted rough c-means. Experimental results demonstrate that the proposed algorithm can perform the fuzzy trajectory cluster effectively on the basis of the time and space distance, and obtain the optimal cluster centers and rich cluster results information adaptably for excavating the features of mobile behavior in mobile and sociology network.
Programs To Optimize Spacecraft And Aircraft Trajectories
Brauer, G. L.; Petersen, F. M.; Cornick, D.E.; Stevenson, R.; Olson, D. W.
1994-01-01
POST/6D POST is set of two computer programs providing ability to target and optimize trajectories of powered or unpowered spacecraft or aircraft operating at or near rotating planet. POST treats point-mass, three-degree-of-freedom case. 6D POST treats more-general rigid-body, six-degree-of-freedom (with point masses) case. Used to solve variety of performance, guidance, and flight-control problems for atmospheric and orbital vehicles. Applications include computation of performance or capability of vehicle in ascent, or orbit, and during entry into atmosphere, simulation and analysis of guidance and flight-control systems, dispersion-type analyses and analyses of loads, general-purpose six-degree-of-freedom simulation of controlled and uncontrolled vehicles, and validation of performance in six degrees of freedom. Written in FORTRAN 77 and C language. Two machine versions available: one for SUN-series computers running SunOS(TM) (LAR-14871) and one for Silicon Graphics IRIS computers running IRIX(TM) operating system (LAR-14869).
New Search Space Reduction Algorithm for Vertical Reference Trajectory Optimization
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Alejandro MURRIETA-MENDOZA
2016-06-01
Full Text Available Burning the fuel required to sustain a given flight releases pollution such as carbon dioxide and nitrogen oxides, and the amount of fuel consumed is also a significant expense for airlines. It is desirable to reduce fuel consumption to reduce both pollution and flight costs. To increase fuel savings in a given flight, one option is to compute the most economical vertical reference trajectory (or flight plan. A deterministic algorithm was developed using a numerical aircraft performance model to determine the most economical vertical flight profile considering take-off weight, flight distance, step climb and weather conditions. This algorithm is based on linear interpolations of the performance model using the Lagrange interpolation method. The algorithm downloads the latest available forecast from Environment Canada according to the departure date and flight coordinates, and calculates the optimal trajectory taking into account the effects of wind and temperature. Techniques to avoid unnecessary calculations are implemented to reduce the computation time. The costs of the reference trajectories proposed by the algorithm are compared with the costs of the reference trajectories proposed by a commercial flight management system using the fuel consumption estimated by the FlightSim® simulator made by Presagis®.
Study of particle swarm optimization particle trajectories
CSIR Research Space (South Africa)
Van den Bergh, F
2006-01-01
Full Text Available . These theoretical studies concentrate mainly on simplified PSO systems. This paper overviews current theoretical studies, and extend these studies to investigate particle trajectories for general swarms to include the influence of the inertia term. The paper also...
DEFF Research Database (Denmark)
Gruber, Thierry; Larue, Grégoire S.; Rakotonirainy, Andry
2017-01-01
drivers with the optimal trajectory considering the motorist's driving style in real time. Travel duration and safety are the main parameters used to find the optimal trajectory. A simulation framework to determine the optimal trajectory was developed in which the ego car travels in a highway environment......Advanced driving assistance systems (ADAS) have huge potential for improving road safety and travel times. However, their take-up in the market is very slow; and these systems should consider driver's preferences to increase adoption rates. The aim of this study is to develop a model providing...
Optimization on Trajectory of Stanford Manipulator based on Genetic Algorithm
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Han Xi
2017-01-01
Full Text Available The optimization of robot manipulator’s trajectory has become a hot topic in academic and industrial fields. In this paper, a method for minimizing the moving distance of robot manipulators is presented. The Stanford Manipulator is used as the research object and the inverse kinematics model is established with Denavit-Hartenberg method. Base on the initial posture matrix, the inverse kinematics model is used to find the initial state of each joint. In accordance with the given beginning moment, cubic polynomial interpolation is applied to each joint variable and the positive kinematic model is used to calculate the moving distance of end effector. Genetic algorithm is used to optimize the sequential order of each joint and the time difference between different starting time of joints. Numerical applications involving a Stanford manipulator are presented.
A man in the loop trajectory optimization program (MILTOP)
Reinfields, J.
1974-01-01
An interactive trajectory optimization program is developed for use in initial fixing of launch configurations. The program is called MILTOP for Man-In-the-Loop-Trajectory Optimization-Program. The program is designed to facilitate quick look studies using man-machine decision combinations to reduce the time required to solve a given problem. MILTOP integrates the equations of motion of a point-mass in 3-Dimensions with drag as the only aerodynamic force present. Any point in time at which an integration step terminates, may be used as a decision-break-point, with complete user control over all variables and routines at this point. Automatic phases are provided for different modes of control: vertical rise, pitch-over, gravity turn, chi-freeze and control turn. Stage parameters are initialized from a separate routine so the user may fly as many stages as his problem demands. The MILTOP system uses both interactively on storage scope consoles, or in batch mode with numerical output on the live printer.
Multiphase Return Trajectory Optimization Based on Hybrid Algorithm
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Yi Yang
2016-01-01
Full Text Available A hybrid trajectory optimization method consisting of Gauss pseudospectral method (GPM and natural computation algorithm has been developed and utilized to solve multiphase return trajectory optimization problem, where a phase is defined as a subinterval in which the right-hand side of the differential equation is continuous. GPM converts the optimal control problem to a nonlinear programming problem (NLP, which helps to improve calculation accuracy and speed of natural computation algorithm. Through numerical simulations, it is found that the multiphase optimal control problem could be solved perfectly.
Trajectory optimization using indirect methods and parametric scramjet cycle analysis
Williams, Joseph
2016-01-01
This study investigates the solution of time sensitive regional strike trajectories for hypersonic missiles. This minimum time trajectory is suspected to be best performed by scramjet powered hypersonic missiles which creates strong coupled interaction between the flight dynamics and the performance of the engine. Comprehensive engine models are necessary to gain better insight into scramjet propulsion. Separately, robust and comprehensive trajectory analysis provides references for vehicles ...
Bulgakov, V. K.; Strigunov, V. V.
2009-05-01
The Pontryagin maximum principle is used to prove a theorem concerning optimal control in regional macroeconomics. A boundary value problem for optimal trajectories of the state and adjoint variables is formulated, and optimal curves are analyzed. An algorithm is proposed for solving the boundary value problem of optimal control. The performance of the algorithm is demonstrated by computing an optimal control and the corresponding optimal trajectories.
An Expert System-Driven Method for Parametric Trajectory Optimization During Conceptual Design
Dees, Patrick D.; Zwack, Mathew R.; Steffens, Michael; Edwards, Stephen; Diaz, Manuel J.; Holt, James B.
2015-01-01
During the early phases of engineering design, the costs committed are high, costs incurred are low, and the design freedom is high. It is well documented that decisions made in these early design phases drive the entire design's life cycle cost. In a traditional paradigm, key design decisions are made when little is known about the design. As the design matures, design changes become more difficult in both cost and schedule to enact. The current capability-based paradigm, which has emerged because of the constrained economic environment, calls for the infusion of knowledge usually acquired during later design phases into earlier design phases, i.e. bringing knowledge acquired during preliminary and detailed design into pre-conceptual and conceptual design. An area of critical importance to launch vehicle design is the optimization of its ascent trajectory, as the optimal trajectory will be able to take full advantage of the launch vehicle's capability to deliver a maximum amount of payload into orbit. Hence, the optimal ascent trajectory plays an important role in the vehicle's affordability posture yet little of the information required to successfully optimize a trajectory is known early in the design phase. Thus, the current paradigm of optimizing ascent trajectories involves generating point solutions for every change in a vehicle's design parameters. This is often a very tedious, manual, and time-consuming task for the analysts. Moreover, the trajectory design space is highly non-linear and multi-modal due to the interaction of various constraints. When these obstacles are coupled with the Program to Optimize Simulated Trajectories (POST), an industry standard program to optimize ascent trajectories that is difficult to use, expert trajectory analysts are required to effectively optimize a vehicle's ascent trajectory. Over the course of this paper, the authors discuss a methodology developed at NASA Marshall's Advanced Concepts Office to address these issues
Enabling Parametric Optimal Ascent Trajectory Modeling During Early Phases of Design
Holt, James B.; Dees, Patrick D.; Diaz, Manuel J.
2015-01-01
During the early phases of engineering design, the costs committed are high, costs incurred are low, and the design freedom is high. It is well documented that decisions made in these early design phases drive the entire design's life cycle. In a traditional paradigm, key design decisions are made when little is known about the design. As the design matures, design changes become more difficult -- in both cost and schedule -- to enact. Indeed, the current capability-based paradigm that has emerged because of the constrained economic environment calls for the infusion of knowledge acquired during later design phases into earlier design phases, i.e. bring knowledge acquired during preliminary and detailed design into pre-conceptual and conceptual design. An area of critical importance to launch vehicle design is the optimization of its ascent trajectory, as the optimal trajectory will be able to take full advantage of the launch vehicle's capability to deliver a maximum amount of payload into orbit. Hence, the optimal ascent trajectory plays an important role in the vehicle's affordability posture as the need for more economically viable access to space solutions are needed in today's constrained economic environment. The problem of ascent trajectory optimization is not a new one. There are several programs that are widely used in industry that allows trajectory analysts to, based on detailed vehicle and insertion orbit parameters, determine the optimal ascent trajectory. Yet, little information is known about the launch vehicle early in the design phase - information that is required of many different disciplines in order to successfully optimize the ascent trajectory. Thus, the current paradigm of optimizing ascent trajectories involves generating point solutions for every change in a vehicle's design parameters. This is often a very tedious, manual, and time-consuming task for the analysts. Moreover, the trajectory design space is highly non-linear and multi
A Robot Trajectory Optimization Approach for Thermal Barrier Coatings Used for Free-Form Components
Cai, Zhenhua; Qi, Beichun; Tao, Chongyuan; Luo, Jie; Chen, Yuepeng; Xie, Changjun
2017-10-01
This paper is concerned with a robot trajectory optimization approach for thermal barrier coatings. As the requirements of high reproducibility of complex workpieces increase, an optimal thermal spraying trajectory should not only guarantee an accurate control of spray parameters defined by users (e.g., scanning speed, spray distance, scanning step, etc.) to achieve coating thickness homogeneity but also help to homogenize the heat transfer distribution on the coating surface. A mesh-based trajectory generation approach is introduced in this work to generate path curves on a free-form component. Then, two types of meander trajectories are generated by performing a different connection method. Additionally, this paper presents a research approach for introducing the heat transfer analysis into the trajectory planning process. Combining heat transfer analysis with trajectory planning overcomes the defects of traditional trajectory planning methods (e.g., local over-heating), which helps form the uniform temperature field by optimizing the time sequence of path curves. The influence of two different robot trajectories on the process of heat transfer is estimated by coupled FEM models which demonstrates the effectiveness of the presented optimization approach.
Parameterization of Fuel-Optimal Synchronous Approach Trajectories to Tumbling Targets
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David Charles Sternberg
2018-04-01
Full Text Available Docking with potentially tumbling Targets is a common element of many mission architectures, including on-orbit servicing and active debris removal. This paper studies synchronized docking trajectories as a way to ensure the Chaser satellite remains on the docking axis of the tumbling Target, thereby reducing collision risks and enabling persistent onboard sensing of the docking location. Chaser satellites have limited computational power available to them and the time allowed for the determination of a fuel optimal trajectory may be limited. Consequently, parameterized trajectories that approximate the fuel optimal trajectory while following synchronous approaches may be used to provide a computationally efficient means of determining near optimal trajectories to a tumbling Target. This paper presents a method of balancing the computation cost with the added fuel expenditure required for parameterization, including the selection of a parameterization scheme, the number of parameters in the parameterization, and a means of incorporating the dynamics of a tumbling satellite into the parameterization process. Comparisons of the parameterized trajectories are made with the fuel optimal trajectory, which is computed through the numerical propagation of Euler’s equations. Additionally, various tumble types are considered to demonstrate the efficacy of the presented computation scheme. With this parameterized trajectory determination method, Chaser satellites may perform terminal approach and docking maneuvers with both fuel and computational efficiency.
Firing Control Optimization of Impulse Thrusters for Trajectory Correction Projectiles
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Min Gao
2015-01-01
Full Text Available This paper presents an optimum control scheme of firing time and firing phase angle by taking impact point deviation as optimum objective function which takes account of the difference of longitudinal and horizontal correction efficiency, firing delay, roll rate, flight stability, and so forth. Simulations indicate that this control scheme can assure lateral impulse thrusters are activated at time and phase angle when the correction efficiency is higher. Further simulations show that the impact point dispersion is mainly influenced by the total impulse deployed, and the impulse, number, and firing interval need to be optimized to reduce the impact point dispersion of rockets. Live firing experiments with two trajectory correction rockets indicate that the firing control scheme works effectively.
Trajectory planning and optimal tracking for an industrial mobile robot
Hu, Huosheng; Brady, J. Michael; Probert, Penelope J.
1994-02-01
This paper introduces a unified approach to trajectory planning and tracking for an industrial mobile robot subject to non-holonomic constraints. We show (1) how a smooth trajectory is generated that takes into account the constraints from the dynamic environment and the robot kinematics; and (2) how a general predictive controller works to provide optimal tracking capability for nonlinear systems. The tracking performance of the proposed guidance system is analyzed by simulation.
Exploring the complexity of quantum control optimization trajectories.
Nanduri, Arun; Shir, Ofer M; Donovan, Ashley; Ho, Tak-San; Rabitz, Herschel
2015-01-07
The control of quantum system dynamics is generally performed by seeking a suitable applied field. The physical objective as a functional of the field forms the quantum control landscape, whose topology, under certain conditions, has been shown to contain no critical point suboptimal traps, thereby enabling effective searches for fields that give the global maximum of the objective. This paper addresses the structure of the landscape as a complement to topological critical point features. Recent work showed that landscape structure is highly favorable for optimization of state-to-state transition probabilities, in that gradient-based control trajectories to the global maximum value are nearly straight paths. The landscape structure is codified in the metric R ≥ 1.0, defined as the ratio of the length of the control trajectory to the Euclidean distance between the initial and optimal controls. A value of R = 1 would indicate an exactly straight trajectory to the optimal observable value. This paper extends the state-to-state transition probability results to the quantum ensemble and unitary transformation control landscapes. Again, nearly straight trajectories predominate, and we demonstrate that R can take values approaching 1.0 with high precision. However, the interplay of optimization trajectories with critical saddle submanifolds is found to influence landscape structure. A fundamental relationship necessary for perfectly straight gradient-based control trajectories is derived, wherein the gradient on the quantum control landscape must be an eigenfunction of the Hessian. This relation is an indicator of landscape structure and may provide a means to identify physical conditions when control trajectories can achieve perfect linearity. The collective favorable landscape topology and structure provide a foundation to understand why optimal quantum control can be readily achieved.
IMPORTANCE OF KINETIC MEASURES IN TRAJECTORY PREDICTION WITH OPTIMAL CONTROL
Directory of Open Access Journals (Sweden)
Ömer GÜNDOĞDU
2001-02-01
Full Text Available A two-dimensional sagittally symmetric human-body model was established to simulate an optimal trajectory for manual material handling tasks. Nonlinear control techniques and genetic algorithms were utilized in the optimizations to explore optimal lifting patterns. The simulation results were then compared with the experimental data. Since the kinetic measures such as joint reactions and moments are vital parameters in injury determination, the importance of comparing kinetic measures rather than kinematical ones was emphasized.
Trajectory optimization of multiple quad-rotor UAVs in collaborative assembling task
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Chen Yongbo
2016-02-01
Full Text Available A hierarchic optimization strategy based on the offline path planning process and online trajectory planning process is presented to solve the trajectory optimization problem of multiple quad-rotor unmanned aerial vehicles in the collaborative assembling task. Firstly, the path planning process is solved by a novel parallel intelligent optimization algorithm, the central force optimization-genetic algorithm (CFO-GA, which combines the central force optimization (CFO algorithm with the genetic algorithm (GA. Because of the immaturity of the CFO, the convergence analysis of the CFO is completed by the stability theory of the linear time-variant discrete-time systems. The results show that the parallel CFO-GA algorithm converges faster than the parallel CFO and the central force optimization-sequential quadratic programming (CFO-SQP algorithm. Then, the trajectory planning problem is established based on the path planning results. In order to limit the range of the attitude angle and guarantee the flight stability, the optimized object is changed from the ordinary six-degree-of-freedom rigid-body dynamic model to the dynamic model with an inner-loop attitude controller. The results show that the trajectory planning process can be solved by the mature SQP algorithm easily. Finally, the discussion and analysis of the real-time performance of the hierarchic optimization strategy are presented around the group number of the waypoints and the equal interval time.
Optimization of Vehicular Trajectories under Gaussian Noise Disturbances
Directory of Open Access Journals (Sweden)
Joan Garcia-Haro
2012-12-01
Full Text Available Nowadays, research on Vehicular Technology aims at automating every single mechanical element of vehicles, in order to increase passengers’ safety, reduce human driving intervention and provide entertainment services on board. Automatic trajectory tracing for vehicles under especially risky circumstances is a field of research that is currently gaining enormous attention. In this paper, we show some results on how to develop useful policies to execute maneuvers by a vehicle at high speeds with the mathematical optimization of some already established mobility conditions of the car. We also study how the presence of Gaussian noise on measurement sensors while maneuvering can disturb motion and affect the final trajectories. Different performance criteria for the optimization of such maneuvers are presented, and an analysis is shown on how path deviations can be minimized by using trajectory smoothing techniques like the Kalman Filter. We finalize the paper with a discussion on how communications can be used to implement these schemes.
Application of Modern Fortran to Spacecraft Trajectory Design and Optimization
Williams, Jacob; Falck, Robert D.; Beekman, Izaak B.
2018-01-01
In this paper, applications of the modern Fortran programming language to the field of spacecraft trajectory optimization and design are examined. Modern object-oriented Fortran has many advantages for scientific programming, although many legacy Fortran aerospace codes have not been upgraded to use the newer standards (or have been rewritten in other languages perceived to be more modern). NASA's Copernicus spacecraft trajectory optimization program, originally a combination of Fortran 77 and Fortran 95, has attempted to keep up with modern standards and makes significant use of the new language features. Various algorithms and methods are presented from trajectory tools such as Copernicus, as well as modern Fortran open source libraries and other projects.
Global Launcher Trajectory Optimization for Lunar Base Settlement
Pagano, A.; Mooij, E.
2010-01-01
The problem of a mission to the Moon to set a permanent outpost can be tackled by dividing the journey into three phases: the Earth ascent, the Earth-Moon transfer and the lunar landing. In this paper we present an optimization analysis of Earth ascent trajectories of existing launch vehicles
Optimal trajectory control of a CLCC resonant power converter
Huisman, H.; Visser, de I.; Duarte, J.L.
2015-01-01
A CLCC resonant converter to be used in an isolated power supply is operated using optimal trajectory control (OTC). As a consequence, the converter's inner loop behavior is changed to that of a controlled current source. The controller is implemented in an FPGA. Simulation results and recorded
Distinguished trajectories in time dependent vector fields
Madrid, J. A. Jimenez; Mancho, Ana M.
2008-01-01
We introduce a new definition of distinguished trajectory that generalizes the concepts of fixed point and periodic orbit to aperiodic dynamical systems. This new definition is valid for identifying distinguished trajectories with hyperbolic and nonhyperbolic types of stability. The definition is implemented numerically and the procedure consists of determining a path of limit coordinates. It has been successfully applied to known examples of distinguished trajectories. In the context of high...
An Energy-Aware Trajectory Optimization Layer for sUAS
Silva, William A.
The focus of this work is the implementation of an energy-aware trajectory optimization algorithm that enables small unmanned aircraft systems (sUAS) to operate in unknown, dynamic severe weather environments. The software is designed as a component of an Energy-Aware Dynamic Data Driven Application System (EA-DDDAS) for sUAS. This work addresses the challenges of integrating and executing an online trajectory optimization algorithm during mission operations in the field. Using simplified aircraft kinematics, the energy-aware algorithm enables extraction of kinetic energy from measured winds to optimize thrust use and endurance during flight. The optimization layer, based upon a nonlinear program formulation, extracts energy by exploiting strong wind velocity gradients in the wind field, a process known as dynamic soaring. The trajectory optimization layer extends the energy-aware path planner developed by Wenceslao Shaw-Cortez te{Shaw-cortez2013} to include additional mission configurations, simulations with a 6-DOF model, and validation of the system with flight testing in June 2015 in Lubbock, Texas. The trajectory optimization layer interfaces with several components within the EA-DDDAS to provide an sUAS with optimal flight trajectories in real-time during severe weather. As a result, execution timing, data transfer, and scalability are considered in the design of the software. Severe weather also poses a measure of unpredictability to the system with respect to communication between systems and available data resources during mission operations. A heuristic mission tree with different cost functions and constraints is implemented to provide a level of adaptability to the optimization layer. Simulations and flight experiments are performed to assess the efficacy of the trajectory optimization layer. The results are used to assess the feasibility of flying dynamic soaring trajectories with existing controllers as well as to verify the interconnections between
Trajectory of Sewerage System Development Optimization
Chupin, R. V.; Mayzel, I. V.; Chupin, V. R.
2017-11-01
The transition to market relations has determined a new technology for our country to manage the development of urban engineering systems. This technology has shifted to the municipal level and it can, in large, be presented in two stages. The first is the development of a scheme for the development of the water supply and sanitation system, the second is the implementation of this scheme on the basis of investment programs of utilities. In the investment programs, financial support is provided for the development and reconstruction of water disposal systems due to the investment component in the tariff, connection fees for newly commissioned capital construction projects and targeted financing for selected state and municipal programs, loans and credits. Financial provision with the development of sewerage systems becomes limited and the problem arises in their rational distribution between the construction of new water disposal facilities and the reconstruction of existing ones. The paper suggests a methodology for developing options for the development of sewerage systems, selecting the best of them by the life cycle cost criterion, taking into account the limited investments in their construction, models and methods of analysis, optimizing their reconstruction and development, taking into account reliability and seismic resistance.
Trajectory generation for manipulators using linear quadratic optimal tracking
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Olav Egeland
1989-04-01
Full Text Available The reference trajectory is normally known in advance in manipulator control which makes it possible to apply linear quadratic optimal tracking. This gives a control system which rounds corners and generates optimal feedforward. The method may be used for references consisting of straight-line segments as an alternative to the two-step method of using splines to smooth the reference and then applying feedforward. In addition, the method can be used for more complex trajectories. The actual dynamics of the manipulator are taken into account, and this results in smooth and accurate tracking. The method has been applied in combination with the computed torque technique and excellent performance was demonstrated in a simulation study. The method has also been applied experimentally to an industrial spray-painting robot where a saw-tooth reference was tracked. The corner was rounded extremely well, and the steady-state tracking error was eliminated by the optimal feedforward.
Coupled Low-thrust Trajectory and System Optimization via Multi-Objective Hybrid Optimal Control
Vavrina, Matthew A.; Englander, Jacob Aldo; Ghosh, Alexander R.
2015-01-01
The optimization of low-thrust trajectories is tightly coupled with the spacecraft hardware. Trading trajectory characteristics with system parameters ton identify viable solutions and determine mission sensitivities across discrete hardware configurations is labor intensive. Local independent optimization runs can sample the design space, but a global exploration that resolves the relationships between the system variables across multiple objectives enables a full mapping of the optimal solution space. A multi-objective, hybrid optimal control algorithm is formulated using a multi-objective genetic algorithm as an outer loop systems optimizer around a global trajectory optimizer. The coupled problem is solved simultaneously to generate Pareto-optimal solutions in a single execution. The automated approach is demonstrated on two boulder return missions.
Numerical optimization of actuator trajectories for ITER hybrid scenario profile evolution
International Nuclear Information System (INIS)
Dongen, J van; Hogeweij, G M D; Felici, F; Geelen, P; Maljaars, E
2014-01-01
Optimal actuator trajectories for an ITER hybrid scenario ramp-up are computed using a numerical optimization method. For both L-mode and H-mode scenarios, the time trajectory of plasma current, EC heating and current drive distribution is determined that minimizes a chosen cost function, while satisfying constraints. The cost function is formulated to reflect two desired properties of the plasma q profile at the end of the ramp-up. The first objective is to maximize the ITG turbulence threshold by maximizing the volume-averaged s/q ratio. The second objective is to achieve a stationary q profile by having a flat loop voltage profile. Actuator and physics-derived constraints are included, imposing limits on plasma current, ramp rates, internal inductance and q profile. This numerical method uses the fast control-oriented plasma profile evolution code RAPTOR, which is successfully benchmarked against more complete CRONOS simulations for L-mode and H-mode mode ITER hybrid scenarios. It is shown that the optimized trajectories computed using RAPTOR also result in an improved ramp-up scenario for CRONOS simulations using the same input trajectories. Furthermore, the optimal trajectories are shown to vary depending on the precise timing of the L–H transition. (paper)
An aircraft noise pollution model for trajectory optimization
Barkana, A.; Cook, G.
1976-01-01
A mathematical model describing the generation of aircraft noise is developed with the ultimate purpose of reducing noise (noise-optimizing landing trajectories) in terminal areas. While the model is for a specific aircraft (Boeing 737), the methodology would be applicable to a wide variety of aircraft. The model is used to obtain a footprint on the ground inside of which the noise level is at or above 70 dB.
Clustering Molecular Dynamics Trajectories for Optimizing Docking Experiments
Directory of Open Access Journals (Sweden)
Renata De Paris
2015-01-01
Full Text Available Molecular dynamics simulations of protein receptors have become an attractive tool for rational drug discovery. However, the high computational cost of employing molecular dynamics trajectories in virtual screening of large repositories threats the feasibility of this task. Computational intelligence techniques have been applied in this context, with the ultimate goal of reducing the overall computational cost so the task can become feasible. Particularly, clustering algorithms have been widely used as a means to reduce the dimensionality of molecular dynamics trajectories. In this paper, we develop a novel methodology for clustering entire trajectories using structural features from the substrate-binding cavity of the receptor in order to optimize docking experiments on a cloud-based environment. The resulting partition was selected based on three clustering validity criteria, and it was further validated by analyzing the interactions between 20 ligands and a fully flexible receptor (FFR model containing a 20 ns molecular dynamics simulation trajectory. Our proposed methodology shows that taking into account features of the substrate-binding cavity as input for the k-means algorithm is a promising technique for accurately selecting ensembles of representative structures tailored to a specific ligand.
Optimal trajectory planning and train scheduling for urban rail transit systems
Wang, Yihui; van den Boom, Ton; De Schutter, Bart
2016-01-01
This book contributes to making urban rail transport fast, punctual and energy-efficient –significant factors in the importance of public transportation systems to economic, environmental and social requirements at both municipal and national levels. It proposes new methods for shortening passenger travel times and for reducing energy consumption, addressing two major topics: (1) train trajectory planning: the authors derive a nonlinear model for the operation of trains and present several approaches for calculating optimal and energy-efficient trajectories within a given schedule; and (2) train scheduling: the authors develop a train scheduling model for urban rail systems and optimization approaches with which to balance total passenger travel time with energy efficiency and other costs to the operator. Mixed-integer linear programming and pseudospectral methods are among the new methods proposed for single- and multi-train systems for the solution of the nonlinear trajectory planning problem which involv...
Particle swarm optimization of ascent trajectories of multistage launch vehicles
Pontani, Mauro
2014-02-01
Multistage launch vehicles are commonly employed to place spacecraft and satellites in their operational orbits. If the rocket characteristics are specified, the optimization of its ascending trajectory consists of determining the optimal control law that leads to maximizing the final mass at orbit injection. The numerical solution of a similar problem is not trivial and has been pursued with different methods, for decades. This paper is concerned with an original approach based on the joint use of swarming theory and the necessary conditions for optimality. The particle swarm optimization technique represents a heuristic population-based optimization method inspired by the natural motion of bird flocks. Each individual (or particle) that composes the swarm corresponds to a solution of the problem and is associated with a position and a velocity vector. The formula for velocity updating is the core of the method and is composed of three terms with stochastic weights. As a result, the population migrates toward different regions of the search space taking advantage of the mechanism of information sharing that affects the overall swarm dynamics. At the end of the process the best particle is selected and corresponds to the optimal solution to the problem of interest. In this work the three-dimensional trajectory of the multistage rocket is assumed to be composed of four arcs: (i) first stage propulsion, (ii) second stage propulsion, (iii) coast arc (after release of the second stage), and (iv) third stage propulsion. The Euler-Lagrange equations and the Pontryagin minimum principle, in conjunction with the Weierstrass-Erdmann corner conditions, are employed to express the thrust angles as functions of the adjoint variables conjugate to the dynamics equations. The use of these analytical conditions coming from the calculus of variations leads to obtaining the overall rocket dynamics as a function of seven parameters only, namely the unknown values of the initial state
Directory of Open Access Journals (Sweden)
Alejandro MURRIETA-MENDOZA
2017-08-01
Full Text Available With the objective of reducing the flight cost and the amount of polluting emissions released in the atmosphere, a new optimization algorithm considering the climb, cruise and descent phases is presented for the reference vertical flight trajectory. The selection of the reference vertical navigation speeds and altitudes was solved as a discrete combinatory problem by means of a graph-tree passing through nodes using the beam search optimization technique. To achieve a compromise between the execution time and the algorithm’s ability to find the global optimal solution, a heuristic methodology introducing a parameter called “optimism coefficient was used in order to estimate the trajectory’s flight cost at every node. The optimal trajectory cost obtained with the developed algorithm was compared with the cost of the optimal trajectory provided by a commercial flight management system(FMS. The global optimal solution was validated against an exhaustive search algorithm(ESA, other than the proposed algorithm. The developed algorithm takes into account weather effects, step climbs during cruise and air traffic management constraints such as constant altitude segments, constant cruise Mach, and a pre-defined reference lateral navigation route. The aircraft fuel burn was computed using a numerical performance model which was created and validated using flight test experimental data.
Directory of Open Access Journals (Sweden)
Tieying Jiang
2015-01-01
Full Text Available The trajectory of a tubular launched cruising unmanned aerial vehicle is optimized using the modified direct collocation method for attacking a target at back slope under a wind gradient. A mathematical model of the cruising unmanned aerial vehicle is established based on its operational and motion features under a wind gradient to optimize the trajectory. The motion characteristics of “altitude adjustment” and “suicide attack” are taken into full account under the combat circumstance of back slope time key targets. By introducing a discrete time function, the trajectory optimization is converted into a nonlinear programming problem and the SNPOT software is applied to solve for the optimal trajectory of the missile under different wind loads. The simulation results show that, for optimized trajectories, the average attack time decreased by up to 29.1% and the energy consumption is reduced by up to 25.9% under specified wind gradient conditions. A, ωdire, and Wmax have an influence on the flight trajectories of cruising unmanned aerial vehicle. This verifies that the application of modified direct collocation method is reasonable and feasible in an effort to achieve more efficient missile trajectories.
Kinematic Optimization of Robot Trajectories for Thermal Spray Coating Application
Deng, Sihao; Liang, Hong; Cai, Zhenhua; Liao, Hanlin; Montavon, Ghislain
2014-12-01
Industrial robots are widely used in the field of thermal spray nowadays. Due to their characteristics of high-accuracy and programmable flexibility, spraying on complex geometrical workpieces can be realized in the equipped spray room. However, in some cases, the robots cannot guarantee the process parameters defined by the robot movement, such as the scanning trajectory, spray angle, relative speed between the torch and the substrate, etc., which have distinct influences on heat and mass transfer during the generation of any thermally sprayed coatings. In this study, an investigation on the robot kinematics was proposed to find the rules of motion in a common case. The results showed that the motion behavior of each axis of robot permits to identify the motion problems in the trajectory. This approach allows to optimize the robot trajectory generation in a limited working envelop. It also minimizes the influence of robot performance to achieve a more constant relative scanning speed which is represented as a key parameter in thermal spraying.
International Nuclear Information System (INIS)
Parker, G.G.; Eisler, G.R.; Feddema, J.T.
1994-01-01
Procedures for trajectory planning and control of flexible link robots are becoming increasingly important to satisfy performance requirements of hazardous waste removal efforts. It has been shown that utilizing link flexibility in designing open loop joint commands can result in improved performance as opposed to damping vibration throughout a trajectory. The efficient use of link compliance is exploited in this work. Specifically, experimental verification of minimum time, straight line tracking using a two-link planar flexible robot is presented. A numerical optimization process, using an experimentally verified modal model, is used for obtaining minimum time joint torque and angle histories. The optimal joint states are used as commands to the proportional-derivative servo actuated joints. These commands are precompensated for the nonnegligible joint servo actuator dynamics. Using the precompensated joint commands, the optimal joint angles are tracked with such fidelity that the tip tracking error is less than 2.5 cm
Masternak, Tadeusz J.
This research determines temperature-constrained optimal trajectories for a scramjet-based hypersonic reconnaissance vehicle by developing an optimal control formulation and solving it using a variable order Gauss-Radau quadrature collocation method with a Non-Linear Programming (NLP) solver. The vehicle is assumed to be an air-breathing reconnaissance aircraft that has specified takeoff/landing locations, airborne refueling constraints, specified no-fly zones, and specified targets for sensor data collections. A three degree of freedom scramjet aircraft model is adapted from previous work and includes flight dynamics, aerodynamics, and thermal constraints. Vehicle control is accomplished by controlling angle of attack, roll angle, and propellant mass flow rate. This model is incorporated into an optimal control formulation that includes constraints on both the vehicle and mission parameters, such as avoidance of no-fly zones and coverage of high-value targets. To solve the optimal control formulation, a MATLAB-based package called General Pseudospectral Optimal Control Software (GPOPS-II) is used, which transcribes continuous time optimal control problems into an NLP problem. In addition, since a mission profile can have varying vehicle dynamics and en-route imposed constraints, the optimal control problem formulation can be broken up into several "phases" with differing dynamics and/or varying initial/final constraints. Optimal trajectories are developed using several different performance costs in the optimal control formulation: minimum time, minimum time with control penalties, and maximum range. The resulting analysis demonstrates that optimal trajectories that meet specified mission parameters and constraints can be quickly determined and used for larger-scale operational and campaign planning and execution.
Trajectory optimization for lunar soft landing with complex constraints
Chu, Huiping; Ma, Lin; Wang, Kexin; Shao, Zhijiang; Song, Zhengyu
2017-11-01
A unified trajectory optimization framework with initialization strategies is proposed in this paper for lunar soft landing for various missions with specific requirements. Two main missions of interest are Apollo-like Landing from low lunar orbit and Vertical Takeoff Vertical Landing (a promising mobility method) on the lunar surface. The trajectory optimization is characterized by difficulties arising from discontinuous thrust, multi-phase connections, jump of attitude angle, and obstacles avoidance. Here R-function is applied to deal with the discontinuities of thrust, checkpoint constraints are introduced to connect multiple landing phases, attitude angular rate is designed to get rid of radical changes, and safeguards are imposed to avoid collision with obstacles. The resulting dynamic problems are generally with complex constraints. The unified framework based on Gauss Pseudospectral Method (GPM) and Nonlinear Programming (NLP) solver are designed to solve the problems efficiently. Advanced initialization strategies are developed to enhance both the convergence and computation efficiency. Numerical results demonstrate the adaptability of the framework for various landing missions, and the performance of successful solution of difficult dynamic problems.
Real-Time Trajectory Generation for Autonomous Nonlinear Flight Systems
National Research Council Canada - National Science Library
Larsen, Michael; Beard, Randal W; McLain, Timothy W
2006-01-01
... to mobile threats such as radar, jammers, and unfriendly aircraft. In Phase 1 of this STTR project, real-time path planning and trajectory generation techniques for two dimensional flight were developed and demonstrated in software simulation...
Development of a Multi-Event Trajectory Optimization Tool for Noise-Optimized Approach Route Design
Braakenburg, M.L.; Hartjes, S.; Visser, H.G.; Hebly, S.J.
2011-01-01
This paper presents preliminary results from an ongoing research effort towards the development of a multi-event trajectory optimization methodology that allows to synthesize RNAV approach routes that minimize a cumulative measure of noise, taking into account the total noise effect aggregated for
Quantum trajectories for time-dependent adiabatic master equations
Yip, Ka Wa; Albash, Tameem; Lidar, Daniel A.
2018-02-01
We describe a quantum trajectories technique for the unraveling of the quantum adiabatic master equation in Lindblad form. By evolving a complex state vector of dimension N instead of a complex density matrix of dimension N2, simulations of larger system sizes become feasible. The cost of running many trajectories, which is required to recover the master equation evolution, can be minimized by running the trajectories in parallel, making this method suitable for high performance computing clusters. In general, the trajectories method can provide up to a factor N advantage over directly solving the master equation. In special cases where only the expectation values of certain observables are desired, an advantage of up to a factor N2 is possible. We test the method by demonstrating agreement with direct solution of the quantum adiabatic master equation for 8-qubit quantum annealing examples. We also apply the quantum trajectories method to a 16-qubit example originally introduced to demonstrate the role of tunneling in quantum annealing, which is significantly more time consuming to solve directly using the master equation. The quantum trajectories method provides insight into individual quantum jump trajectories and their statistics, thus shedding light on open system quantum adiabatic evolution beyond the master equation.
Real time production optimization
Energy Technology Data Exchange (ETDEWEB)
Saputelli, Luigi; Otavio, Joao; Araujo, Turiassu; Escorcia, Alvaro [Halliburton, Houston, TX (United States). Landmark Division
2004-07-01
Production optimization encompasses various activities of measuring, analyzing, modeling, prioritizing and implementing actions to enhance productivity of a field. We present a state-of-the-art framework for optimizing production on a continuous basis as new sensor data is acquired in real time. Permanently acquired data is modeled and analyzed in order to create predictive models. A model based control strategy is used to regulate well and field instrumentation. The optimum field operating point, which changes with time, satisfies the maximum economic return. This work is a starting point for further development in automatic, intelligent reservoir technologies which get the most out of the abilities of permanent, instrumented wells and remotely activated downhole completions. The strategy, tested with history-matched data from a compartmentalised giant field, proved to reduce operating costs while increasing oil recovery by 27% in this field. (author)
Ma, Lin; Wang, Kexin; Xu, Zuhua; Shao, Zhijiang; Song, Zhengyu; Biegler, Lorenz T.
2018-05-01
This study presents a trajectory optimization framework for lunar rover performing vertical takeoff vertical landing (VTVL) maneuvers in the presence of terrain using variable-thrust propulsion. First, a VTVL trajectory optimization problem with three-dimensional kinematics and dynamics model, boundary conditions, and path constraints is formulated. Then, a finite-element approach transcribes the formulated trajectory optimization problem into a nonlinear programming (NLP) problem solved by a highly efficient NLP solver. A homotopy-based backtracking strategy is applied to enhance the convergence in solving the formulated VTVL trajectory optimization problem. The optimal thrust solution typically has a "bang-bang" profile considering that bounds are imposed on the magnitude of engine thrust. An adaptive mesh refinement strategy based on a constant Hamiltonian profile is designed to address the difficulty in locating the breakpoints in the thrust profile. Four scenarios are simulated. Simulation results indicate that the proposed trajectory optimization framework has sufficient adaptability to handle VTVL missions efficiently.
Optimal Trajectory Tracking Control for a Wheeled Mobile Robot Using Fractional Order PID Controller
Directory of Open Access Journals (Sweden)
Ameer L. Saleh
2018-02-01
Full Text Available This paper present an optimal Fractional Order PID (FOPID controller based on Particle Swarm Optimization (PSO for controlling the trajectory tracking of Wheeled Mobile Robot(WMR.The issue of trajectory tracking with given a desired reference velocity is minimized to get the distance and deviation angle equal to zero, to realize the objective of trajectory tracking a two FOPID controllers are used for velocity control and azimuth control to implement the trajectory tracking control. A path planning and path tracking methodologies are used to give different desired tracking trajectories. PSO algorithm is using to find the optimal parameters of FOPID controllers. The kinematic and dynamic models of wheeled mobile robot for desired trajectory tracking with PSO algorithm are simulated in Simulink-Matlab. Simulation results show that the optimal FOPID controllers are more effective and has better dynamic performance than the conventional methods.
A direct method for trajectory optimization of rigid bodies through contact
Posa, Michael Antonio; Cantu, Cecilia; Tedrake, Russell Louis
2013-01-01
Direct methods for trajectory optimization are widely used for planning locally optimal trajectories of robotic systems. Many critical tasks, such as locomotion and manipulation, often involve impacting the ground or objects in the environment. Most state-of-the-art techniques treat the discontinuous dynamics that result from impacts as discrete modes and restrict the search for a complete path to a specified sequence through these modes. Here we present a novel method for trajectory planning...
Trajectory data analyses for pedestrian space-time activity study.
Qi, Feng; Du, Fei
2013-02-25
It is well recognized that human movement in the spatial and temporal dimensions has direct influence on disease transmission(1-3). An infectious disease typically spreads via contact between infected and susceptible individuals in their overlapped activity spaces. Therefore, daily mobility-activity information can be used as an indicator to measure exposures to risk factors of infection. However, a major difficulty and thus the reason for paucity of studies of infectious disease transmission at the micro scale arise from the lack of detailed individual mobility data. Previously in transportation and tourism research detailed space-time activity data often relied on the time-space diary technique, which requires subjects to actively record their activities in time and space. This is highly demanding for the participants and collaboration from the participants greatly affects the quality of data(4). Modern technologies such as GPS and mobile communications have made possible the automatic collection of trajectory data. The data collected, however, is not ideal for modeling human space-time activities, limited by the accuracies of existing devices. There is also no readily available tool for efficient processing of the data for human behavior study. We present here a suite of methods and an integrated ArcGIS desktop-based visual interface for the pre-processing and spatiotemporal analyses of trajectory data. We provide examples of how such processing may be used to model human space-time activities, especially with error-rich pedestrian trajectory data, that could be useful in public health studies such as infectious disease transmission modeling. The procedure presented includes pre-processing, trajectory segmentation, activity space characterization, density estimation and visualization, and a few other exploratory analysis methods. Pre-processing is the cleaning of noisy raw trajectory data. We introduce an interactive visual pre-processing interface as well as an
Robust Optimal Adaptive Trajectory Tracking Control of Quadrotor Helicopter
Directory of Open Access Journals (Sweden)
M. Navabi
Full Text Available Abstract This paper focuses on robust optimal adaptive control strategy to deal with tracking problem of a quadrotor unmanned aerial vehicle (UAV in presence of parametric uncertainties, actuator amplitude constraints, and unknown time-varying external disturbances. First, Lyapunov-based indirect adaptive controller optimized by particle swarm optimization (PSO is developed for multi-input multi-output (MIMO nonlinear quadrotor to prevent input constraints violation, and then disturbance observer-based control (DOBC technique is aggregated with the control system to attenuate the effects of disturbance generated by an exogenous system. The performance of synthesis control method is evaluated by a new performance index function in time-domain, and the stability analysis is carried out using Lyapunov theory. Finally, illustrative numerical simulations are conducted to demonstrate the effectiveness of the presented approach in altitude and attitude tracking under several conditions, including large time-varying uncertainty, exogenous disturbance, and control input constraints.
Developmental trajectory of time perspective: From children to older adults.
Chen, Tao; Liu, Lu-Lu; Cui, Ji-Fang; Chen, Xing-Jie; Wang, Ya
2016-12-01
Time perspective is a fundamental dimension of the psychological time construct, with a pervasive and powerful influence on human behavior. However, the developmental trajectory of time perspective across a human lifespan remains unclear. The current study aimed to portray the developmental trajectory of all dimensions of time perspectives from children to older adults in a large sample. A total of 1,901 individuals (aged 9-84 years) completed measures of time perspective. They were then divided into five age groups: children, teenagers, young adults, middle-aged adults, and older adults. Results suggested that each time perspective showed a unique developmental pattern across the lifespan. Moreover, perceived economic situation and education were related to some dimensions of time perspective. © 2016 The Institute of Psychology, Chinese Academy of Sciences and John Wiley & Sons Australia, Ltd.
Raiszadeh, Behzad; Queen, Eric M.; Hotchko, Nathaniel J.
2009-01-01
A capability to simulate trajectories of multiple interacting rigid bodies has been developed, tested and validated. This capability uses the Program to Optimize Simulated Trajectories II (POST 2). The standard version of POST 2 allows trajectory simulation of multiple bodies without force interaction. In the current implementation, the force interaction between the parachute and the suspended bodies has been modeled using flexible lines, allowing accurate trajectory simulation of the individual bodies in flight. The POST 2 multibody capability is intended to be general purpose and applicable to any parachute entry trajectory simulation. This research paper explains the motivation for multibody parachute simulation, discusses implementation methods, and presents validation of this capability.
Yang, Chenguang; Li, Zhijun; Li, Jing
2013-02-01
In this paper, we investigate optimized adaptive control and trajectory generation for a class of wheeled inverted pendulum (WIP) models of vehicle systems. Aiming at shaping the controlled vehicle dynamics to be of minimized motion tracking errors as well as angular accelerations, we employ the linear quadratic regulation optimization technique to obtain an optimal reference model. Adaptive control has then been developed using variable structure method to ensure the reference model to be exactly matched in a finite-time horizon, even in the presence of various internal and external uncertainties. The minimized yaw and tilt angular accelerations help to enhance the vehicle rider's comfort. In addition, due to the underactuated mechanism of WIP, the vehicle forward velocity dynamics cannot be controlled separately from the pendulum tilt angle dynamics. Inspired by the control strategy of human drivers, who usually manipulate the tilt angle to control the forward velocity, we design a neural-network-based adaptive generator of implicit control trajectory (AGICT) of the tilt angle which indirectly "controls" the forward velocity such that it tracks the desired velocity asymptotically. The stability and optimal tracking performance have been rigorously established by theoretic analysis. In addition, simulation studies have been carried out to demonstrate the efficiency of the developed AGICT and optimized adaptive controller.
Khusainov, R.; Klimchik, A.; Magid, E.
2017-01-01
The paper presents comparison analysis of two approaches in defining leg trajectories for biped locomotion. The first one operates only with kinematic limitations of leg joints and finds the maximum possible locomotion speed for given limits. The second approach defines leg trajectories from the dynamic stability point of view and utilizes ZMP criteria. We show that two methods give different trajectories and demonstrate that trajectories based on pure dynamic optimization cannot be realized due to joint limits. Kinematic optimization provides unstable solution which can be balanced by upper body movement.
Directory of Open Access Journals (Sweden)
Francisco Rubio
2015-01-01
Full Text Available In this paper an analysis of productivity will be carried out from the resolution of the problem of trajectory planning of industrial robots. The analysis entails economic considerations, thus overcoming some limitations of the existing literature. Two methodologies based on optimization-simulation procedures are compared to calculate the time needed to perform an industrial robot task. The simulation methodology relies on the use of robotics and automation software called GRASP. The optimization methodology developed in this work is based on the kinematics and the dynamics of industrial robots. It allows us to pose a multiobjective optimization problem to assess the trade-offs between the economic variables by means of the Pareto fronts. The comparison is carried out for different examples and from a multidisciplinary point of view, thus, to determine the impact of using each method. Results have shown the opportunity costs of non using the methodology with optimized time trajectories. Furthermore, it allows companies to stay competitive because of the quick adaptation to rapidly changing markets.
Parameter Identification of Static Friction Based on An Optimal Exciting Trajectory
Tu, X.; Zhao, P.; Zhou, Y. F.
2017-12-01
In this paper, we focus on how to improve the identification efficiency of friction parameters in a robot joint. First, the static friction model that has only linear dependencies with respect to their parameters is adopted so that the servomotor dynamics can be linearized. In this case, the traditional exciting trajectory based on Fourier series is modified by replacing the constant term with quintic polynomial to ensure the boundary continuity of speed and acceleration. Then, the Fourier-related parameters are optimized by genetic algorithm(GA) in which the condition number of regression matrix is set as the fitness function. At last, compared with the constant-velocity tracking experiment, the friction parameters from the exciting trajectory experiment has the similar result with the advantage of time reduction.
Optimal Acceleration-Velocity-Bounded Trajectory Planning in Dynamic Crowd Simulation
Directory of Open Access Journals (Sweden)
Fu Yue-wen
2014-01-01
Full Text Available Creating complex and realistic crowd behaviors, such as pedestrian navigation behavior with dynamic obstacles, is a difficult and time consuming task. In this paper, we study one special type of crowd which is composed of urgent individuals, normal individuals, and normal groups. We use three steps to construct the crowd simulation in dynamic environment. The first one is that the urgent individuals move forward along a given path around dynamic obstacles and other crowd members. An optimal acceleration-velocity-bounded trajectory planning method is utilized to model their behaviors, which ensures that the durations of the generated trajectories are minimal and the urgent individuals are collision-free with dynamic obstacles (e.g., dynamic vehicles. In the second step, a pushing model is adopted to simulate the interactions between urgent members and normal ones, which ensures that the computational cost of the optimal trajectory planning is acceptable. The third step is obligated to imitate the interactions among normal members using collision avoidance behavior and flocking behavior. Various simulation results demonstrate that these three steps give realistic crowd phenomenon just like the real world.
Time Optimal Control Laws for Bilinear Systems
Directory of Open Access Journals (Sweden)
Salim Bichiou
2018-01-01
Full Text Available The aim of this paper is to determine the feedforward and state feedback suboptimal time control for a subset of bilinear systems, namely, the control sequence and reaching time. This paper proposes a method that uses Block pulse functions as an orthogonal base. The bilinear system is projected along that base. The mathematical integration is transformed into a product of matrices. An algebraic system of equations is obtained. This system together with specified constraints is treated as an optimization problem. The parameters to determine are the final time, the control sequence, and the states trajectories. The obtained results via the newly proposed method are compared to known analytical solutions.
Time-Space Topology Optimization
DEFF Research Database (Denmark)
Jensen, Jakob Søndergaard
2008-01-01
A method for space-time topology optimization is outlined. The space-time optimization strategy produces structures with optimized material distributions that vary in space and in time. The method is demonstrated for one-dimensional wave propagation in an elastic bar that has a time-dependent Young......’s modulus and is subjected to a transient load. In the example an optimized dynamic structure is demonstrated that compresses a propagating Gauss pulse....
Optimal trajectory planning for a UAV glider using atmospheric thermals
Kagabo, Wilson B.
An Unmanned Aerial Vehicle Glider (UAV glider) uses atmospheric energy in its different forms to remain aloft for extended flight durations. This UAV glider's aim is to extract atmospheric thermal energy and use it to supplement its battery energy usage and increase the mission period. Given an infrared camera identified atmospheric thermal of known strength and location; current wind speed and direction; current battery level; altitude and location of the UAV glider; and estimating the expected altitude gain from the thermal, is it possible to make an energy-efficient based motivation to fly to an atmospheric thermal so as to achieve UAV glider extended flight time? For this work, an infrared thermal camera aboard the UAV glider takes continuous forward-looking ground images of "hot spots". Through image processing a candidate atmospheric thermal strength and location is estimated. An Intelligent Decision Model incorporates this information with the current UAV glider status and weather conditions to provide an energy-based recommendation to modify the flight path of the UAV glider. Research, development, and simulation of the Intelligent Decision Model is the primary focus of this work. Three models are developed: (1) Battery Usage Model, (2) Intelligent Decision Model, and (3) Altitude Gain Model. The Battery Usage Model comes from the candidate flight trajectory, wind speed & direction and aircraft dynamic model. Intelligent Decision Model uses a fuzzy logic based approach. The Altitude Gain Model requires the strength and size of the thermal and is found a priori.
Trajectory reshaping based guidance with impact time and angle constraints
Directory of Open Access Journals (Sweden)
Zhao Yao
2016-08-01
Full Text Available This study presents a novel impact time and angle constrained guidance law for homing missiles. The guidance law is first developed with the prior-assumption of a stationary target, which is followed by the practical extension to a maneuvering target scenario. To derive the closed-form guidance law, the trajectory reshaping technique is utilized and it results in defining a specific polynomial function with two unknown coefficients. These coefficients are determined to satisfy the impact time and angle constraints as well as the zero miss distance. Furthermore, the proposed guidance law has three additional guidance gains as design parameters which make it possible to adjust the guided trajectory according to the operational conditions and missile’s capability. Numerical simulations are presented to validate the effectiveness of the proposed guidance law.
ATM4E: A concept for environmentally-optimized aircraft trajectories
Matthes, S; Grewe, V.; Lee, D; Linke, F.; Shine, Keith; Stromatas, Stavros
2016-01-01
Trajectory optimisation is one option to reduce air traffic impact on environment. A multidimensional environmental assessment framework is needed to optimize impact on climate, local air quality and noise simultaneously. An interface between flight planning and environmental impact information can
Directory of Open Access Journals (Sweden)
Thi Rein Myo
2008-11-01
Full Text Available Optimal point-to-point trajectory planning for planar redundant manipulator is considered in this study. The main objective is to minimize the sum of the position error of the end-effector at each intermediate point along the trajectory so that the end-effector can track the prescribed trajectory accurately. An algorithm combining Genetic Algorithm and Pattern Search as a Generalized Pattern Search GPS is introduced to design the optimal trajectory. To verify the proposed algorithm, simulations for a 3-D-O-F planar manipulator with different end-effector trajectories have been carried out. A comparison between the Genetic Algorithm and the Generalized Pattern Search shows that The GPS gives excellent tracking performance.
Wang, Mingming; Luo, Jianjun; Yuan, Jianping; Walter, Ulrich
2018-05-01
Application of the multi-arm space robot will be more effective than single arm especially when the target is tumbling. This paper investigates the application of particle swarm optimization (PSO) strategy to coordinated trajectory planning of the dual-arm space robot in free-floating mode. In order to overcome the dynamics singularities issue, the direct kinematics equations in conjunction with constrained PSO are employed for coordinated trajectory planning of dual-arm space robot. The joint trajectories are parametrized with Bézier curve to simplify the calculation. Constrained PSO scheme with adaptive inertia weight is implemented to find the optimal solution of joint trajectories while specific objectives and imposed constraints are satisfied. The proposed method is not sensitive to the singularity issue due to the application of forward kinematic equations. Simulation results are presented for coordinated trajectory planning of two kinematically redundant manipulators mounted on a free-floating spacecraft and demonstrate the effectiveness of the proposed method.
Annotated trajectories and the Space-Time-Cube
DEFF Research Database (Denmark)
Kveladze, Irma; Kraak, Menno-Jan
2012-01-01
too, because these have not been adopted to the purpose. A suitable solution to display and study movements is the Space-Time-Cube (STC), the graphic representation of Hägerstrand’s Time Geography. This paper answers the question of how suitable the STC is to display the above describe combination...... of trajectories and annotations to avoid the visual clutter. Although the STC will be described here as a stand-alone solution it is part of a wider geovisual analytics environment and is used next to maps and other graphics to be able to answer user questions. As a case study data set the travel log data...
Discrete-time inverse optimal control for nonlinear systems
Sanchez, Edgar N
2013-01-01
Discrete-Time Inverse Optimal Control for Nonlinear Systems proposes a novel inverse optimal control scheme for stabilization and trajectory tracking of discrete-time nonlinear systems. This avoids the need to solve the associated Hamilton-Jacobi-Bellman equation and minimizes a cost functional, resulting in a more efficient controller. Design More Efficient Controllers for Stabilization and Trajectory Tracking of Discrete-Time Nonlinear Systems The book presents two approaches for controller synthesis: the first based on passivity theory and the second on a control Lyapunov function (CLF). Th
An Integrated Tool for Low Thrust Optimal Control Orbit Transfers in Interplanetary Trajectories
Dargent, T.; Martinot, V.
In the last recent years a significant progress has been made in optimal control orbit transfers using low thrust electrical propulsion for interplanetary missions. The system objective is always the same: decrease the transfer duration and increase the useful satellite mass. The optimum control strategy to perform the minimum time to orbit or the minimum fuel consumption requires the use of sophisticated mathematical tools, most of the time dedicated to a specific mission and therefore hardly reusable. To improve this situation and enable Alcatel Space to perform rather quick trajectory design as requested by mission analysis, we have developed a software tool T-3D dedicated to optimal control orbit transfers which integrates various initial and terminal rendezvous conditions - e.g. fixed arrival time for planet encounter - and engine thrust profiles -e.g. thrust law variation with respect to the distance to the Sun -. This single and quite versatile tool allows to perform analyses like minimum consumption for orbit insertions around a planet from an hyperbolic trajectory, interplanetary orbit transfers, low thrust minimum time multiple revolution orbit transfers, etc… From a mathematical point of view, the software relies on the minimum principle formulation to find the necessary conditions of optimality. The satellite dynamics is a two body model and relies of an equinoctial formulation of the Gauss equation. This choice has been made for numerical purpose and to solve more quickly the two point boundaries values problem. In order to handle the classical problem of co-state variables initialization, problems simpler than the actual one can be solved straight forward by the tool and the values of the co-state variables are kept as first guess for a more complex problem. Finally, a synthesis of the test cases is presented to illustrate the capacities of the tool, mixing examples of interplanetary mission, orbit insertion, multiple revolution orbit transfers
Task driven optimal leg trajectories in insect-scale legged microrobots
Doshi, Neel; Goldberg, Benjamin; Jayaram, Kaushik; Wood, Robert
Origami inspired layered manufacturing techniques and 3D-printing have enabled the development of highly articulated legged robots at the insect-scale, including the 1.43g Harvard Ambulatory MicroRobot (HAMR). Research on these platforms has expanded its focus from manufacturing aspects to include design optimization and control for application-driven tasks. Consequently, the choice of gait selection, body morphology, leg trajectory, foot design, etc. have become areas of active research. HAMR has two controlled degrees-of-freedom per leg, making it an ideal candidate for exploring leg trajectory. We will discuss our work towards optimizing HAMR's leg trajectories for two different tasks: climbing using electroadhesives and level ground running (5-10 BL/s). These tasks demonstrate the ability of single platform to adapt to vastly different locomotive scenarios: quasi-static climbing with controlled ground contact, and dynamic running with un-controlled ground contact. We will utilize trajectory optimization methods informed by existing models and experimental studies to determine leg trajectories for each task. We also plan to discuss how task specifications and choice of objective function have contributed to the shape of these optimal leg trajectories.
SeGRAm - A practical and versatile tool for spacecraft trajectory optimization
Rishikof, Brian H.; Mccormick, Bernell R.; Pritchard, Robert E.; Sponaugle, Steven J.
1991-01-01
An implementation of the Sequential Gradient/Restoration Algorithm, SeGRAm, is presented along with selected examples. This spacecraft trajectory optimization and simulation program uses variational calculus to solve problems of spacecraft flying under the influence of one or more gravitational bodies. It produces a series of feasible solutions to problems involving a wide range of vehicles, environments and optimization functions, until an optimal solution is found. The examples included highlight the various capabilities of the program and emphasize in particular its versatility over a wide spectrum of applications from ascent to interplanetary trajectories.
Optimism and Pessimism as Predictors of Alcohol Use Trajectories in Adolescence
Wray, Tyler B.; Dvorak, Rob D.; Hsia, Jennifer F.; Arens, Ashley M.; Schweinle, William E.
2013-01-01
A range of research has recognized the benefits of optimism in a variety of health-related outcomes. Pessimism has received less attention but may be a distinct concept that is uniquely related to certain health behaviors, including drug use. The present study examined relationships between optimism and pessimism and alcohol use trajectories of…
2015-12-24
Optimal UAS Assignments and Trajectories for Persistent Surveillance and Data Collection from a Wireless Sensor Network DISSERTATION Nidal M. Jodeh...ASSIGNMENTS AND TRAJECTORIES FOR PERSISTENT SURVEILLANCE AND DATA COLLECTION FROM A WIRELESS SENSOR NETWORK DISSERTATION Presented to the Faculty...COLLECTION FROM A WIRELESS SENSOR NETWORK Nidal M. Jodeh, B.S., M.A.S., M.S. Lieutenant Colonel, USAF Committee Membership: Richard G. Cobb, PhD Chairman
Real-time terminal area trajectory planning for runway independent aircraft
Xue, Min
The increasing demand for commercial air transportation results in delays due to traffic queues that form bottlenecks along final approach and departure corridors. In urban areas, it is often infeasible to build new runways, and regardless of automation upgrades traffic must remain separated to avoid the wakes of previous aircraft. Vertical or short takeoff and landing aircraft as Runway Independent Aircraft (RIA) can increase passenger throughput at major urban airports via the use of vertiports or stub runways. The concept of simultaneous non-interfering (SNI) operations has been proposed to reduce traffic delays by creating approach and departure corridors that do not intersect existing fixed-wing routes. However, SNI trajectories open new routes that may overfly noise-sensitive areas, and RIA may generate more noise than traditional jet aircraft, particularly on approach. In this dissertation, we develop efficient SNI noise abatement procedures applicable to RIA. First, we introduce a methodology based on modified approximated cell-decomposition and Dijkstra's search algorithm to optimize longitudinal plane (2-D) RIA trajectories over a cost function that minimizes noise, time, and fuel use. Then, we extend the trajectory optimization model to 3-D with a k-ary tree as the discrete search space. We incorporate geography information system (GIS) data, specifically population, into our objective function, and focus on a practical case study: the design of SNI RIA approach procedures to Baltimore-Washington International airport. Because solutions were represented as trim state sequences, we incorporated smooth transition between segments to enable more realistic cost estimates. Due to the significant computational complexity, we investigated alternative more efficient optimization techniques applicable to our nonlinear, non-convex, heavily constrained, and discontinuous objective function. Comparing genetic algorithm (GA) and adaptive simulated annealing (ASA
Lucas–Kanade fluid trajectories for time-resolved PIV
International Nuclear Information System (INIS)
Yegavian, Robin; Leclaire, Benjamin; Illoul, Cédric; Losfeld, Gilles; Champagnat, Frédéric
2016-01-01
We introduce a new method for estimating fluid trajectories in time-resolved PIV. It relies on a Lucas–Kanade paradigm and consists in a simple and direct extension of a two-frame estimation with FOLKI-PIV (Champagnat et al 2011 Exp. Fluids 50 1169–82). The so-called Lucas–Kanade Fluid Trajectories (LKFT) are assumed to be polynomial in time, and are found as the minimizer of a global functional, in which displacements are sought so as to match the intensities of a series of images pairs in the sequence, in the least-squares sense. All pairs involve the central image, similar to other recent time-resolved approaches (FTC (Lynch and Scarano 2013 Meas. Sci. Technol . 24 035305) and FTEE (Jeon et al 2014 Exp. Fluids 55 1–16)). As switching from a two-frame to a time-resolved objective simply amounts to adding terms in a functional, no significant additional algorithmic element is required. Similar to FOLKI-PIV the method is very well suited for GPU acceleration, which is an important feature as computational complexity increases with the image sequence size. Tests on synthetic data exhibiting peak-locking show that increasing the image sequence size strongly reduces both associated bias and random error, and that LKFT has a remaining total error comparable to that of FTEE on this case. Results on case B of the third PIV challenge (Stanislas et al 2008 Exp. Fluids 45 27–71) also show its ability to drastically reduce the error in situations with low signal-to-noise ratio. These results are finally confirmed on experimental images acquired in the near-field of a low Reynolds number jet. Strong reductions in peak-locking, spatial and temporal noise compared to two-frame estimation are also observed, on the displacement components themselves, as well as on spatial or temporal derivatives, such as vorticity and material acceleration. (paper)
Simulation to Support Local Search in Trajectory Optimization Planning
Morris, Robert A.; Venable, K. Brent; Lindsey, James
2012-01-01
NASA and the international community are investing in the development of a commercial transportation infrastructure that includes the increased use of rotorcraft, specifically helicopters and civil tilt rotors. However, there is significant concern over the impact of noise on the communities surrounding the transportation facilities. One way to address the rotorcraft noise problem is by exploiting powerful search techniques coming from artificial intelligence coupled with simulation and field tests to design low-noise flight profiles which can be tested in simulation or through field tests. This paper investigates the use of simulation based on predictive physical models to facilitate the search for low-noise trajectories using a class of automated search algorithms called local search. A novel feature of this approach is the ability to incorporate constraints directly into the problem formulation that addresses passenger safety and comfort.
2014-12-26
geocentric gravitational constant ν basis functions ω angular velocity of the Earth Φ fuel-air ratio φ longitude φ optimal control terminal cost (Mayer) xxvi...incorporate sensor parameters. The current methodologies are also numerically inefficient. A trajectory optimization approach , or a general optimal...control software approach , that is computationally ef- ficient and versatile, while based on a robust mathematical foundation, would provide significant
Directory of Open Access Journals (Sweden)
Dębski Roman
2014-09-01
Full Text Available Effective, simulation-based trajectory optimization algorithms adapted to heterogeneous computers are studied with reference to the problem taken from alpine ski racing (the presented solution is probably the most general one published so far. The key idea behind these algorithms is to use a grid-based discretization scheme to transform the continuous optimization problem into a search problem over a specially constructed finite graph, and then to apply dynamic programming to find an approximation of the global solution. In the analyzed example it is the minimum-time ski line, represented as a piecewise-linear function (a method of elimination of unfeasible solutions is proposed. Serial and parallel versions of the basic optimization algorithm are presented in detail (pseudo-code, time and memory complexity. Possible extensions of the basic algorithm are also described. The implementation of these algorithms is based on OpenCL. The included experimental results show that contemporary heterogeneous computers can be treated as μ-HPC platforms-they offer high performance (the best speedup was equal to 128 while remaining energy and cost efficient (which is crucial in embedded systems, e.g., trajectory planners of autonomous robots. The presented algorithms can be applied to many trajectory optimization problems, including those having a black-box represented performance measure
Directory of Open Access Journals (Sweden)
Yuan Chen
2011-09-01
Full Text Available This paper proposes a piecewise acceleration-optimal and smooth-jerk trajectory planning method of robot manipulator. The optimal objective function is given by the weighted sum of two terms having opposite effects: the maximal acceleration and the minimal jerk. Some computing techniques are proposed to determine the optimal solution. These techniques take both the time intervals between two interpolation points and the control points of B-spline function as optimal variables, redefine the kinematic constraints as the constraints of optimal variables, and reformulate the objective function in matrix form. The feasibility of the optimal method is illustrated by simulation and experimental results with pan mechanism for cooking robot.
Reliability-based trajectory optimization using nonintrusive polynomial chaos for Mars entry mission
Huang, Yuechen; Li, Haiyang
2018-06-01
This paper presents the reliability-based sequential optimization (RBSO) method to settle the trajectory optimization problem with parametric uncertainties in entry dynamics for Mars entry mission. First, the deterministic entry trajectory optimization model is reviewed, and then the reliability-based optimization model is formulated. In addition, the modified sequential optimization method, in which the nonintrusive polynomial chaos expansion (PCE) method and the most probable point (MPP) searching method are employed, is proposed to solve the reliability-based optimization problem efficiently. The nonintrusive PCE method contributes to the transformation between the stochastic optimization (SO) and the deterministic optimization (DO) and to the approximation of trajectory solution efficiently. The MPP method, which is used for assessing the reliability of constraints satisfaction only up to the necessary level, is employed to further improve the computational efficiency. The cycle including SO, reliability assessment and constraints update is repeated in the RBSO until the reliability requirements of constraints satisfaction are satisfied. Finally, the RBSO is compared with the traditional DO and the traditional sequential optimization based on Monte Carlo (MC) simulation in a specific Mars entry mission to demonstrate the effectiveness and the efficiency of the proposed method.
Optimal Trajectory Planning For Design of a Crawling Gait in a Robot Using Genetic Algorithm
Directory of Open Access Journals (Sweden)
SMRS. Noorani
2011-03-01
Full Text Available This paper describes a new locomotion mode to use in a crawling robot, inspired of real inchworm. The crawling device is modelled as a mobile manipulator, and for each step of its motion, the associated dynamics relations are derived using Euler-Lagrange equations. Next, the Genetic Algorithm (GA is utilized to optimize the trajectory of the free joints (active actuators in order to minimize the consumed effort (e.g. integral of square of torques over the step time. In this way, the results show a reduction of 5 to 37 percent in torque consumption in comparison with the gradient based method. Finally, numerical simulation for each step motion is presented to validate the proposed algorithm.
Libraro, Paola
The general electric propulsion orbit-raising maneuver of a spacecraft must contend with four main limiting factors: the longer time of flight, multiple eclipses prohibiting continuous thrusting, long exposure to radiation from the Van Allen belt and high power requirement of the electric engines. In order to optimize a low-thrust transfer with respect to these challenges, the choice of coordinates and corresponding equations of motion used to describe the kinematical and dynamical behavior of the satellite is of critical importance. This choice can potentially affect the numerical optimization process as well as limit the set of mission scenarios that can be investigated. To increase the ability to determine the feasible set of mission scenarios able to address the challenges of an all-electric orbit-raising, a set of equations free of any singularities is required to consider a completely arbitrary injection orbit. For this purpose a new quaternion-based formulation of a spacecraft translational dynamics that is globally nonsingular has been developed. The minimum-time low-thrust problem has been solved using the new set of equations of motion inside a direct optimization scheme in order to investigate optimal low-thrust trajectories over the full range of injection orbit inclinations between 0 and 90 degrees with particular focus on high-inclinations. The numerical results consider a specific mission scenario in order to analyze three key aspects of the problem: the effect of the initial guess on the shape and duration of the transfer, the effect of Earth oblateness on transfer time and the role played by, radiation damage and power degradation in all-electric minimum-time transfers. Finally trade-offs between mass and cost savings are introduced through a test case.
Wang, Mingming; Luo, Jianjun; Fang, Jing; Yuan, Jianping
2018-03-01
The existence of the path dependent dynamic singularities limits the volume of available workspace of free-floating space robot and induces enormous joint velocities when such singularities are met. In order to overcome this demerit, this paper presents an optimal joint trajectory planning method using forward kinematics equations of free-floating space robot, while joint motion laws are delineated with application of the concept of reaction null-space. Bézier curve, in conjunction with the null-space column vectors, are applied to describe the joint trajectories. Considering the forward kinematics equations of the free-floating space robot, the trajectory planning issue is consequently transferred to an optimization issue while the control points to construct the Bézier curve are the design variables. A constrained differential evolution (DE) scheme with premature handling strategy is implemented to find the optimal solution of the design variables while specific objectives and imposed constraints are satisfied. Differ from traditional methods, we synthesize null-space and specialized curve to provide a novel viewpoint for trajectory planning of free-floating space robot. Simulation results are presented for trajectory planning of 7 degree-of-freedom (DOF) kinematically redundant manipulator mounted on a free-floating spacecraft and demonstrate the feasibility and effectiveness of the proposed method.
Quantum trajectories and measurements in continuous time. The diffusive case
International Nuclear Information System (INIS)
Barchielli, Alberto; Gregoratti, Matteo
2009-01-01
This course-based monograph introduces the reader to the theory of continuous measurements in quantum mechanics and provides some benchmark applications. The approach chosen, quantum trajectory theory, is based on the stochastic Schroedinger and master equations, which determine the evolution of the a-posteriori state of a continuously observed quantum system and give the distribution of the measurement output. The present introduction is restricted to finite-dimensional quantum systems and diffusive outputs. Two appendices introduce the tools of probability theory and quantum measurement theory which are needed for the theoretical developments in the first part of the book. First, the basic equations of quantum trajectory theory are introduced, with all their mathematical properties, starting from the existence and uniqueness of their solutions. This makes the text also suitable for other applications of the same stochastic differential equations in different fields such as simulations of master equations or dynamical reduction theories. In the next step the equivalence between the stochastic approach and the theory of continuous measurements is demonstrated. To conclude the theoretical exposition, the properties of the output of the continuous measurement are analyzed in detail. This is a stochastic process with its own distribution, and the reader will learn how to compute physical quantities such as its moments and its spectrum. In particular this last concept is introduced with clear and explicit reference to the measurement process. The two-level atom is used as the basic prototype to illustrate the theory in a concrete application. Quantum phenomena appearing in the spectrum of the fluorescence light, such as Mollow's triplet structure, squeezing of the fluorescence light, and the linewidth narrowing, are presented. Last but not least, the theory of quantum continuous measurements is the natural starting point to develop a feedback control theory in
Optimal Recovery Trajectories for Automatic Ground Collision Avoidance Systems (Auto GCAS)
Suplisson, Angela W.
The US Air Force recently fielded the F-16 Automatic Ground Collision Avoidance System (Auto GCAS). This system meets the operational requirements of being both aggressive and timely, meaning that extremely agile avoidance maneuvers will be executed at the last second to avoid the ground. This small window of automatic operation maneuvering in close proximity to the ground makes the problem challenging. There currently exists no similar Auto GCAS for manned military 'heavy' aircraft with lower climb performance such as transport, tanker, or bomber aircraft. The F-16 Auto GCAS recovery is a single pre-planned roll to wings-level and 5-g pull-up which is very effective for fighters due to their high g and climb performance, but it is not suitable for military heavy aircraft. This research proposes a new optimal control approach to the ground collision avoidance problem for heavy aircraft by mapping the aggressive and timely requirements of the automatic recovery to the optimal control formulation which includes lateral maneuvers around terrain. This novel mapping creates two ways to pose the optimal control problem for Auto GCAS; one as a Max Distance with a Timely Trigger formulation and the other as a Min Control with an Aggressive Trigger formulation. Further, the optimal path and optimal control admitted by these two formulations are demonstrated to be equivalent at the point the automatic recovery is initiated for the simplified 2-D case. The Min Control formulation was demonstrated to have faster computational speed and was chosen for the 3-D case. Results are presented for representative heavy aircraft scenarios against 3-D digital terrain. The Min Control formulation was then compared to a Multi-Trajectory Auto GCAS with five pre-planned maneuvers. Metrics were developed to quantify the improvement from using an optimal approach versus the pre-planned maneuvers. The proposed optimal Min Control method was demonstrated to require less control or trigger later
Trajectory Based Optimal Segment Computation in Road Network Databases
DEFF Research Database (Denmark)
Li, Xiaohui; Ceikute, Vaida; Jensen, Christian S.
2013-01-01
Finding a location for a new facility such that the facility attracts the maximal number of customers is a challenging problem. Existing studies either model customers as static sites and thus do not consider customer movement, or they focus on theoretical aspects and do not provide solutions...... that are shown empirically to be scalable. Given a road network, a set of existing facilities, and a collection of customer route traversals, an optimal segment query returns the optimal road network segment(s) for a new facility. We propose a practical framework for computing this query, where each route...... traversal is assigned a score that is distributed among the road segments covered by the route according to a score distribution model. The query returns the road segment(s) with the highest score. To achieve low latency, it is essential to prune the very large search space. We propose two algorithms...
Trajectory Based Optimal Segment Computation in Road Network Databases
DEFF Research Database (Denmark)
Li, Xiaohui; Ceikute, Vaida; Jensen, Christian S.
Finding a location for a new facility such that the facility attracts the maximal number of customers is a challenging problem. Existing studies either model customers as static sites and thus do not consider customer movement, or they focus on theoretical aspects and do not provide solutions...... that are shown empirically to be scalable. Given a road network, a set of existing facilities, and a collection of customer route traversals, an optimal segment query returns the optimal road network segment(s) for a new facility. We propose a practical framework for computing this query, where each route...... traversal is assigned a score that is distributed among the road segments covered by the route according to a score distribution model. The query returns the road segment(s) with the highest score. To achieve low latency, it is essential to prune the very large search space. We propose two algorithms...
SU-E-T-436: Fluence-Based Trajectory Optimization for Non-Coplanar VMAT
Energy Technology Data Exchange (ETDEWEB)
Smyth, G; Bamber, JC; Bedford, JL [Joint Department of Physics at The Institute of Cancer Research and The Royal Marsden NHS Foundation Trust, London (United Kingdom); Evans, PM [Centre for Vision, Speech and Signal Processing, University of Surrey, Guildford (United Kingdom); Saran, FH; Mandeville, HC [The Royal Marsden NHS Foundation Trust, Sutton (United Kingdom)
2015-06-15
Purpose: To investigate a fluence-based trajectory optimization technique for non-coplanar VMAT for brain cancer. Methods: Single-arc non-coplanar VMAT trajectories were determined using a heuristic technique for five patients. Organ at risk (OAR) volume intersected during raytracing was minimized for two cases: absolute volume and the sum of relative volumes weighted by OAR importance. These trajectories and coplanar VMAT formed starting points for the fluence-based optimization method. Iterative least squares optimization was performed on control points 24° apart in gantry rotation. Optimization minimized the root-mean-square (RMS) deviation of PTV dose from the prescription (relative importance 100), maximum dose to the brainstem (10), optic chiasm (5), globes (5) and optic nerves (5), plus mean dose to the lenses (5), hippocampi (3), temporal lobes (2), cochleae (1) and brain excluding other regions of interest (1). Control point couch rotations were varied in steps of up to 10° and accepted if the cost function improved. Final treatment plans were optimized with the same objectives in an in-house planning system and evaluated using a composite metric - the sum of optimization metrics weighted by importance. Results: The composite metric decreased with fluence-based optimization in 14 of the 15 plans. In the remaining case its overall value, and the PTV and OAR components, were unchanged but the balance of OAR sparing differed. PTV RMS deviation was improved in 13 cases and unchanged in two. The OAR component was reduced in 13 plans. In one case the OAR component increased but the composite metric decreased - a 4 Gy increase in OAR metrics was balanced by a reduction in PTV RMS deviation from 2.8% to 2.6%. Conclusion: Fluence-based trajectory optimization improved plan quality as defined by the composite metric. While dose differences were case specific, fluence-based optimization improved both PTV and OAR dosimetry in 80% of cases.
Optimal carbon emissions trajectories when damages depend on the rate or level of global warming
International Nuclear Information System (INIS)
Peck, S.C.; Teisberg, T.J.
1994-01-01
The authors extend earlier work with the Carbon Emissions Trajectory Assessment model (CETA) to consider a number of issues relating to the nature of optimal carbon emissions trajectories. They first explore model results when warming costs are associated with the rate of temperature rise, rather than with its level, as in earlier work. It is found that optimal trajectories are more strongly affected by the degree of non-linearity in the warming cost function than by whether the cost function is driven by the warming level or the warming rate. The authors briefly explore the implications of simple uncertainty and risk aversion for optimal emissions trajectories to be somewhat lower, but that the effect is not noticeable in the near term and not dramatic in the long term; the long term effect on the shadow price of carbon is more marked, however. Finally, they experiment with scaling up the warming cost functions until optimal policies are approximately the same as a policy of stabilising emissions at the 1990 level. Based on the results of this experiment, it is concluded that damages would have to be very high to justify anything like a stabilization policy; and even in this case, a policy allowing intertemporal variation in emissions would be better. 18 refs., 15 figs
Rapid Optimal Generation Algorithm for Terrain Following Trajectory Based on Optimal Control
Institute of Scientific and Technical Information of China (English)
杨剑影; 张海; 谢邦荣; 尹健
2004-01-01
Based on the optimal control theory, a 3-dimensionnal direct generation algorithm is proposed for anti-ground low altitude penetration tasks under complex terrain. By optimizing the terrain following(TF) objective function,terrain coordinate system, missile dynamic model and control vector, the TF issue is turning into the improved optimal control problem whose mathmatical model is simple and need not solve the second order terrain derivative. Simulation results prove that this method is reasonable and feasible. The TF precision is in the scope from 0.3 m to 3.0 m,and the planning time is less than 30 min. This method have the strongpionts such as rapidness, precision and has great application value.
Directory of Open Access Journals (Sweden)
Dębski Roman
2016-06-01
Full Text Available A new dynamic programming based parallel algorithm adapted to on-board heterogeneous computers for simulation based trajectory optimization is studied in the context of “high-performance sailing”. The algorithm uses a new discrete space of continuously differentiable functions called the multi-splines as its search space representation. A basic version of the algorithm is presented in detail (pseudo-code, time and space complexity, search space auto-adaptation properties. Possible extensions of the basic algorithm are also described. The presented experimental results show that contemporary heterogeneous on-board computers can be effectively used for solving simulation based trajectory optimization problems. These computers can be considered micro high performance computing (HPC platforms-they offer high performance while remaining energy and cost efficient. The simulation based approach can potentially give highly accurate results since the mathematical model that the simulator is built upon may be as complex as required. The approach described is applicable to many trajectory optimization problems due to its black-box represented performance measure and use of OpenCL.
Energy Optimal Trajectories in Human Arm Motion Aiming for Assistive Robots
Directory of Open Access Journals (Sweden)
Lelai Zhou
2017-01-01
Full Text Available The energy expenditure in human arm has been of great interests for seeking optimal human arm trajectories. This paper presents a new way for calculating metabolic energy consumption of human arm motions. The purpose is to reveal the relationship between the energy consumption and the trajectory of arm motion, and further, the acceleration and arm orientation contributions. Human arm motion in horizontal plane is investigated by virtue of Qualisys motion capture system. The motion data is post-processed by a biomechanical model to obtain the metabolic expenditure. Results on the arm motion kinematics, dynamics and metabolic energy consumption, are included.
Optimization and Sensitivity Analysis for a Launch Trajectory
2014-12-01
burnout . At a higher first stage burnout velocity, less thrust input is...3050 3100 z (k m ) time (sec) 0 20 40 60 80 -5 0 5 V el oc ity (k m /s ) vx vy vz |v| 0 20 40 60 80 -1 0 1 2 U ni t T hr us t V ec to r time...0.5 1 V el oc ity vx vy vz 0 10 20 30 40 50 60 70 -15 -10 -5 0 5 x 10-4 Th ru st V ec to r time (sec) cx cy cz 22 running DIDO.
Method of interplanetary trajectory optimization for the spacecraft with low thrust and swing-bys
Konstantinov, M. S.; Thein, M.
2017-07-01
The method developed to avoid the complexity of solving the multipoint boundary value problem while optimizing interplanetary trajectories of the spacecraft with electric propulsion and a sequence of swing-bys is presented in the paper. This method is based on the use of the preliminary problem solutions for the impulsive trajectories. The preliminary problem analyzed at the first stage of the study is formulated so that the analysis and optimization of a particular flight path is considered as the unconstrained minimum in the space of the selectable parameters. The existing methods can effectively solve this problem and make it possible to identify rational flight paths (the sequence of swing-bys) to receive the initial approximation for the main characteristics of the flight path (dates, values of the hyperbolic excess velocity, etc.). These characteristics can be used to optimize the trajectory of the spacecraft with electric propulsion. The special feature of the work is the introduction of the second (intermediate) stage of the research. At this stage some characteristics of the analyzed flight path (e.g. dates of swing-bys) are fixed and the problem is formulated so that the trajectory of the spacecraft with electric propulsion is optimized on selected sites of the flight path. The end-to-end optimization is carried out at the third (final) stage of the research. The distinctive feature of this stage is the analysis of the full set of optimal conditions for the considered flight path. The analysis of the characteristics of the optimal flight trajectories to Jupiter with Earth, Venus and Mars swing-bys for the spacecraft with electric propulsion are presented. The paper shows that the spacecraft weighing more than 7150 kg can be delivered into the vicinity of Jupiter along the trajectory with two Earth swing-bys by use of the space transportation system based on the "Angara A5" rocket launcher, the chemical upper stage "KVTK" and the electric propulsion system
Seyed, Mohammadali Rahmati; Mostafa, Rostami; Borhan, Beigzadeh
2018-04-27
The parametric optimization techniques have been widely employed to predict human gait trajectories; however, their applications to reveal the other aspects of gait are questionable. The aim of this study is to investigate whether or not the gait prediction model is able to justify the movement trajectories for the higher average velocities. A planar, seven-segment model with sixteen muscle groups was used to represent human neuro-musculoskeletal dynamics. At first, the joint angles, ground reaction forces (GRFs) and muscle activations were predicted and validated for normal average velocity (1.55 m/s) in the single support phase (SSP) by minimizing energy expenditure, which is subject to the non-linear constraints of the gait. The unconstrained system dynamics of extended inverse dynamics (USDEID) approach was used to estimate muscle activations. Then by scaling time and applying the same procedure, the movement trajectories were predicted for higher average velocities (from 2.07 m/s to 4.07 m/s) and compared to the pattern of movement with fast walking speed. The comparison indicated a high level of compatibility between the experimental and predicted results, except for the vertical position of the center of gravity (COG). It was concluded that the gait prediction model can be effectively used to predict gait trajectories for higher average velocities.
Genetic algorithm trajectory plan optimization for EAMA: EAST Articulated Maintenance Arm
Energy Technology Data Exchange (ETDEWEB)
Wu, Jing, E-mail: wujing@ipp.ac.cn [Institute of Plasma Physics, Chinese Academy of Sciences, 350 Shushanhu Rd., Hefei, Anhui (China); Lappeenranta University of Technology, Skinnarilankatu 34, Lappeenranta (Finland); Wu, Huapeng [Lappeenranta University of Technology, Skinnarilankatu 34, Lappeenranta (Finland); Song, Yuntao; Cheng, Yong; Zhao, Wenglong [Institute of Plasma Physics, Chinese Academy of Sciences, 350 Shushanhu Rd., Hefei, Anhui (China); Wang, Yongbo [Lappeenranta University of Technology, Skinnarilankatu 34, Lappeenranta (Finland)
2016-11-01
Highlights: • A redundant 10-DOF serial-articulated robot for EAST assembly and maintains is presented. • A trajectory optimization algorithm of the robot is developed. • A minimum jerk objective is presented to suppress machining vibration of the robot. - Abstract: EAMA (EAST Articulated Maintenance Arm) is an articulated serial manipulator with 7 degrees of freedom (DOF) articulated arm followed by 3-DOF gripper, total length is 8.867 m, works in experimental advanced superconductor tokamak (EAST) vacuum vessel (VV) to perform blanket inspection and remote maintenance tasks. This paper presents a trajectory optimization method which aims to pursue the 7-DOF articulated arm a stable movement, which keeps the mounted inspection camera anti-vibration. Based on dynamics analysis, trajectory optimization algorithm adopts multi-order polynomial interpolation in joint space and high order geometry Jacobian transform. The object of optimization algorithm is to suppress end-effector movement vibration by minimizing jerk RMS (root mean square) value. The proposed solution has such characteristics which can satisfy kinematic constraints of EAMA’s motion and ensure the arm running under the absolute values of velocity, acceleration and jerk boundaries. GA (genetic algorithm) is employed to find global and robust solution for this problem.
Rodionova, Olga; Sridhar, Banavar; Ng, Hok K.
2016-01-01
Air traffic in the North Atlantic oceanic airspace (NAT) experiences very strong winds caused by jet streams. Flying wind-optimal trajectories increases individual flight efficiency, which is advantageous when operating in the NAT. However, as the NAT is highly congested during peak hours, a large number of potential conflicts between flights are detected for the sets of wind-optimal trajectories. Conflict resolution performed at the strategic level of flight planning can significantly reduce the airspace congestion. However, being completed far in advance, strategic planning can only use predicted environmental conditions that may significantly differ from the real conditions experienced further by aircraft. The forecast uncertainties result in uncertainties in conflict prediction, and thus, conflict resolution becomes less efficient. This work considers wind uncertainties in order to improve the robustness of conflict resolution in the NAT. First, the influence of wind uncertainties on conflict prediction is investigated. Then, conflict resolution methods accounting for wind uncertainties are proposed.
Directory of Open Access Journals (Sweden)
Humin Lei
2017-01-01
Full Text Available An adaptive mesh iteration method based on Hermite-Pseudospectral is described for trajectory optimization. The method uses the Legendre-Gauss-Lobatto points as interpolation points; then the state equations are approximated by Hermite interpolating polynomials. The method allows for changes in both number of mesh points and the number of mesh intervals and produces significantly smaller mesh sizes with a higher accuracy tolerance solution. The derived relative error estimate is then used to trade the number of mesh points with the number of mesh intervals. The adaptive mesh iteration method is applied successfully to the examples of trajectory optimization of Maneuverable Reentry Research Vehicle, and the simulation experiment results show that the adaptive mesh iteration method has many advantages.
Directory of Open Access Journals (Sweden)
Jian Zhang
2016-12-01
Full Text Available In the environment of intelligent transportation systems, traffic condition data would have higher resolution in time and space, which is especially valuable for managing the interrupted traffic at signalized intersections. There exist a lot of algorithms for offset tuning, but few of them take the advantage of modern traffic detection methods such as probe vehicle data. This study proposes a method using probe trajectory data to optimize and adjust offsets in real time. The critical point, representing the changing vehicle dynamics, is first defined as the basis of this approach. Using the critical points related to different states of traffic conditions, such as free flow, queue formation, and dissipation, various traffic status parameters can be estimated, including actual travel speed, queue dissipation rate, and standing queue length. The offset can then be adjusted on a cycle-by-cycle basis. The performance of this approach is evaluated using a simulation network. The results show that the trajectory-based approach can reduce travel time of the coordinated traffic flow when compared with using well-defined offline offset.
Directory of Open Access Journals (Sweden)
David Schlipf
2015-11-01
Full Text Available Recent developments in remote sensing are offering a promising opportunity to rethink conventional control strategies of wind turbines. With technologies such as lidar, the information about the incoming wind field - the main disturbance to the system - can be made available ahead of time. Initial field testing of collective pitch feedforward control shows, that lidar measurements are only beneficial if they are filtered properly to avoid harmful control action. However, commercial lidar systems developed for site assessment are usually unable to provide a usable signal for real time control. Recent research shows, that the correlation between the measurement of rotor effective wind speed and the turbine reaction can be modeled and that the model can be used to optimize a scan pattern. This correlation depends on several criteria such as turbine size, position of the measurements, measurement volume, and how the wind evolves on its way towards the rotor. In this work the longitudinal wind evolution is identified with the line-of-sight measurements of a pulsed lidar system installed on a large commercial wind turbine. This is done by staring directly into the inflowing wind during operation of the turbine and fitting the coherence between the wind at different measurement distances to an exponential model taking into account the yaw misalignment, limitation to line-of-sight measurements and the pulse volume. The identified wind evolution is then used to optimize the scan trajectory of a scanning lidar for lidar-assisted feedforward control in order to get the best correlation possible within the constraints of the system. Further, an adaptive filer is fitted to the modeled correlation to avoid negative impact of feedforward control because of uncorrelated frequencies of the wind measurement. The main results of the presented work are a first estimate of the wind evolution in front of operating wind turbines and an approach which manufacturers of
Trajectory optimization for dynamic couch rotation during volumetric modulated arc radiotherapy
Smyth, Gregory; Bamber, Jeffrey C.; Evans, Philip M.; Bedford, James L.
2013-11-01
Non-coplanar radiation beams are often used in three-dimensional conformal and intensity modulated radiotherapy to reduce dose to organs at risk (OAR) by geometric avoidance. In volumetric modulated arc radiotherapy (VMAT) non-coplanar geometries are generally achieved by applying patient couch rotations to single or multiple full or partial arcs. This paper presents a trajectory optimization method for a non-coplanar technique, dynamic couch rotation during VMAT (DCR-VMAT), which combines ray tracing with a graph search algorithm. Four clinical test cases (partial breast, brain, prostate only, and prostate and pelvic nodes) were used to evaluate the potential OAR sparing for trajectory-optimized DCR-VMAT plans, compared with standard coplanar VMAT. In each case, ray tracing was performed and a cost map reflecting the number of OAR voxels intersected for each potential source position was generated. The least-cost path through the cost map, corresponding to an optimal DCR-VMAT trajectory, was determined using Dijkstra’s algorithm. Results show that trajectory optimization can reduce dose to specified OARs for plans otherwise comparable to conventional coplanar VMAT techniques. For the partial breast case, the mean heart dose was reduced by 53%. In the brain case, the maximum lens doses were reduced by 61% (left) and 77% (right) and the globes by 37% (left) and 40% (right). Bowel mean dose was reduced by 15% in the prostate only case. For the prostate and pelvic nodes case, the bowel V50 Gy and V60 Gy were reduced by 9% and 45% respectively. Future work will involve further development of the algorithm and assessment of its performance over a larger number of cases in site-specific cohorts.
Commercial Aircraft Trajectory Planning based on Multiphase Mixed-Integer Optimal Control
Soler Arnedo, Manuel Fernando
2017-01-01
The main goal of this dissertation is to develop optimal control techniques for aircraft trajectory planning looking at reduction of fuel consumption, emissions and overfly charges in flight plans. The calculation of a flight plan involves the consideration of multiple factors. They can be classified as either continuous or discrete, and include nonlinear aircraft performance, atmospheric conditions, wind conditions, airspace structure, amount of departure fuel, and operational...
Energy Technology Data Exchange (ETDEWEB)
Weber, Jochem W [National Renewable Energy Laboratory (NREL), Golden, CO (United States); Laird, Daniel [National Renewable Energy Laboratory (NREL), Golden, CO (United States); Costello, Ronan [Wave Venture; Roberts, Jesse [Sandia National Laboratories; Bull, Diana [Sandia National Laboratories; Babarit, Aurelien [Ecole Centrale de Nantes; Nielsen, Kim [Ramboll; Ferreira, Claudio Bittencourt [DNV-GL; Kennedy, Ben [Wave Venture
2017-09-14
This paper presents a comparative assessment of three fundamentally different wave energy converter technology development trajectories. The three technology development trajectories are expressed and visualised as a function of technology readiness levels and technology performance levels. The assessment shows that development trajectories that initially prioritize technology readiness over technology performance are likely to require twice the development time, consume a threefold of the development cost, and are prone to a risk of technical or commercial failure of one order of magnitude higher than those development trajectories that initially prioritize technology performance over technology readiness.
Computing energy-optimal trajectories for an autonomous underwater vehicle using direct shooting
Directory of Open Access Journals (Sweden)
Inge Spangelo
1992-07-01
Full Text Available Energy-optimal trajectories for an autonomous underwater vehicle can be computed using a numerical solution of the optimal control problem. The vehicle is modeled with the six dimensional nonlinear and coupled equations of motion, controlled with DC-motors in all degrees of freedom. The actuators are modeled and controlled with velocity loops. The dissipated energy is expressed in terms of the control variables as a nonquadratic function. Direct shooting methods, including control vector parameterization (CVP arc used in this study. Numerical calculations are performed and good results are achieved.
TH-EF-BRB-02: Feasibility of Optimization for Dynamic Trajectory Radiotherapy
Energy Technology Data Exchange (ETDEWEB)
Fix, MK; Frei, D; Volken, W; Terribilini, D; Aebersold, DM; Manser, P [Division of Medical Radiation Physics and Department of Radiation Oncology, Inselspital, Bern University Hospital, and University of Bern, Berne (Switzerland)
2016-06-15
Purpose: Over the last years, volumetric modulated arc therapy (VMAT) has been widely introduced into clinical routine using a coplanar delivery technique. However, VMAT might be improved by including dynamic couch and collimator rotations, leading to dynamic trajectory radiotherapy (DTRT). In this work the feasibility and the potential benefit of DTRT was investigated. Methods: A general framework for the optimization was developed using the Eclipse Scripting Research Application Programming Interface (ESRAPI). Based on contoured target and organs at risk (OARs), the structures are extracted using the ESRAPI. Sampling potential beam directions, regularly distributed on a sphere using a Fibanocci-lattice, the fractional volume-overlap of each OAR and the target is determined and used to establish dynamic gantry-couch movements. Then, for each gantry-couch track the most suitable collimator angle is determined for each control point by optimizing the area between the MLC leaves and the target contour. The resulting dynamic trajectories are used as input to perform the optimization using a research version of the VMAT optimization algorithm and the ESRAPI. The feasibility of this procedure was tested for a clinically motivated head and neck case. Resulting dose distributions for the VMAT plan and for the dynamic trajectory treatment plan were compared based on DVH-parameters. Results: While the DVH for the target is virtually preserved, improvements in maximum dose for the DTRT plan were achieved for all OARs except for the inner-ear, where maximum dose remains the same. The major improvements in maximum dose were 6.5% of the prescribed dose (66 Gy) for the parotid and 5.5% for the myelon and the eye. Conclusion: The result of this work suggests that DTRT has a great potential to reduce dose to OARs with similar target coverage when compared to conventional VMAT treatment plans. This work was supported by Varian Medical Systems. This work was supported by Varian
Optimal time travel in the Godel universe
Natario, Jose
2011-01-01
Using the theory of optimal rocket trajectories in general relativity, recently developed in arXiv:1105.5235, we present a candidate for the minimum total integrated acceleration closed timelike curve in the Godel universe, and give evidence for its minimality. The total integrated acceleration of this curve is lower than Malament's conjectured value (Malament, 1984), as was already implicit in the work of Manchak (Manchak, 2011); however, Malament's conjecture does seem to hold for periodic ...
Optimizing Cruising Routes for Taxi Drivers Using a Spatio-Temporal Trajectory Model
Directory of Open Access Journals (Sweden)
Liang Wu
2017-11-01
Full Text Available Much of the taxi route-planning literature has focused on driver strategies for finding passengers and determining the hot spot pick-up locations using historical global positioning system (GPS trajectories of taxis based on driver experience, distance from the passenger drop-off location to the next passenger pick-up location and the waiting times at recommended locations for the next passenger. The present work, however, considers the average taxi travel speed mined from historical taxi GPS trajectory data and the allocation of cruising routes to more than one taxi driver in a small-scale region to neighboring pick-up locations. A spatio-temporal trajectory model with load balancing allocations is presented to not only explore pick-up/drop-off information but also provide taxi drivers with cruising routes to the recommended pick-up locations. In simulation experiments, our study shows that taxi drivers using cruising routes recommended by our spatio-temporal trajectory model can significantly reduce the average waiting time and travel less distance to quickly find their next passengers, and the load balancing strategy significantly alleviates road loads. These objective measures can help us better understand spatio-temporal traffic patterns and guide taxi navigation.
Directory of Open Access Journals (Sweden)
Wei Chen
2017-01-01
Full Text Available Automated tool trajectory planning for spray painting robots is still a challenging problem, especially for a large complex curved surface. This paper presents a new method of trajectory optimization for spray painting robot based on exponential mean Bézier method. The definition and the three theorems of exponential mean Bézier curves are discussed. Then a spatial painting path generation method based on exponential mean Bézier curves is developed. A new simple algorithm for trajectory optimization on complex curved surfaces is introduced. A golden section method is adopted to calculate the values. The experimental results illustrate that the exponential mean Bézier curves enhanced flexibility of the path planning, and the trajectory optimization algorithm achieved satisfactory performance. This method can also be extended to other applications.
Using rapidly-exploring random tree-based algorithms to find smooth and optimal trajectories
CSIR Research Space (South Africa)
Matebese, B
2012-10-01
Full Text Available -exploring random tree-based algorithms to fi nd smooth and optimal trajectories B MATEBESE1, MK BANDA2 AND S UTETE1 1CSIR Modelling and Digital Science, PO Box 395, Pretoria, South Africa, 0001 2Department of Applied Mathematics, Stellenbosch University... and complex environments. The RRT algorithm is the most popular and has the ability to find a feasible solution faster than other algorithms. The drawback of using RRT is that, as the number of samples increases, the probability that the algorithm converges...
Optimizing Likelihood Models for Particle Trajectory Segmentation in Multi-State Systems.
Young, Dylan Christopher; Scrimgeour, Jan
2018-06-19
Particle tracking offers significant insight into the molecular mechanics that govern the behav- ior of living cells. The analysis of molecular trajectories that transition between different motive states, such as diffusive, driven and tethered modes, is of considerable importance, with even single trajectories containing significant amounts of information about a molecule's environment and its interactions with cellular structures. Hidden Markov models (HMM) have been widely adopted to perform the segmentation of such complex tracks. In this paper, we show that extensive analysis of hidden Markov model outputs using data derived from multi-state Brownian dynamics simulations can be used both for the optimization of the likelihood models used to describe the states of the system and for characterization of the technique's failure mechanisms. This analysis was made pos- sible by the implementation of parallelized adaptive direct search algorithm on a Nvidia graphics processing unit. This approach provides critical information for the visualization of HMM failure and successful design of particle tracking experiments where trajectories contain multiple mobile states. © 2018 IOP Publishing Ltd.
Trajectory optimization for A S.S.T.O. using in-flight LOX collection
Saint-Mard, M.; Hendrick, P.
A key point for a space mission (launch of a satellite, earth observation,…) is the optimization of the vehicle trajectory in order to burn the smallest quantity of propelant and then maximize the payload. This is true for evay space vehicle, but especially it is a crucial point for a Single-Stage-To-Orbit (SSTO) where the choice of a bad trajectory can result in an unrealizable vehicle due to the large airbreathing part of the flight In this study, we discuss the trajectory optimization for a Vertical Take-Off and Horizontal Landing (VTOHL) SSTO using supersonic in-flight atmospheric oxygen collection during a cruise phase (constant speed & constant altitude). This collected oxygen is stored in the LOX tanks and reused in the final rocket phase. This SSTO bas a Blended Body aerodynamic configuration as the one chosen by Lockheed Martin for its new space launcher (VentureStar and X-33). This SSTO uses rocket engines from take-off to Mach 1.7 and also for the exoatmospheric flight phase (that means for an altitude higher than 30km and a Mach number evolution from 6.8 to about 20). Between these two rocket phases, the SSTO is propelled by a subsonic ramjet. To perform this study, we use 2 computer programs (running on a home Computer): the first one allows to estimate the SSTO performances (TOGW, dry weight, hydrogen and oxygen consumptions) for a fixed payload mass and the second one permits the evaluation of the payload mass for a fixed TOGW.
Jacob, H. G.
1972-01-01
An optimization method has been developed that computes the optimal open loop inputs for a dynamical system by observing only its output. The method reduces to static optimization by expressing the inputs as series of functions with parameters to be optimized. Since the method is not concerned with the details of the dynamical system to be optimized, it works for both linear and nonlinear systems. The method and the application to optimizing longitudinal landing paths for a STOL aircraft with an augmented wing are discussed. Noise, fuel, time, and path deviation minimizations are considered with and without angle of attack, acceleration excursion, flight path, endpoint, and other constraints.
Decentralized flight trajectory planning of multiple aircraft
Yokoyama, Nobuhiro; 横山 信宏
2008-01-01
Conventional decentralized algorithms for optimal trajectory planning tend to require prohibitive computational time as the number of aircraft increases. To overcome this drawback, this paper proposes a novel decentralized trajectory planning algorithm adopting a constraints decoupling approach for parallel optimization. The constraints decoupling approach is formulated as the path constraints of the real-time trajectory optimization problem based on nonlinear programming. Due to the parallel...
Energy Technology Data Exchange (ETDEWEB)
Moreno-Valenzuela, Javier; Orozco-Manriquez, Ernesto [Digital del IPN, CITEDI-IPN, Tijuana, (Mexico)
2009-12-15
We introduce a control scheme based on using a trajectory tracking controller and an algorithm for on-line time scaling of the reference trajectories. The reference trajectories are time-scaled according to the measured tracking errors and the detected torque/acceleration saturation. Experiments are presented to illustrate the advantages of the proposed approach
International Nuclear Information System (INIS)
Moreno-Valenzuela, Javier; Orozco-Manriquez, Ernesto
2009-01-01
We introduce a control scheme based on using a trajectory tracking controller and an algorithm for on-line time scaling of the reference trajectories. The reference trajectories are time-scaled according to the measured tracking errors and the detected torque/acceleration saturation. Experiments are presented to illustrate the advantages of the proposed approach
Optimization of geothermal well trajectory in order to minimize borehole failure
Dahrabou, A.; Valley, B.; Ladner, F.; Guinot, F.; Meier, P.
2017-12-01
In projects based on Enhanced Geothermal System (EGS) principle, deep boreholes are drilled to low permeability rock masses. As part of the completion operations, the permeability of existing fractures in the rock mass is enhanced by injecting large volumes of water. These stimulation treatments aim at achieving enough water circulation for heat extraction at commercial rates which makes the stimulation operations critical to the project success. The accurate placement of the stimulation treatments requires well completion with effective zonal isolation, and wellbore stability is a prerequisite to all zonal isolation techniques, be it packer sealing or cement placement. In this project, a workflow allowing a fast decision-making process for selecting an optimal well trajectory for EGS projects is developed. In fact, the well is first drilled vertically then based on logging data which are costly (100 KCHF/day), the direction in which the strongly deviated borehole section will be drilled needs to be determined in order to optimize borehole stability and to intersect the highest number of fractures that are oriented favorably for stimulation. The workflow applies to crystalline rock and includes an uncertainty and risk assessment framework. An initial sensitivity study was performed to identify the most influential parameters on borehole stability. The main challenge in these analyses is that the strength and stress profiles are unknown independently. Calibration of a geomechanical model on the observed borehole failure has been performed using data from the Basel Geothermal well BS-1. In a first approximation, a purely elastic-static analytical solution in combination with a purely cohesive failure criterion were used as it provides the most consistent prediction across failure indicators. A systematic analysis of the uncertainty on all parameters was performed to assess the reliability of the optimal trajectory selection. To each drilling scenario, failure
DUKSUP: A Computer Program for High Thrust Launch Vehicle Trajectory Design and Optimization
Spurlock, O. Frank; Williams, Craig H.
2015-01-01
From the late 1960s through 1997, the leadership of NASAs Intermediate and Large class unmanned expendable launch vehicle projects resided at the NASA Lewis (now Glenn) Research Center (LeRC). One of LeRCs primary responsibilities --- trajectory design and performance analysis --- was accomplished by an internally-developed analytic three dimensional computer program called DUKSUP. Because of its Calculus of Variations-based optimization routine, this code was generally more capable of finding optimal solutions than its contemporaries. A derivation of optimal control using the Calculus of Variations is summarized including transversality, intermediate, and final conditions. The two point boundary value problem is explained. A brief summary of the codes operation is provided, including iteration via the Newton-Raphson scheme and integration of variational and motion equations via a 4th order Runge-Kutta scheme. Main subroutines are discussed. The history of the LeRC trajectory design efforts in the early 1960s is explained within the context of supporting the Centaur upper stage program. How the code was constructed based on the operation of the AtlasCentaur launch vehicle, the limits of the computers of that era, the limits of the computer programming languages, and the missions it supported are discussed. The vehicles DUKSUP supported (AtlasCentaur, TitanCentaur, and ShuttleCentaur) are briefly described. The types of missions, including Earth orbital and interplanetary, are described. The roles of flight constraints and their impact on launch operations are detailed (such as jettisoning hardware on heating, Range Safety, ground station tracking, and elliptical parking orbits). The computer main frames on which the code was hosted are described. The applications of the code are detailed, including independent check of contractor analysis, benchmarking, leading edge analysis, and vehicle performance improvement assessments. Several of DUKSUPs many major impacts on
Directory of Open Access Journals (Sweden)
Patrick Piprek
2018-02-01
Full Text Available This paper presents an approach to model a ski jumper as a multi-body system for an optimal control application. The modeling is based on the constrained Newton-Euler-Equations. Within this paper the complete multi-body modeling methodology as well as the musculoskeletal modeling is considered. For the musculoskeletal modeling and its incorporation in the optimization model, we choose a nonlinear dynamic inversion control approach. This approach uses the muscle models as nonlinear reference models and links them to the ski jumper movement by a control law. This strategy yields a linearized input-output behavior, which makes the optimal control problem easier to solve. The resulting model of the ski jumper can then be used for trajectory optimization whose results are compared to literature jumps. Ultimately, this enables the jumper to get a very detailed feedback of the flight. To achieve the maximal jump length, exact positioning of his body with respect to the air can be displayed.
Energy Technology Data Exchange (ETDEWEB)
Herman, Michael F. [Department of Chemistry, Tulane University, New Orleans, Louisiana 70118 (United States)
2015-10-28
The time independent semiclassical treatment of barrier tunneling has been understood for a very long time. Several semiclassical approaches to time dependent tunneling through barriers have also been presented. These typically involve trajectories for which the position variable is a complex function of time. In this paper, a method is presented that uses only real valued trajectories, thus avoiding the complications that can arise when complex trajectories are employed. This is accomplished by expressing the time dependent wave packet as an integration over momentum. The action function in the exponent in this expression is expanded to second order in the momentum. The expansion is around the momentum, p{sub 0{sup *}}, at which the derivative of the real part of the action is zero. The resulting Gaussian integral is then taken. The stationary phase approximation requires that the derivative of the full action is zero at the expansion point, and this leads to a complex initial momentum and complex tunneling trajectories. The “pseudo-stationary phase” approximation employed in this work results in real values for the initial momentum and real valued trajectories. The transmission probabilities obtained are found to be in good agreement with exact quantum results.
International Nuclear Information System (INIS)
Herman, Michael F.
2015-01-01
The time independent semiclassical treatment of barrier tunneling has been understood for a very long time. Several semiclassical approaches to time dependent tunneling through barriers have also been presented. These typically involve trajectories for which the position variable is a complex function of time. In this paper, a method is presented that uses only real valued trajectories, thus avoiding the complications that can arise when complex trajectories are employed. This is accomplished by expressing the time dependent wave packet as an integration over momentum. The action function in the exponent in this expression is expanded to second order in the momentum. The expansion is around the momentum, p 0 * , at which the derivative of the real part of the action is zero. The resulting Gaussian integral is then taken. The stationary phase approximation requires that the derivative of the full action is zero at the expansion point, and this leads to a complex initial momentum and complex tunneling trajectories. The “pseudo-stationary phase” approximation employed in this work results in real values for the initial momentum and real valued trajectories. The transmission probabilities obtained are found to be in good agreement with exact quantum results
Short-time quantum propagator and Bohmian trajectories
de Gosson, Maurice; Hiley, Basil
2013-12-01
We begin by giving correct expressions for the short-time action following the work Makri-Miller. We use these estimates to derive an accurate expression modulo Δt2 for the quantum propagator and we show that the quantum potential is negligible modulo Δt2 for a point source, thus justifying an unfortunately largely ignored observation of Holland made twenty years ago. We finally prove that this implies that the quantum motion is classical for very short times.
Short-time quantum propagator and Bohmian trajectories
International Nuclear Information System (INIS)
Gosson, Maurice de; Hiley, Basil
2013-01-01
We begin by giving correct expressions for the short-time action following the work Makri–Miller. We use these estimates to derive an accurate expression modulo Δt 2 for the quantum propagator and we show that the quantum potential is negligible modulo Δt 2 for a point source, thus justifying an unfortunately largely ignored observation of Holland made twenty years ago. We finally prove that this implies that the quantum motion is classical for very short times.
Time series livestock diet optimization
Alqaisi, Othman; Ndambi, Oghaiki Asaah; Williams, Ryan Blake
2017-01-01
Sustainable feed formulation (defined here as nutritional and economic feed optimization) is substantial in feed chain production from crop farmers to livestock producers. Diet formulation employing a static linear programming (LP) approach, which is widely used in trading firms and feed production
Short-time quantum propagator and Bohmian trajectories
Energy Technology Data Exchange (ETDEWEB)
Gosson, Maurice de, E-mail: maurice.degosson@gmail.com [Universität Wien, Fakultät für Mathematik, NuHAG, Wien 1090 (Austria); Hiley, Basil [University of London, Birkbeck College, Theoretical Physics Unit, London WC1E 7HX (United Kingdom)
2013-12-06
We begin by giving correct expressions for the short-time action following the work Makri–Miller. We use these estimates to derive an accurate expression modulo Δt{sup 2} for the quantum propagator and we show that the quantum potential is negligible modulo Δt{sup 2} for a point source, thus justifying an unfortunately largely ignored observation of Holland made twenty years ago. We finally prove that this implies that the quantum motion is classical for very short times.
Waadeland, Carl Haakon
2017-01-01
Results from different empirical investigations on gestural aspects of timed rhythmic movements indicate that the production of asymmetric movement trajectories is a feature that seems to be a common characteristic of various performances of repetitive rhythmic patterns. The behavioural or neural origin of these asymmetrical trajectories is, however, not identified. In the present study we outline a theoretical model that is capable of producing syntheses of asymmetric movement trajectories documented in empirical investigations by Balasubramaniam et al. (2004). Characteristic qualities of the extension/flexion profiles in the observed asymmetric trajectories are reproduced, and we conduct an experiment similar to Balasubramaniam et al. (2004) to show that the empirically documented movement trajectories and our modelled approximations share the same spectral components. The model is based on an application of frequency modulated movements, and a theoretical interpretation offered by the model is to view paced rhythmic movements as a result of an unpaced movement being "stretched" and "compressed", caused by the presence of a metronome. We discuss our model construction within the framework of event-based and emergent timing, and argue that a change between these timing modes might be reflected by the strength of the modulation in our model. Copyright © 2016 Elsevier B.V. All rights reserved.
Hypertension and Diabetes Mellitus: Coprediction and Time Trajectories.
Tsimihodimos, Vasilis; Gonzalez-Villalpando, Clicerio; Meigs, James B; Ferrannini, Ele
2018-03-01
Type 2 diabetes mellitus and hypertension overlap in the population. In many subjects, development of diabetes mellitus is characterized by a relatively rapid increase in plasma glucose values. Whether a similar phenomenon occurs during the development of hypertension is not known. We analyzed the pattern of blood pressure (BP) changes during the development of hypertension in patients with or without diabetes mellitus using data from the MCDS (Mexico City Diabetes Study; a population-based study of diabetes mellitus in Hispanic whites) and in the FOS (Framingham Offspring Study, a community-based study in non-Hispanic whites) during a 7-year follow-up. Diabetes mellitus at baseline was a significant predictor of incident hypertension (in FOS, odds ratio, 3.14; 95% confidence interval, 2.17-4.54) independently of sex, age, body mass index, and familial diabetes mellitus. Conversely, hypertension at baseline was an independent predictor of incident diabetes mellitus (in FOS, odds ratio, 3.33; 95% CI, 2.50-4.44). In >60% of the converters, progression from normotension to hypertension was characterized by a steep increase in BP values, averaging 20 mm Hg for systolic BP within 3.5 years (in MCDS). In comparison with the nonconverters group, hypertension and diabetes mellitus converters shared a metabolic syndrome phenotype (hyperinsulinemia, higher body mass index, waist girth, BP, heart rate and pulse pressure, and dyslipidemia). Overall, results were similar in the 2 ethnic groups. We conclude that (1) development of hypertension and diabetes mellitus track each other over time, (2) transition from normotension to hypertension is characterized by a sharp increase in BP values, and (3) insulin resistance is one common feature of both prediabetes and prehypertension and an antecedent of progression to 2 respective disease states. © 2018 American Heart Association, Inc.
Time optimal paths for high speed maneuvering
Energy Technology Data Exchange (ETDEWEB)
Reister, D.B.; Lenhart, S.M.
1993-01-01
Recent theoretical results have completely solved the problem of determining the minimum length path for a vehicle with a minimum turning radius moving from an initial configuration to a final configuration. Time optimal paths for a constant speed vehicle are a subset of the minimum length paths. This paper uses the Pontryagin maximum principle to find time optimal paths for a constant speed vehicle. The time optimal paths consist of sequences of axes of circles and straight lines. The maximum principle introduces concepts (dual variables, bang-bang solutions, singular solutions, and transversality conditions) that provide important insight into the nature of the time optimal paths. We explore the properties of the optimal paths and present some experimental results for a mobile robot following an optimal path.
Robust Trajectory Optimization of a Ski Jumper for Uncertainty Influence and Safety Quantification
Directory of Open Access Journals (Sweden)
Patrick Piprek
2018-02-01
Full Text Available This paper deals with the development of a robust optimal control framework for a previously developed multi-body ski jumper simulation model by the authors. This framework is used to model uncertainties acting on the jumper during his jump, e.g., wind or mass, to enhance the performance, but also to increase the fairness and safety of the competition. For the uncertainty modeling the method of generalized polynomial chaos together with the discrete expansion by stochastic collocation is applied: This methodology offers a very flexible framework to model multiple uncertainties using a small number of required optimizations to calculate an uncertain trajectory. The results are then compared to the results of the Latin-Hypercube sampling method to show the correctness of the applied methods. Finally, the results are examined with respect to two major metrics: First, the influence of the uncertainties on the jumper, his positioning with respect to the air, and his maximal achievable flight distance are examined. Then, the results are used in a further step to quantify the safety of the jumper.
Directory of Open Access Journals (Sweden)
Bankov Dimitrov Nikolay
2012-01-01
Full Text Available This work examines a series resonant DC/DC optimal trajectory controlled converter during operation above resonant frequency, taking into account the influence of the snubbers and matching transformer. We obtain expressions for the load characteristics, boundary curves between possible modes and limits of the soft commutation area. Computer simulation and experimental observation confirm the theoretical results.
Influence of drag force upon the shortest time trajectory of an aircraft
Directory of Open Access Journals (Sweden)
Andrei CRAIFALEANU
2015-06-01
Full Text Available The shortest time trajectory of an aircraft between two given locations is determined using a simple mathematical model. By taking into account the drag force (viscous friction force with the air, a problem of variational calculus is obtained which consists in determining two functions that minimize a functional, subject to a non-holonomic constraint. The trajectory is determined directly, by numerical integration of Euler equations with multipliers. Three types of drag forces were considered: constant, linear and quadratic. The results are verified through comparison to the values obtained from numerical minimization of the involved functional approximate forms.
International Nuclear Information System (INIS)
Park, Joon-Young; Cho, Byung-Hak; Lee, Jae-Kyung
2009-01-01
This paper addresses the trajectory control problem of an underwater inspection robot for nuclear reactor internals. From the viewpoint of control engineering, the trajectory control of the underwater robot is a difficult task due to its nonlinear dynamics, which includes various hydraulic forces such as buoyancy and hydrodynamic damping, the difference between the centres of gravity and buoyancy, and disturbances from a tether cable. To solve such problems, we applied Time Delay Control to the underwater robot. This control law has a very simple structure not requiring nonlinear plant dynamics, and was proven to be highly robust against nonlinearities, uncertainties and disturbances. We confirmed its effectiveness through experiments.
DEFF Research Database (Denmark)
Wu, Guanglei; Bai, Shaoping; Hjørnet, Preben
2015-01-01
This paper deals with the parametric optimum design of a parallel Schoenflies-motion robot, named "Ragnar", designed for fast and flexible pick-and-place applications. The robot architecture admits a rectangular workspace, which can utilize the shop-floor space efficiently. In this work......, the parametric models of the transmission quality, elasto-statics and dynamics are established. By taking into consideration of design requirements and pick-and-place trajectory, a comprehensive multi-objective optimization problem is formulated to optimize both kinematic and dynamic performances. The Pareto......-front is obtained, which provides optimal solutions to the robot design. Robot prototyping work based on the optimal results is described....
Complete description of photon trajectories in the Kerr-Newman space-time
Energy Technology Data Exchange (ETDEWEB)
Calvani, M [Padua Univ. (Italy). Ist. di Astronomia; Turolla, R [International School for Advanced Studies, Trieste (Italy)
1981-08-01
The complete description of null trajectories in the Kerr-Newman space-time is given in terms of the parameters of the source and of the constants of motion. The conditions for orbital and vortical motion are studied in detail and the locus of turning points is given for any choice of the parameters.
A hybrid scheme for real-time prediction of bus trajectories
Fadaei, Masoud; Cats, O.; Bhaskar, Ashish
2016-01-01
The uncertainty associated with public transport services can be partially counteracted by developing real-time models to predict downstream service conditions. In this study, a hybrid approach for predicting bus trajectories by integrating multiple predictors is proposed. The prediction model
Optimization of ramp area aircraft push back time windows in the presence of uncertainty
Coupe, William Jeremy
It is well known that airport surface traffic congestion at major airports is responsible for increased taxi-out times, fuel burn and excess emissions and there is potential to mitigate these negative consequences through optimizing airport surface traffic operations. Due to a highly congested voice communication channel between pilots and air traffic controllers and a data communication channel that is used only for limited functions, one of the most viable near-term strategies for improvement of the surface traffic is issuing a push back advisory to each departing aircraft. This dissertation focuses on the optimization of a push back time window for each departing aircraft. The optimization takes into account both spatial and temporal uncertainties of ramp area aircraft trajectories. The uncertainties are described by a stochastic kinematic model of aircraft trajectories, which is used to infer distributions of combinations of push back times that lead to conflict among trajectories from different gates. The model is validated and the distributions are included in the push back time window optimization. Under the assumption of a fixed taxiway spot schedule, the computed push back time windows can be integrated with a higher level taxiway scheduler to optimize the flow of traffic from the gate to the departure runway queue. To enable real-time decision making the computational time of the push back time window optimization is critical and is analyzed throughout.
Distributed Algorithms for Time Optimal Reachability Analysis
DEFF Research Database (Denmark)
Zhang, Zhengkui; Nielsen, Brian; Larsen, Kim Guldstrand
2016-01-01
. We propose distributed computing to accelerate time optimal reachability analysis. We develop five distributed state exploration algorithms, implement them in \\uppaal enabling it to exploit the compute resources of a dedicated model-checking cluster. We experimentally evaluate the implemented...... algorithms with four models in terms of their ability to compute near- or proven-optimal solutions, their scalability, time and memory consumption and communication overhead. Our results show that distributed algorithms work much faster than sequential algorithms and have good speedup in general.......Time optimal reachability analysis is a novel model based technique for solving scheduling and planning problems. After modeling them as reachability problems using timed automata, a real-time model checker can compute the fastest trace to the goal states which constitutes a time optimal schedule...
Nazemizadeh, M.; Rahimi, H. N.; Amini Khoiy, K.
2012-03-01
This paper presents an optimal control strategy for optimal trajectory planning of mobile robots by considering nonlinear dynamic model and nonholonomic constraints of the system. The nonholonomic constraints of the system are introduced by a nonintegrable set of differential equations which represent kinematic restriction on the motion. The Lagrange's principle is employed to derive the nonlinear equations of the system. Then, the optimal path planning of the mobile robot is formulated as an optimal control problem. To set up the problem, the nonlinear equations of the system are assumed as constraints, and a minimum energy objective function is defined. To solve the problem, an indirect solution of the optimal control method is employed, and conditions of the optimality derived as a set of coupled nonlinear differential equations. The optimality equations are solved numerically, and various simulations are performed for a nonholonomic mobile robot to illustrate effectiveness of the proposed method.
Encoding Time in Feedforward Trajectories of a Recurrent Neural Network Model.
Hardy, N F; Buonomano, Dean V
2018-02-01
Brain activity evolves through time, creating trajectories of activity that underlie sensorimotor processing, behavior, and learning and memory. Therefore, understanding the temporal nature of neural dynamics is essential to understanding brain function and behavior. In vivo studies have demonstrated that sequential transient activation of neurons can encode time. However, it remains unclear whether these patterns emerge from feedforward network architectures or from recurrent networks and, furthermore, what role network structure plays in timing. We address these issues using a recurrent neural network (RNN) model with distinct populations of excitatory and inhibitory units. Consistent with experimental data, a single RNN could autonomously produce multiple functionally feedforward trajectories, thus potentially encoding multiple timed motor patterns lasting up to several seconds. Importantly, the model accounted for Weber's law, a hallmark of timing behavior. Analysis of network connectivity revealed that efficiency-a measure of network interconnectedness-decreased as the number of stored trajectories increased. Additionally, the balance of excitation (E) and inhibition (I) shifted toward excitation during each unit's activation time, generating the prediction that observed sequential activity relies on dynamic control of the E/I balance. Our results establish for the first time that the same RNN can generate multiple functionally feedforward patterns of activity as a result of dynamic shifts in the E/I balance imposed by the connectome of the RNN. We conclude that recurrent network architectures account for sequential neural activity, as well as for a fundamental signature of timing behavior: Weber's law.
Englander, Jacob A.; Englander, Arnold C.
2014-01-01
Trajectory optimization methods using monotonic basin hopping (MBH) have become well developed during the past decade [1, 2, 3, 4, 5, 6]. An essential component of MBH is a controlled random search through the multi-dimensional space of possible solutions. Historically, the randomness has been generated by drawing random variable (RV)s from a uniform probability distribution. Here, we investigate the generating the randomness by drawing the RVs from Cauchy and Pareto distributions, chosen because of their characteristic long tails. We demonstrate that using Cauchy distributions (as first suggested by J. Englander [3, 6]) significantly improves monotonic basin hopping (MBH) performance, and that Pareto distributions provide even greater improvements. Improved performance is defined in terms of efficiency and robustness. Efficiency is finding better solutions in less time. Robustness is efficiency that is undiminished by (a) the boundary conditions and internal constraints of the optimization problem being solved, and (b) by variations in the parameters of the probability distribution. Robustness is important for achieving performance improvements that are not problem specific. In this work we show that the performance improvements are the result of how these long-tailed distributions enable MBH to search the solution space faster and more thoroughly. In developing this explanation, we use the concepts of sub-diffusive, normally-diffusive, and super-diffusive random walks (RWs) originally developed in the field of statistical physics.
Chai, Runqi; Savvaris, Al; Tsourdos, Antonios; Chai, Senchun
2017-07-01
Highly constrained trajectory optimization for Space Manoeuvre Vehicles (SMV) is a challenging problem. In practice, this problem becomes more difficult when multiple mission requirements are taken into account. Because of the nonlinearity in the dynamic model and even the objectives, it is usually hard for designers to generate a compromised trajectory without violating strict path and box constraints. In this paper, a new multi-objective SMV optimal control model is formulated and parameterized using combined shooting-collocation technique. A modified game theory approach, coupled with an adaptive differential evolution algorithm, is designed in order to generate the pareto front of the multi-objective trajectory optimization problem. In addition, to improve the quality of obtained solutions, a control logic is embedded in the framework of the proposed approach. Several existing multi-objective evolutionary algorithms are studied and compared with the proposed method. Simulation results indicate that without driving the solution out of the feasible region, the proposed method can perform better in terms of convergence ability and convergence speed than its counterparts. Moreover, the quality of the pareto set generated using the proposed method is higher than other multi-objective evolutionary algorithms, which means the newly proposed algorithm is more attractive for solving multi-criteria SMV trajectory planning problem.
Encoding sensory and motor patterns as time-invariant trajectories in recurrent neural networks.
Goudar, Vishwa; Buonomano, Dean V
2018-03-14
Much of the information the brain processes and stores is temporal in nature-a spoken word or a handwritten signature, for example, is defined by how it unfolds in time. However, it remains unclear how neural circuits encode complex time-varying patterns. We show that by tuning the weights of a recurrent neural network (RNN), it can recognize and then transcribe spoken digits. The model elucidates how neural dynamics in cortical networks may resolve three fundamental challenges: first, encode multiple time-varying sensory and motor patterns as stable neural trajectories; second, generalize across relevant spatial features; third, identify the same stimuli played at different speeds-we show that this temporal invariance emerges because the recurrent dynamics generate neural trajectories with appropriately modulated angular velocities. Together our results generate testable predictions as to how recurrent networks may use different mechanisms to generalize across the relevant spatial and temporal features of complex time-varying stimuli. © 2018, Goudar et al.
Time-optimal control with finite bandwidth
Hirose, M.; Cappellaro, P.
2018-04-01
Time-optimal control theory provides recipes to achieve quantum operations with high fidelity and speed, as required in quantum technologies such as quantum sensing and computation. While technical advances have achieved the ultrastrong driving regime in many physical systems, these capabilities have yet to be fully exploited for the precise control of quantum systems, as other limitations, such as the generation of higher harmonics or the finite response time of the control apparatus, prevent the implementation of theoretical time-optimal control. Here we present a method to achieve time-optimal control of qubit systems that can take advantage of fast driving beyond the rotating wave approximation. We exploit results from time-optimal control theory to design driving protocols that can be implemented with realistic, finite-bandwidth control fields, and we find a relationship between bandwidth limitations and achievable control fidelity.
Optimal transformations for categorical autoregressive time series
Buuren, S. van
1996-01-01
This paper describes a method for finding optimal transformations for analyzing time series by autoregressive models. 'Optimal' implies that the agreement between the autoregressive model and the transformed data is maximal. Such transformations help 1) to increase the model fit, and 2) to analyze
A population-feedback control based algorithm for well trajectory optimization using proxy model
Directory of Open Access Journals (Sweden)
Javad Kasravi
2017-04-01
Full Text Available Wellbore instability is one of the concerns in the field of drilling engineering. This phenomenon is affected by several factors such as azimuth, inclination angle, in-situ stress, mud weight, and rock strength parameters. Among these factors, azimuth, inclination angle, and mud weight are controllable. The objective of this paper is to introduce a new procedure based on elastoplastic theory in wellbore stability solution to determine the optimum well trajectory and global minimum mud pressure required (GMMPR. Genetic algorithm (GA was applied as a main optimization engine that employs proportional feedback controller to obtain the minimum mud pressure required (MMPR. The feedback function repeatedly calculated and updated the error between the simulated and set point of normalized yielded zone area (NYZA. To reduce computation expenses, an artificial neural network (ANN was used as a proxy (surrogate model to approximate the behavior of the actual wellbore model. The methodology was applied to a directional well in southwestern Iranian oilfield. The results demonstrated that the error between the predicted GMMPR and practical safe mud pressure was 4% for elastoplastic method, and 22% for conventional elastic solution.
The Optimal Time of Renovating a Mall
K.C. Wong; George Norman
1994-01-01
This paper presents a maximization model determining the optimal time at which a mall should be renovated. The analysis is constructed on the assumption of a decreasing rental income over time as a mall ages. It is then shown that the optimal renovation period achieves a balance between the marginal cost and benefits of delaying renovation. We show how this balance is affected by changes in the discount rate, net rental incomes, and renovation costs. Numerical simulations are used to demonstr...
Singular trajectories: space-time domain topology of developing speckle fields
Vasil'ev, Vasiliy; Soskin, Marat S.
2010-02-01
It is shown the space-time dynamics of optical singularities is fully described by singularities trajectories in space-time domain, or evolution of transverse coordinates(x, y) in some fixed plane z0. The dynamics of generic developing speckle fields was realized experimentally by laser induced scattering in LiNbO3:Fe photorefractive crystal. The space-time trajectories of singularities can be divided topologically on two classes with essentially different scenario and duration. Some of them (direct topological reactions) consist from nucleation of singularities pair at some (x, y, z0, t) point, their movement and annihilation. They possess form of closed loops with relatively short time of existence. Another much more probable class of trajectories are chain topological reactions. Each of them consists from sequence of links, i.e. of singularities nucleation in various points (xi yi, ti) and following annihilation of both singularities in other space-time points with alien singularities of opposite topological indices. Their topology and properties are established. Chain topological reactions can stop on the borders of a developing speckle field or go to infinity. Examples of measured both types of topological reactions for optical vortices (polarization C points) in scalar (elliptically polarized) natural developing speckle fields are presented.
Global Optimization of Low-Thrust Interplanetary Trajectories Subject to Operational Constraints
Englander, Jacob Aldo; Vavrina, Matthew; Hinckley, David
2016-01-01
Low-thrust electric propulsion provides many advantages for mission to difficult targets-Comets and asteroids-Mercury-Outer planets (with sufficient power supply)Low-thrust electric propulsion is characterized by high power requirements but also very high specific impulse (Isp), leading to very good mass fractions. Low-thrust trajectory design is a very different process from chemical trajectory.
Optimizing departure times in vehicle routes
Kok, A.L.; Hans, Elias W.; Schutten, Johannes M.J.
2008-01-01
Most solution methods for the vehicle routing problem with time windows (VRPTW) develop routes from the earliest feasible departure time. However, in practice, temporal traffic congestions make that such solutions are not optimal with respect to minimizing the total duty time. Furthermore, VRPTW
Optimizing Departure Times in Vehicle Routes
Kok, A.L.; Hans, Elias W.; Schutten, Johannes M.J.
2011-01-01
Most solution methods for the vehicle routing problem with time windows (VRPTW) develop routes from the earliest feasible departure time. In practice, however, temporary traffic congestion make such solutions non-optimal with respect to minimizing the total duty time. Furthermore, the VRPTW does not
Time Optimal Reachability Analysis Using Swarm Verification
DEFF Research Database (Denmark)
Zhang, Zhengkui; Nielsen, Brian; Larsen, Kim Guldstrand
2016-01-01
Time optimal reachability analysis employs model-checking to compute goal states that can be reached from an initial state with a minimal accumulated time duration. The model-checker may produce a corresponding diagnostic trace which can be interpreted as a feasible schedule for many scheduling...... and planning problems, response time optimization etc. We propose swarm verification to accelerate time optimal reachability using the real-time model-checker Uppaal. In swarm verification, a large number of model checker instances execute in parallel on a computer cluster using different, typically randomized...... search strategies. We develop four swarm algorithms and evaluate them with four models in terms scalability, and time- and memory consumption. Three of these cooperate by exchanging costs of intermediate solutions to prune the search using a branch-and-bound approach. Our results show that swarm...
Optimization of time characteristics in activation analysis
International Nuclear Information System (INIS)
Gurvich, L.G.; Umaraliev, A.T.
2006-01-01
Full text: The activation analysis temporal characteristics optimization methods developed at present are aimed at determination of optimal values of the three important parameters - irradiation time, cooling time and measurement time. In the performed works, especially in [1-5] the activation analysis processes are described, the optimal values of optimization parameters are obtained from equations solved, and the computational results are given for these parameters for a number of elements. However, the equations presented in [2] were inaccurate, did not allow one to have optimization parameters results for one element content calculations, and it did not take into account background dependence of time. Therefore, we proposed modified equations to determine the optimal temporal parameters and iteration processes for the solution of these equations. It is well-known that the activity of studied sample during measurements does not change significantly, i.e. measurement time is much shorter than the half-life, thus the processes taking place can be described by the Poisson probability distribution, and in general case one can apply binomial distribution. The equation and iteration processes use in this research describe both probability distributions. Expectedly, the cooling time iteration expressions obtained for one element analysis case are similar for the both distribution types, as the optimised time values occurred to be of the same order as half-life values, whereas the cooling time, as we observed, depends on the ratio of the studied sample's peak value to the background peak, and can be significantly larger than the half-life value. This pattern is general, and can be derived from the optimized time expressions, which is supported by the experimental data on short-living isotopes [3,4]. For the isotopes with large half-lives, up to years, like cobalt-60, the cooling time values given in the above mentioned works are equal to months which, apparently
DEFF Research Database (Denmark)
Tastu, Julija; Pinson, Pierre; Madsen, Henrik
2015-01-01
-correlations. Estimation is performed in a maximum likelihood framework. Based on a test case application in Denmark, with spatial dependencies over 15 areas and temporal ones for 43 hourly lead times (hence, for a dimension of n = 645), it is shown that accounting for space-time effects is crucial for generating skilful......Emphasis is placed on generating space-time trajectories of wind power generation, consisting of paths sampled from high-dimensional joint predictive densities, describing wind power generation at a number of contiguous locations and successive lead times. A modelling approach taking advantage...
Real Time Visualization and Manipulation of the Metastatic Trajectory ofBreast Cancer Cell
2017-09-01
AWARD NUMBER: W81XWH-13-1-0173 TITLE: Real-Time Visualization and Manipulation of the Metastatic Trajectory of Breast Cancer Cells ...of this work was to engineer breast cancer cells to irreversibly alter the genome of nearby cells through exosomal transfer of Cre recombinase from...the cancer cells to surrounding cells . Our goal was to use this study to activate green fluorescent protein in the host reporter cells in the
Optimal scheduling using priced timed automata
DEFF Research Database (Denmark)
Behrmann, Gerd; Larsen, Kim Guldstrand; Rasmussen, Jacob Illum
2005-01-01
This contribution reports on the considerable effort made recently towards extending and applying well-established timed automata technology to optimal scheduling and planning problems. The effort of the authors in this direction has to a large extent been carried out as part of the European...... projects VHS [20] and AMETIST [16] and are available in the recently released UPPAAL CORA [12], a variant of the real-time verification tool UPPAAL [18, 5] specialized for cost-optimal reachability for the extended model of so-called priced timed automata....
Chaimatanan , Supatcha; Delahaye , Daniel; Mongeau , Marcel
2014-01-01
International audience; Global air-traffic demand is continuously increasing. To handle such a tremendous traffic volume while maintaining at least the same level of safety, a more efficient strategic trajectory planning is necessary. In this work, we present a strategic trajectory planning methodology which aims to minimize interaction between aircraft at the European-continent scale. In addition, we propose a preliminary study that takes into account uncertainties of aircraft positions in t...
Directory of Open Access Journals (Sweden)
V. V. Erokhin
2015-01-01
Full Text Available Algorithms of determination of coordinates of the aircraft in the integrated system of navigation and optimum control of a trajectory are considered. Results of researches of parameters of a navigation session and precision characteristics of an assessment of location showed that application of optimum control of a trajectory allowув to increase the accuracy of navigation definitions in case of incomplete constellation of navigation satellites.
González Martínez, Jose María; Ferrer Riquelme, Alberto José; Westerhuis, Johan A.
2011-01-01
This paper addresses the real-time monitoring of batch processes with multiple different local time trajectories of variables measured during the process run. For Unfold Principal Component Analysis (U-PCA)—or Unfold Partial Least Squares (U-PLS)-based on-line monitoring of batch processes, batch runs need to be synchronized, not only to have the same time length, but also such that key events happen at the same time. An adaptation from Kassidas et al.'s approach [1] will be introduced to ach...
DEFF Research Database (Denmark)
Pedersen, Jonas Nyvold; Li, Liang; Gradinaru, Cristian
2016-01-01
We provide a tool for data-driven modeling of motility, data being time-lapse recorded trajectories. Several mathematical properties of a model to be found can be gleaned from appropriate model-independent experimental statistics, if one understands how such statistics are distorted by the finite...... of these effects that are valid for any reasonable model for persistent random motion. Our findings are illustrated with experimental data and Monte Carlo simulations....
Optimal time points sampling in pathway modelling.
Hu, Shiyan
2004-01-01
Modelling cellular dynamics based on experimental data is at the heart of system biology. Considerable progress has been made to dynamic pathway modelling as well as the related parameter estimation. However, few of them gives consideration for the issue of optimal sampling time selection for parameter estimation. Time course experiments in molecular biology rarely produce large and accurate data sets and the experiments involved are usually time consuming and expensive. Therefore, to approximate parameters for models with only few available sampling data is of significant practical value. For signal transduction, the sampling intervals are usually not evenly distributed and are based on heuristics. In the paper, we investigate an approach to guide the process of selecting time points in an optimal way to minimize the variance of parameter estimates. In the method, we first formulate the problem to a nonlinear constrained optimization problem by maximum likelihood estimation. We then modify and apply a quantum-inspired evolutionary algorithm, which combines the advantages of both quantum computing and evolutionary computing, to solve the optimization problem. The new algorithm does not suffer from the morass of selecting good initial values and being stuck into local optimum as usually accompanied with the conventional numerical optimization techniques. The simulation results indicate the soundness of the new method.
Dziak, John J; Li, Runze; Tan, Xianming; Shiffman, Saul; Shiyko, Mariya P
2015-12-01
Behavioral scientists increasingly collect intensive longitudinal data (ILD), in which phenomena are measured at high frequency and in real time. In many such studies, it is of interest to describe the pattern of change over time in important variables as well as the changing nature of the relationship between variables. Individuals' trajectories on variables of interest may be far from linear, and the predictive relationship between variables of interest and related covariates may also change over time in a nonlinear way. Time-varying effect models (TVEMs; see Tan, Shiyko, Li, Li, & Dierker, 2012) address these needs by allowing regression coefficients to be smooth, nonlinear functions of time rather than constants. However, it is possible that not only observed covariates but also unknown, latent variables may be related to the outcome. That is, regression coefficients may change over time and also vary for different kinds of individuals. Therefore, we describe a finite mixture version of TVEM for situations in which the population is heterogeneous and in which a single trajectory would conceal important, interindividual differences. This extended approach, MixTVEM, combines finite mixture modeling with non- or semiparametric regression modeling, to describe a complex pattern of change over time for distinct latent classes of individuals. The usefulness of the method is demonstrated in an empirical example from a smoking cessation study. We provide a versatile SAS macro and R function for fitting MixTVEMs. (c) 2015 APA, all rights reserved).
Time-optimal control of reactor power
International Nuclear Information System (INIS)
Bernard, J.A.
1987-01-01
Control laws that permit adjustments in reactor power to be made in minimum time and without overshoot have been formulated and demonstrated. These control laws which are derived from the standard and alternate dynamic period equations, are closed-form expressions of general applicability. These laws were deduced by noting that if a system is subject to one or more operating constraints, then the time-optimal response is to move the system along these constraints. Given that nuclear reactors are subject to limitations on the allowed reactor period, a time-optimal control law would step the period from infinity to the minimum allowed value, hold the period at that value for the duration of the transient, and then step the period back to infinity. The change in reactor would therefore be accomplished in minimum time. The resulting control laws are superior to other forms of time-optimal control because they are general-purpose, closed-form expressions that are both mathematically tractable and readily implanted. Moreover, these laws include provisions for the use of feedback. The results of simulation studies and actual experiments on the 5 MWt MIT Research Reactor in which these time-optimal control laws were used successfully to adjust the reactor power are presented
Quantum Dynamics with Short-Time Trajectories and Minimal Adaptive Basis Sets.
Saller, Maximilian A C; Habershon, Scott
2017-07-11
Methods for solving the time-dependent Schrödinger equation via basis set expansion of the wave function can generally be categorized as having either static (time-independent) or dynamic (time-dependent) basis functions. We have recently introduced an alternative simulation approach which represents a middle road between these two extremes, employing dynamic (classical-like) trajectories to create a static basis set of Gaussian wavepackets in regions of phase-space relevant to future propagation of the wave function [J. Chem. Theory Comput., 11, 8 (2015)]. Here, we propose and test a modification of our methodology which aims to reduce the size of basis sets generated in our original scheme. In particular, we employ short-time classical trajectories to continuously generate new basis functions for short-time quantum propagation of the wave function; to avoid the continued growth of the basis set describing the time-dependent wave function, we employ Matching Pursuit to periodically minimize the number of basis functions required to accurately describe the wave function. Overall, this approach generates a basis set which is adapted to evolution of the wave function while also being as small as possible. In applications to challenging benchmark problems, namely a 4-dimensional model of photoexcited pyrazine and three different double-well tunnelling problems, we find that our new scheme enables accurate wave function propagation with basis sets which are around an order-of-magnitude smaller than our original trajectory-guided basis set methodology, highlighting the benefits of adaptive strategies for wave function propagation.
International Nuclear Information System (INIS)
Soto, Daniel E.; Andridge, Rebecca R.; Pan, Charlie C.; Williams, Scott G.; Taylor, Jeremy M.G.; Sandler, Howard M.
2009-01-01
Introduction: To determine if pretreatment PSA doubling time (PSA-DT) can predict post-radiation therapy (RT) PSA trajectories for localized prostate cancer. Materials and methods: Three hundred and seventy-five prostate cancer patients treated with external beam RT without androgen deprivation therapy (ADT) were identified with an adequate number of PSA values. We utilized a linear mixed model (LMM) analysis to model longitudinal PSA data sets after definitive treatment. Post-treatment PSA trajectories were allowed to depend on the pre-RT PSA-DT, pre-RT PSA (iPSA), Gleason score (GS), and T-stage. Results: Pre-RT PSA-DT had a borderline impact on predicting the rate of PSA rise after nadir (p = 0.08). For a typical low risk patient (T1, GS ≤ 6, iPSA 10), the predicted PSA-DT post-nadir was 21% shorter for pre-RT PSA-DT 24 month (19 month vs. 24 month). Additional significant predictors of post-RT PSA rate of rise included GS (p < 0.0001), iPSA (p < 0.0001), and T-stage (p = 0.02). Conclusions: We observed a trend between rapidly rising pre-RT PSA and the post-RT post-nadir PSA rise. This effect appeared to be independent of iPSA, GS, or T-stage. The results presented suggest that pretreatment PSA-DT may help predict post-RT PSA trajectories
Optimal critic learning for robot control in time-varying environments.
Wang, Chen; Li, Yanan; Ge, Shuzhi Sam; Lee, Tong Heng
2015-10-01
In this paper, optimal critic learning is developed for robot control in a time-varying environment. The unknown environment is described as a linear system with time-varying parameters, and impedance control is employed for the interaction control. Desired impedance parameters are obtained in the sense of an optimal realization of the composite of trajectory tracking and force regulation. Q -function-based critic learning is developed to determine the optimal impedance parameters without the knowledge of the system dynamics. The simulation results are presented and compared with existing methods, and the efficacy of the proposed method is verified.
Power-limited low-thrust trajectory optimization with operation point detection
Chi, Zhemin; Li, Haiyang; Jiang, Fanghua; Li, Junfeng
2018-06-01
The power-limited solar electric propulsion system is considered more practical in mission design. An accurate mathematical model of the propulsion system, based on experimental data of the power generation system, is used in this paper. An indirect method is used to deal with the time-optimal and fuel-optimal control problems, in which the solar electric propulsion system is described using a finite number of operation points, which are characterized by different pairs of thruster input power. In order to guarantee the integral accuracy for the discrete power-limited problem, a power operation detection technique is embedded in the fourth-order Runge-Kutta algorithm with fixed step. Moreover, the logarithmic homotopy method and normalization technique are employed to overcome the difficulties caused by using indirect methods. Three numerical simulations with actual propulsion systems are given to substantiate the feasibility and efficiency of the proposed method.
Trip-oriented travel time prediction (TOTTP) with historical vehicle trajectories
Xu, Tao; Li, Xiang; Claramunt, Christophe
2018-06-01
Accurate travel time prediction is undoubtedly of importance to both traffic managers and travelers. In highly-urbanized areas, trip-oriented travel time prediction (TOTTP) is valuable to travelers rather than traffic managers as the former usually expect to know the travel time of a trip which may cross over multiple road sections. There are two obstacles to the development of TOTTP, including traffic complexity and traffic data coverage.With large scale historical vehicle trajectory data and meteorology data, this research develops a BPNN-based approach through integrating multiple factors affecting trip travel time into a BPNN model to predict trip-oriented travel time for OD pairs in urban network. Results of experiments demonstrate that it helps discover the dominate trends of travel time changes daily and weekly, and the impact of weather conditions is non-trivial.
Investment under uncertainty : Timing and capacity optimization
Wen, Xingang
2017-01-01
This thesis consists of three chapters on analyzing the optimal investment timing and investment capacity for the firm(s) undertaking irreversible investment in an uncertain environment. Chapter 2 studies the investment decision of a monopoly firm when it can adjust output quantity in a market with
Mars entry-to-landing trajectory optimization and closed loop guidance
Ilgen, Marc R.; Manning, Raymund A.; Cruz, Manuel I.
1991-01-01
The guidance strategy of the Mars Rover Sample Return mission is presented in detail. Aeromaneuver versus aerobrake trades are examined, and an aerobrake analysis is presented which takes into account targeting, guidance, flight control, trajectory profile, delivery accuracy. An aeromaneuver analysis is given which includes the entry corridor, maneuver footprint, guidance, preentry phase, constant drag phase, equilibrium guide phase, variable drag phase, influence of trajectory profile on the entry flight loads, parachute deployment conditions and strategies, and landing accuracy. The Mars terminal descent phase is analyzed.
Optimal, real-time control--colliders
International Nuclear Information System (INIS)
Spencer, J.E.
1991-05-01
With reasonable definitions, optimal control is possible for both classical and quantal systems with new approaches called PISC(Parallel) and NISC(Neural) from analogy with RISC (Reduced Instruction Set Computing). If control equals interaction, observation and comparison to some figure of merit with interaction via external fields, then optimization comes from varying these fields to give design or operating goals. Structural stability can then give us tolerance and design constraints. But simulations use simplified models, are not in real-time and assume fixed or stationary conditions, so optimal control goes far beyond convergence rates of algorithms. It is inseparable from design and this has many implications for colliders. 12 refs., 3 figs
A Feedback Optimal Control Algorithm with Optimal Measurement Time Points
Directory of Open Access Journals (Sweden)
Felix Jost
2017-02-01
Full Text Available Nonlinear model predictive control has been established as a powerful methodology to provide feedback for dynamic processes over the last decades. In practice it is usually combined with parameter and state estimation techniques, which allows to cope with uncertainty on many levels. To reduce the uncertainty it has also been suggested to include optimal experimental design into the sequential process of estimation and control calculation. Most of the focus so far was on dual control approaches, i.e., on using the controls to simultaneously excite the system dynamics (learning as well as minimizing a given objective (performing. We propose a new algorithm, which sequentially solves robust optimal control, optimal experimental design, state and parameter estimation problems. Thus, we decouple the control and the experimental design problems. This has the advantages that we can analyze the impact of measurement timing (sampling independently, and is practically relevant for applications with either an ethical limitation on system excitation (e.g., chemotherapy treatment or the need for fast feedback. The algorithm shows promising results with a 36% reduction of parameter uncertainties for the Lotka-Volterra fishing benchmark example.
Technology trajectories and the selection of optimal R and D project sequences
van Bommel, Ties; Mahieu, R.J.; Nijssen, E.J.
2014-01-01
Given a set of R&D projects drawing on the same underlying technology, a technology trajectory refers to the order in which projects are executed. Due to their technological interdependence, the successful execution of one project can increase a firm's technological capability, and help to
Virtual decoupling flight control via real-time trajectory synthesis and tracking
Zhang, Xuefu
The production of the General Aviation industry has declined in the past 25 years. Ironically, however, the increasing demand for air travel as a fast, safe, and high-quality mode of transportation has been far from satisfied. Addressing this demand shortfall with personal air transportation necessitates advanced systems for navigation, guidance, control, flight management, and flight traffic control. Among them, an effective decoupling flight control system will not only improve flight quality, safety, and simplicity, and increase air space usage, but also reduce expenses on pilot initial and current training, and thus expand the current market and explore new markets. Because of the formidable difficulties encountered in the actual decoupling of non-linear, time-variant, and highly coupled flight control systems through traditional approaches, a new approach, which essentially converts the decoupling problem into a real-time trajectory synthesis and tracking problem, is employed. Then, the converted problem is solved and a virtual decoupling effect is achieved. In this approach, a trajectory in inertial space can be predefined and dynamically modified based on the flight mission and the pilot's commands. A feedforward-feedback control architecture is constructed to guide the airplane along the trajectory as precisely as possible. Through this approach, the pilot has much simpler, virtually decoupled control of the airplane in terms of speed, flight path angle and horizontal radius of curvature. To verify and evaluate this approach, extensive computer simulation is performed. A great deal of test cases are designed for the flight control under different flight conditions. The simulation results show that our decoupling strategy is satisfactory and promising, and therefore the research can serve as a consolidated foundation for future practical applications.
Mapping emotions through time: how affective trajectories inform the language of emotion.
Kirkland, Tabitha; Cunningham, William A
2012-04-01
The words used to describe emotions can provide insight into the basic processes that contribute to emotional experience. We propose that emotions arise partly from interacting evaluations of one's current affective state, previous affective state, predictions for how these may change in the future, and the experienced outcomes following these predictions. These states can be represented and inferred from neural systems that encode shifts in outcomes and make predictions. In two studies, we demonstrate that emotion labels are reliably differentiated from one another using only simple cues about these affective trajectories through time. For example, when a worse-than-expected outcome follows the prediction that something good will happen, that situation is labeled as causing anger, whereas when a worse-than-expected outcome follows the prediction that something bad will happen, that situation is labeled as causing sadness. Emotion categories are more differentiated when participants are required to think categorically than when participants have the option to consider multiple emotions and degrees of emotions. This work indicates that information about affective movement through time and changes in affective trajectory may be a fundamental aspect of emotion categories. Future studies of emotion must account for the dynamic way that we absorb and process information. (PsycINFO Database Record (c) 2012 APA, all rights reserved).
International Nuclear Information System (INIS)
Yagasaki, Kazuyuki
2007-01-01
In experiments for single and coupled pendula, we demonstrate the effectiveness of a new control method based on dynamical systems theory for stabilizing unstable aperiodic trajectories defined on infinite- or finite-time intervals. The basic idea of the method is similar to that of the OGY method, which is a well-known, chaos control method. Extended concepts of the stable and unstable manifolds of hyperbolic trajectories are used here
Experimental Results for Minimum-Time Trajectory Tracking of a Direct-Drive Three-Link Planar Arm
Energy Technology Data Exchange (ETDEWEB)
DRIESSEN,BRIAN; PARKER,GORDON G.
1999-09-01
This work is an experimental investigation of the ability of a real three-link direct-drive arm to track model-based minimum-time trajectories that have been found off-line. Sufficiently large velocity gains in the computed torque control law were not achievable with the velocity sensors described herein. This indicates the critical importance of the velocity sensing when attempting to track trajectories that push the envelope of the system's torque capabilities.
EVALUATING CONTINUOUS-TIME SLAM USING A PREDEFINED TRAJECTORY PROVIDED BY A ROBOTIC ARM
Directory of Open Access Journals (Sweden)
B. Koch
2017-09-01
Full Text Available Recently published approaches to SLAM algorithms process laser sensor measurements and output a map as a point cloud of the environment. Often the actual precision of the map remains unclear, since SLAMalgorithms apply local improvements to the resulting map. Unfortunately, it is not trivial to compare the performance of SLAMalgorithms objectively, especially without an accurate ground truth. This paper presents a novel benchmarking technique that allows to compare a precise map generated with an accurate ground truth trajectory to a map with a manipulated trajectory which was distorted by different forms of noise. The accurate ground truth is acquired by mounting a laser scanner on an industrial robotic arm. The robotic arm is moved on a predefined path while the position and orientation of the end-effector tool are monitored. During this process the 2D profile measurements of the laser scanner are recorded in six degrees of freedom and afterwards used to generate a precise point cloud of the test environment. For benchmarking, an offline continuous-time SLAM algorithm is subsequently applied to remove the inserted distortions. Finally, it is shown that the manipulated point cloud is reversible to its previous state and is slightly improved compared to the original version, since small errors that came into account by imprecise assumptions, sensor noise and calibration errors are removed as well.
Trajectory-based nonadiabatic dynamics with time-dependent density functional theory.
Curchod, Basile F E; Rothlisberger, Ursula; Tavernelli, Ivano
2013-05-10
Understanding the fate of an electronically excited molecule constitutes an important task for theoretical chemistry, and practical implications range from the interpretation of atto- and femtosecond spectroscopy to the development of light-driven molecular machines, the control of photochemical reactions, and the possibility of capturing sunlight energy. However, many challenging conceptual and technical problems are involved in the description of these phenomena such as 1) the failure of the well-known Born-Oppenheimer approximation; 2) the need for accurate electronic properties such as potential energy surfaces, excited nuclear forces, or nonadiabatic coupling terms; and 3) the necessity of describing the dynamics of the photoexcited nuclear wavepacket. This review provides an overview of the current methods to address points 1) and 3) and shows how time-dependent density functional theory (TDDFT) and its linear-response extension can be used for point 2). First, the derivation of Ehrenfest dynamics and nonadiabatic Bohmian dynamics is discussed and linked to Tully's trajectory surface hopping. Second, the coupling of these trajectory-based nonadiabatic schemes with TDDFT is described in detail with special emphasis on the derivation of the required electronic structure properties. Copyright © 2013 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.
Evaluating Continuous-Time Slam Using a Predefined Trajectory Provided by a Robotic Arm
Koch, B.; Leblebici, R.; Martell, A.; Jörissen, S.; Schilling, K.; Nüchter, A.
2017-09-01
Recently published approaches to SLAM algorithms process laser sensor measurements and output a map as a point cloud of the environment. Often the actual precision of the map remains unclear, since SLAMalgorithms apply local improvements to the resulting map. Unfortunately, it is not trivial to compare the performance of SLAMalgorithms objectively, especially without an accurate ground truth. This paper presents a novel benchmarking technique that allows to compare a precise map generated with an accurate ground truth trajectory to a map with a manipulated trajectory which was distorted by different forms of noise. The accurate ground truth is acquired by mounting a laser scanner on an industrial robotic arm. The robotic arm is moved on a predefined path while the position and orientation of the end-effector tool are monitored. During this process the 2D profile measurements of the laser scanner are recorded in six degrees of freedom and afterwards used to generate a precise point cloud of the test environment. For benchmarking, an offline continuous-time SLAM algorithm is subsequently applied to remove the inserted distortions. Finally, it is shown that the manipulated point cloud is reversible to its previous state and is slightly improved compared to the original version, since small errors that came into account by imprecise assumptions, sensor noise and calibration errors are removed as well.
Absolute continuity under time shift of trajectories and related stochastic calculus
Löbus, Jörg-Uwe
2017-01-01
The text is concerned with a class of two-sided stochastic processes of the form X=W+A. Here W is a two-sided Brownian motion with random initial data at time zero and A\\equiv A(W) is a function of W. Elements of the related stochastic calculus are introduced. In particular, the calculus is adjusted to the case when A is a jump process. Absolute continuity of (X,P) under time shift of trajectories is investigated. For example under various conditions on the initial density with respect to the Lebesgue measure, m, and on A with A_0=0 we verify \\frac{P(dX_{\\cdot -t})}{P(dX_\\cdot)}=\\frac{m(X_{-t})}{m(X_0)}\\cdot \\prod_i\\left|\
Remaining Useful Life Estimation using Time Trajectory Tracking and Support Vector Machines
International Nuclear Information System (INIS)
Galar, D; Kumar, U; Lee, J; Zhao, W
2012-01-01
In this paper, a novel RUL prediction method inspired by feature maps and SVM classifiers is proposed. The historical instances of a system with life-time condition data are used to create a classification by SVM hyper planes. For a test instance of the same system, whose RUL is to be estimated, degradation speed is evaluated by computing the minimal distance defined based on the degradation trajectories, i.e. the approach of the system to the hyper plane that segregates good and bad condition data at different time horizon. Therefore, the final RUL of a specific component can be estimated and global RUL information can then be obtained by aggregating the multiple RUL estimations using a density estimation method.
2011-09-01
measurements suitable for algorithms such as Ekelund or Spiess ranging [104], followed by one extra turn to eliminate ambiguities. A maneuver that...and Dynamics, 7(3), 1984. [104] Spiess , F. N. “Complete Solution of the Bearings Only Approach Problem”. UC San Diego: Scripps Institution of...spectral methods, 21 Spiess ranging, 4 state augmentation, 81 state transition matrix, 66 stereo ranging, 4 sUAS, 5–8, 14, 38, 39, 69, 77, 82, 86, 117, 167
Xu, Y; Li, N
2014-09-01
Biological species have produced many simple but efficient rules in their complex and critical survival activities such as hunting and mating. A common feature observed in several biological motion strategies is that the predator only moves along paths in a carefully selected or iteratively refined subspace (or manifold), which might be able to explain why these motion strategies are effective. In this paper, a unified linear algebraic formulation representing such a predator-prey relationship is developed to simplify the construction and refinement process of the subspace (or manifold). Specifically, the following three motion strategies are studied and modified: motion camouflage, constant absolute target direction and local pursuit. The framework constructed based on this varying subspace concept could significantly reduce the computational cost in solving a class of nonlinear constrained optimal trajectory planning problems, particularly for the case with severe constraints. Two non-trivial examples, a ground robot and a hypersonic aircraft trajectory optimization problem, are used to show the capabilities of the algorithms in this new computational framework.
International Nuclear Information System (INIS)
Xu, Y; Li, N
2014-01-01
Biological species have produced many simple but efficient rules in their complex and critical survival activities such as hunting and mating. A common feature observed in several biological motion strategies is that the predator only moves along paths in a carefully selected or iteratively refined subspace (or manifold), which might be able to explain why these motion strategies are effective. In this paper, a unified linear algebraic formulation representing such a predator–prey relationship is developed to simplify the construction and refinement process of the subspace (or manifold). Specifically, the following three motion strategies are studied and modified: motion camouflage, constant absolute target direction and local pursuit. The framework constructed based on this varying subspace concept could significantly reduce the computational cost in solving a class of nonlinear constrained optimal trajectory planning problems, particularly for the case with severe constraints. Two non-trivial examples, a ground robot and a hypersonic aircraft trajectory optimization problem, are used to show the capabilities of the algorithms in this new computational framework. (paper)
PROCESS TIME OPTIMIZATION IN DEPOSITOR AND FILLER
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Jesús Iván Ruíz-Ibarra
2017-07-01
Full Text Available As in any industry, in soft drink manufacturing demand, customer service and production is of great importance that forces this production to have their equipment and production machines in optimal conditions for the product to be in the hands of the consumer without delays, therefore it is important to have the established times of each process, since the syrup is elaborated, packaged, distributed, until it is purchased by the consumer. After a chronometer analysis, the most common faults were detected in each analyzed process. In the filler machine the most frequent faults are: accumulation of bottles in the subsequent and previous processes to filling process, which in general the cause of the collection of bottles is due to failures in the other equipment of the production line. In the process of unloading the most common faults are: boxes jammed in bump and pusher (pushing boxes; boxes fallen in rollers and platforms transporter. According to observations in each machine, the actions to be followed are presented to solve the problems that arise. Also described the methodology to obtain results, to data analyze and decisions. Firstly an analysis of operations is done to know each machine, supported by the manuals of the machines and the operators themselves a study of times is done by chronometer to determine the standard time of the process where also they present the most common faults, then observations are made on the machines according to the determined sample size, thus obtaining the information necessary to take measurements and to make the study of optimization of the production processes. An analysis of the predetermined process times is also performed by the MTM methods and the MOST time analysis. The results of operators with MTM: Fault Filler = 0.846 minutes, Faultless Filler = 0.61 minutes, Fault Breaker = 0.74 minutes and Fault Flasher = 0.45 minutes. The results of MOST operators are: Fault Filler = 2.58 minutes, Filler Fails
Parametric Approach to Trajectory Tracking Control of Robot Manipulators
Directory of Open Access Journals (Sweden)
Shijie Zhang
2013-01-01
Full Text Available The mathematic description of the trajectory of robot manipulators with the optimal trajectory tracking problem is formulated as an optimal control problem, and a parametric approach is proposed for the optimal trajectory tracking control problem. The optimal control problem is first solved as an open loop optimal control problem by using a time scaling transform and the control parameterization method. Then, by virtue of the relationship between the optimal open loop control and the optimal closed loop control along the optimal trajectory, a practical method is presented to calculate an approximate optimal feedback gain matrix, without having to solve an optimal control problem involving the complex Riccati-like matrix differential equation coupled with the original system dynamics. Simulation results of 2-link robot manipulator are presented to show the effectiveness of the proposed method.
Kasymjanova, G; Small, D; Cohen, V; Jagoe, R T; Batist, G; Sateren, W; Ernst, P; Pepe, C; Sakr, L; Agulnik, J
2017-10-01
Lung cancer continues to be one of the most common cancers in Canada, with approximately 28,400 new cases diagnosed each year. Although timely care can contribute substantially to quality of life for patients, it remains unclear whether it also improves patient outcomes. In this work, we used a set of quality indicators that aim to describe the quality of care in lung cancer patients. We assessed adherence with existing guidelines for timeliness of lung cancer care and concordance with existing standards of treatment, and we examined the association between timeliness of care and lung cancer survival. Patients with lung cancer diagnosed between 2010 and 2015 were identified from the Pulmonary Division Lung Cancer Registry at our centre. We demonstrated that the interdisciplinary pulmonary oncology service successfully treated most of its patients within the recommended wait times. However, there is still work to be done to decrease variation in wait time. Our results demonstrate a significant association between wait time and survival, supporting the need for clinicians to optimize the patient care trajectory. It would be helpful for Canadian clinicians treating patients with lung cancer to have wait time guidelines for all treatment modalities, together with standard definitions for all time intervals. Any reductions in wait times should be balanced against the need for thorough investigation before initiating treatment. We believe that our unique model of care leads to an acceleration of diagnostic steps. Avoiding any delay associated with referral to a medical oncologist for treatment could be an acceptable strategy with respect to reducing wait time.
Distributed radar network for real-time tracking of bullet trajectory
Zhang, Yimin; Li, Xin; Jin, Yuanwei; Amin, Moeness G.; Eydgahi, Ali
2009-05-01
Gunshot detection, sniper localization, and bullet trajectory prediction are of significant importance in military and homeland security applications. While the majority of existing work is based on acoustic and electro-optical sensors, this paper develops a framework of networked radar systems that uses distributed radar sensor networks to achieve the aforementioned objectives. The use of radio frequency radar systems allows the achievement of subtime- of-flight tracking response, enabling to response before the bullet reaches its target and, as such, effectively leading to the reduction of injuries and casualties in military and homeland security operations. The focus of this paper is to examine the MIMO radar concept with concurrent transmission of low-correlation waveforms from multiple radar sets to ensure wide surveillance coverage and maintain a high waveform repetition frequency for long coherent time interval required to achieve return signal concentration.
A Class of Prediction-Correction Methods for Time-Varying Convex Optimization
Simonetto, Andrea; Mokhtari, Aryan; Koppel, Alec; Leus, Geert; Ribeiro, Alejandro
2016-09-01
This paper considers unconstrained convex optimization problems with time-varying objective functions. We propose algorithms with a discrete time-sampling scheme to find and track the solution trajectory based on prediction and correction steps, while sampling the problem data at a constant rate of $1/h$, where $h$ is the length of the sampling interval. The prediction step is derived by analyzing the iso-residual dynamics of the optimality conditions. The correction step adjusts for the distance between the current prediction and the optimizer at each time step, and consists either of one or multiple gradient steps or Newton steps, which respectively correspond to the gradient trajectory tracking (GTT) or Newton trajectory tracking (NTT) algorithms. Under suitable conditions, we establish that the asymptotic error incurred by both proposed methods behaves as $O(h^2)$, and in some cases as $O(h^4)$, which outperforms the state-of-the-art error bound of $O(h)$ for correction-only methods in the gradient-correction step. Moreover, when the characteristics of the objective function variation are not available, we propose approximate gradient and Newton tracking algorithms (AGT and ANT, respectively) that still attain these asymptotical error bounds. Numerical simulations demonstrate the practical utility of the proposed methods and that they improve upon existing techniques by several orders of magnitude.
Real-time prediction of hand trajectory by ensembles of cortical neurons in primates
Wessberg, Johan; Stambaugh, Christopher R.; Kralik, Jerald D.; Beck, Pamela D.; Laubach, Mark; Chapin, John K.; Kim, Jung; Biggs, S. James; Srinivasan, Mandayam A.; Nicolelis, Miguel A. L.
2000-11-01
Signals derived from the rat motor cortex can be used for controlling one-dimensional movements of a robot arm. It remains unknown, however, whether real-time processing of cortical signals can be employed to reproduce, in a robotic device, the kind of complex arm movements used by primates to reach objects in space. Here we recorded the simultaneous activity of large populations of neurons, distributed in the premotor, primary motor and posterior parietal cortical areas, as non-human primates performed two distinct motor tasks. Accurate real-time predictions of one- and three-dimensional arm movement trajectories were obtained by applying both linear and nonlinear algorithms to cortical neuronal ensemble activity recorded from each animal. In addition, cortically derived signals were successfully used for real-time control of robotic devices, both locally and through the Internet. These results suggest that long-term control of complex prosthetic robot arm movements can be achieved by simple real-time transformations of neuronal population signals derived from multiple cortical areas in primates.
Trajectories of Achievement within Race/Ethnicity: "Catching Up" in Achievement across Time
Davis-Kean, Pamela E.; Jager, Justin
2014-01-01
The achievement gap has long been the focus of educational research, policy, and intervention. The authors took a new approach to examining the achievement gap by examining achievement trajectories within each racial group. To identify these trajectories they used the Early Childhood Longitudinal Study-Kindergarten Cohort, which is a nationally…
Directory of Open Access Journals (Sweden)
Ciyun Lin
Full Text Available A traditional traffic signal control system is established based on vehicular delay, queue length, saturation and other indicators. However, due to the increasing severity of urban environmental pollution issues and the development of a resource-saving and environmentally friendly social philosophy, the development of low-carbon and energy-efficient urban transport is required. This paper first defines vehicular trajectories and the calculation of vehicular emissions based on VSP. Next, a regression analysis method is used to quantify the relationship between vehicular emissions and delay, and a traffic signal control model is established to reduce emissions and delay using the enumeration method combined with saturation constraints. Finally, one typical intersection of Changchun is selected to verify the model proposed in this paper; its performance efficiency is also compared using simulations in VISSIM. The results of this study show that the proposed model can significantly reduce vehicle delay and traffic emissions simultaneously.
Lin, Ciyun; Gong, Bowen; Qu, Xin
2015-01-01
A traditional traffic signal control system is established based on vehicular delay, queue length, saturation and other indicators. However, due to the increasing severity of urban environmental pollution issues and the development of a resource-saving and environmentally friendly social philosophy, the development of low-carbon and energy-efficient urban transport is required. This paper first defines vehicular trajectories and the calculation of vehicular emissions based on VSP. Next, a regression analysis method is used to quantify the relationship between vehicular emissions and delay, and a traffic signal control model is established to reduce emissions and delay using the enumeration method combined with saturation constraints. Finally, one typical intersection of Changchun is selected to verify the model proposed in this paper; its performance efficiency is also compared using simulations in VISSIM. The results of this study show that the proposed model can significantly reduce vehicle delay and traffic emissions simultaneously.
Optimal Time to Enter a Retirement Village
Directory of Open Access Journals (Sweden)
Jinhui Zhang
2017-03-01
Full Text Available We consider the financial planning problem of a retiree wishing to enter a retirement village at a future uncertain date. The date of entry is determined by the retiree’s utility and bequest maximisation problem within the context of uncertain future health states. In addition, the retiree must choose optimal consumption, investment, bequest and purchase of insurance products prior to their full annuitisation on entry to the retirement village. A hyperbolic absolute risk-aversion (HARA utility function is used to allow necessary consumption for basic living and medical costs. The retirement village will typically require an initial deposit upon entry. This threshold wealth requirement leads to exercising the replication of an American put option at the uncertain stopping time. From our numerical results, active insurance and annuity markets are shown to be a critical aspect in retirement planning.
Optimal time for initiating extracorporeal membrane oxygenation.
Haile, Dawit T; Schears, Gregory J
2009-09-01
The technical evolution of extracorporeal membrane oxygenation (ECMO) coincides with the vast improvement in intensive care medicine of the past 4 decades. Extracorporeal circulatory technology substitutes for acutely failed cardiac or pulmonary function until these organs regain sustainable function through goal-oriented intensive care practice. The technology has been validated to improve survival in select patients who would otherwise have 100% mortality. This is by far the most complex life-sustaining technology employed and thus can contribute significant risks such that the decision to institute ECMO requires prompt risk and benefit analysis. Delaying the institution of ECMO may cause irreversible pulmonary and cardiac injuries in addition to other organs. Therefore, the optimal time of initiating ECMO support is crucial to the survival of a critically ill patient.
Tsuchiya, Takeshi; Takenaka, Youichi; Taguchi, Hideyuki; Sawai, Shujiro
Japan Aerospace Exploration Agency, JAXA announced a long-term vision recently. In the vision, JAXA aims to develop hypersonic aircrafts. A pre-cooled turbojet engine has great potential as one of newly developed hypersonic air-breathing engines. We also expect the engine to be installed in space transportation vehicles in future. For combustion test in real flight condition of the engines, JAXA has an experimental plan with a small test vehicle falling from a high-altitude balloon. This paper applies numerical analysis and optimization techniques to conceptual designs of the test vehicle in order to obtain the best configuration and trajectory that can achieve the flight test. The results show helpful knowledge when we design prototype vehicles.
Tsuchiya, Takeshi; Takenaka, Youichi; Taguchi, Hideyuki; Sawai, Shujiro
The Japan Aerospace Exploration Agency, JAXA, announced a long-term vision recently. In the vision, JAXA aims to develop hypersonic aircrafts. A pre-cooled turbojet engine has great potential as one of newly developed hypersonic airbreathing engines. We also expect the engine to be installed in space transportation vehicles in the future. For combustion test in the real flight conditions of the engines, JAXA has an experimental plan where a small test vehicle is released from a high-altitude balloon. This paper applies numerical analysis and optimization techniques to conceptual designs of the test vehicle in order to obtain the best configuration and trajectory for the flight test. The results show helpful knowledge for designing prototype vehicles.
International Nuclear Information System (INIS)
Ohno, Nobuaki; Ohtani, Hiroaki; Horiuchi, Ritoku; Matsuoka, Daisuke
2012-01-01
The particle kinetic effects play an important role in breaking the frozen-in condition and exciting collisionless magnetic reconnection in high temperature plasmas. Because this effect is originating from a complex thermal motion near reconnection point, it is very important to examine particle trajectories using scientific visualization technique, especially in the presence of plasma instability. We developed interactive visualization environment for the particle trajectories in time-varying electromagnetic fields in the CAVE-type virtual reality system based on VFIVE, which is interactive visualization software for the CAVE system. From the analysis of ion trajectories using the particle simulation data, it was found that time-varying electromagnetic fields around the reconnection region accelerate ions toward the downstream region. (author)
Dynamic optimization of a dead-end filtration trajectory: Blocking filtration laws
Blankert, B.; Betlem, Bernardus H.L.; Roffel, B.
2006-01-01
An operating model for dead-end membrane filtration is proposed based on the well-known blocking laws. The resulting model contains three parameters representing, the operating strategy, the fouling mechanism and the fouling potential of the feed. The optimal control strategy is determined by
Badon, Sylvia E; Littman, Alyson J; Chan, Kwun Chuen Gary; Williams, Michelle A; Enquobahrie, Daniel A
2017-11-01
The objectives of the study were to determine the extent to which trajectories of maternal preconception leisure-time physical activity (LTPA) and leisure-time sedentary behavior (LTSB) during adolescence and young adulthood are associated with offspring birth weight (BW) and to test if these associations differ by offspring sex or maternal pre-pregnancy overweight-obese status. Participants with one or more birth (n = 1408) were identified from the National Longitudinal Study of Adolescent to Adult Health. Group-based trajectory modeling was used to characterize trajectories of LTPA (frequency/week) and LTSB (hours/week) which were measured, on average, over 7 years between age 15 and 22 years. Weighted regression and Wald tests were used to estimate and test mean differences and odds ratios for BW, small for gestational age, and large for gestational age (LGA). Three trajectories were identified for LTPA and five for LTSB. Associations differed by offspring sex for continuous BW and LGA (interaction P = .10 and .008, respectively). Among female offspring, participants with high followed by decreasing LTPA delivered offspring with 90 g greater BW (95% confidence interval [CI]: -4 to 184) and 72% greater risk of LGA (95% CI: 0.94-3.14), compared with participants with low LTPA. Among male offspring, LTPA patterns were not associated with BW. A pattern of high then decreasing LTPA among normal weight, but not overweight-obese women, was associated with 2.03 times greater risk of LGA (95% CI: 1.06-3.88). LTSB trajectories were not associated with BW. Associations of preconception trajectories of LTPA with offspring BW may differ by offspring sex and maternal pre-pregnancy overweight-obese status. Copyright © 2017 Elsevier Inc. All rights reserved.
Nonequatorial tachyon trajectories in Kerr space-time and the second law of black-hole physics
International Nuclear Information System (INIS)
Dhurandhar, S.V.
1979-01-01
The behavior of tachyon trajectories (spacelike geodesics) in Kerr space-time is discussed. It is seen that the trajectories may be broadly classified into three types according to the magnitude of the angular momentum of the tachyon. When the magnitude of angular momentum is large [vertical-barhvertical-bar > or = a (1 + GAMMA 2 )atsup 1/2at, where h and GAMMA are the angular momentum and energy at infinity and a 0. In the other cases, a negative value for Carter's constant of motion Q is permitted, which happens to be a necessary condition for the tachyon to fall into the singularity. Next, the second law of black-hole physics is investigated in the general case of nonequatorial trajectories. It is shown that nonequatorial tachyons can decrease the area of the Kerr black hole only if it is rotating sufficiently rapidly [a > (4/3√3) M
Hardy, Jason; Campbell, Mark; Miller, Isaac; Schimpf, Brian
2008-10-01
The local path planner implemented on Cornell's 2007 DARPA Urban Challenge entry vehicle Skynet utilizes a novel mixture of discrete and continuous path planning steps to facilitate a safe, smooth, and human-like driving behavior. The planner first solves for a feasible path through the local obstacle map using a grid based search algorithm. The resulting path is then refined using a cost-based nonlinear optimization routine with both hard and soft constraints. The behavior of this optimization is influenced by tunable weighting parameters which govern the relative cost contributions assigned to different path characteristics. This paper studies the sensitivity of the vehicle's performance to these path planner weighting parameters using a data driven simulation based on logged data from the National Qualifying Event. The performance of the path planner in both the National Qualifying Event and in the Urban Challenge is also presented and analyzed.
Francis, Michael R.
2009-01-01
Approved for public release, distribution unlimited In this study, the current and expected state of lunar landing technology is assessed. Contrasts are drawn between the technologies used during the Apollo era versus that which will be used in the next decade in an attempt to return to the lunar surface. In particular, one new technology, Autonomous Landing Hazard Avoidance Technology (ALHAT) and one new method, DIDO optimization, are identified and examined. An approach to creating a DID...
Optimizing near real time accountability for reprocessing
International Nuclear Information System (INIS)
Cipiti, Benjamin B.
2010-01-01
Near Real Time Accountability (NRTA) of actinides at high precision in reprocessing plants has been a long sought-after goal in the safeguards community. Achieving this goal is hampered by the difficulty of making precision measurements in the reprocessing environment, equipment cost, and impact to plant operations. Thus the design of future reprocessing plants requires an optimization of different approaches. The Separations and Safeguards Performance Model, developed at Sandia National Laboratories, was used to evaluate a number of NRTA strategies in a UREX+ reprocessing plant. Strategies examined include the incorporation of additional actinide measurements of internal plant vessels, more use of process monitoring data, and the option of periodic draining of inventory to key tanks. Preliminary results show that the addition of measurement technologies can increase the overall measurement uncertainty due to additional error propagation, so care must be taken when designing an advanced system. Initial results also show that relying on a combination of different NRTA techniques will likely be the best option. The model provides a platform for integrating all the data. The modeling results for the different NRTA options under various material loss conditions will be presented.
Voss, P. B.; Zaveri, R. A.; Berkowitz, C. M.
2009-12-01
Controlled Meteorological (CMET) balloons have been used in several recent studies to measure long-range transport over periods as long as 30 hours and distances up to 1000 kilometers. By repeatedly performing shallow soundings as they drift, CMET balloons can quantify evolving atmospheric structure, mixing events, shear advection, and dispersion during transport. In addition, the quasi-Lagrangian wind profiles can be used to drive a multi-layer trajectory model in which the advected air parcels follow the underlying terrain, or are constrained by altitude, potential temperature, or tracer concentration. Data from a coordinated balloon-aircraft study of long range transport over Texas (SETTS 2005) show that the reconstructed trajectories accurately track residual-layer urban outflow (and at times even its fine-scale structure) over distances of many hundreds of kilometers. The reconstructed trajectories and evolving profile visualizations are increasingly being made available in near-real time during balloon flights, supporting data-driven flight planning and sophisticated process studies relevant to atmospheric chemistry and climate. Multilayer trajectories (black grids) derived from CMET balloon flight paths (grey lines) for a transport event across Texas in 2005.
Optimization Design by Genetic Algorithm Controller for Trajectory Control of a 3-RRR Parallel Robot
Directory of Open Access Journals (Sweden)
Lianchao Sheng
2018-01-01
Full Text Available In order to improve the control precision and robustness of the existing proportion integration differentiation (PID controller of a 3-Revolute–Revolute–Revolute (3-RRR parallel robot, a variable PID parameter controller optimized by a genetic algorithm controller is proposed in this paper. Firstly, the inverse kinematics model of the 3-RRR parallel robot was established according to the vector method, and the motor conversion matrix was deduced. Then, the error square integral was chosen as the fitness function, and the genetic algorithm controller was designed. Finally, the control precision of the new controller was verified through the simulation model of the 3-RRR planar parallel robot—built in SimMechanics—and the robustness of the new controller was verified by adding interference. The results show that compared with the traditional PID controller, the new controller designed in this paper has better control precision and robustness, which provides the basis for practical application.
Fuel-optimal trajectories of aeroassisted orbital transfer with plane change
Naidu, Desineni Subbaramaiah; Hibey, Joseph L.
1989-06-01
The problem of minimization of fuel consumption during the atmospheric portion of an aeroassisted, orbital transfer with plane change is addressed. The complete mission has required three characteristic velocities, a deorbit impulse at high earth orbit (HEO), a boost impulse at the atmospheric exit, and a reorbit impulse at low earth orbit (LEO). A performance index has been formulated as the sum of these three impulses. Application of optimal control principles has led to a nonlinear, two-point, boundary value problem which was solved by using a multiple shooting algorithm. The strategy for the atmospheric portion of the minimum-fuel transfer is to start initially with the maximum positive lift in order to recover from the downward plunge, and then to fly with a gradually decreasing lift such that the vehicle skips out of the atmosphere with a flight path angle near zero degrees.
Real-Time Trajectory Assessment and Abort Management for the X-33 Vehicle
Moise, M. C.; McCarter, J. W.; Mulqueen, J.
2000-01-01
The X-33 is a flying testbed to evaluate technologies and designs for a reusable Single Stage To Orbit (SSTO) production vehicle. Although it is sub-orbital, it is trans-atmospheric. This paper will discuss the abort capabilities, both commanded and autonomous, available to the X-33. The cornerstone of the abort capabilities is the Performance Monitor (PM) and it's supporting software. PM is an on-board 3-DOF simulation, which evaluates the vehicle ability to execute the current trajectory. The Abort Manager evaluates the results from PM, and, when indicated, computes and implements an abort trajectory.
Low Thrust Trajectory Design for GSFC Missions
National Aeronautics and Space Administration — The Evolutionary Mission Trajectory Generator (EMTG) is a global trajectory optimization tool. EMTG is intended for use in designing interplanetary missions which...
Optimal time travel in the Gödel universe
Natário, José
2012-04-01
Using the theory of optimal rocket trajectories in general relativity, recently developed in Henriques and Natário (2011), we present a candidate for the minimum total integrated acceleration closed timelike curve in the Gödel universe, and give evidence for its minimality. The total integrated acceleration of this curve is lower than Malament's conjectured value (Malament 1984), as was already implicit in the work of Manchak (Gen. Relativ. Gravit. 51-60, 2011); however, Malament's conjecture does seem to hold for periodic closed timelike curves.
Directory of Open Access Journals (Sweden)
K. Ide
2002-01-01
Full Text Available In this paper we develop analytical and numerical methods for finding special hyperbolic trajectories that govern geometry of Lagrangian structures in time-dependent vector fields. The vector fields (or velocity fields may have arbitrary time dependence and be realized only as data sets over finite time intervals, where space and time are discretized. While the notion of a hyperbolic trajectory is central to dynamical systems theory, much of the theoretical developments for Lagrangian transport proceed under the assumption that such a special hyperbolic trajectory exists. This brings in new mathematical issues that must be addressed in order for Lagrangian transport theory to be applicable in practice, i.e. how to determine whether or not such a trajectory exists and, if it does exist, how to identify it in a sequence of instantaneous velocity fields. We address these issues by developing the notion of a distinguished hyperbolic trajectory (DHT. We develop an existence criteria for certain classes of DHTs in general time-dependent velocity fields, based on the time evolution of Eulerian structures that are observed in individual instantaneous fields over the entire time interval of the data set. We demonstrate the concept of DHTs in inhomogeneous (or "forced" time-dependent linear systems and develop a theory and analytical formula for computing DHTs. Throughout this work the notion of linearization is very important. This is not surprising since hyperbolicity is a "linearized" notion. To extend the analytical formula to more general nonlinear time-dependent velocity fields, we develop a series of coordinate transforms including a type of linearization that is not typically used in dynamical systems theory. We refer to it as Eulerian linearization, which is related to the frame independence of DHTs, as opposed to the Lagrangian linearization, which is typical in dynamical systems theory, which is used in the computation of Lyapunov exponents. We
Optimized Trajectories to the Nearest Stars Using Lightweight High-velocity Photon Sails
Heller, René; Hippke, Michael; Kervella, Pierre
2017-09-01
New means of interstellar travel are now being considered by various research teams, assuming lightweight spaceships to be accelerated via either laser or solar radiation to a significant fraction of the speed of light (c). We recently showed that gravitational assists can be combined with the stellar photon pressure to decelerate an incoming lightsail from Earth and fling it around a star or bring it to rest. Here, we demonstrate that photogravitational assists are more effective when the star is used as a bumper (I.e., the sail passes “in front of” the star) rather than as a catapult (I.e., the sail passes “behind” or “around” the star). This increases the maximum deceleration at α Cen A and B and reduces the travel time of a nominal graphene-class sail (mass-to-surface ratio 8.6× {10}-4 {{g}} {{{m}}}-2) from 95 to 75 years. The maximum possible velocity reduction upon arrival depends on the required deflection angle from α Cen A to B and therefore on the binary’s orbital phase. Here, we calculate the variation of the minimum travel times from Earth into a bound orbit around Proxima for the next 300 years and then extend our calculations to roughly 22,000 stars within about 300 lt-yr. Although α Cen is the most nearby star system, we find that Sirius A offers the shortest possible travel times into a bound orbit: 69 years assuming 12.5% c can be obtained at departure from the solar system. Sirius A thus offers the opportunity of flyby exploration plus deceleration into a bound orbit of the companion white dwarf after relatively short times of interstellar travel.
2013-08-01
discontinuities in mass. The dry mass of the stage was ejected after stage burnout resulting in a discontinuity in the state of mass necessitating a...seconds after liftoff to avoid numerical difficulties in the equations of motion at zero velocity and ends at stage 1 burnout ; as the booster vehicle...0.6 0.8 1 0 0.5 1 S ca le V el o ci ty 0.2 0.4 0.6 0.8 1 0 0.5 1 S ca le γ Scale Time Original GPOPS Figure 5. Booster Velocity and Flight Path
Simulation-based robust optimization for signal timing and setting.
2009-12-30
The performance of signal timing plans obtained from traditional approaches for : pre-timed (fixed-time or actuated) control systems is often unstable under fluctuating traffic : conditions. This report develops a general approach for optimizing the ...
Barber, Sally E.; Kelly, Brian; Collings, Paul J.; Nagy, Liana; Bywater, Tracey; Wright, John
2017-01-01
BACKGROUND: Excessive screen viewing in early childhood is associated with poor physical and psycho-social health and poor cognitive development. This study aimed to understand the prevalence, trajectory and determinants of television viewing time in early childhood to inform intervention development. METHODS: In this prospective longitudinal study, mothers of 1558 children (589 white British, 757 Pakistani heritage, 212 other ethnicities) completed questionnaires when their children were app...
Mozaffari, Ahmad; Vajedi, Mahyar; Azad, Nasser L.
2015-06-01
The main proposition of the current investigation is to develop a computational intelligence-based framework which can be used for the real-time estimation of optimum battery state-of-charge (SOC) trajectory in plug-in hybrid electric vehicles (PHEVs). The estimated SOC trajectory can be then employed for an intelligent power management to significantly improve the fuel economy of the vehicle. The devised intelligent SOC trajectory builder takes advantage of the upcoming route information preview to achieve the lowest possible total cost of electricity and fossil fuel. To reduce the complexity of real-time optimization, the authors propose an immune system-based clustering approach which allows categorizing the route information into a predefined number of segments. The intelligent real-time optimizer is also inspired on the basis of interactions in biological immune systems, and is called artificial immune algorithm (AIA). The objective function of the optimizer is derived from a computationally efficient artificial neural network (ANN) which is trained by a database obtained from a high-fidelity model of the vehicle built in the Autonomie software. The simulation results demonstrate that the integration of immune inspired clustering tool, AIA and ANN, will result in a powerful framework which can generate a near global optimum SOC trajectory for the baseline vehicle, that is, the Toyota Prius PHEV. The outcomes of the current investigation prove that by taking advantage of intelligent approaches, it is possible to design a computationally efficient and powerful SOC trajectory builder for the intelligent power management of PHEVs.
Barber, Sally E; Kelly, Brian; Collings, Paul J; Nagy, Liana; Bywater, Tracey; Wright, John
2017-07-06
Excessive screen viewing in early childhood is associated with poor physical and psycho-social health and poor cognitive development. This study aimed to understand the prevalence, trajectory and determinants of television viewing time in early childhood to inform intervention development. In this prospective longitudinal study, mothers of 1558 children (589 white British, 757 Pakistani heritage, 212 other ethnicities) completed questionnaires when their children were approximately 6, 12, 18, 24 and 36 months old. Mothers answered questions about their own and their child's TV-time. TV-time trajectories were estimated by linear longitudinal multilevel modeling, potential determinants were considered in models. The modelled trajectory estimated that 75% of children aged 12 months exceeded guidelines of zero screen-time. At 12 months of age an accelerated increase in TV-time was observed (2 h/day by 30 months old). For every hour of mothers' TV-time and every hour the TV was on in the home, children's TV-time was 8 min and 1 min higher respectively at 6 months old (P child did not watch too much TV, had 17 min more TV-time than their counterparts (P television is on in the home and mothers' attitude towards child TV-time. These behaviours may be key components to address in interventions for parents. Mothers experiencing stress, first time mothers, and Pakistani heritage mothers (particularly those born outside of the UK), may be priority groups for intervention.
Matsunaga, Y.; Sugita, Y.
2018-06-01
A data-driven modeling scheme is proposed for conformational dynamics of biomolecules based on molecular dynamics (MD) simulations and experimental measurements. In this scheme, an initial Markov State Model (MSM) is constructed from MD simulation trajectories, and then, the MSM parameters are refined using experimental measurements through machine learning techniques. The second step can reduce the bias of MD simulation results due to inaccurate force-field parameters. Either time-series trajectories or ensemble-averaged data are available as a training data set in the scheme. Using a coarse-grained model of a dye-labeled polyproline-20, we compare the performance of machine learning estimations from the two types of training data sets. Machine learning from time-series data could provide the equilibrium populations of conformational states as well as their transition probabilities. It estimates hidden conformational states in more robust ways compared to that from ensemble-averaged data although there are limitations in estimating the transition probabilities between minor states. We discuss how to use the machine learning scheme for various experimental measurements including single-molecule time-series trajectories.
Real-time UAV trajectory generation using feature points matching between video image sequences
Byun, Younggi; Song, Jeongheon; Han, Dongyeob
2017-09-01
Unmanned aerial vehicles (UAVs), equipped with navigation systems and video capability, are currently being deployed for intelligence, reconnaissance and surveillance mission. In this paper, we present a systematic approach for the generation of UAV trajectory using a video image matching system based on SURF (Speeded up Robust Feature) and Preemptive RANSAC (Random Sample Consensus). Video image matching to find matching points is one of the most important steps for the accurate generation of UAV trajectory (sequence of poses in 3D space). We used the SURF algorithm to find the matching points between video image sequences, and removed mismatching by using the Preemptive RANSAC which divides all matching points to outliers and inliers. The inliers are only used to determine the epipolar geometry for estimating the relative pose (rotation and translation) between image sequences. Experimental results from simulated video image sequences showed that our approach has a good potential to be applied to the automatic geo-localization of the UAVs system
Novel Verification Method for Timing Optimization Based on DPSO
Directory of Open Access Journals (Sweden)
Chuandong Chen
2018-01-01
Full Text Available Timing optimization for logic circuits is one of the key steps in logic synthesis. Extant research data are mainly proposed based on various intelligence algorithms. Hence, they are neither comparable with timing optimization data collected by the mainstream electronic design automation (EDA tool nor able to verify the superiority of intelligence algorithms to the EDA tool in terms of optimization ability. To address these shortcomings, a novel verification method is proposed in this study. First, a discrete particle swarm optimization (DPSO algorithm was applied to optimize the timing of the mixed polarity Reed-Muller (MPRM logic circuit. Second, the Design Compiler (DC algorithm was used to optimize the timing of the same MPRM logic circuit through special settings and constraints. Finally, the timing optimization results of the two algorithms were compared based on MCNC benchmark circuits. The timing optimization results obtained using DPSO are compared with those obtained from DC, and DPSO demonstrates an average reduction of 9.7% in the timing delays of critical paths for a number of MCNC benchmark circuits. The proposed verification method directly ascertains whether the intelligence algorithm has a better timing optimization ability than DC.
Deutschmann, Julie; Bar-Itzhack, Itzhack
1997-01-01
Traditionally satellite attitude and trajectory have been estimated with completely separate systems, using different measurement data. The estimation of both trajectory and attitude for low earth orbit satellites has been successfully demonstrated in ground software using magnetometer and gyroscope data. Since the earth's magnetic field is a function of time and position, and since time is known quite precisely, the differences between the computed and measured magnetic field components, as measured by the magnetometers throughout the entire spacecraft orbit, are a function of both the spacecraft trajectory and attitude errors. Therefore, these errors can be used to estimate both trajectory and attitude. This work further tests the single augmented Extended Kalman Filter (EKF) which simultaneously and autonomously estimates spacecraft trajectory and attitude with data from the Rossi X-Ray Timing Explorer (RXTE) magnetometer and gyro-measured body rates. In addition, gyro biases are added to the state and the filter's ability to estimate them is presented.
Directory of Open Access Journals (Sweden)
Suzana Koelet
2015-03-01
Full Text Available Objective: This article examines the diverse ways in which young adults develop both their professional career and family life in the years immediately after they complete their education. Building a career and starting a family often occur simultaneously in this stage of life. By studying the simultaneous developments in these life domains, we can gain a better understanding of this complex interplay. Methods: The data consist of a sample of 1,657 young adults born in 1976 who were interviewed as part of the SONAR survey of Flanders at ages 23, 26, and 29 about their education, their entry into and early years on the labour market, and their family life. Sequence analysis is used to study the timing of union formation and having children among these young adults, as well as how these events are related to their work career. Multinomial regression analysis is applied to help us gain a better understanding of the extent to which these life course patterns are determined by education and economic status at the start of the career. Results: The results reveal a set of work-family trajectories which vary in terms of the extent of labour market participation and the type and timing of family formation. Various aspects of the trajectory are found to be determined by different dimensions of an individual's educational career (duration, level, field of study. Education is more relevant for women than for men, as a man's trajectory is more likely than a woman's to be determined by the first job. Conclusions: By using a simultaneous approach which takes into account both family and work, this life course analysis confirms that men have a head start on the labour market, and examines the factors which influence the distinct trajectories of young women and men.
Directory of Open Access Journals (Sweden)
Yue You
2017-01-01
Full Text Available A time and covariance threshold triggered optimal maneuver planning method is proposed for orbital rendezvous using angles-only navigation (AON. In the context of Yamanaka-Ankersen orbital relative motion equations, the square root unscented Kalman filter (SRUKF AON algorithm is developed to compute the relative state estimations from a low-volume/mass, power saving, and low-cost optical/infrared camera’s observations. Multi-impulsive Hill guidance law is employed in closed-loop linear covariance analysis model, based on which the quantitative relative position robustness and relative velocity robustness index are defined. By balancing fuel consumption, relative position robustness, and relative velocity robustness, we developed a time and covariance threshold triggered two-level optimal maneuver planning method, showing how these results correlate to past methods and missions and how they could potentially influence future ones. Numerical simulation proved that it is feasible to control the spacecraft with a two-line element- (TLE- level uncertain, 34.6% of range, initial relative state to a 100 m v-bar relative station keeping point, at where the trajectory dispersion reduces to 3.5% of range, under a 30% data gap per revolution on account of the eclipse. Comparing with the traditional time triggered maneuver planning method, the final relative position accuracy is improved by one order and the relative trajectory robustness and collision probability are obviously improved and reduced, respectively.
Real-time dynamic MLC tracking for inversely optimized arc radiotherapy
DEFF Research Database (Denmark)
Falk, Marianne; af Rosenschöld, Per Munck; Keall, Paul
2010-01-01
Motion compensation with MLC tracking was tested for inversely optimized arc radiotherapy with special attention to the impact of the size of the target displacements and the angle of the leaf trajectory.......Motion compensation with MLC tracking was tested for inversely optimized arc radiotherapy with special attention to the impact of the size of the target displacements and the angle of the leaf trajectory....
OPTIMAL GUARANTEED SERVICES TIMED TOKEN (OGSTT ...
African Journals Online (AJOL)
eobe
transmission time, as required by the hard real-time tasks, but also high ... The network and message models are presented in ... node has a unique number in the range 0, 1, 2…N-1. For each .... To overcome this, an integer U is added to the ...
Time is on my side: optimism in intertemporal choice
Berndsen, M.; van der Pligt, J.
2001-01-01
The present research, using data from 163 undergraduates, examines the role of optimism on time preferences for both losses and gains. It is argued that optimism has asymmetric effects on time preferences for gains versus losses: one reason why decision makers prefer immediate gains is because they
On the application of Discrete Time Optimal Control Concepts to ...
African Journals Online (AJOL)
On the application of Discrete Time Optimal Control Concepts to Economic Problems. ... Journal of the Nigerian Association of Mathematical Physics ... Abstract. An extension of the use of the maximum principle to solve Discrete-time Optimal Control Problems (DTOCP), in which the state equations are in the form of general ...
Allen, Karina L; Crosby, Ross D; Oddy, Wendy H; Byrne, Susan M
2013-01-01
Adolescence is a period of developmental risk for eating disorders and eating disorder symptoms. This study aimed to describe the prevalence and trajectory of five core eating disorder behaviours (binge eating, purging, fasting, following strict dietary rules, and hard exercise for weight control) and a continuous index of dietary restraint and eating, weight and shape concerns, in a cohort of male and female adolescents followed from 14 to 20 years. It also aimed to determine the effect of early adolescent depressive symptoms on the prevalence and trajectory of these different eating disorder symptoms. Participants (N = 1,383; 49% male) were drawn from the Western Australian Pregnancy Cohort (Raine) Study, a prospective cohort study that has followed participants from pre-birth to age 20 years. An adapted version of the Eating Disorder Examination-Questionnaire was used to assess eating disorder symptoms at ages 14, 17 and 20 years. The Beck Depression Inventory for Youth was used to assess depressive symptoms at age 14. Longitudinal changes in the prevalence of eating disorder symptoms were tested using generalised estimating equations and linear mixed models. Symptom trajectories varied according to the eating disorder symptom studied, participant sex, and the presence of depressive symptoms in early adolescence. For males, eating disorder symptoms tended to be stable (for purging, fasting and hard exercise) or decreasing (for binge eating and global symptom scores) from 14 to 17 years, and then stable to 20 years. For females, fasting and global symptom scores increased from age 14 to peak in prevalence at age 17. Rates of binge eating in females were stable from age 14 to age 17 and increased significantly thereafter, whilst rates of purging and hard exercise increased from age 14 to age 17, and then remained elevated through to age 20. Depressive symptoms at age 14 impacted on eating disorder symptom trajectories in females, but not in males. Prevention
Hasselmo, Michael E; Giocomo, Lisa M; Brandon, Mark P; Yoshida, Motoharu
2010-12-31
Understanding the mechanisms of episodic memory requires linking behavioral data and lesion effects to data on the dynamics of cellular membrane potentials and population interactions within brain regions. Linking behavior to specific membrane channels and neurochemicals has implications for therapeutic applications. Lesions of the hippocampus, entorhinal cortex and subcortical nuclei impair episodic memory function in humans and animals, and unit recording data from these regions in behaving animals indicate episodic memory processes. Intracellular recording in these regions demonstrates specific cellular properties including resonance, membrane potential oscillations and bistable persistent spiking that could underlie the encoding and retrieval of episodic trajectories. A model presented here shows how intrinsic dynamical properties of neurons could mediate the encoding of episodic memories as complex spatiotemporal trajectories. The dynamics of neurons allow encoding and retrieval of unique episodic trajectories in multiple continuous dimensions including temporal intervals, personal location, the spatial coordinates and sensory features of perceived objects and generated actions, and associations between these elements. The model also addresses how cellular dynamics could underlie unit firing data suggesting mechanisms for coding continuous dimensions of space, time, sensation and action. Copyright © 2010 Elsevier B.V. All rights reserved.
Directory of Open Access Journals (Sweden)
Gerber Yariv
2011-09-01
Full Text Available Abstract Background Physical activity confers a survival advantage after myocardial infarction (MI, yet the majority of post-MI patients are not regularly active. Since sense of coherence (SOC has been associated with health outcomes and some health behaviours, we investigated whether it plays a role in post-MI physical activity. We examined the predictive role of SOC in the long-term trajectory of leisure time physical activity (LTPA after MI using a prospective cohort design. Methods A cohort of 643 patients aged ≤ 65 years admitted to hospital in central Israel with incident MI between February 1992 and February 1993 were followed up for 13 years. Socioeconomic, clinical and psychological factors, including SOC, were assessed at baseline, and LTPA was self-reported on 5 separate occasions during follow-up. The predictive role of SOC in long-term trajectory of LTPA was assessed using generalized estimating equations. Results SOC was consistently associated with engagement in LTPA throughout follow-up. Patients in the lowest SOC tertile had almost twice the odds (odds ratio,1.99; 95% confidence interval,1.52-2.60 of decreasing their engagement in LTPA as those in the highest tertile. A strong association remained after controlling for disease severity, depression, sociodemographic and clinical factors. Conclusion Our evidence suggests that SOC predicts LTPA trajectory post-MI. Assessment of SOC can help identify high-risk MI survivors, who may require additional help in following secondary prevention recommendations which can dramatically improve prognosis.
Optimal Robust Fault Detection for Linear Discrete Time Systems
Directory of Open Access Journals (Sweden)
Nike Liu
2008-01-01
Full Text Available This paper considers robust fault-detection problems for linear discrete time systems. It is shown that the optimal robust detection filters for several well-recognized robust fault-detection problems, such as ℋ−/ℋ∞, ℋ2/ℋ∞, and ℋ∞/ℋ∞ problems, are the same and can be obtained by solving a standard algebraic Riccati equation. Optimal filters are also derived for many other optimization criteria and it is shown that some well-studied and seeming-sensible optimization criteria for fault-detection filter design could lead to (optimal but useless fault-detection filters.
Discrete-time optimal control and games on large intervals
Zaslavski, Alexander J
2017-01-01
Devoted to the structure of approximate solutions of discrete-time optimal control problems and approximate solutions of dynamic discrete-time two-player zero-sum games, this book presents results on properties of approximate solutions in an interval that is independent lengthwise, for all sufficiently large intervals. Results concerning the so-called turnpike property of optimal control problems and zero-sum games in the regions close to the endpoints of the time intervals are the main focus of this book. The description of the structure of approximate solutions on sufficiently large intervals and its stability will interest graduate students and mathematicians in optimal control and game theory, engineering, and economics. This book begins with a brief overview and moves on to analyze the structure of approximate solutions of autonomous nonconcave discrete-time optimal control Lagrange problems.Next the structures of approximate solutions of autonomous discrete-time optimal control problems that are discret...
Engineering applications of discrete-time optimal control
DEFF Research Database (Denmark)
Vidal, Rene Victor Valqui; Ravn, Hans V.
1990-01-01
Many problems of design and operation of engineering systems can be formulated as optimal control problems where time has been discretisized. This is also true even if 'time' is not involved in the formulation of the problem, but rather another one-dimensional parameter. This paper gives a review...... of some well-known and new results in discrete time optimal control methods applicable to practical problem solving within engineering. Emphasis is placed on dynamic programming, the classical maximum principle and generalized versions of the maximum principle for optimal control of discrete time systems...
Ou, Meiying; Sun, Haibin; Gu, Shengwei; Zhang, Yangyi
2017-11-01
This paper investigates the distributed finite-time trajectory tracking control for a group of nonholonomic mobile robots with time-varying unknown parameters and external disturbances. At first, the tracking error system is derived for each mobile robot with the aid of a global invertible transformation, which consists of two subsystems, one is a first-order subsystem and another is a second-order subsystem. Then, the two subsystems are studied respectively, and finite-time disturbance observers are proposed for each robot to estimate the external disturbances. Meanwhile, distributed finite-time tracking controllers are developed for each mobile robot such that all states of each robot can reach the desired value in finite time, where the desired reference value is assumed to be the trajectory of a virtual leader whose information is available to only a subset of the followers, and the followers are assumed to have only local interaction. The effectiveness of the theoretical results is finally illustrated by numerical simulations.
Optimal timing for intravenous administration set replacement.
Gillies, D; O'Riordan, L; Wallen, M; Morrison, A; Rankin, K; Nagy, S
2005-10-19
Administration of intravenous therapy is a common occurrence within the hospital setting. Routine replacement of administration sets has been advocated to reduce intravenous infusion contamination. If decreasing the frequency of changing intravenous administration sets does not increase infection rates, a change in practice could result in considerable cost savings. The objective of this review was to identify the optimal interval for the routine replacement of intravenous administration sets when infusate or parenteral nutrition (lipid and non-lipid) solutions are administered to people in hospital via central or peripheral venous catheters. We searched The Cochrane Central Register of Controlled Trials (CENTRAL), MEDLINE, CINAHL, EMBASE: all from inception to February 2004; reference lists of identified trials, and bibliographies of published reviews. We also contacted researchers in the field. We did not have a language restriction. We included all randomized or quasi-randomized controlled trials addressing the frequency of replacing intravenous administration sets when parenteral nutrition (lipid and non-lipid containing solutions) or infusions (excluding blood) were administered to people in hospital via a central or peripheral catheter. Two authors assessed all potentially relevant studies. We resolved disagreements between the two authors by discussion with a third author. We collected data for the outcomes; infusate contamination; infusate-related bloodstream infection; catheter contamination; catheter-related bloodstream infection; all-cause bloodstream infection and all-cause mortality. We identified 23 references for review. We excluded eight of these studies; five because they did not fit the inclusion criteria and three because of inadequate data. We extracted data from the remaining 15 references (13 studies) with 4783 participants. We conclude that there is no evidence that changing intravenous administration sets more often than every 96 hours
Optimal Exponential Synchronization of Chaotic Systems with Multiple Time Delays via Fuzzy Control
Directory of Open Access Journals (Sweden)
Feng-Hsiag Hsiao
2013-01-01
Full Text Available This study presents an effective approach to realize the optimal exponential synchronization of multiple time-delay chaotic (MTDC systems. First, a neural network (NN model is employed to approximate the MTDC system. Then, a linear differential inclusion (LDI state-space representation is established for the dynamics of the NN model. Based on this LDI state-space representation, this study proposes a delay-dependent exponential stability criterion of the error system derived in terms of Lyapunov’s direct method to ensure that the trajectories of the slave system can approach those of the master system. Subsequently, the stability condition of this criterion is reformulated into a linear matrix inequality (LMI. Based on the LMI, a fuzzy controller is synthesized not only to realize the exponential synchronization but also to achieve the optimal performance by minimizing the disturbance attenuation level. Finally, a numerical example with simulations is provided to illustrate the concepts discussed throughout this work.
International Nuclear Information System (INIS)
Laitinen, Mikko; Sajavaara, Timo
2014-01-01
Carbon foil time pick-up detectors are widely used in pairs in ion beam applications as time-of-flight detectors. These detectors are suitable for a wide energy range and for all ions but at the lowest energies the tandem effect limits the achievable time of flight and therefore the energy resolution. Tandem effect occurs when an ion passes the first carbon foil of the timing detector and its charge state is changed. As the carbon foil of the first timing detector has often a non-zero voltage the ion can accelerate or decelerate before and after the timing detector. The combination of different charge state properties before and after the carbon foil now induces spread to the measured times of flight. We have simulated different time pick-up detector orientations, voltages, ions and ion energies to examine the tandem effect in detail and found out that the individual timing detector orientation and the average ion charge state have a very small influence to the magnitude of the tandem effect. On the other hand, the width of the charge state distribution for particular ion and energy in the first carbon foil, and the carbon foil voltage contributes linearly to the magnitude of the tandem effect. In the simulations low energy light ion trajectories were observed to bend in the electric fields of the first timing gate, and the magnitude of this bending was studied. It was found out that 50–150 keV proton trajectories can even bend outside the second timing gate
Analysis and Optimization of Heterogeneous Real-Time Embedded Systems
DEFF Research Database (Denmark)
Pop, Paul; Eles, Petru; Peng, Zebo
2005-01-01
. The success of such new design methods depends on the availability of analysis and optimization techniques. In this paper, we present analysis and optimization techniques for heterogeneous real-time embedded systems. We address in more detail a particular class of such systems called multi-clusters, composed...... to frames. Optimization heuristics for frame packing aiming at producing a schedulable system are presented. Extensive experiments and a real-life example show the efficiency of the frame-packing approach....
Hélie, Sonia; Poirier, Marie-Andrée; Esposito, Tonino; Turcotte, Daniel
2017-11-17
Objectives : The Quebec Youth Protection Act was amended in 2007. The main goal of this reform was to improve placement stability for children who are removed from their home for their protection. Among several legal provisions introduced was the establishment of maximum age-specific durations of out-of-home care, after which a plan must be established to provide stability for children placed in substitute care by finding permanent homes for them. The purpose of this study is (1) to examine trends in placement use and placement stability since the reform and (2) to document the current frequency of each type of placement setting, the cumulative time in care before the exit to permanency, and the sustainability of the permanency outcome. Methods: The study relies on 3 entry cohorts of all children investigated who received protection measures in the province of Quebec during 3 specific time frames before and after the reform ( n = 9620, 8676, 8425). Cohorts were observed for a period varying from 3 to 4 years. Administrative data from all 16 child protection agencies were used to track placement trajectory indicators and to compare cohorts. Results : There has been a decrease in the proportion of children receiving protection measures who were placed in care since the reform, and placement in kinship care has become more frequent among children placed. Placement stability improved slightly after the reform. Overall, for infants, the most frequent type of permanency attained is adoption, while reunification is the option most often indicated for older children. Some children are at a greater risk of experiencing unstable placement trajectories: young children have a high rate of reunification breakdown, some wait a long time to be adopted, and adolescents are frequently removed from the substitute care setting where they were supposed to stay until the age of 18. Conclusions : The results suggest interesting avenues for policy makers and service providers to improve
Directory of Open Access Journals (Sweden)
Sonia Hélie
2017-11-01
Full Text Available Objectives: The Quebec Youth Protection Act was amended in 2007. The main goal of this reform was to improve placement stability for children who are removed from their home for their protection. Among several legal provisions introduced was the establishment of maximum age-specific durations of out-of-home care, after which a plan must be established to provide stability for children placed in substitute care by finding permanent homes for them. The purpose of this study is (1 to examine trends in placement use and placement stability since the reform and (2 to document the current frequency of each type of placement setting, the cumulative time in care before the exit to permanency, and the sustainability of the permanency outcome. Methods: The study relies on 3 entry cohorts of all children investigated who received protection measures in the province of Quebec during 3 specific time frames before and after the reform (n = 9620, 8676, 8425. Cohorts were observed for a period varying from 3 to 4 years. Administrative data from all 16 child protection agencies were used to track placement trajectory indicators and to compare cohorts. Results: There has been a decrease in the proportion of children receiving protection measures who were placed in care since the reform, and placement in kinship care has become more frequent among children placed. Placement stability improved slightly after the reform. Overall, for infants, the most frequent type of permanency attained is adoption, while reunification is the option most often indicated for older children. Some children are at a greater risk of experiencing unstable placement trajectories: young children have a high rate of reunification breakdown, some wait a long time to be adopted, and adolescents are frequently removed from the substitute care setting where they were supposed to stay until the age of 18. Conclusions: The results suggest interesting avenues for policy makers and service
Hélie, Sonia; Poirier, Marie-Andrée; Esposito, Tonino; Turcotte, Daniel
2017-01-01
Objectives: The Quebec Youth Protection Act was amended in 2007. The main goal of this reform was to improve placement stability for children who are removed from their home for their protection. Among several legal provisions introduced was the establishment of maximum age-specific durations of out-of-home care, after which a plan must be established to provide stability for children placed in substitute care by finding permanent homes for them. The purpose of this study is (1) to examine trends in placement use and placement stability since the reform and (2) to document the current frequency of each type of placement setting, the cumulative time in care before the exit to permanency, and the sustainability of the permanency outcome. Methods: The study relies on 3 entry cohorts of all children investigated who received protection measures in the province of Quebec during 3 specific time frames before and after the reform (n = 9620, 8676, 8425). Cohorts were observed for a period varying from 3 to 4 years. Administrative data from all 16 child protection agencies were used to track placement trajectory indicators and to compare cohorts. Results: There has been a decrease in the proportion of children receiving protection measures who were placed in care since the reform, and placement in kinship care has become more frequent among children placed. Placement stability improved slightly after the reform. Overall, for infants, the most frequent type of permanency attained is adoption, while reunification is the option most often indicated for older children. Some children are at a greater risk of experiencing unstable placement trajectories: young children have a high rate of reunification breakdown, some wait a long time to be adopted, and adolescents are frequently removed from the substitute care setting where they were supposed to stay until the age of 18. Conclusions: The results suggest interesting avenues for policy makers and service providers to improve the
Optimal Infinite Runs in One-Clock Priced Timed Automata
DEFF Research Database (Denmark)
David, Alexandre; Ejsing-Duun, Daniel; Fontani, Lisa
We address the problem of finding an infinite run with the optimal cost-time ratio in a one-clock priced timed automaton and pro- vide an algorithmic solution. Through refinements of the quotient graph obtained by strong time-abstracting bisimulation partitioning, we con- struct a graph with time...
Discount-Optimal Infinite Runs in Priced Timed Automata
DEFF Research Database (Denmark)
Fahrenberg, Uli; Larsen, Kim Guldstrand
2009-01-01
We introduce a new discounting semantics for priced timed automata. Discounting provides a way to model optimal-cost problems for infinite traces and has applications in optimal scheduling and other areas. In the discounting semantics, prices decrease exponentially, so that the contribution...
Optimal timing for intravascular administration set replacement.
Ullman, Amanda J; Cooke, Marie L; Gillies, Donna; Marsh, Nicole M; Daud, Azlina; McGrail, Matthew R; O'Riordan, Elizabeth; Rickard, Claire M
2013-09-15
populations, arterial and venous administration sets, parenteral nutrition, lipid emulsions and crystalloid infusions. Most studies were at moderate to high risk of bias or did not adequately describe the methods that they used to minimize bias. All included trials were unable to blind personnel because of the nature of the intervention.No evidence was found for differences in catheter-related or infusate-related bacteraemia or fungaemia with more frequent administration set replacement overall or at any time interval comparison (risk ratio (RR) 1.06, 95% confidence interval (CI) 0.67 to 1.69; RR 0.67, 95% CI 0.27 to 1.70). Infrequent administration set replacement reduced the rate of bloodstream infection (RR 0.73, 95% CI 0.54 to 0.98). No evidence revealed differences in catheter colonization or infusate colonization with more frequent administration set replacement (RR 1.08, 95% CI 0.94 to 1.24; RR 1.15, 95% CI 0.70 to 1.86, respectively). Borderline evidence suggested that infrequent administration set replacement increased the mortality rate only within the neonatal population (RR 1.84, 95% CI 1.00 to 3.36). No evidence revealed interactions between the (lack of) effects of frequency of administration set replacement and the subgroups analysed: parenteral nutrition and/or fat emulsions versus infusates not involving parenteral nutrition or fat emulsions; adult versus neonatal participants; and arterial versus venous catheters. Some evidence indicates that administration sets that do not contain lipids, blood or blood products may be left in place for intervals of up to 96 hours without increasing the risk of infection. Other evidence suggests that mortality increased within the neonatal population with infrequent administration set replacement. However, much the evidence obtained was derived from studies of low to moderate quality.
Stuart, Jeffrey; Howell, Kathleen; Wilson, Roby
2013-01-01
The Sun-Jupiter Trojan asteroids are celestial bodies of great scientific interest as well as potential resources offering water and other mineral resources for longterm human exploration of the solar system. Previous investigations under this project have addressed the automated design of tours within the asteroid swarm. This investigation expands the current automation scheme by incorporating options for a complete trajectory design approach to the Trojan asteroids. Computational aspects of the design procedure are automated such that end-to-end trajectories are generated with a minimum of human interaction after key elements and constraints associated with a proposed mission concept are specified.
Directory of Open Access Journals (Sweden)
Sangjun Park
2014-01-01
Full Text Available We consider a two-stage supply chain with one supplier and one retailer. The retailer sells a product to customer and the supplier provides a product in a make-to-order mode. In this case, the supplier’s decisions on service time and service level and the retailer’s decision on retail price have effects on customer demand. We develop optimization models to determine the optimal retail price, the optimal guaranteed service time, the optimal service level, and the optimal capacity to maximize the expected profit of the whole supply chain. The results of numerical experiments show that it is more profitable to determine the optimal price, the optimal guaranteed service time, and the optimal service level simultaneously and the proposed model is more profitable in service level sensitive market.
Generation and evaluation of space-Time trajectories of photovoltaic power
DEFF Research Database (Denmark)
Golestaneh, Faranak; Gooi, Hoay Beng; Pinson, Pierre
2016-01-01
In the probabilistic energy forecasting literature, emphasis is mainly placed on deriving marginal predictive densities for which each random variable is dealt with individually. Such marginals description is sufficient for power systems related operational problems if and only if optimal decisio...
Complexity Science Applications to Dynamic Trajectory Management: Research Strategies
Sawhill, Bruce; Herriot, James; Holmes, Bruce J.; Alexandrov, Natalia
2009-01-01
The promise of the Next Generation Air Transportation System (NextGen) is strongly tied to the concept of trajectory-based operations in the national airspace system. Existing efforts to develop trajectory management concepts are largely focused on individual trajectories, optimized independently, then de-conflicted among each other, and individually re-optimized, as possible. The benefits in capacity, fuel, and time are valuable, though perhaps could be greater through alternative strategies. The concept of agent-based trajectories offers a strategy for automation of simultaneous multiple trajectory management. The anticipated result of the strategy would be dynamic management of multiple trajectories with interacting and interdependent outcomes that satisfy multiple, conflicting constraints. These constraints would include the business case for operators, the capacity case for the Air Navigation Service Provider (ANSP), and the environmental case for noise and emissions. The benefits in capacity, fuel, and time might be improved over those possible under individual trajectory management approaches. The proposed approach relies on computational agent-based modeling (ABM), combinatorial mathematics, as well as application of "traffic physics" concepts to the challenge, and modeling and simulation capabilities. The proposed strategy could support transforming air traffic control from managing individual aircraft behaviors to managing systemic behavior of air traffic in the NAS. A system built on the approach could provide the ability to know when regions of airspace approach being "full," that is, having non-viable local solution space for optimizing trajectories in advance.
Optimal Time-Abstract Schedulers for CTMDPs and Markov Games
Directory of Open Access Journals (Sweden)
Markus Rabe
2010-06-01
Full Text Available We study time-bounded reachability in continuous-time Markov decision processes for time-abstract scheduler classes. Such reachability problems play a paramount role in dependability analysis and the modelling of manufacturing and queueing systems. Consequently, their analysis has been studied intensively, and techniques for the approximation of optimal control are well understood. From a mathematical point of view, however, the question of approximation is secondary compared to the fundamental question whether or not optimal control exists. We demonstrate the existence of optimal schedulers for the time-abstract scheduler classes for all CTMDPs. Our proof is constructive: We show how to compute optimal time-abstract strategies with finite memory. It turns out that these optimal schedulers have an amazingly simple structure---they converge to an easy-to-compute memoryless scheduling policy after a finite number of steps. Finally, we show that our argument can easily be lifted to Markov games: We show that both players have a likewise simple optimal strategy in these more general structures.
Time-optimal feedback control for linear systems
International Nuclear Information System (INIS)
Mirica, S.
1976-01-01
The paper deals with the results of qualitative investigations of the time-optimal feedback control for linear systems with constant coefficients. In the first section, after some definitions and notations, two examples are given and it is shown that even the time-optimal control problem for linear systems with constant coefficients which looked like ''completely solved'' requires a further qualitative investigation of the stability to ''permanent perturbations'' of optimal feedback control. In the second section some basic results of the linear time-optimal control problem are reviewed. The third section deals with the definition of Boltyanskii's ''regular synthesis'' and its connection to Filippov's theory of right-hand side discontinuous differential equations. In the fourth section a theorem is proved concerning the stability to perturbations of time-optimal feedback control for linear systems with scalar control. In the last two sections it is proved that, if the matrix which defines the system has only real eigenvalues or is three-dimensional, the time-optimal feedback control defines a regular synthesis and therefore is stable to perturbations. (author)
Lee, Gregory R; Seiberlich, Nicole; Sunshine, Jeffrey L; Carroll, Timothy J; Griswold, Mark A
2013-02-01
Contrast-enhanced magnetic resonance angiography is challenging due to the need for both high spatial and temporal resolution. A multishot trajectory composed of pseudo-random rotations of a single multiecho radial readout was developed. The trajectory is designed to give incoherent aliasing artifacts and a relatively uniform distribution of projections over all time scales. A field map (computed from the same data set) is used to avoid signal dropout in regions of substantial field inhomogeneity. A compressed sensing reconstruction using the GraDeS algorithm was used. Whole brain angiograms were reconstructed at 1-mm isotropic resolution and a 1.1-s frame rate (corresponding to an acceleration factor > 100). The only parameter which must be chosen is the number of iterations of the GraDeS algorithm. A larger number of iterations improves the temporal behavior at cost of decreased image signal-to-noise ratio. The resulting images provide a good depiction of the cerebral vasculature and have excellent arterial/venous separation. Copyright © 2012 Wiley Periodicals, Inc.
Task Decomposition Module For Telerobot Trajectory Generation
Wavering, Albert J.; Lumia, Ron
1988-10-01
A major consideration in the design of trajectory generation software for a Flight Telerobotic Servicer (FTS) is that the FTS will be called upon to perform tasks which require a diverse range of manipulator behaviors and capabilities. In a hierarchical control system where tasks are decomposed into simpler and simpler subtasks, the task decomposition module which performs trajectory planning and execution should therefore be able to accommodate a wide range of algorithms. In some cases, it will be desirable to plan a trajectory for an entire motion before manipulator motion commences, as when optimizing over the entire trajectory. Many FTS motions, however, will be highly sensory-interactive, such as moving to attain a desired position relative to a non-stationary object whose position is periodically updated by a vision system. In this case, the time-varying nature of the trajectory may be handled either by frequent replanning using updated sensor information, or by using an algorithm which creates a less specific state-dependent plan that determines the manipulator path as the trajectory is executed (rather than a priori). This paper discusses a number of trajectory generation techniques from these categories and how they may be implemented in a task decompo-sition module of a hierarchical control system. The structure, function, and interfaces of the proposed trajectory gener-ation module are briefly described, followed by several examples of how different algorithms may be performed by the module. The proposed task decomposition module provides a logical structure for trajectory planning and execution, and supports a large number of published trajectory generation techniques.
Integrals of Motion for Discrete-Time Optimal Control Problems
Torres, Delfim F. M.
2003-01-01
We obtain a discrete time analog of E. Noether's theorem in Optimal Control, asserting that integrals of motion associated to the discrete time Pontryagin Maximum Principle can be computed from the quasi-invariance properties of the discrete time Lagrangian and discrete time control system. As corollaries, results for first-order and higher-order discrete problems of the calculus of variations are obtained.
Actor-critic-based optimal tracking for partially unknown nonlinear discrete-time systems.
Kiumarsi, Bahare; Lewis, Frank L
2015-01-01
This paper presents a partially model-free adaptive optimal control solution to the deterministic nonlinear discrete-time (DT) tracking control problem in the presence of input constraints. The tracking error dynamics and reference trajectory dynamics are first combined to form an augmented system. Then, a new discounted performance function based on the augmented system is presented for the optimal nonlinear tracking problem. In contrast to the standard solution, which finds the feedforward and feedback terms of the control input separately, the minimization of the proposed discounted performance function gives both feedback and feedforward parts of the control input simultaneously. This enables us to encode the input constraints into the optimization problem using a nonquadratic performance function. The DT tracking Bellman equation and tracking Hamilton-Jacobi-Bellman (HJB) are derived. An actor-critic-based reinforcement learning algorithm is used to learn the solution to the tracking HJB equation online without requiring knowledge of the system drift dynamics. That is, two neural networks (NNs), namely, actor NN and critic NN, are tuned online and simultaneously to generate the optimal bounded control policy. A simulation example is given to show the effectiveness of the proposed method.
Mehra, R. K.; Washburn, R. B.; Sajan, S.; Carroll, J. V.
1979-01-01
A hierarchical real time algorithm for optimal three dimensional control of aircraft is described. Systematic methods are developed for real time computation of nonlinear feedback controls by means of singular perturbation theory. The results are applied to a six state, three control variable, point mass model of an F-4 aircraft. Nonlinear feedback laws are presented for computing the optimal control of throttle, bank angle, and angle of attack. Real Time capability is assessed on a TI 9900 microcomputer. The breakdown of the singular perturbation approximation near the terminal point is examined Continuation methods are examined to obtain exact optimal trajectories starting from the singular perturbation solutions.
Time dependent optimal switching controls in online selling models
Energy Technology Data Exchange (ETDEWEB)
Bradonjic, Milan [Los Alamos National Laboratory; Cohen, Albert [MICHIGAN STATE UNIV
2010-01-01
We present a method to incorporate dishonesty in online selling via a stochastic optimal control problem. In our framework, the seller wishes to maximize her average wealth level W at a fixed time T of her choosing. The corresponding Hamilton-Jacobi-Bellmann (HJB) equation is analyzed for a basic case. For more general models, the admissible control set is restricted to a jump process that switches between extreme values. We propose a new approach, where the optimal control problem is reduced to a multivariable optimization problem.
Optimal control for parabolic-hyperbolic system with time delay
International Nuclear Information System (INIS)
Kowalewski, A.
1985-07-01
In this paper we consider an optimal control problem for a system described by a linear partial differential equation of the parabolic-hyperbolic type with time delay in the state. The right-hand side of this equation and the initial conditions are not continuous functions usually, but they are measurable functions belonging to L 2 or Lsup(infinity) spaces. Therefore, the solution of this equation is given by a certain Sobolev space. The time delay in the state is constant, but it can be also a function of time. The control time T is fixed in our problem. Making use of the Milutin-Dubovicki theorem, necessary and sufficient conditions of optimality with the quadratic performance functional and constrained control are derived for the Dirichlet problem. The flow chart of the algorithm which can be used in the numerical solving of certain optimization problems for distributed systems is also presented. (author)
On the given accuracy distribution time for quasiclassical trajectory-coherent states
International Nuclear Information System (INIS)
Bagrov, V.G.; Belov, V.V.
1988-01-01
A notion of effective destruction time of a given exactitude of the wave equation approximate solution is introduced. It is shown that in the case of a particle moving in constant uniform magnetic field the effective destruction time of a given exactitude is comparable to the time of one turn of the particle on its orbit. For the motion in electric fields the exactitude may increase with time and its effective destruction does not take place
An Optimization Framework for Dynamic, Distributed Real-Time Systems
Eckert, Klaus; Juedes, David; Welch, Lonnie; Chelberg, David; Bruggerman, Carl; Drews, Frank; Fleeman, David; Parrott, David; Pfarr, Barbara
2003-01-01
Abstract. This paper presents a model that is useful for developing resource allocation algorithms for distributed real-time systems .that operate in dynamic environments. Interesting aspects of the model include dynamic environments, utility and service levels, which provide a means for graceful degradation in resource-constrained situations and support optimization of the allocation of resources. The paper also provides an allocation algorithm that illustrates how to use the model for producing feasible, optimal resource allocations.
Optimal Frequency Ranges for Sub-Microsecond Precision Pulsar Timing
Lam, Michael Timothy; McLaughlin, Maura; Cordes, James; Chatterjee, Shami; Lazio, Joseph
2018-01-01
Precision pulsar timing requires optimization against measurement errors and astrophysical variance from the neutron stars themselves and the interstellar medium. We investigate optimization of arrival time precision as a function of radio frequency and bandwidth. We find that increases in bandwidth that reduce the contribution from receiver noise are countered by the strong chromatic dependence of interstellar effects and intrinsic pulse-profile evolution. The resulting optimal frequency range is therefore telescope and pulsar dependent. We demonstrate the results for five pulsars included in current pulsar timing arrays and determine that they are not optimally observed at current center frequencies. We also find that arrival-time precision can be improved by increases in total bandwidth. Wideband receivers centered at high frequencies can reduce required overall integration times and provide significant improvements in arrival time uncertainty by a factor of $\\sim$$\\sqrt{2}$ in most cases, assuming a fixed integration time. We also discuss how timing programs can be extended to pulsars with larger dispersion measures through the use of higher-frequency observations.
Optimal Conditional Reachability for Multi-Priced Timed Automata
DEFF Research Database (Denmark)
Larsen, Kim Guldstrand; Rasmussen, Jacob Illum
2005-01-01
In this paper, we prove decidability of the optimal conditional reachability problem for multi-priced timed automata, an extension of timed automata with multiple cost variables evolving according to given rates for each location. More precisely, we consider the problem of determining the minimal...
On using priced timed automata to achieve optimal scheduling
DEFF Research Database (Denmark)
Rasmussen, Jacob Illum; Larsen, Kim Guldstrand; Subramani, K.
2006-01-01
This contribution reports on the considerable effort made recently towards extending and applying well-established timed automata technology to optimal scheduling and planning problems. The effort of the authors in this direction has to a large extent been carried out as part of the European proj...... of so-called priced timed automata....
Beudaert , Xavier; Lavernhe , Sylvain; Tournier , Christophe
2014-01-01
International audience; In the common machining process of free-form surfaces, CAM software generates approximated tool paths because of the input tool path format of the industrial CNC. Then, marks on finished surfaces may appear due to non smooth feedrate planning during interpolation. The Direct Trajectory Interpolation on the Surface (DTIS) method allows managing the tool path geometry and the kinematical parameters to achieve higher productivity and a better surface quality. Machining ex...
Jia, Duo; Wang, Cang Jiao; Mu, Shou Guo; Zhao, Hua
2017-06-18
The spatiotemporal dynamic patterns of vegetation in mining area are still unclear. This study utilized time series trajectory segmentation algorithm to fit Landsat NDVI time series which generated from fusion images at the most prosperous period of growth based on ESTARFM algorithm. Combining with the shape features of the fitted trajectory, this paper extracted five vegetation dynamic patterns including pre-disturbance type, continuous disturbance type, stabilization after disturbance type, stabilization between disturbance and recovery type, and recovery after disturbance type. The result indicated that recovery after disturbance type was the dominant vegetation change pattern among the five types of vegetation dynamic pattern, which accounted for 55.2% of the total number of pixels. The follows were stabilization after disturbance type and continuous disturbance type, accounting for 25.6% and 11.0%, respectively. The pre-disturbance type and stabilization between disturbance and recovery type accounted for 3.5% and 4.7%, respectively. Vegetation disturbance mainly occurred from 2004 to 2009 in Shengli mining area. The onset time of stable state was 2008 and the spatial locations mainlydistributed in open-pit stope and waste dump. The reco-very state mainly started since the year of 2008 and 2010, while the areas were small and mainly distributed at the periphery of open-pit stope and waste dump. Duration of disturbance was mainly 1 year. The duration of stable period usually sustained 7 years. The duration of recovery state of the type of stabilization between disturbances continued 2 to 5 years, while the type of recovery after disturbance often sustained 8 years.
Trajectories of martian habitability.
Cockell, Charles S
2014-02-01
Beginning from two plausible starting points-an uninhabited or inhabited Mars-this paper discusses the possible trajectories of martian habitability over time. On an uninhabited Mars, the trajectories follow paths determined by the abundance of uninhabitable environments and uninhabited habitats. On an inhabited Mars, the addition of a third environment type, inhabited habitats, results in other trajectories, including ones where the planet remains inhabited today or others where planetary-scale life extinction occurs. By identifying different trajectories of habitability, corresponding hypotheses can be described that allow for the various trajectories to be disentangled and ultimately a determination of which trajectory Mars has taken and the changing relative abundance of its constituent environments.
Bricker, Jonathan B; Sridharan, Vasundhara; Zhu, Yifan; Mull, Kristin E; Heffner, Jaimee L; Watson, Noreen L; McClure, Jennifer B; Di, Chongzhi
2018-04-20
Little is known about how individuals engage with electronic health (eHealth) interventions over time and whether this engagement predicts health outcomes. The objectives of this study, by using the example of a specific type of eHealth intervention (ie, websites for smoking cessation), were to determine (1) distinct groups of log-in trajectories over a 12-month period, (2) their association with smoking cessation, and (3) baseline user characteristics that predict trajectory group membership. We conducted a functional clustering analysis of 365 consecutive days of log-in data from both arms of a large (N=2637) randomized trial of 2 website interventions for smoking cessation (WebQuit and Smokefree), with a primary outcome of 30-day point prevalence smoking abstinence at 12 months. We conducted analyses for each website separately. A total of 3 distinct trajectory groups emerged for each website. For WebQuit, participants were clustered into 3 groups: 1-week users (682/1240, 55.00% of the sample), 5-week users (399/1240, 32.18%), and 52-week users (159/1240, 12.82%). Compared with the 1-week users, the 5- and 52-week users had 57% higher odds (odds ratio [OR] 1.57, 95% CI 1.13-2.17; P=.007) and 124% higher odds (OR 2.24, 95% CI 1.45-3.43; Pusers were clustered into 3 groups: 1-week users (645/1309, 49.27% of the sample), 4-week users (395/1309, 30.18%), and 5-week users (269/1309, 20.55%). Compared with the 1-week users, 5-week users (but not 4-week users; P=.99) had 48% higher odds (OR 1.48, 95% CI 1.05-2.07; P=.02) of being abstinent at 12 months. In general, the WebQuit intervention had a greater number of weekly log-ins within each of the 3 trajectory groups as compared with those of the Smokefree intervention. Baseline characteristics associated with trajectory group membership varied between websites. Patterns of 1-, 4-, and 5-week usage of websites may be common for how people engage in eHealth interventions. The 5-week usage of either website, and 52-week
Time-optimal control of infinite order distributed parabolic systems involving time lags
Directory of Open Access Journals (Sweden)
G.M. Bahaa
2014-06-01
Full Text Available A time-optimal control problem for linear infinite order distributed parabolic systems involving constant time lags appear both in the state equation and in the boundary condition is presented. Some particular properties of the optimal control are discussed.
Optimization of recurrent neural networks for time series modeling
DEFF Research Database (Denmark)
Pedersen, Morten With
1997-01-01
The present thesis is about optimization of recurrent neural networks applied to time series modeling. In particular is considered fully recurrent networks working from only a single external input, one layer of nonlinear hidden units and a li near output unit applied to prediction of discrete time...... series. The overall objective s are to improve training by application of second-order methods and to improve generalization ability by architecture optimization accomplished by pruning. The major topics covered in the thesis are: 1. The problem of training recurrent networks is analyzed from a numerical...... of solution obtained as well as computation time required. 3. A theoretical definition of the generalization error for recurrent networks is provided. This definition justifies a commonly adopted approach for estimating generalization ability. 4. The viability of pruning recurrent networks by the Optimal...
Atomic Stretch: Optimally bounded real-time stretching and beyond
DEFF Research Database (Denmark)
Jensen, Rasmus Ramsbøl; Nielsen, Jannik Boll
2016-01-01
Atomic Stretch is a plugin for your preferred Adobe video editing tool, allowing real-time smooth and optimally bounded retarget-ting from and to any aspect ratio. The plugin allows preserving of high interest pixels through a protected region, attention redirection through color-modification, co......Atomic Stretch is a plugin for your preferred Adobe video editing tool, allowing real-time smooth and optimally bounded retarget-ting from and to any aspect ratio. The plugin allows preserving of high interest pixels through a protected region, attention redirection through color...
Setting the optimal type of equipment to be adopted and the optimal time to replace it
Albici, Mihaela
2009-01-01
The mathematical models of equipment’s wear and tear, and replacement theory aim at deciding on the purchase selection of a certain equipment type, the optimal exploitation time of the equipment, the time and ways to replace or repair it, or to ensure its spare parts, the equipment’s performance in the technical progress context, the opportunities to modernize it etc.
Real Time Optimal Control of Supercapacitor Operation for Frequency Response
Energy Technology Data Exchange (ETDEWEB)
Luo, Yusheng; Panwar, Mayank; Mohanpurkar, Manish; Hovsapian, Rob
2016-07-01
Supercapacitors are gaining wider applications in power systems due to fast dynamic response. Utilizing supercapacitors by means of power electronics interfaces for power compensation is a proven effective technique. For applications such as requency restoration if the cost of supercapacitors maintenance as well as the energy loss on the power electronics interfaces are addressed. It is infeasible to use traditional optimization control methods to mitigate the impacts of frequent cycling. This paper proposes a Front End Controller (FEC) using Generalized Predictive Control featuring real time receding optimization. The optimization constraints are based on cost and thermal management to enhance to the utilization efficiency of supercapacitors. A rigorous mathematical derivation is conducted and test results acquired from Digital Real Time Simulator are provided to demonstrate effectiveness.
Low Thrust Trajectory Design for GSFC Missions Project
National Aeronautics and Space Administration — The Evolutionary Mission Trajectory Generator (EMTG) is a global trajectory optimization tool. EMTG is intended for use in designing interplanetary missions which...
Diamond's temperature: Unruh effect for bounded trajectories and thermal time hypothesis
International Nuclear Information System (INIS)
Martinetti, Pierre; Rovelli, Carlo
2003-01-01
We study the Unruh effect for an observer with a finite lifetime, using the thermal time hypothesis. The thermal time hypothesis maintains that: (i) time is the physical quantity determined by the flow defined by a state over an observable algebra and (ii) when this flow is proportional to a geometric flow in spacetime, the temperature is the ratio between flow parameter and proper time. An eternal accelerated Unruh observer has access to the local algebra associated with a Rindler wedge. The flow defined by the Minkowski vacuum of a field theory over this algebra is proportional to a flow in spacetime and the associated temperature is the Unruh temperature. An observer with a finite lifetime has access to the local observable algebra associated with a finite spacetime region called a 'diamond'. The flow defined by the Minkowski vacuum of a (four-dimensional, conformally invariant) quantum field theory over this algebra is also proportional to a flow in spacetime. The associated temperature generalizes the Unruh temperature to finite lifetime observers. Furthermore, this temperature does not vanish even in the limit in which the acceleration is zero. The temperature associated with an inertial observer with lifetime Τ which we denote as 'diamond's temperature', is T D = 2 h/ π k b Τ. This temperature is related to the fact that a finite lifetime observer does not have access to all the degrees of freedom of the quantum field theory. However, we do not attempt to provide any physical interpretation of our proposed assignment of a temperature
K-space trajectory mapping and its application for ultrashort Echo time imaging
Czech Academy of Sciences Publication Activity Database
Latta, P.; Starčuk jr., Zenon; Gruwel, M. L. H.; Weber, M.H.; Tomanek, B.
2017-01-01
Roč. 36, February (2017), s. 68-76 ISSN 0730-725X R&D Projects: GA ČR(CZ) GA15-12607S Institutional support: RVO:68081731 Keywords : gradient imperfections * K-space deviation * trajectrory estaimation * ultrashort echo time Subject RIV: FS - Medical Facilities ; Equipment OBOR OECD: Medical engineering Impact factor: 2.225, year: 2016
International Nuclear Information System (INIS)
Galanti, Eli; Kaspi, Yohai; Durante, Daniele; Finocchiaro, Stefano; Iess, Luciano
2017-01-01
The upcoming Juno spacecraft measurements have the potential of improving our knowledge of Jupiter’s gravity field. The analysis of the Juno Doppler data will provide a very accurate reconstruction of spatial gravity variations, but these measurements will be very accurate only over a limited latitudinal range. In order to deduce the full gravity field of Jupiter, additional information needs to be incorporated into the analysis, especially regarding the Jovian flow structure and its depth, which can influence the measured gravity field. In this study we propose a new iterative method for the estimation of the Jupiter gravity field, using a simulated Juno trajectory, a trajectory estimation model, and an adjoint-based inverse model for the flow dynamics. We test this method both for zonal harmonics only and with a full gravity field including tesseral harmonics. The results show that this method can fit some of the gravitational harmonics better to the “measured” harmonics, mainly because of the added information from the dynamical model, which includes the flow structure. Thus, it is suggested that the method presented here has the potential of improving the accuracy of the expected gravity harmonics estimated from the Juno and Cassini radio science experiments.
Energy Technology Data Exchange (ETDEWEB)
Galanti, Eli; Kaspi, Yohai [Department of Earth and Planetary Sciences, Weizmann Institute of Science, Rehovot (Israel); Durante, Daniele; Finocchiaro, Stefano; Iess, Luciano, E-mail: eli.galanti@weizmann.ac.il [Dipartimento di Ingegneria Meccanica e Aerospaziale, Sapienza Universita di Roma, Rome (Italy)
2017-07-01
The upcoming Juno spacecraft measurements have the potential of improving our knowledge of Jupiter’s gravity field. The analysis of the Juno Doppler data will provide a very accurate reconstruction of spatial gravity variations, but these measurements will be very accurate only over a limited latitudinal range. In order to deduce the full gravity field of Jupiter, additional information needs to be incorporated into the analysis, especially regarding the Jovian flow structure and its depth, which can influence the measured gravity field. In this study we propose a new iterative method for the estimation of the Jupiter gravity field, using a simulated Juno trajectory, a trajectory estimation model, and an adjoint-based inverse model for the flow dynamics. We test this method both for zonal harmonics only and with a full gravity field including tesseral harmonics. The results show that this method can fit some of the gravitational harmonics better to the “measured” harmonics, mainly because of the added information from the dynamical model, which includes the flow structure. Thus, it is suggested that the method presented here has the potential of improving the accuracy of the expected gravity harmonics estimated from the Juno and Cassini radio science experiments.
Optimizing the search for transiting planets in long time series
Ofir, Aviv
2014-01-01
Context. Transit surveys, both ground- and space-based, have already accumulated a large number of light curves that span several years. Aims: The search for transiting planets in these long time series is computationally intensive. We wish to optimize the search for both detection and computational efficiencies. Methods: We assume that the searched systems can be described well by Keplerian orbits. We then propagate the effects of different system parameters to the detection parameters. Results: We show that the frequency information content of the light curve is primarily determined by the duty cycle of the transit signal, and thus the optimal frequency sampling is found to be cubic and not linear. Further optimization is achieved by considering duty-cycle dependent binning of the phased light curve. By using the (standard) BLS, one is either fairly insensitive to long-period planets or less sensitive to short-period planets and computationally slower by a significant factor of ~330 (for a 3 yr long dataset). We also show how the physical system parameters, such as the host star's size and mass, directly affect transit detection. This understanding can then be used to optimize the search for every star individually. Conclusions: By considering Keplerian dynamics explicitly rather than implicitly one can optimally search the BLS parameter space. The presented Optimal BLS enhances the detectability of both very short and very long period planets, while allowing such searches to be done with much reduced resources and time. The Matlab/Octave source code for Optimal BLS is made available. The MATLAB code is only available at the CDS via anonymous ftp to http://cdsarc.u-strasbg.fr (ftp://130.79.128.5) or via http://cdsarc.u-strasbg.fr/viz-bin/qcat?J/A+A/561/A138
An Optimization Method of Time Window Based on Travel Time and Reliability
Directory of Open Access Journals (Sweden)
Fengjie Fu
2015-01-01
Full Text Available The dynamic change of urban road travel time was analyzed using video image detector data, and it showed cyclic variation, so the signal cycle length at the upstream intersection was conducted as the basic unit of time window; there was some evidence of bimodality in the actual travel time distributions; therefore, the fitting parameters of the travel time bimodal distribution were estimated using the EM algorithm. Then the weighted average value of the two means was indicated as the travel time estimation value, and the Modified Buffer Time Index (MBIT was expressed as travel time variability; based on the characteristics of travel time change and MBIT along with different time windows, the time window was optimized dynamically for minimum MBIT, requiring that the travel time change be lower than the threshold value and traffic incidents can be detected real time; finally, travel times on Shandong Road in Qingdao were estimated every 10 s, 120 s, optimal time windows, and 480 s and the comparisons demonstrated that travel time estimation in optimal time windows can exactly and steadily reflect the real-time traffic. It verifies the effectiveness of the optimization method.
Online gaming for learning optimal team strategies in real time
Hudas, Gregory; Lewis, F. L.; Vamvoudakis, K. G.
2010-04-01
This paper first presents an overall view for dynamical decision-making in teams, both cooperative and competitive. Strategies for team decision problems, including optimal control, zero-sum 2-player games (H-infinity control) and so on are normally solved for off-line by solving associated matrix equations such as the Riccati equation. However, using that approach, players cannot change their objectives online in real time without calling for a completely new off-line solution for the new strategies. Therefore, in this paper we give a method for learning optimal team strategies online in real time as team dynamical play unfolds. In the linear quadratic regulator case, for instance, the method learns the Riccati equation solution online without ever solving the Riccati equation. This allows for truly dynamical team decisions where objective functions can change in real time and the system dynamics can be time-varying.
Resource-Optimal Scheduling Using Priced Timed Automata
DEFF Research Database (Denmark)
Larsen, Kim Guldstrand; Rasmussen, Jacob Illum; Subramani, K.
2004-01-01
In this paper, we show how the simple structure of the linear programs encountered during symbolic minimum-cost reachability analysis of priced timed automata can be exploited in order to substantially improve the performance of the current algorithm. The idea is rooted in duality of linear......-80 percent performance gain. As a main application area, we show how to solve energy-optimal task graph scheduling problems using the framework of priced timed automata....
International Nuclear Information System (INIS)
Ohtani, H; Ito, A M; Hagita, K; Kato, T; Saitoh, T; Takeda, T
2013-01-01
We propose in this paper a data compression scheme for large-scale particle simulations, which has favorable prospects for scientific visualization of particle systems. Our data compression concepts deal with the data of particle orbits obtained by simulation directly and have the following features: (i) Through control over the compression scheme, the difference between the simulation variables and the reconstructed values for the visualization from the compressed data becomes smaller than a given constant. (ii) The particles in the simulation are regarded as independent particles and the time-series data for each particle is compressed with an independent time-step for the particle. (iii) A particle trajectory is approximated by a polynomial function based on the characteristic motion of the particle. It is reconstructed as a continuous curve through interpolation from the values of the function for intermediate values of the sample data. We name this concept ''TOKI (Time-Order Kinetic Irreversible compression)''. In this paper, we present an example of an implementation of a data-compression scheme with the above features. Several application results are shown for plasma and galaxy formation simulation data
Gut microbiota trajectory in patients with severe burn: A time series study.
Wang, Xinying; Yang, Jianbo; Tian, Feng; Zhang, Li; Lei, Qiucheng; Jiang, Tingting; Zhou, Jihong; Yuan, Siming; Wang, Jun; Feng, Zhijian; Li, Jieshou
2017-12-01
This time series experiments aimed to investigate the dynamic change of gut microbiomes after severe burn and its association with enteral nutrition (EN). Seven severely burned patients who suffered from a severe metal dust explosion injury were recruited in this study. The dynamic changes of gut microbiome of fecal samples at six time points (1-3days, 2, 3, 4, 5 and 6weeks after severe burn) were detected using 16S ribosomal RNA pyrosequencing technology. Following the post-burn temporal order, gut microbiota dysbiosis was detected in the gut microbiome after severe burn, then it was gradually resolved. The bio-diversity of gut bacteria was initially decreased, and then returned to normal level. In addition, at the early stage (from 2 to 4weeks), the majority of those patients' gut microbiome were opportunistic pathogen genus, Enterococcus and Escherichia; while at the end of this study, the majority was a beneficial genus, Bacteroides. EN can promote the recovery of gut microbiota, especially in EN well-tolerated patients. Severe burn injury can cause a dramatic dysbiosis of gut microbiota. A trend of enriched beneficial bacteria and diminished opportunistic pathogen bacteria may serve as prognosis microbiome biomarkers of severe burn patients. Copyright © 2017 Elsevier Inc. All rights reserved.
Daripa, Prabir
2011-11-01
We numerically investigate the optimal viscous profile in constant time injection policy of enhanced oil recovery. In particular, we investigate the effect of a combination of interfacial and layer instabilities in three-layer porous media flow on the overall growth of instabilities and thereby characterize the optimal viscous profile. Results based on monotonic and non-monotonic viscous profiles will be presented. Time permitting. we will also present results on multi-layer porous media flows for Newtonian and non-Newtonian fluids and compare the results. The support of Qatar National Fund under a QNRF Grant is acknowledged.
Optimal moving grids for time-dependent partial differential equations
Wathen, A. J.
1992-01-01
Various adaptive moving grid techniques for the numerical solution of time-dependent partial differential equations were proposed. The precise criterion for grid motion varies, but most techniques will attempt to give grids on which the solution of the partial differential equation can be well represented. Moving grids are investigated on which the solutions of the linear heat conduction and viscous Burgers' equation in one space dimension are optimally approximated. Precisely, the results of numerical calculations of optimal moving grids for piecewise linear finite element approximation of PDE solutions in the least-squares norm are reported.
Gonzalez-Mestres, Luis
2016-11-01
The development of the statistical bootstrap model for hadrons, quarks and nuclear matter occurred during the 1960s and the 1970s in a period of exceptional theoretical creativity. And if the transition from hadrons to quarks and gluons as fundamental particles was then operated, a transition from standard particles to preons and from the standard space-time to a spinorial one may now be necessary, including related pre-Big Bang scenarios. We present here a brief historical analysis of the scientific problematic of the 1960s in Particle Physics and of its evolution until the end of the 1970s, including cosmological issues. Particular attention is devoted to the exceptional role of Rolf Hagedorn and to the progress of the statistical boostrap model until the experimental search for the quark-gluon plasma started being considered. In parallel, we simultaneously expose recent results and ideas concerning Particle Physics and in Cosmology, an discuss current open questions. Assuming preons to be constituents of the physical vacuum and the standard particles excitations of this vacuum (the superbradyon hypothesis we introduced in 1995), together with a spinorial space-time (SST), a new kind of Regge trajectories is expected to arise where the angular momentum spacing will be of 1/2 instead of 1. Standard particles can lie on such Regge trajectories inside associated internal symmetry multiplets, and the preonic vacuum structure can generate a new approach to Quantum Field Theory. As superbradyons are superluminal preons, some of the vacuum excitations can have critical speeds larger than the speed of light c, but the cosmological evolution selects by itself the particles with the smallest critical speed (the speed of light). In the new Particle Physics and Cosmology emerging from the pattern thus developed, Hagedornlike temperatures will naturally be present. As new space, time, momentum and energy scales are expected to be generated by the preonic vacuum dynamics, the
Optimal Time to Invest Energy Storage System under Uncertainty Conditions
Directory of Open Access Journals (Sweden)
Yongma Moon
2014-04-01
Full Text Available This paper proposes a model to determine the optimal investment time for energy storage systems (ESSs in a price arbitrage trade application under conditions of uncertainty over future profits. The adoption of ESSs can generate profits from price arbitrage trade, which are uncertain because the future marginal prices of electricity will change depending on supply and demand. In addition, since the investment is optional, an investor can delay adopting an ESS until it becomes profitable, and can decide the optimal time. Thus, when we evaluate this investment, we need to incorporate the investor’s option which is not captured by traditional evaluation methods. In order to incorporate these aspects, we applied real option theory to our proposed model, which provides an optimal investment threshold. Our results concerning the optimal time to invest show that if future profits that are expected to be obtained from arbitrage trade become more uncertain, an investor needs to wait longer to invest. Also, improvement in efficiency of ESSs can reduce the uncertainty of arbitrage profit and, consequently, the reduced uncertainty enables earlier ESS investment, even for the same power capacity. Besides, when a higher rate of profits is expected and ESS costs are higher, an investor needs to wait longer. Also, by comparing a widely used net present value model to our real option model, we show that the net present value method underestimates the value for ESS investment and misleads the investor to make an investment earlier.
Optimal redundant systems for works with random processing time
International Nuclear Information System (INIS)
Chen, M.; Nakagawa, T.
2013-01-01
This paper studies the optimal redundant policies for a manufacturing system processing jobs with random working times. The redundant units of the parallel systems and standby systems are subject to stochastic failures during the continuous production process. First, a job consisting of only one work is considered for both redundant systems and the expected cost functions are obtained. Next, each redundant system with a random number of units is assumed for a single work. The expected cost functions and the optimal expected numbers of units are derived for redundant systems. Subsequently, the production processes of N tandem works are introduced for parallel and standby systems, and the expected cost functions are also summarized. Finally, the number of works is estimated by a Poisson distribution for the parallel and standby systems. Numerical examples are given to demonstrate the optimization problems of redundant systems
Real-Time Demand Side Management Algorithm Using Stochastic Optimization
Directory of Open Access Journals (Sweden)
Moses Amoasi Acquah
2018-05-01
Full Text Available A demand side management technique is deployed along with battery energy-storage systems (BESS to lower the electricity cost by mitigating the peak load of a building. Most of the existing methods rely on manual operation of the BESS, or even an elaborate building energy-management system resorting to a deterministic method that is susceptible to unforeseen growth in demand. In this study, we propose a real-time optimal operating strategy for BESS based on density demand forecast and stochastic optimization. This method takes into consideration uncertainties in demand when accounting for an optimal BESS schedule, making it robust compared to the deterministic case. The proposed method is verified and tested against existing algorithms. Data obtained from a real site in South Korea is used for verification and testing. The results show that the proposed method is effective, even for the cases where the forecasted demand deviates from the observed demand.
Optimal Real-time Dispatch for Integrated Energy Systems
DEFF Research Database (Denmark)
Anvari-Moghaddam, Amjad; Guerrero, Josep M.; Rahimi-Kian, Ashkan
2016-01-01
With the emerging of small-scale integrated energy systems (IESs), there are significant potentials to increase the functionality of a typical demand-side management (DSM) strategy and typical implementation of building-level distributed energy resources (DERs). By integrating DSM and DERs...... into a cohesive, networked package that fully utilizes smart energy-efficient end-use devices, advanced building control/automation systems, and integrated communications architectures, it is possible to efficiently manage energy and comfort at the end-use location. In this paper, an ontology-driven multi......-agent control system with intelligent optimizers is proposed for optimal real-time dispatch of an integrated building and microgrid system considering coordinated demand response (DR) and DERs management. The optimal dispatch problem is formulated as a mixed integer nonlinear programing problem (MINLP...
Dynamic ADMM for Real-time Optimal Power Flow: Preprint
Energy Technology Data Exchange (ETDEWEB)
Dall-Anese, Emiliano [National Renewable Energy Laboratory (NREL), Golden, CO (United States)
2018-02-23
This paper considers distribution networks featuring distributed energy resources (DERs), and develops a dynamic optimization method to maximize given operational objectives in real time while adhering to relevant network constraints. The design of the dynamic algorithm is based on suitable linearizations of the AC power flow equations, and it leverages the so-called alternating direction method of multipliers (ADMM). The steps of the ADMM, however, are suitably modified to accommodate appropriate measurements from the distribution network and the DERs. With the aid of these measurements, the resultant algorithm can enforce given operational constraints in spite of inaccuracies in the representation of the AC power flows, and it avoids ubiquitous metering to gather the state of non-controllable resources. Optimality and convergence of the propose algorithm are established in terms of tracking of the solution of a convex surrogate of the AC optimal power flow problem.
Spectroscopic determination of optimal hydration time of zircon surface
Energy Technology Data Exchange (ETDEWEB)
Ordonez R, E. [ININ, Departamento de Quimica, Carretera Mexico-Toluca s/n, 52750 Ocoyoacac, Estado de Mexico (Mexico); Garcia R, G. [Instituto Tecnologico de Toluca, Division de Estudios del Posgrado, Av. Tecnologico s/n, Ex-Rancho La Virgen, 52140 Metepec, Estado de Mexico (Mexico); Garcia G, N., E-mail: eduardo.ordonez@inin.gob.m [Universidad Autonoma del Estado de Mexico, Facultad de Quimica, Av. Colon y Av. Tollocan, 50180 Toluca, Estado de Mexico (Mexico)
2010-07-01
When a mineral surface is immersed in an aqueous solution, it develops and electric charge produced by the amphoteric dissociation of hydroxyl groups created by the hydration of the solid surface. This is one influential surface property. The complete hydration process takes a time which is specific for each mineral species. The knowledge of the aqueous solution contact time for complete surface hydration is mandatory for further surface phenomena studies. This study deals with the optimal hydration time of the raw zircon (ZrSiO{sub 4}) surface comparing the classical potentiometric titrations with a fluorescence spectroscopy technique. The latter is easy and rea liable as it demands only one sample batch to determine the optimal time to ensure a total hydration of the zircon surface. The analytical results of neutron activation analysis showed the presence of trace quantities of Dy{sup 3+}, Eu{sup 3+} and Er{sup 3} in the bulk of zircon. The Dy{sup 3+} is structured in the zircon crystalline lattice and undergoes the same chemical reactions as zircon. Furthermore, the Dy{sup 3+} has a good fluorescent response whose intensity is enhanced by hydration molecules. The results show that, according to the potentiometric analysis, the hydration process for each batch (at least 8 sample batches) takes around 2 h, while the spectrometric method indicates only 5 minutes from only one batch. Both methods showed that the zircon surface have a 16 h optimal hydration time. (Author)
Spectroscopic determination of optimal hydration time of zircon surface
International Nuclear Information System (INIS)
Ordonez R, E.; Garcia R, G.; Garcia G, N.
2010-01-01
When a mineral surface is immersed in an aqueous solution, it develops and electric charge produced by the amphoteric dissociation of hydroxyl groups created by the hydration of the solid surface. This is one influential surface property. The complete hydration process takes a time which is specific for each mineral species. The knowledge of the aqueous solution contact time for complete surface hydration is mandatory for further surface phenomena studies. This study deals with the optimal hydration time of the raw zircon (ZrSiO 4 ) surface comparing the classical potentiometric titrations with a fluorescence spectroscopy technique. The latter is easy and rea liable as it demands only one sample batch to determine the optimal time to ensure a total hydration of the zircon surface. The analytical results of neutron activation analysis showed the presence of trace quantities of Dy 3+ , Eu 3+ and Er 3 in the bulk of zircon. The Dy 3+ is structured in the zircon crystalline lattice and undergoes the same chemical reactions as zircon. Furthermore, the Dy 3+ has a good fluorescent response whose intensity is enhanced by hydration molecules. The results show that, according to the potentiometric analysis, the hydration process for each batch (at least 8 sample batches) takes around 2 h, while the spectrometric method indicates only 5 minutes from only one batch. Both methods showed that the zircon surface have a 16 h optimal hydration time. (Author)
Optimal Real-time Dispatch for Integrated Energy Systems
Energy Technology Data Exchange (ETDEWEB)
Firestone, Ryan Michael [Univ. of California, Berkeley, CA (United States)
2007-05-31
This report describes the development and application of a dispatch optimization algorithm for integrated energy systems (IES) comprised of on-site cogeneration of heat and electricity, energy storage devices, and demand response opportunities. This work is intended to aid commercial and industrial sites in making use of modern computing power and optimization algorithms to make informed, near-optimal decisions under significant uncertainty and complex objective functions. The optimization algorithm uses a finite set of randomly generated future scenarios to approximate the true, stochastic future; constraints are included that prevent solutions to this approximate problem from deviating from solutions to the actual problem. The algorithm is then expressed as a mixed integer linear program, to which a powerful commercial solver is applied. A case study of United States Postal Service Processing and Distribution Centers (P&DC) in four cities and under three different electricity tariff structures is conducted to (1) determine the added value of optimal control to a cogeneration system over current, heuristic control strategies; (2) determine the value of limited electric load curtailment opportunities, with and without cogeneration; and (3) determine the trade-off between least-cost and least-carbon operations of a cogeneration system. Key results for the P&DC sites studied include (1) in locations where the average electricity and natural gas prices suggest a marginally profitable cogeneration system, optimal control can add up to 67% to the value of the cogeneration system; optimal control adds less value in locations where cogeneration is more clearly profitable; (2) optimal control under real-time pricing is (a) more complicated than under typical time-of-use tariffs and (b) at times necessary to make cogeneration economic at all; (3) limited electric load curtailment opportunities can be more valuable as a compliment to the cogeneration system than alone; and
O'Brien, Ed
2015-06-01
Who do we see when envisioning our "past self" and "future self"? Extant research finds a motivation to perceive improvement over time, such that past selves are seen as worse versions, and future selves as better versions, of current selves. However, the broader components comprising "worse" or "better" beyond domain-specific achievement (e.g., "Last year I failed at dieting, but next year I'll succeed") are less well understood. Are there more general qualities ascribed to the person we recall versus imagine being? Six studies suggest so, extending the 2-dimensional mind perception framework to the self: Past selves seem to possess highly emotional but not very rational minds, whereas future selves seem to possess highly rational but not very emotional minds (Studies 1a, 1b, 1c). Consistent with motivated improvement, this asymmetry does not emerge in evaluating others and applies uniquely to self-judgment (Study 2). Thus, our pervasive belief in changing for the "better" specifically means becoming more rational types of people. This observation has asymmetric consequences. Participants who brought to mind future selves sought intellectual enrichment (Study 3) and performed better on a self-control task (Study 4); however, participants who brought to mind past selves sought emotional enrichment and performed better on the same task when allegedly measuring enjoyment. These findings build a bridge between mind perception and intertemporal dynamics, raising novel implications for the present. Thinking about the future may not uniformly "improve" decisions and behaviors; rather, it mostly facilitates rational-related pursuits, whereas thinking about the past may enhance feeling-related experiences. (c) 2015 APA, all rights reserved).
Bless, Robert R.
1991-01-01
A time-domain finite element method is developed for optimal control problems. The theory derived is general enough to handle a large class of problems including optimal control problems that are continuous in the states and controls, problems with discontinuities in the states and/or system equations, problems with control inequality constraints, problems with state inequality constraints, or problems involving any combination of the above. The theory is developed in such a way that no numerical quadrature is necessary regardless of the degree of nonlinearity in the equations. Also, the same shape functions may be employed for every problem because all strong boundary conditions are transformed into natural or weak boundary conditions. In addition, the resulting nonlinear algebraic equations are very sparse. Use of sparse matrix solvers allows for the rapid and accurate solution of very difficult optimization problems. The formulation is applied to launch-vehicle trajectory optimization problems, and results show that real-time optimal guidance is realizable with this method. Finally, a general problem solving environment is created for solving a large class of optimal control problems. The algorithm uses both FORTRAN and a symbolic computation program to solve problems with a minimum of user interaction. The use of symbolic computation eliminates the need for user-written subroutines which greatly reduces the setup time for solving problems.
Time-Optimal Real-Time Test Case Generation using UPPAAL
DEFF Research Database (Denmark)
Hessel, Anders; Larsen, Kim Guldstrand; Nielsen, Brian
2004-01-01
Testing is the primary software validation technique used by industry today, but remains ad hoc, error prone, and very expensive. A promising improvement is to automatically generate test cases from formal models of the system under test. We demonstrate how to automatically generate real...... test purposes or generated automatically from various coverage criteria of the model.......-time conformance test cases from timed automata specifications. Specifically we demonstrate how to fficiently generate real-time test cases with optimal execution time i.e test cases that are the fastest possible to execute. Our technique allows time optimal test cases to be generated using manually formulated...
Optimizing capital and time expenditures for drilling service operations
Energy Technology Data Exchange (ETDEWEB)
Zazovskiy, F Ya; Soltysyak, T I
1980-01-01
The operational efficiency of drilling services operations management are examined. The structure of time expenditure is analyzed for repair operations according to equipment type employed by the Ivano-Frankovsk Drilling Management under the Ukrneft' enterprise during 1977. The results of this analysis are weighed against a series of service operations carried out at industrial enterprises and connected with technical disruptions. Some of the cases examined include service competion operations outside of the industrial units when technical processes are disrupted only for the change of equipment which has outlived its usefulness and is no longer in series production. First of all, time expended for repair work can be reduced to zero during the drilling of shallow wells which do not require extensive drilling time. The actual savings, both in time and money, as far as repair work is concerned, hinges on the actual time factor for total oil depetion. An equation is provided for optimal time expenditure necessary for repair work and equipment replacement. An actual example is given from the Dolinsk UBR (Drillin Management) under the Ukrneft' enterprise where time spent on actual service operations has appeared to be less than the optimal figure cited in the above material. This is possible because of increased capital expenditures.
Young, Deidra; Bebbington, Ami; de Klerk, Nick; Bower, Carol; Nagarajan, Lakshmi; Leonard, Helen
2011-01-01
This study aimed to investigate the trajectories over time of health status and health service use in Rett syndrome by mutation type. Data were obtained from questionnaires administered over 6 years to 256 participants from the Australian Rett Syndrome Database. Health status (episodes of illness and medication load) and health service use…
Foster, Richard W.
1989-07-01
The application of rocket-based combined cycle (RBCC) engines to booster-stage propulsion, in combination with all-rocket second stages in orbital-ascent missions, has been studied since the mid-1960s; attention is presently given to the case of the 'ejector scramjet' RBCC configuration's application to SSTO vehicles. While total mass delivered to initial orbit is optimized at Mach 20, payload delivery capability to initial orbit optimizes at Mach 17, primarily due to the reduction of hydrogen fuel tankage structure, insulation, and thermal protection system weights.
Chaos Time Series Prediction Based on Membrane Optimization Algorithms
Directory of Open Access Journals (Sweden)
Meng Li
2015-01-01
Full Text Available This paper puts forward a prediction model based on membrane computing optimization algorithm for chaos time series; the model optimizes simultaneously the parameters of phase space reconstruction (τ,m and least squares support vector machine (LS-SVM (γ,σ by using membrane computing optimization algorithm. It is an important basis for spectrum management to predict accurately the change trend of parameters in the electromagnetic environment, which can help decision makers to adopt an optimal action. Then, the model presented in this paper is used to forecast band occupancy rate of frequency modulation (FM broadcasting band and interphone band. To show the applicability and superiority of the proposed model, this paper will compare the forecast model presented in it with conventional similar models. The experimental results show that whether single-step prediction or multistep prediction, the proposed model performs best based on three error measures, namely, normalized mean square error (NMSE, root mean square error (RMSE, and mean absolute percentage error (MAPE.
Optimal model-free prediction from multivariate time series
Runge, Jakob; Donner, Reik V.; Kurths, Jürgen
2015-05-01
Forecasting a time series from multivariate predictors constitutes a challenging problem, especially using model-free approaches. Most techniques, such as nearest-neighbor prediction, quickly suffer from the curse of dimensionality and overfitting for more than a few predictors which has limited their application mostly to the univariate case. Therefore, selection strategies are needed that harness the available information as efficiently as possible. Since often the right combination of predictors matters, ideally all subsets of possible predictors should be tested for their predictive power, but the exponentially growing number of combinations makes such an approach computationally prohibitive. Here a prediction scheme that overcomes this strong limitation is introduced utilizing a causal preselection step which drastically reduces the number of possible predictors to the most predictive set of causal drivers making a globally optimal search scheme tractable. The information-theoretic optimality is derived and practical selection criteria are discussed. As demonstrated for multivariate nonlinear stochastic delay processes, the optimal scheme can even be less computationally expensive than commonly used suboptimal schemes like forward selection. The method suggests a general framework to apply the optimal model-free approach to select variables and subsequently fit a model to further improve a prediction or learn statistical dependencies. The performance of this framework is illustrated on a climatological index of El Niño Southern Oscillation.
On test and maintenance: Optimization of allowed outage time
International Nuclear Information System (INIS)
Mavko, B.; Cepin, M.T.
2000-01-01
Probabilistic Safety Assessment is widely becoming standard method for assessing, maintaining, assuring and improving the nuclear power plant safety. To achieve one of its many potential benefits, the optimization of allowed outage time specified in technical specifications is investigated. Proposed is the risk comparison approach for evaluation of allowed outage time. The risk of shutting the plant down due to failure of certain equipment is compared to the risk of continued plant operation with the specified equipment down. The core damage frequency serves as a risk measure. (author)
Time-limited optimal dynamics beyond the Quantum Speed Limit
DEFF Research Database (Denmark)
Gajdacz, Miroslav; Das, Kunal K.; Arlt, Jan
2015-01-01
The quantum speed limit sets the minimum time required to transfer a quantum system completely into a given target state. At shorter times the higher operation speed has to be paid with a loss of fidelity. Here we quantify the trade-off between the fidelity and the duration in a system driven......-off expressed in terms of the direct Hilbert velocity provides a robust prediction of the quantum speed limit and allows to adapt the control optimization such that it yields a predefined fidelity. The results are verified numerically in a multilevel system with a constrained Hamiltonian, and a classification...
Optimal Cotton Insecticide Application Termination Timing: A Meta-Analysis.
Griffin, T W; Zapata, S D
2016-08-01
The concept of insecticide termination timing is generally accepted among cotton (Gossypium hirsutum) researchers; however, exact timings are often disputed. Specifically, there is uncertainty regarding the last economic insecticide application to control fruit-feeding pests including tarnished plant bug (Lygus lineolaris (Palisot de Beauvois)), boll weevil (Anthonomus grandis), bollworm (Helicoverpa zea), tobacco budworm (Heliothis virescens), and cotton fleahopper (Pseudatomoscelis seriatus). A systematic review of prior studies was conducted within a meta-analytic framework. Nine publicly available articles were amalgamated to develop an optimal timing principle. These prior studies reported 53 independent multiple means comparison field experiments for a total of 247 trial observations. Stochastic plateau theory integrated with econometric meta-analysis methodology was applied to the meta-database to determine the shape of the functional form of both the agronomic optimal insecticide termination timing and corresponding yield potential. Results indicated that current university insecticide termination timing recommendations are later than overall estimated timing suggested. The estimated 159 heat units (HU) after the fifth position above white flower (NAWF5) was found to be statistically different than the 194 HU termination used as the status quo recommended termination timing. Insecticides applied after 159 HU may have been applied in excess, resulting in unnecessary economic and environmental costs. Empirical results also suggested that extending the insecticide termination time by one unit resulted in a cotton lint yield increase of 0.27 kilograms per hectare up to the timing where the plateau began. Based on economic analyses, profit-maximizing producers may cease application as soon as 124 HU after NAWF5. These results provided insights useful to improve production systems by applying inputs only when benefits were expected to be in excess of the
Shaping low-thrust trajectories with thrust-handling feature
Taheri, Ehsan; Kolmanovsky, Ilya; Atkins, Ella
2018-02-01
Shape-based methods are becoming popular in low-thrust trajectory optimization due to their fast computation speeds. In existing shape-based methods constraints are treated at the acceleration level but not at the thrust level. These two constraint types are not equivalent since spacecraft mass decreases over time as fuel is expended. This paper develops a shape-based method based on a Fourier series approximation that is capable of representing trajectories defined in spherical coordinates and that enforces thrust constraints. An objective function can be incorporated to minimize overall mission cost, i.e., achieve minimum ΔV . A representative mission from Earth to Mars is studied. The proposed Fourier series technique is demonstrated capable of generating feasible and near-optimal trajectories. These attributes can facilitate future low-thrust mission designs where different trajectory alternatives must be rapidly constructed and evaluated.
Echolocating bats use a nearly time-optimal strategy to intercept prey.
Directory of Open Access Journals (Sweden)
Kaushik Ghose
2006-05-01
Full Text Available Acquisition of food in many animal species depends on the pursuit and capture of moving prey. Among modern humans, the pursuit and interception of moving targets plays a central role in a variety of sports, such as tennis, football, Frisbee, and baseball. Studies of target pursuit in animals, ranging from dragonflies to fish and dogs to humans, have suggested that they all use a constant bearing (CB strategy to pursue prey or other moving targets. CB is best known as the interception strategy employed by baseball outfielders to catch ballistic fly balls. CB is a time-optimal solution to catch targets moving along a straight line, or in a predictable fashion--such as a ballistic baseball, or a piece of food sinking in water. Many animals, however, have to capture prey that may make evasive and unpredictable maneuvers. Is CB an optimum solution to pursuing erratically moving targets? Do animals faced with such erratic prey also use CB? In this paper, we address these questions by studying prey capture in an insectivorous echolocating bat. Echolocating bats rely on sonar to pursue and capture flying insects. The bat's prey may emerge from foliage for a brief time, fly in erratic three-dimensional paths before returning to cover. Bats typically take less than one second to detect, localize and capture such insects. We used high speed stereo infra-red videography to study the three dimensional flight paths of the big brown bat, Eptesicus fuscus, as it chased erratically moving insects in a dark laboratory flight room. We quantified the bat's complex pursuit trajectories using a simple delay differential equation. Our analysis of the pursuit trajectories suggests that bats use a constant absolute target direction strategy during pursuit. We show mathematically that, unlike CB, this approach minimizes the time it takes for a pursuer to intercept an unpredictably moving target. Interestingly, the bat's behavior is similar to the interception strategy
Echolocating bats use a nearly time-optimal strategy to intercept prey.
Ghose, Kaushik; Horiuchi, Timothy K; Krishnaprasad, P S; Moss, Cynthia F
2006-05-01
Acquisition of food in many animal species depends on the pursuit and capture of moving prey. Among modern humans, the pursuit and interception of moving targets plays a central role in a variety of sports, such as tennis, football, Frisbee, and baseball. Studies of target pursuit in animals, ranging from dragonflies to fish and dogs to humans, have suggested that they all use a constant bearing (CB) strategy to pursue prey or other moving targets. CB is best known as the interception strategy employed by baseball outfielders to catch ballistic fly balls. CB is a time-optimal solution to catch targets moving along a straight line, or in a predictable fashion--such as a ballistic baseball, or a piece of food sinking in water. Many animals, however, have to capture prey that may make evasive and unpredictable maneuvers. Is CB an optimum solution to pursuing erratically moving targets? Do animals faced with such erratic prey also use CB? In this paper, we address these questions by studying prey capture in an insectivorous echolocating bat. Echolocating bats rely on sonar to pursue and capture flying insects. The bat's prey may emerge from foliage for a brief time, fly in erratic three-dimensional paths before returning to cover. Bats typically take less than one second to detect, localize and capture such insects. We used high speed stereo infra-red videography to study the three dimensional flight paths of the big brown bat, Eptesicus fuscus, as it chased erratically moving insects in a dark laboratory flight room. We quantified the bat's complex pursuit trajectories using a simple delay differential equation. Our analysis of the pursuit trajectories suggests that bats use a constant absolute target direction strategy during pursuit. We show mathematically that, unlike CB, this approach minimizes the time it takes for a pursuer to intercept an unpredictably moving target. Interestingly, the bat's behavior is similar to the interception strategy implemented in some
Time-optimal thermalization of single-mode Gaussian states
Carlini, Alberto; Mari, Andrea; Giovannetti, Vittorio
2014-11-01
We consider the problem of time-optimal control of a continuous bosonic quantum system subject to the action of a Markovian dissipation. In particular, we consider the case of a one-mode Gaussian quantum system prepared in an arbitrary initial state and which relaxes to the steady state due to the action of the dissipative channel. We assume that the unitary part of the dynamics is represented by Gaussian operations which preserve the Gaussian nature of the quantum state, i.e., arbitrary phase rotations, bounded squeezing, and unlimited displacements. In the ideal ansatz of unconstrained quantum control (i.e., when the unitary phase rotations, squeezing, and displacement of the mode can be performed instantaneously), we study how control can be optimized for speeding up the relaxation towards the fixed point of the dynamics and we analytically derive the optimal relaxation time. Our model has potential and interesting applications to the control of modes of electromagnetic radiation and of trapped levitated nanospheres.
The Optimal Timing of Adoption of a Green Technology
International Nuclear Information System (INIS)
Cunha-e-Sa, M.A.; Reis, A.B.
2007-01-01
We study the optimal timing of adoption of a cleaner technology and its effects on the rate of growth of an economy in the context of an AK endogenous growth model. We show that the results depend upon the behavior of the marginal utility of environmental quality with respect to consumption. When it is increasing, we derive the capital level at the optimal timing of adoption. We show that this capital threshold is independent of the initial conditions on the stock of capital, implying that capital-poor countries tend to take longer to adopt. Also, country-specific characteristics, as the existence of high barriers to adoption, may lead to different capital thresholds for different countries. If the marginal utility of environmental quality decreases with consumption, a country should never delay adoption; the optimal policy is either to adopt immediately or, if adoption costs are t oo high , to never adopt. The policy implications of these results are discussed in the context of the international debate surrounding the environmental political agenda
Cool down time optimization of the Stirling cooler
Xia, M.; Chen, X. P.; Y Li, H.; Gan, Z. H.
2017-12-01
The cooling power is one of the most important performances of a Stirling cooler. However, in some special fields, the cool down time is more important. It is a great challenge to improve the cool down time of the Stirling cooler. A new split Stirling linear cryogenic cooler SCI09H was designed in this study. A new structure of linear motor is used in the compressor, and the machine spring is used in the expander. In order to reduce the cool down time, the stainless-steel mesh of regenerator is optimized. The weight of the cooler is 1.1 kg, the cool down time to 80K is 2 minutes at 296K with a 250J thermal mass, the cooling power is 1.1W at 80K, and the input power is 50W.
Time Optimized Algorithm for Web Document Presentation Adaptation
DEFF Research Database (Denmark)
Pan, Rong; Dolog, Peter
2010-01-01
Currently information on the web is accessed through different devices. Each device has its own properties such as resolution, size, and capabilities to display information in different format and so on. This calls for adaptation of information presentation for such platforms. This paper proposes...... content-optimized and time-optimized algorithms for information presentation adaptation for different devices based on its hierarchical model. The model is formalized in order to experiment with different algorithms.......Currently information on the web is accessed through different devices. Each device has its own properties such as resolution, size, and capabilities to display information in different format and so on. This calls for adaptation of information presentation for such platforms. This paper proposes...
Optimal trading strategies—a time series approach
Bebbington, Peter A.; Kühn, Reimer
2016-05-01
Motivated by recent advances in the spectral theory of auto-covariance matrices, we are led to revisit a reformulation of Markowitz’ mean-variance portfolio optimization approach in the time domain. In its simplest incarnation it applies to a single traded asset and allows an optimal trading strategy to be found which—for a given return—is minimally exposed to market price fluctuations. The model is initially investigated for a range of synthetic price processes, taken to be either second order stationary, or to exhibit second order stationary increments. Attention is paid to consequences of estimating auto-covariance matrices from small finite samples, and auto-covariance matrix cleaning strategies to mitigate against these are investigated. Finally we apply our framework to real world data.
Foster, Cyrus; Jaroux, Belgacem A.
2012-01-01
The Trajectory Browser is a web-based tool developed at the NASA Ames Research Center to be used for the preliminary assessment of trajectories to small-bodies and planets and for providing relevant launch date, time-of-flight and V requirements. The site hosts a database of transfer trajectories from Earth to asteroids and planets for various types of missions such as rendezvous, sample return or flybys. A search engine allows the user to find trajectories meeting desired constraints on the launch window, mission duration and delta V capability, while a trajectory viewer tool allows the visualization of the heliocentric trajectory and the detailed mission itinerary. The anticipated user base of this tool consists primarily of scientists and engineers designing interplanetary missions in the context of pre-phase A studies, particularly for performing accessibility surveys to large populations of small-bodies. The educational potential of the website is also recognized for academia and the public with regards to trajectory design, a field that has generally been poorly understood by the public. The website is currently hosted on NASA-internal URL http://trajbrowser.arc.nasa.gov/ with plans for a public release as soon as development is complete.
Optimal Time Allocation in Backscatter Assisted Wireless Powered Communication Networks
Lyu, Bin; Yang, Zhen; Gui, Guan; Sari, Hikmet
2017-01-01
This paper proposes a wireless powered communication network (WPCN) assisted by backscatter communication (BackCom). This model consists of a power station, an information receiver and multiple users that can work in either BackCom mode or harvest-then-transmit (HTT) mode. The time block is mainly divided into two parts corresponding to the data backscattering and transmission periods, respectively. The users first backscatter data to the information receiver in time division multiple access (TDMA) during the data backscattering period. When one user works in the BackCom mode, the other users harvest energy from the power station. During the data transmission period, two schemes, i.e., non-orthogonal multiple access (NOMA) and TDMA, are considered. To maximize the system throughput, the optimal time allocation policies are obtained. Simulation results demonstrate the superiority of the proposed model. PMID:28587171
Directory of Open Access Journals (Sweden)
Sergey E. Bukhtoyarov
2005-05-01
Full Text Available A multicriterion linear combinatorial problem with a parametric principle of optimality is considered. This principle is defined by a partitioning of partial criteria onto Pareto preference relation groups within each group and the lexicographic preference relation between them. Quasistability of the problem is investigated. This type of stability is a discrete analog of Hausdorff lower semi-continuity of the multiple-valued mapping that defines the choice function. A formula of quasistability radius is derived for the case of the metric l∞. Some known results are stated as corollaries. Mathematics Subject Classification 2000: 90C05, 90C10, 90C29, 90C31.
Time Optimal Synchronization Procedure and Associated Feedback Loops
Angoletta, Maria Elena; CERN. Geneva. ATS Department
2016-01-01
A procedure to increase the speed of currently used synchronization loops in a synchrotron by an order of magnitude is presented. Beams dynamics constraint imposes an upper limit on excursions in stable phase angle, and the procedure presented exploits this limit to arrive in the synchronized state from an arbitrary initial state in the fastest possible way. Detailed corrector design for beam phase loop, differential frequency loop and final synchronization loop is also presented. Finally, an overview of the synchronization methods currently deployed in some other CERN’s machines is provided, together with a brief comparison with the newly proposed time-optimal algorithm.
Optimization of Allowed Outage Time and Surveillance Test Intervals
Energy Technology Data Exchange (ETDEWEB)
Al-Dheeb, Mujahed; Kang, Sunkoo; Kim, Jonghyun [KEPCO international nuclear graduate school, Ulsan (Korea, Republic of)
2015-10-15
The primary purpose of surveillance testing is to assure that the components of standby safety systems will be operable when they are needed in an accident. By testing these components, failures can be detected that may have occurred since the last test or the time when the equipment was last known to be operational. The probability a system or system component performs a specified function or mission under given conditions at a prescribed time is called availability (A). Unavailability (U) as a risk measure is just the complementary probability to A(t). The increase of U means the risk is increased as well. D and T have an important impact on components, or systems, unavailability. The extension of D impacts the maintenance duration distributions for at-power operations, making them longer. This, in turn, increases the unavailability due to maintenance in the systems analysis. As for T, overly-frequent surveillances can result in high system unavailability. This is because the system may be taken out of service often due to the surveillance itself and due to the repair of test-caused failures of the component. The test-caused failures include those incurred by wear and tear of the component due to the surveillances. On the other hand, as the surveillance interval increases, the component's unavailability will grow because of increased occurrences of time-dependent random failures. In that situation, the component cannot be relied upon, and accordingly the system unavailability will increase. Thus, there should be an optimal component surveillance interval in terms of the corresponding system availability. This paper aims at finding the optimal T and D which result in minimum unavailability which in turn reduces the risk. Applying the methodology in section 2 to find the values of optimal T and D for two components, i.e., safety injection pump (SIP) and turbine driven aux feedwater pump (TDAFP). Section 4 is addressing interaction between D and T. In general
Optimization of Allowed Outage Time and Surveillance Test Intervals
International Nuclear Information System (INIS)
Al-Dheeb, Mujahed; Kang, Sunkoo; Kim, Jonghyun
2015-01-01
The primary purpose of surveillance testing is to assure that the components of standby safety systems will be operable when they are needed in an accident. By testing these components, failures can be detected that may have occurred since the last test or the time when the equipment was last known to be operational. The probability a system or system component performs a specified function or mission under given conditions at a prescribed time is called availability (A). Unavailability (U) as a risk measure is just the complementary probability to A(t). The increase of U means the risk is increased as well. D and T have an important impact on components, or systems, unavailability. The extension of D impacts the maintenance duration distributions for at-power operations, making them longer. This, in turn, increases the unavailability due to maintenance in the systems analysis. As for T, overly-frequent surveillances can result in high system unavailability. This is because the system may be taken out of service often due to the surveillance itself and due to the repair of test-caused failures of the component. The test-caused failures include those incurred by wear and tear of the component due to the surveillances. On the other hand, as the surveillance interval increases, the component's unavailability will grow because of increased occurrences of time-dependent random failures. In that situation, the component cannot be relied upon, and accordingly the system unavailability will increase. Thus, there should be an optimal component surveillance interval in terms of the corresponding system availability. This paper aims at finding the optimal T and D which result in minimum unavailability which in turn reduces the risk. Applying the methodology in section 2 to find the values of optimal T and D for two components, i.e., safety injection pump (SIP) and turbine driven aux feedwater pump (TDAFP). Section 4 is addressing interaction between D and T. In general
Time-optimal path planning in uncertain flow fields using ensemble method
Wang, Tong
2016-01-06
An ensemble-based approach is developed to conduct time-optimal path planning in unsteady ocean currents under uncertainty. We focus our attention on two-dimensional steady and unsteady uncertain flows, and adopt a sampling methodology that is well suited to operational forecasts, where a set deterministic predictions is used to model and quantify uncertainty in the predictions. In the operational setting, much about dynamics, topography and forcing of the ocean environment is uncertain, and as a result a single path produced by a model simulation has limited utility. To overcome this limitation, we rely on a finitesize ensemble of deterministic forecasts to quantify the impact of variability in the dynamics. The uncertainty of flow field is parametrized using a finite number of independent canonical random variables with known densities, and the ensemble is generated by sampling these variables. For each the resulting realizations of the uncertain current field, we predict the optimal path by solving a boundary value problem (BVP), based on the Pontryagin maximum principle. A family of backward-in-time trajectories starting at the end position is used to generate suitable initial values for the BVP solver. This allows us to examine and analyze the performance of sampling strategy, and develop insight into extensions dealing with regional or general circulation models. In particular, the ensemble method enables us to perform a statistical analysis of travel times, and consequently develop a path planning approach that accounts for these statistics. The proposed methodology is tested for a number of scenarios. We first validate our algorithms by reproducing simple canonical solutions, and then demonstrate our approach in more complex flow fields, including idealized, steady and unsteady double-gyre flows.
Methods for control over learning individual trajectory
Mitsel, A. A.; Cherniaeva, N. V.
2015-09-01
The article discusses models, methods and algorithms of determining student's optimal individual educational trajectory. A new method of controlling the learning trajectory has been developed as a dynamic model of learning trajectory control, which uses score assessment to construct a sequence of studied subjects.
Energy Technology Data Exchange (ETDEWEB)
Bonnemay-Juricek, L [Commissariat a l' Energie Atomique, Saclay (France). Centre d' Etudes Nucleaires
1968-07-01
The existence of solutions in the optimal control problems with free endpoints is studied in this report and existence conditions are established without the usual assumption that the control region is convex. Furthermore the results, in order to be of some utility in physical applications, are expressed only by means of conditions on the parameters defining the system. (author) [French] Ce rapport etudie l'existence de solutions optimales dans les problemes de commande ou le point terminal est libre et ou la duree de l'evolution du systeme a optimiser est connue. Des conditions d'existence y sont formulees sans recourir a l'hypothese usuelle de convexite du domaine des valeurs des commandes. De plus on a cherche a rendre utilisables les resultats en ne faisant porter les conditions que sur les parametres directement accessibles du systeme. (auteur)
Optimal time interval for induction of immunologic adaptive response
International Nuclear Information System (INIS)
Ju Guizhi; Song Chunhua; Liu Shuzheng
1994-01-01
The optimal time interval between prior dose (D1) and challenge dose (D2) for the induction of immunologic adaptive response was investigated. Kunming mice were exposed to 75 mGy X-rays at a dose rate of 12.5 mGy/min. 3, 6, 12, 24 or 60 h after the prior irradiation the mice were challenged with a dose of 1.5 Gy at a dose rate of 0.33 Gy/min. 18h after D2, the mice were sacrificed for examination of immunological parameters. The results showed that with an interval of 6 h between D1 and D2, the adaptive response of the reaction of splenocytes to LPS was induced, and with an interval of 12 h the adaptive responses of spontaneous incorporation of 3 H-TdR into thymocytes and the reaction of splenocytes to Con A and LPS were induced with 75 mGy prior irradiation. The data suggested that the optimal time intervals between D1 and D2 for the induction of immunologic adaptive response were 6 h and 12 h with a D1 of 75 mGy and a D2 of 1.5 Gy. The mechanism of immunologic adaptation following low dose radiation is discussed
Automated trajectory planning for multiple-flyby interplanetary missions
Englander, Jacob
Many space mission planning problems may be formulated as hybrid optimal control problems (HOCP), i.e. problems that include both real-valued variables and categorical variables. In interplanetary trajectory design problems the categorical variables will typically specify the sequence of planets at which to perform flybys, and the real-valued variables will represent the launch date, ight times between planets, magnitudes and directions of thrust, flyby altitudes, etc. The contribution of this work is a framework for the autonomous optimization of multiple-flyby interplanetary trajectories. The trajectory design problem is converted into a HOCP with two nested loops: an "outer-loop" that finds the sequence of flybys and an "inner-loop" that optimizes the trajectory for each candidate yby sequence. The problem of choosing a sequence of flybys is posed as an integer programming problem and solved using a genetic algorithm (GA). This is an especially difficult problem to solve because GAs normally operate on a fixed-length set of decision variables. Since in interplanetary trajectory design the number of flyby maneuvers is not known a priori, it was necessary to devise a method of parameterizing the problem such that the GA can evolve a variable-length sequence of flybys. A novel "null gene" transcription was developed to meet this need. Then, for each candidate sequence of flybys, a trajectory must be found that visits each of the flyby targets and arrives at the final destination while optimizing some cost metric, such as minimizing ▵v or maximizing the final mass of the spacecraft. Three different classes of trajectory are described in this work, each of which requireda different physical model and optimization method. The choice of a trajectory model and optimization method is especially challenging because of the nature of the hybrid optimal control problem. Because the trajectory optimization problem is generated in real time by the outer-loop, the inner
Shin, Sanghyun
workload while optimally utilizing limited resources, various aircraft rerouting strategies for Air Traffic Management (ATM) have been proposed. However, the number of rerouting tools available to address these issues for the center-level and the National Airspace System (NAS) are relatively less compared with the tools for the sector-level and terminal airspace. Additionally, previous works consider the airspace containing the weather as no-fly zones instead of reduced-traffic zones and do not explicitly consider controller workload when generating aircraft trajectories to avoid the weather-affected airspace, thereby reducing the overall performance of the airspace. In this thesis, a new rerouting algorithm for the center-level airspace is proposed to address these problems by introducing a feedback loop connecting a tactical rerouting algorithm with a strategic rerouting algorithm using dynamic programming and a modified A* algorithm respectively. This helps reduce the computational cost significantly while safely handling a large number of aircraft. In summary, this thesis suggests the ways in which the NAS's performance can be further improved, thereby supporting various concepts envisioned by the Next Generation Air Transportation System (NextGen) and providing vital information which can be used for suitable economic and environmental advantages.
Time Optimal Run-time Evaluation of Distributed Timing Constraints in Process Control Software
DEFF Research Database (Denmark)
Drejer, N.; Kristensen, C.H.
1993-01-01
This paper considers run-time evaluation of an important class of constraints; Timing constraints. These appear extensively in process control systems. Timing constraints are considered in distributed systems, i.e. systems consisting of multiple autonomous nodes......
Optimal timing of tracheostomy after trauma without associated head injury.
Keenan, Jeffrey E; Gulack, Brian C; Nussbaum, Daniel P; Green, Cindy L; Vaslef, Steven N; Shapiro, Mark L; Scarborough, John E
2015-10-01
Controversy exists over optimal timing of tracheostomy in patients with respiratory failure after blunt trauma. The study aimed to determine whether the timing of tracheostomy affects mortality in this population. The 2008-2011 National Trauma Data Bank was queried to identify blunt trauma patients without concomitant head injury who required tracheostomy for respiratory failure between hospital days 4 and 21. Restricted cubic spline analysis was performed to evaluate the relationship between tracheostomy timing and the odds of inhospital mortality. The cohort was stratified based on this analysis. Unadjusted characteristics and outcomes were compared. Multivariable logistic regression was used to evaluate the effect of tracheostomy timing on mortality after adjustment for age, gender, race, payor status, level of trauma center, injury severity score, presentation Glasgow coma scale, and thoracic and abdominal abbreviated injury score. There were 9662 patients included in the study. Restricted cubic spline analysis demonstrated a nonlinear relationship between timing of tracheostomy and mortality, with higher odds of mortality occurring with tracheostomy placement within 10 d of admission compared with later time points. The cohort was therefore stratified into early and delayed tracheostomy groups relative to this time point. The resulting groups contained 5402 (55.9%) and 4260 (44.1%) patients, respectively. After multivariable adjustment, the delayed tracheostomy group continued to have significantly reduced odds of mortality (Adjusted odds ratio, 0.82, 95% confidence interval, 0.71-0.95, C-statistic, 0.700). Among non-head injured blunt trauma patients with prolonged respiratory failure, tracheostomy placement within 10 d of admission may result in increased mortality compared with later time points. Copyright © 2015 Elsevier Inc. All rights reserved.
Nishiguchi, Shu; Yorozu, Ayanori; Adachi, Daiki; Takahashi, Masaki; Aoyama, Tomoki
2017-08-08
The Timed Up and Go (TUG) test may be a useful tool to detect not only mobility impairment but also possible cognitive impairment. In this cross-sectional study, we used the TUG test to investigate the associations between trajectory-based spatial parameters measured by laser range sensor (LRS) and cognitive impairment in community-dwelling older adults. The participants were 63 community-dwelling older adults (mean age, 73.0 ± 6.3 years). The trajectory-based spatial parameters during the TUG test were measured using an LRS. In each forward and backward phase, we calculated the minimum distance from the marker, the maximum distance from the x-axis (center line), the length of the trajectories, and the area of region surrounded by the trajectory of the center of gravity and the x-axis (center line). We measured mild cognitive impairment using the Mini-Mental State Examination score (26/27 was the cut-off score for defining mild cognitive impairment). Compared with participants with normal cognitive function, those with mild cognitive impairment exhibited the following trajectory-based spatial parameters: short minimum distance from the marker (p = 0.044), narrow area of center of gravity in the forward phase (p = 0.012), and a large forward/whole phase ratio of the area of the center of gravity (p = 0.026) during the TUG test. In multivariate logistic regression analyses, a short minimum distance from the marker (odds ratio [OR]: 0.82, 95% confidence interval [CI]: 0.69-0.98), narrow area of the center of gravity in the forward phase (OR: 0.01, 95% CI: 0.00-0.36), and large forward/whole phase ratio of the area of the center of gravity (OR: 0.94, 95% CI: 0.88-0.99) were independently associated with mild cognitive impairment. In conclusion, our results indicate that some of the trajectory-based spatial parameters measured by LRS during the TUG test were independently associated with cognitive impairment in older adults. In particular, older adults with
Optimal and sub-optimal post-detection timing estimators for PET
International Nuclear Information System (INIS)
Hero, A.O.; Antoniadis, N.; Clinthorne, N.; Rogers, W.L.; Hutchins, G.D.
1990-01-01
In this paper the authors derive linear and non-linear approximations to the post-detection likelihood function for scintillator interaction time in nuclear particle detection systems. The likelihood function is the optimal statistic for performing detection and estimation of scintillator events and event times. The authors derive the likelihood function approximations from a statistical model for the post-detection waveform which is common in the optical communications literature and takes account of finite detector bandwidth, random gains, and thermal noise. They then present preliminary simulation results for the associated approximate maximum likelihood timing estimators which indicate that significant MSE improvements may be achieved for low post-detection signal-to-noise ratio
Real-time traffic signal optimization model based on average delay time per person
Directory of Open Access Journals (Sweden)
Pengpeng Jiao
2015-10-01
Full Text Available Real-time traffic signal control is very important for relieving urban traffic congestion. Many existing traffic control models were formulated using optimization approach, with the objective functions of minimizing vehicle delay time. To improve people’s trip efficiency, this article aims to minimize delay time per person. Based on the time-varying traffic flow data at intersections, the article first fits curves of accumulative arrival and departure vehicles, as well as the corresponding functions. Moreover, this article transfers vehicle delay time to personal delay time using average passenger load of cars and buses, employs such time as the objective function, and proposes a signal timing optimization model for intersections to achieve real-time signal parameters, including cycle length and green time. This research further implements a case study based on practical data collected at an intersection in Beijing, China. The average delay time per person and queue length are employed as evaluation indices to show the performances of the model. The results show that the proposed methodology is capable of improving traffic efficiency and is very effective for real-world applications.
International Nuclear Information System (INIS)
Idrus Abdul Kudus; Taufik
2015-01-01
Positioning and track simulation beam the cyclotron Decy-13 for laying optimization the target system have been done using lorentz force function and scilab 5.4.1 simulation. Magnetic field and electric field is calculated using Opera3D/Tosca as a simulation input. Used radio frequency is 77.66 MHz with the amplitude voltage is 40 kV is obtained energy 13 MeV. The result showed that the coordinates of the laying of the target system in a vacuum chamber is located at x = -389 mm and y = 445 mm with the width of the output beam is 10 mm. The laying stripper position for the output in center target is located at x = -76 mm and y =416 mm from the center coordinate on the center of dee with the energy of proton is 13 MeV at the point of beam extraction carbon foil. The changes position laying is carried out on range x = -70; y = 424 mm until x = - 118; y = 374 mm result for shifting area stripper which is still capable of deflection the electron beam. (author)
Ultrasound stimulation on bone healing. The optimization of stimulation time
International Nuclear Information System (INIS)
Rosim, R.C.; Paulin, J.B.P.; Goncalves, R.P.
1990-01-01
Previous works in ultrasonic simulation of bone healing dealt with parameters optimization. Albertin (1983) studied the stimulation time and found forty minutes as ideal. However, this stimulation time was the largest one employed and remained some doubt about the most appropriated value. 30, 40, 50 and 60 minutes of stimulation time were selected, while others parameters were held constant with: pulse width in 200 μs, repetition rate in 1000 pulses per second and amplitude in 30 V. Partial incomplete transverse osteotomies were done in the middle third of radio in the right forearm of rabbits. Twenty four animals divided in four subgroups, with 6 animals each were stimulated. The daily stimulation time for each subgroup was 30, 40, 50 and minutes respectively, during 15 consecutive days. The stimulation procedure started 24 hours after surgery. After the stimulation period, radiological, histological and morphometric evaluations were done and greater bone healing was found for the 50 minutes stimulation subgroup, in them new bone was also prominent. (author)
Statistically defining optimal conditions of coagulation time of skim milk
International Nuclear Information System (INIS)
Celebi, M.; Ozdemir, Z.O.; Eroglu, E.; Guney, I
2014-01-01
Milk consist huge amount of largely water and different proteins. Kappa-kazein of these milk proteins can be coagulated by Mucor miehei rennet enzyme, is an aspartic protease which cleavege 105 (phenly alanine)-106 (methionine) peptide bond. It is commonly used clotting milk proteins for cheese production in dairy industry. The aim of this study to measure milk clotting times of skim milk by using Mucor Miehei rennet and determination of optimal conditions of milk clotting time by mathematical modelling. In this research, milk clotting times of skim milk were measured at different pHs (3.0, 4.0, 5.0, 6.0, 7.0, 8.0) and temperatures (20, 25, 30, 35, 40, 45, 50, 55, 60, 65, 70, 75 degree C). It was used statistical approach for defining best pH and temperature for milk clotting time of skim milk. Milk clotting activity was increase at acidic pHs and high temperatures. (author)
Identification of optimal inspection interval via delay-time concept
Directory of Open Access Journals (Sweden)
Glauco Ricardo Simões Gomes
2016-06-01
Full Text Available This paper presents an application of mathematical modeling aimed at managing maintenance based on the delay-time concept. The study scenario was the manufacturing sector of an industrial unit, which operates 24 hours a day in a continuous flow of production. The main idea was to use the concepts of this approach to determine the optimal time of preventive action by the maintenance department in order to ensure the greatest availability of equipment and facilities at appropriate maintenance costs. After a brief introduction of the subject, the article presents topics that illustrate the importance of mathematical modeling in maintenance management and the delay-time concept. It also describes the characteristics of the company where the study was conducted, as well as the data related to the production process and maintenance actions. Finally, the results obtained after applying the delay-time concept are presented and discussed, as well as the limitations of the article and the proposals for future research.
Englander, Jacob
2016-01-01
Preliminary design of interplanetary missions is a highly complex process. The mission designer must choose discrete parameters such as the number of flybys, the bodies at which those flybys are performed, and in some cases the final destination. In addition, a time-history of control variables must be chosen that defines the trajectory. There are often many thousands, if not millions, of possible trajectories to be evaluated. This can be a very expensive process in terms of the number of human analyst hours required. An automated approach is therefore very desirable. This work presents such an approach by posing the mission design problem as a hybrid optimal control problem. The method is demonstrated on notional high-thrust chemical and low-thrust electric propulsion missions. In the low-thrust case, the hybrid optimal control problem is augmented to include systems design optimization.
FAME Storage Time in an Optimized Natural Antioxidant Mixture
Directory of Open Access Journals (Sweden)
Rodolfo Lopes Coppo
2013-01-01
Full Text Available The study of B100 biodiesel oxidation stability, and its conservation, is extremely important to control its quality, especially regarding storage. Many spices have shown antioxidant effect and are the targets of study. Knowing the oxidation process in greater detail allows a reliable storage period to be stipulated for the biodiesel without its degradation until the time of use. Results have shown that according to the accelerated stove method, the optimal mixture, composed of 100% of oregano extract, can confer a 535-day shelf life to biodiesel without evident oxidation. According to the results obtained by the Rancimat method, the ideal mixture consists of 100% rosemary, resulting in 483 days of storage. The application of the process variable showed that the accelerated stove method was more suitable to determine oxidative stability of biodiesel.
Directory of Open Access Journals (Sweden)
Cristina Vega Solís
2017-11-01
Full Text Available In the paper we analyze the inequalities that emerge from and are reproduced in Ecuadorian’s higher education trajectories in the context of economic crises. We focus on the strategies that these youth and their families employ for social mobility as well as the role of public policy in these processes. We examine the trajectories of three groups: sons and daughters of the 2000 migration wave from Ecuador to Spain who study at universities in Spain, those who have returned to Ecuador for their studies, and Ecuadorians who move to Spain in order to carry out postgraduate studies, some of them funded by scholarships from the Ecuadorian government. The research project employed a qualitative methodology based on interviews, focus groups and a survey with Ecuadorians in Spain who took the entrance exam for admittance into Ecuador’s public university system. Our findings highlight the varied forms of capitals that these diverse students employ, as well as the social and economic constraints that they encounter. In a period of economic crisis in Spain, the first group of students must often downgrade their expectations in order to continue their studies. Their experience contrasts starkly with Ecuadorians undertaking postgraduate studies in Spain, whose heterogenous trajectories are upwardly and geographically mobile. The case of the return university students to Ecuador shows us that education is inserted into a broader strategy that depends on transnational networks shaped over more than a decade of Ecuador-Spain migration.
Time domain topology optimization of 3D nanophotonic devices
DEFF Research Database (Denmark)
Elesin, Yuriy; Lazarov, Boyan Stefanov; Jensen, Jakob Søndergaard
2014-01-01
We present an efficient parallel topology optimization framework for design of large scale 3D nanophotonic devices. The code shows excellent scalability and is demonstrated for optimization of broadband frequency splitter, waveguide intersection, photonic crystal-based waveguide and nanowire...
Chamitoff, Gregory E.; Saenz-Otero, Alvar; Katz, Jacob G.; Ulrich, Steve; Morrell, Benjamin J.; Gibbens, Peter W.
2018-01-01
This paper presents the development of a real-time path-planning optimization approach to controlling the motion of space-based robots. The algorithm is capable of planning three dimensional trajectories for a robot to navigate within complex surroundings that include numerous static and dynamic obstacles, path constraints and performance limitations. The methodology employs a unique transformation that enables rapid generation of feasible solutions for complex geometries, making it suitable for application to real-time operations and dynamic environments. This strategy was implemented on the Synchronized Position Hold Engage Reorient Experimental Satellite (SPHERES) test-bed on the International Space Station (ISS), and experimental testing was conducted onboard the ISS during Expedition 17 by the first author. Lessons learned from the on-orbit tests were used to further refine the algorithm for future implementations.
Lunar Cube Transfer Trajectory Options
Folta, David; Dichmann, Donald James; Clark, Pamela E.; Haapala, Amanda; Howell, Kathleen
2015-01-01
Numerous Earth-Moon trajectory and lunar orbit options are available for Cubesat missions. Given the limited Cubesat injection infrastructure, transfer trajectories are contingent upon the modification of an initial condition of the injected or deployed orbit. Additionally, these transfers can be restricted by the selection or designs of Cubesat subsystems such as propulsion or communication. Nonetheless, many trajectory options can b e considered which have a wide range of transfer duration, fuel requirements, and final destinations. Our investigation of potential trajectories highlights several options including deployment from low Earth orbit (LEO) geostationary transfer orbits (GTO) and higher energy direct lunar transfer and the use of longer duration Earth-Moon dynamical systems. For missions with an intended lunar orbit, much of the design process is spent optimizing a ballistic capture while other science locations such as Sun-Earth libration or heliocentric orbits may simply require a reduced Delta-V imparted at a convenient location along the trajectory.
MGA trajectory planning with an ACO-inspired algorithm
Ceriotti, Matteo; Vasile, Massimiliano
2010-11-01
Given a set of celestial bodies, the problem of finding an optimal sequence of swing-bys, deep space manoeuvres (DSM) and transfer arcs connecting the elements of the set is combinatorial in nature. The number of possible paths grows exponentially with the number of celestial bodies. Therefore, the design of an optimal multiple gravity assist (MGA) trajectory is a NP-hard mixed combinatorial-continuous problem. Its automated solution would greatly improve the design of future space missions, allowing the assessment of a large number of alternative mission options in a short time. This work proposes to formulate the complete automated design of a multiple gravity assist trajectory as an autonomous planning and scheduling problem. The resulting scheduled plan will provide the optimal planetary sequence and a good estimation of the set of associated optimal trajectories. The trajectory model consists of a sequence of celestial bodies connected by two-dimensional transfer arcs containing one DSM. For each transfer arc, the position of the planet and the spacecraft, at the time of arrival, are matched by varying the pericentre of the preceding swing-by, or the magnitude of the launch excess velocity, for the first arc. For each departure date, this model generates a full tree of possible transfers from the departure to the destination planet. Each leaf of the tree represents a planetary encounter and a possible way to reach that planet. An algorithm inspired by ant colony optimization (ACO) is devised to explore the space of possible plans. The ants explore the tree from departure to destination adding one node at the time: every time an ant is at a node, a probability function is used to select a feasible direction. This approach to automatic trajectory planning is applied to the design of optimal transfers to Saturn and among the Galilean moons of Jupiter. Solutions are compared to those found through more traditional genetic-algorithm techniques.
International Nuclear Information System (INIS)
Dong, P; Xing, L; Ma, L
2016-01-01
Purpose: Radiosurgery of multiple (n>4) brain metastasis lesions requires 3–4 noncoplanar VMAT arcs with excessively high monitor units and long delivery time. We investigated whether an improved optimization technique would decrease the needed arc numbers and increase the delivery efficiency, while improving or maintaining the plan quality. Methods: The proposed 4pi arc space optimization algorithm consists of two steps: automatic couch angle selection followed by aperture generation for each arc with optimized control points distribution. We use a greedy algorithm to select the couch angles. Starting from a single coplanar arc plan we search through the candidate noncoplanar arcs to pick a single noncoplanar arc that will bring the best plan quality when added into the existing treatment plan. Each time, only one additional noncoplanar arc is considered making the calculation time tractable. This process repeats itself until desired number of arc is reached. The technique is first evaluated in coplanar arc delivery scheme with testing cases and then applied to noncoplanar treatments of a case with 12 brain metastasis lesions. Results: Clinically acceptable plans are created within minutes. For the coplanar testing cases the algorithm yields singlearc plans with better dose distributions than that of two-arc VMAT, simultaneously with a 12–17% reduction in the delivery time and a 14–21% reduction in MUs. For the treatment of 12 brain mets while Paddick conformity indexes of the two plans were comparable the SCG-optimization with 2 arcs (1 noncoplanar and 1 coplanar) significantly improved the conventional VMAT with 3 arcs (2 noncoplanar and 1 coplanar). Specifically V16 V10 and V5 of the brain were reduced by 11%, 11% and 12% respectively. The beam delivery time was shortened by approximately 30%. Conclusion: The proposed 4pi arc space optimization technique promises to significantly reduce the brain toxicity while greatly improving the treatment efficiency.
Energy Technology Data Exchange (ETDEWEB)
Dong, P; Xing, L [Stanford University School of Medicine, Stanford, CA (United States); Ma, L [UCSF Comprehensive Cancer Center, San Francisco, CA (United States)
2016-06-15
Purpose: Radiosurgery of multiple (n>4) brain metastasis lesions requires 3–4 noncoplanar VMAT arcs with excessively high monitor units and long delivery time. We investigated whether an improved optimization technique would decrease the needed arc numbers and increase the delivery efficiency, while improving or maintaining the plan quality. Methods: The proposed 4pi arc space optimization algorithm consists of two steps: automatic couch angle selection followed by aperture generation for each arc with optimized control points distribution. We use a greedy algorithm to select the couch angles. Starting from a single coplanar arc plan we search through the candidate noncoplanar arcs to pick a single noncoplanar arc that will bring the best plan quality when added into the existing treatment plan. Each time, only one additional noncoplanar arc is considered making the calculation time tractable. This process repeats itself until desired number of arc is reached. The technique is first evaluated in coplanar arc delivery scheme with testing cases and then applied to noncoplanar treatments of a case with 12 brain metastasis lesions. Results: Clinically acceptable plans are created within minutes. For the coplanar testing cases the algorithm yields singlearc plans with better dose distributions than that of two-arc VMAT, simultaneously with a 12–17% reduction in the delivery time and a 14–21% reduction in MUs. For the treatment of 12 brain mets while Paddick conformity indexes of the two plans were comparable the SCG-optimization with 2 arcs (1 noncoplanar and 1 coplanar) significantly improved the conventional VMAT with 3 arcs (2 noncoplanar and 1 coplanar). Specifically V16 V10 and V5 of the brain were reduced by 11%, 11% and 12% respectively. The beam delivery time was shortened by approximately 30%. Conclusion: The proposed 4pi arc space optimization technique promises to significantly reduce the brain toxicity while greatly improving the treatment efficiency.
Optimal International Asset Allocation with Time-varying Risk
Flavin, Thomas; Wickens, M.R.
2006-01-01
This paper examines the optimal allocation each period of an internationally diversified portfolio from the different points of view of a UK and a US investor. We find that investor location affects optimal asset allocation. The presence of exchange rate risk causes the markets to appear not fully integrated and creates a preference for home assets. Domestic equity is the dominant asset in the optimal portfolio for both investors, but the US investor bears less risk than the UK...
Analysis and Optimization of Distributed Real-Time Embedded Systems
DEFF Research Database (Denmark)
Pop, Paul; Eles, Petru; Peng, Zebo
2006-01-01
and scheduling policies. In this context, the task of designing such systems is becoming increasingly difficult. The success of new adequate design methods depends on the availability of efficient analysis as well as optimization techniques. In this paper, we present both analysis and optimization approaches...... characteristic to this class of systems: mapping of functionality, the optimization of the access to the communication channel, and the assignment of scheduling policies to processes. Optimization heuristics aiming at producing a schedulable system, with a given amount of resources, are presented....
Directory of Open Access Journals (Sweden)
Michel Maziade
2011-04-01
Full Text Available Neurocognitive dysfunctions analogous to those of adult patients have been detected in children at risk of schizophrenia and bipolar disorder. This led to the following developmental question: Do IQ and memory impairments exhibit different developmental courses from childhood to young adulthood in terms of stability or fluctuations?In a high risk sample, we used a step by step sampling approach to narrow-down the early disease mechanisms. Upstream, we started with a 20-year follow-up of 48 densely affected multigenerational kindreds, including 1500 clinically characterized adult members. We then identified 400 adult members affected by a DSM-IV schizophrenia or bipolar disorder. Downstream, we finally focused on 65 offspring (of an affected parent aged 7 to 22, who were administered a neuropsychological battery. We then constructed cross-sectional trajectories that were compared to those of controls.The childhood IQ deficit displayed a stability until young adulthood. The delay in visual memory exhibited a non-linear two-stage trajectory: a lagging period during childhood followed by a recuperation period from adolescence until adulthood, as supported by a significant Group x Age Periods interaction. No data suggested deterioration between 7 and 22.In these offspring at genetic risk, the developmental trajectory of global IQ impairment may not apply to specific domains of cognition such as episodic memory. Different cognitive dysfunctions would mark different developmental courses. The shape of the trajectories might itself have a meaning and provide empirical leads for targeting the right dysfunction at the right time in future prevention research.
Energy Technology Data Exchange (ETDEWEB)
MacDonald, R. Lee [Department of Physics and Atmospheric Science, Dalhousie University, Halifax, Nova Scotia B3H 4R2 (Canada); Thomas, Christopher G., E-mail: Chris.Thomas@cdha.nshealth.ca [Department of Physics and Atmospheric Science, Dalhousie University, Halifax, Nova Scotia B3H 4R2 (Canada); Department of Medical Physics, Nova Scotia Cancer Centre, Queen Elizabeth II Health Sciences Centre, Halifax, Nova Scotia B3H 1V7 (Canada); Department of Radiation Oncology, Dalhousie University, Halifax, Nova Scotia B3H 4R2 (Canada); Department of Radiology, Dalhousie University, Halifax, Nova Scotia B3H 4R2 (Canada)
2015-05-15
Purpose: To investigate potential improvement in external beam stereotactic radiation therapy plan quality for cranial cases using an optimized dynamic gantry and patient support couch motion trajectory, which could minimize exposure to sensitive healthy tissue. Methods: Anonymized patient anatomy and treatment plans of cranial cancer patients were used to quantify the geometric overlap between planning target volumes and organs-at-risk (OARs) based on their two-dimensional projection from source to a plane at isocenter as a function of gantry and couch angle. Published dose constraints were then used as weighting factors for the OARs to generate a map of couch-gantry coordinate space, indicating degree of overlap at each point in space. A couch-gantry collision space was generated by direct measurement on a linear accelerator and couch using an anthropomorphic solid-water phantom. A dynamic, fully customizable algorithm was written to generate a navigable ideal trajectory for the patient specific couch-gantry space. The advanced algorithm can be used to balance the implementation of absolute minimum values of overlap with the clinical practicality of large-scale couch motion and delivery time. Optimized cranial cancer treatment trajectories were compared to conventional treatment trajectories. Results: Comparison of optimized treatment trajectories with conventional treatment trajectories indicated an average decrease in mean dose to the OARs of 19% and an average decrease in maximum dose to the OARs of 12%. Degradation was seen for homogeneity index (6.14% ± 0.67%–5.48% ± 0.76%) and conformation number (0.82 ± 0.02–0.79 ± 0.02), but neither was statistically significant. Removal of OAR constraints from volumetric modulated arc therapy optimization reveals that reduction in dose to OARs is almost exclusively due to the optimized trajectory and not the OAR constraints. Conclusions: The authors’ study indicated that simultaneous couch and gantry motion
International Nuclear Information System (INIS)
MacDonald, R. Lee; Thomas, Christopher G.
2015-01-01
Purpose: To investigate potential improvement in external beam stereotactic radiation therapy plan quality for cranial cases using an optimized dynamic gantry and patient support couch motion trajectory, which could minimize exposure to sensitive healthy tissue. Methods: Anonymized patient anatomy and treatment plans of cranial cancer patients were used to quantify the geometric overlap between planning target volumes and organs-at-risk (OARs) based on their two-dimensional projection from source to a plane at isocenter as a function of gantry and couch angle. Published dose constraints were then used as weighting factors for the OARs to generate a map of couch-gantry coordinate space, indicating degree of overlap at each point in space. A couch-gantry collision space was generated by direct measurement on a linear accelerator and couch using an anthropomorphic solid-water phantom. A dynamic, fully customizable algorithm was written to generate a navigable ideal trajectory for the patient specific couch-gantry space. The advanced algorithm can be used to balance the implementation of absolute minimum values of overlap with the clinical practicality of large-scale couch motion and delivery time. Optimized cranial cancer treatment trajectories were compared to conventional treatment trajectories. Results: Comparison of optimized treatment trajectories with conventional treatment trajectories indicated an average decrease in mean dose to the OARs of 19% and an average decrease in maximum dose to the OARs of 12%. Degradation was seen for homogeneity index (6.14% ± 0.67%–5.48% ± 0.76%) and conformation number (0.82 ± 0.02–0.79 ± 0.02), but neither was statistically significant. Removal of OAR constraints from volumetric modulated arc therapy optimization reveals that reduction in dose to OARs is almost exclusively due to the optimized trajectory and not the OAR constraints. Conclusions: The authors’ study indicated that simultaneous couch and gantry motion
The optimal time of discontinuing methimazole before radioiodine therapy
International Nuclear Information System (INIS)
Moosavi, Z.; Zakavi, R.
2001-01-01
Hyperthyroidism is a common disease and one of the best methods for its treatment is radioiodine therapy with Treatment with antithyroid drugs brings patients to euthyroidism before radioiodine therapy. Antithyroid drugs should be discontinued before radioiodine therapy to increase thyroid uptake. The purpose of this study was to determine the optimal time of methimazole discontinuation. One hundred eighty four patients, who were referred for radioiodine therapy were classified in 3 groups according to the duration of methimazole discontinuation before thyroid uptake (RAIU) measurement. Group 1,2 and 3 were patients who discontinued methimazole (48-72 h rs), (72-120 h rs) and more than 120 h rs before RAIU measurement, respectively. Mean thyroid uptake in group 1, 2 and 3 was (64±151.1%), (60.1±14.1%) and (59.3±12.8), respectively. No significant difference was noted in thyroid uptake between these groups (F= 1.83, P<0.16). This study shows that 48-72 h rs of methimazole discontinuation before radioiodine therapy is enough and longer term abstention is not associated with higher uptake
How to decide the optimal scheme and the optimal time for construction
International Nuclear Information System (INIS)
Gjermundsen, T.; Dalsnes, B.; Jensen, T.
1991-01-01
Since the development in Norway began some 105 years ago the mean annual generation has reached approximately 110 TWh. This means that there is a large potential for uprating and refurbishing (U/R). A project undertaken by the Norwegian Water Resources and Energy Administration (NVE) has identified energy resources by means of U/R to about 10 TWh annual generation. One problem in harnessing the potential owned by small and medium sized electricity boards is the lack of simple tools to help us carry out the right decisions. The paper describes a simple model to find the best solution of scheme and the optimal time to start. The principle of present value is used. The main input is: production, price, annual costs of maintenance, the remaining lifetime and the social rate of return. The model calculates the present value of U/R/N for different points of time to start U/R/N. In addition the present value of the existing plant is calculated. Several alternatives can be considered. The best one will be the one which gives the highest present value according to the value of the existing plant. The internal rate of return is also calculated. To be aware of the sensitivity a star diagram is shown. The model gives the opportunity to include environmental charges and the value of effect (peak power). (Author)
International Nuclear Information System (INIS)
Gitz, V.; Hourcade, J.Ch.; Ciais, Ph.
2005-10-01
This paper addresses the timing of the use of biological carbon sequestration and its capacity to alleviate the carbon constraint on the energy sector. We constructed a stochastic optimal control model balancing the costs of fossil emission abatement, the opportunity costs of lands allocated to afforestation, and the costs of uncertain climate damages. We show that a minor part of the sequestration potential should start immediately as a 'brake', slowing down both the rate of growth of concentrations and the rate of abatement in the energy sector. thus increasing the option value of the emission trajectories. But, most of the potential is put in reserve to be used as a 'safety valve' after the resolution of uncertainty, if a higher and faster decarbonization is required: sequestration cuts off the peaks of costs of fossil abatement and postpones the pivoting of the energy system by up to two decades. (authors)
Interpreting Early Career Trajectories
Barnatt, Joan; Gahlsdorf Terrell, Dianna; D'Souza, Lisa Andries; Jong, Cindy; Cochran-Smith, Marilyn; Viesca, Kara Mitchell; Gleeson, Ann Marie; McQuillan, Patrick; Shakman, Karen
2017-01-01
Career decisions of four teachers are explored through the concept of figured worlds in this qualitative, longitudinal case study. Participants were purposefully chosen for similarity at entry, with a range of career trajectories over time. Teacher career paths included remaining in one school, repeated changes in schools, attrition after…
Real-Time Game Adaptation for Optimizing Player Satisfaction
DEFF Research Database (Denmark)
Yannakakis, Georgios; Hallam, John
2009-01-01
A methodology for optimizing player satisfaction in games on the "playware" physical interactive platform is demonstrated in this paper. Previously constructed artificial neural network user models, reported in the literature, map individual playing characteristics to reported entertainment...
Introduction to optimal control theory
International Nuclear Information System (INIS)
Agrachev, A.A.
2002-01-01
These are lecture notes of the introductory course in Optimal Control theory treated from the geometric point of view. Optimal Control Problem is reduced to the study of controls (and corresponding trajectories) leading to the boundary of attainable sets. We discuss Pontryagin Maximum Principle, basic existence results, and apply these tools to concrete simple optimal control problems. Special sections are devoted to the general theory of linear time-optimal problems and linear-quadratic problems. (author)
Directory of Open Access Journals (Sweden)
Yunliang Li
2015-09-01
Full Text Available The biochemical processes and associated water quality in many lakes mainly depend on their transport behaviors. Most existing methodologies for investigating transport behaviors are based on physically based numerical models. The pollutant transport trajectory and residence time of Poyang Lake are thought to have important implications for the steadily deteriorating water quality and the associated rapid environmental changes during the flood period. This study used a hydrodynamic model (MIKE 21 in conjunction with transport and particle-tracking sub-models to provide comprehensive investigation of transport behaviors in Poyang Lake. Model simulations reveal that the lake’s prevailing water flow patterns cause a unique transport trajectory that primarily develops from the catchment river mouths to the downstream area along the lake’s main flow channels, similar to a river-transport behavior. Particle tracking results show that the mean residence time of the lake is 89 days during July–September. The effect of the Yangtze River (the effluent of the lake on the residence time is stronger than that of the catchment river inflows. The current study represents a first attempt to use a combined model approach to provide insights into the transport behaviors for a large river–lake system, given proposals to manage the pollutant inputs both directly to the lake and catchment rivers.
Directory of Open Access Journals (Sweden)
Qiang Li
2018-01-01
Full Text Available By taking account of double-wishbone independent suspension with two unequal-length arms, the coordinate values of articulated geometry are based on structural limitations and constraint equations of alignment parameters. The sensitivities of front wheel alignment parameters are analyzed using the space analytic geometry method with insight module in ADAMS® software. The multiobjective optimization functions are designed to calculate the coordinate values of hardpoints with front suspension since the effect of time delay due to wheelbase can be easily obtained by vehicle speed. The K&C characteristics have been investigated using GA solutions in the simulation environment. The camber angle decreases from 1.152° to 1.05° and toe-in angle reduces from 1.036° to 0.944°. The simulation results demonstrate that the suggested optimization method is able to satisfy the suspension motion to enhance ride comfort. Experimental results, obtained by K&C test bench, also indicate that the optimized suspension can track the desired trajectory while keeping the vehicle performance in various road conditions.
Optimal control methods for rapidly time-varying Hamiltonians
International Nuclear Information System (INIS)
Motzoi, F.; Merkel, S. T.; Wilhelm, F. K.; Gambetta, J. M.
2011-01-01
In this article, we develop a numerical method to find optimal control pulses that accounts for the separation of timescales between the variation of the input control fields and the applied Hamiltonian. In traditional numerical optimization methods, these timescales are treated as being the same. While this approximation has had much success, in applications where the input controls are filtered substantially or mixed with a fast carrier, the resulting optimized pulses have little relation to the applied physical fields. Our technique remains numerically efficient in that the dimension of our search space is only dependent on the variation of the input control fields, while our simulation of the quantum evolution is accurate on the timescale of the fast variation in the applied Hamiltonian.
Flight test trajectory control analysis
Walker, R.; Gupta, N.
1983-01-01
Recent extensions to optimal control theory applied to meaningful linear models with sufficiently flexible software tools provide powerful techniques for designing flight test trajectory controllers (FTTCs). This report describes the principal steps for systematic development of flight trajectory controllers, which can be summarized as planning, modeling, designing, and validating a trajectory controller. The techniques have been kept as general as possible and should apply to a wide range of problems where quantities must be computed and displayed to a pilot to improve pilot effectiveness and to reduce workload and fatigue. To illustrate the approach, a detailed trajectory guidance law is developed and demonstrated for the F-15 aircraft flying the zoom-and-pushover maneuver.
Real-Time Optimization for Economic Model Predictive Control
DEFF Research Database (Denmark)
Sokoler, Leo Emil; Edlund, Kristian; Frison, Gianluca
2012-01-01
In this paper, we develop an efficient homogeneous and self-dual interior-point method for the linear programs arising in economic model predictive control. To exploit structure in the optimization problems, the algorithm employs a highly specialized Riccati iteration procedure. Simulations show...
Optimal time policy for deteriorating items of two-warehouse
Indian Academy of Sciences (India)
... goods in which the first is rented warehouse and the second is own warehouse that deteriorates with two different rates. The aim of this study is to determine the optimal order quantity to maximize the profit of the projected model. Finally, some numerical examples and sensitivity analysis of parameters are made to validate ...
Review on abort trajectory for manned lunar landing mission
Institute of Scientific and Technical Information of China (English)
无
2010-01-01
Abort trajectory is a passage that ensures the astronauts to return safely to the earth when an emergency occurs. Firstly,the essential elements of mission abort are analyzed entirely based on summarizing the existing studies. Then,abort trajectory requirement and rational selection for different flight phases of typical manned lunar mission are discussed specifically. Considering a trade-off between the two primary constrains of an abort,the return time of flight and energy requirement,a general optimizing method for mission abort is proposed. Finally,some suggestions are given for China’s future manned lunar landing mission.
Turnpike theory of continuous-time linear optimal control problems
Zaslavski, Alexander J
2015-01-01
Individual turnpike results are of great interest due to their numerous applications in engineering and in economic theory; in this book the study is focused on new results of turnpike phenomenon in linear optimal control problems. The book is intended for engineers as well as for mathematicians interested in the calculus of variations, optimal control, and in applied functional analysis. Two large classes of problems are studied in more depth. The first class studied in Chapter 2 consists of linear control problems with periodic nonsmooth convex integrands. Chapters 3-5 consist of linear control problems with autonomous nonconvex and nonsmooth integrands. Chapter 6 discusses a turnpike property for dynamic zero-sum games with linear constraints. Chapter 7 examines genericity results. In Chapter 8, the description of structure of variational problems with extended-valued integrands is obtained. Chapter 9 ends the exposition with a study of turnpike phenomenon for dynamic games with extended value integran...
Optimization of cutting parameters for machining time in turning process
Mavliutov, A. R.; Zlotnikov, E. G.
2018-03-01
This paper describes the most effective methods for nonlinear constraint optimization of cutting parameters in the turning process. Among them are Linearization Programming Method with Dual-Simplex algorithm, Interior Point method, and Augmented Lagrangian Genetic Algorithm (ALGA). Every each of them is tested on an actual example – the minimization of production rate in turning process. The computation was conducted in the MATLAB environment. The comparative results obtained from the application of these methods show: The optimal value of the linearized objective and the original function are the same. ALGA gives sufficiently accurate values, however, when the algorithm uses the Hybrid function with Interior Point algorithm, the resulted values have the maximal accuracy.
Optimal Retention Level for Infinite Time Horizons under MADM
Directory of Open Access Journals (Sweden)
Başak Bulut Karageyik
2016-12-01
Full Text Available In this paper, we approximate the aggregate claims process by using the translated gamma process under the classical risk model assumptions, and we investigate the ultimate ruin probability. We consider optimal reinsurance under the minimum ultimate ruin probability, as well as the maximum benefit criteria: released capital, expected profit and exponential-fractional-logarithmic utility from the insurer’s point of view. Numerical examples are presented to explain how the optimal initial surplus and retention level are changed according to the individual claim amounts, loading factors and weights of the criteria. In the decision making process, we use The Analytical Hierarchy Process (AHP and The Technique for Order of Preference by Similarity to ideal Solution (TOPSIS methods as the Multi-Attribute Decision Making methods (MADM and compare our results considering different combinations of loading factors for both exponential and Pareto individual claims.
Optimal Entry Timing in Markets with Social Influence
Yogesh V. Joshi; David J. Reibstein; Z. John Zhang
2009-01-01
Firms routinely face the challenging decision of whether to enter a new market where a firm's strong presence in an existing market has a positive influence (the leverage effect) on product adoption in the new market, but the reciprocal social influence on the existing market is negative (the backlash effect). In this paper, we show that a firm's optimal entry strategy in this situation cannot be characterized by the familiar "now or never" or "now or at maturity" strategies proposed in the l...
Allowed outage time for test and maintenance - Optimization of safety
International Nuclear Information System (INIS)
Cepin, M.; Mavko, B.
1997-01-01
The main objective of the project is the development and application of methodologies for improvement and optimization of test and maintenance activities for safety related equipment in NPPs on basis of their enhanced safety. The probabilistic safety assessment serves as a base, which does not mean the replacement of the deterministic analyses but the consideration of probabilistic safety assessment results as complement to deterministic results. 15 refs, 2 figs
Peeling Potatoes Near-optimally in Near-linear Time
Czech Academy of Sciences Publication Activity Database
Cabello, S.; Cibulka, J.; Kynčl, J.; Saumell, Maria; Valtr, P.
2017-01-01
Roč. 46, č. 5 (2017), s. 1574-1602 ISSN 0097-5397 R&D Projects: GA ČR GBP202/12/G061 Grant - others:GA MŠk(CZ) LO1506; GA MŠk(CZ) EE2.3.30.0038 Institutional support: RVO:67985807 Keywords : geometric optimization * potato peeling * visibility graph * geometric probability * approximation algorithm Subject RIV: BA - General Mathematics OBOR OECD: Pure mathematics Impact factor: 1.433, year: 2016
Beeping a Deterministic Time-Optimal Leader Election
Dufoulon , Fabien; Burman , Janna; Beauquier , Joffroy
2018-01-01
The beeping model is an extremely restrictive broadcast communication model that relies only on carrier sensing. In this model, we solve the leader election problem with an asymptotically optimal round complexity of O(D + log n), for a network of unknown size n and unknown diameter D (but with unique identifiers). Contrary to the best previously known algorithms in the same setting, the proposed one is deterministic. The techniques we introduce give a new insight as to how local constraints o...
Aircraft 4D trajectories planning under uncertainties
Chaimatanan , Supatcha; Delahaye , Daniel; Mongeau , Marcel
2015-01-01
International audience; To sustain the rapidly increasing air traffic demand, the future air traffic management system will rely on a concept, called Trajectory-Based Operations (TBO), that will require aircraft to follow an assigned 4D trajectory (time-constrained trajectory) with high precision. TBO involves separating aircraft via strategic (long-term) trajectory deconfliction rather than the currently-practicing tactical (short-term) conflict resolution. In this context, this paper presen...
The implication of missing the optimal-exercise time of an American option
Chockalingam, A.; Feng, H.
2015-01-01
The optimal-exercise policy of an American option dictates when the option should be exercised. In this paper, we consider the implications of missing the optimal exercise time of an American option. For the put option, this means holding the option until it is deeper in-the-money when the optimal
Sampled-data and discrete-time H2 optimal control
Trentelman, Harry L.; Stoorvogel, Anton A.
1993-01-01
This paper deals with the sampled-data H2 optimal control problem. Given a linear time-invariant continuous-time system, the problem of minimizing the H2 performance over all sampled-data controllers with a fixed sampling period can be reduced to a pure discrete-time H2 optimal control problem. This
Real-Time Optimization and Control of Next-Generation Distribution
-Generation Distribution Infrastructure Real-Time Optimization and Control of Next-Generation Distribution developing a system-theoretic distribution network management framework that unifies real-time voltage and Infrastructure | Grid Modernization | NREL Real-Time Optimization and Control of Next
Wang, Xinghu; Hong, Yiguang; Yi, Peng; Ji, Haibo; Kang, Yu
2017-05-24
In this paper, a distributed optimization problem is studied for continuous-time multiagent systems with unknown-frequency disturbances. A distributed gradient-based control is proposed for the agents to achieve the optimal consensus with estimating unknown frequencies and rejecting the bounded disturbance in the semi-global sense. Based on convex optimization analysis and adaptive internal model approach, the exact optimization solution can be obtained for the multiagent system disturbed by exogenous disturbances with uncertain parameters.
Privacy, Time Consistent Optimal Labour Income Taxation and Education Policy
Konrad, Kai A.
1999-01-01
Incomplete information is a commitment device for time consistency problems. In the context of time consistent labour income taxation privacy reduces welfare losses and increases the effectiveness of public education as a second best policy.
Free terminal time optimal control problem of an HIV model based on a conjugate gradient method.
Jang, Taesoo; Kwon, Hee-Dae; Lee, Jeehyun
2011-10-01
The minimum duration of treatment periods and the optimal multidrug therapy for human immunodeficiency virus (HIV) type 1 infection are considered. We formulate an optimal tracking problem, attempting to drive the states of the model to a "healthy" steady state in which the viral load is low and the immune response is strong. We study an optimal time frame as well as HIV therapeutic strategies by analyzing the free terminal time optimal tracking control problem. The minimum duration of treatment periods and the optimal multidrug therapy are found by solving the corresponding optimality systems with the additional transversality condition for the terminal time. We demonstrate by numerical simulations that the optimal dynamic multidrug therapy can lead to the long-term control of HIV by the strong immune response after discontinuation of therapy.
Linear quadratic optimization for positive LTI system
Muhafzan, Yenti, Syafrida Wirma; Zulakmal
2017-05-01
Nowaday the linear quadratic optimization subject to positive linear time invariant (LTI) system constitute an interesting study considering it can become a mathematical model of variety of real problem whose variables have to nonnegative and trajectories generated by these variables must be nonnegative. In this paper we propose a method to generate an optimal control of linear quadratic optimization subject to positive linear time invariant (LTI) system. A sufficient condition that guarantee the existence of such optimal control is discussed.
WANG, Qingrong; ZHU, Changfeng; LI, Ying; ZHANG, Zhengkun
2017-06-01
Considering the time dependence of emergency logistic network and complexity of the environment that the network exists in, in this paper the time dependent network optimization theory and robust discrete optimization theory are combined, and the emergency logistics dynamic network optimization model with characteristics of robustness is built to maximize the timeliness of emergency logistics. On this basis, considering the complexity of dynamic network and the time dependence of edge weight, an improved ant colony algorithm is proposed to realize the coupling of the optimization algorithm and the network time dependence and robustness. Finally, a case study has been carried out in order to testify validity of this robustness optimization model and its algorithm, and the value of different regulation factors was analyzed considering the importance of the value of the control factor in solving the optimal path. Analysis results show that this model and its algorithm above-mentioned have good timeliness and strong robustness.
Methods optimization for the first time core critical
International Nuclear Information System (INIS)
Yan Liang
2014-01-01
The PWR reactor core commissioning programs the content of the first critical reactor physics experiment, and describes thc physical test method. However, all the methods arc not exactly the same but efficient. This article aims to enhance the reactor for the first time in the process of critical safety, shorten the overall time of critical physical test for the first time, and improve the integrity of critical physical test data for the first time and accuracy, eventually to improve the operation of the plant economic benefit adopting sectional dilution, power feedback for Doppler point improvement of physical test methods, and so on. (author)
Optimal replacement time estimation for machines and equipment based on cost function
Directory of Open Access Journals (Sweden)
J. Šebo
2013-01-01
Full Text Available The article deals with a multidisciplinary issue of estimating the optimal replacement time for the machines. Considered categories of machines, for which the optimization method is usable, are of the metallurgical and engineering production. Different models of cost function are considered (both with one and two variables. Parameters of the models were calculated through the least squares method. Models testing show that all are good enough, so for estimation of optimal replacement time is sufficient to use simpler models. In addition to the testing of models we developed the method (tested on selected simple model which enable us in actual real time (with limited data set to indicate the optimal replacement time. The indicated time moment is close enough to the optimal replacement time t*.
A Segment-Based Trajectory Similarity Measure in the Urban Transportation Systems.
Mao, Yingchi; Zhong, Haishi; Xiao, Xianjian; Li, Xiaofang
2017-03-06
With the rapid spread of built-in GPS handheld smart devices, the trajectory data from GPS sensors has grown explosively. Trajectory data has spatio-temporal characteristics and rich information. Using trajectory data processing techniques can mine the patterns of human activities and the moving patterns of vehicles in the intelligent transportation systems. A trajectory similarity measure is one of the most important issues in trajectory data mining (clustering, classification, frequent pattern mining, etc.). Unfortunately, the main similarity measure algorithms with the trajectory data have been found to be inaccurate, highly sensitive of sampling methods, and have low robustness for the noise data. To solve the above problems, three distances and their corresponding computation methods are proposed in this paper. The point-segment distance can decrease the sensitivity of the point sampling methods. The prediction distance optimizes the temporal distance with the features of trajectory data. The segment-segment distance introduces the trajectory shape factor into the similarity measurement to improve the accuracy. The three kinds of distance are integrated with the traditional dynamic time warping algorithm (DTW) algorithm to propose a new segment-based dynamic time warping algorithm (SDTW). The experimental results show that the SDTW algorithm can exhibit about 57%, 86%, and 31% better accuracy than the longest common subsequence algorithm (LCSS), and edit distance on real sequence algorithm (EDR) , and DTW, respectively, and that the sensitivity to the noise data is lower than that those algorithms.
Optimal replacement time estimation for machines and equipment based on cost function
J. Šebo; J. Buša; P. Demeč; J. Svetlík
2013-01-01
The article deals with a multidisciplinary issue of estimating the optimal replacement time for the machines. Considered categories of machines, for which the optimization method is usable, are of the metallurgical and engineering production. Different models of cost function are considered (both with one and two variables). Parameters of the models were calculated through the least squares method. Models testing show that all are good enough, so for estimation of optimal replacement time is ...
Optimization of time-correlated single photon counting spectrometer
International Nuclear Information System (INIS)
Zhang Xiufeng; Du Haiying; Sun Jinsheng
2011-01-01
The paper proposes a performance improving scheme for the conventional time-correlated single photon counting spectrometer and develops a high speed data acquisition card based on PCI bus and FPGA technologies. The card is used to replace the multi-channel analyzer to improve the capability and decrease the volume of the spectrometer. The process of operation is introduced along with the integration of the spectrometer system. Many standard samples are measured. The experimental results show that the sensitivity of the spectrometer is single photon counting, and the time resolution of fluorescence lifetime measurement can be picosecond level. The instrument could measure the time-resolved spectroscopy. (authors)
Lubey, D.; Scheeres, D.
Tracking objects in Earth orbit is fraught with complications. This is due to the large population of orbiting spacecraft and debris that continues to grow, passive (i.e. no direct communication) and data-sparse observations, and the presence of maneuvers and dynamics mismodeling. Accurate orbit determination in this environment requires an algorithm to capture both a system's state and its state dynamics in order to account for mismodelings. Previous studies by the authors yielded an algorithm called the Optimal Control Based Estimator (OCBE) - an algorithm that simultaneously estimates a system's state and optimal control policies that represent dynamic mismodeling in the system for an arbitrary orbit-observer setup. The stochastic properties of these estimated controls are then used to determine the presence of mismodelings (maneuver detection), as well as characterize and reconstruct the mismodelings. The purpose of this paper is to develop the OCBE into an accurate real-time orbit tracking and maneuver detection algorithm by automating the algorithm and removing its linear assumptions. This results in a nonlinear adaptive estimator. In its original form the OCBE had a parameter called the assumed dynamic uncertainty, which is selected by the user with each new measurement to reflect the level of dynamic mismodeling in the system. This human-in-the-loop approach precludes real-time application to orbit tracking problems due to their complexity. This paper focuses on the Adaptive OCBE, a version of the estimator where the assumed dynamic uncertainty is chosen automatically with each new measurement using maneuver detection results to ensure that state uncertainties are properly adjusted to account for all dynamic mismodelings. The paper also focuses on a nonlinear implementation of the estimator. Originally, the OCBE was derived from a nonlinear cost function then linearized about a nominal trajectory, which is assumed to be ballistic (i.e. the nominal optimal
Optimal linear filtering of Poisson process with dead time
International Nuclear Information System (INIS)
Glukhova, E.V.
1993-01-01
The paper presents a derivation of an integral equation defining the impulsed transient of optimum linear filtering for evaluation of the intensity of the fluctuating Poisson process with allowance for dead time of transducers
Numerical simulation of onshore separation processes - residence time optimization
Energy Technology Data Exchange (ETDEWEB)
Fonte, Clarissa Bergman; Oliveira Junior, Joao Americo Aguirre [Engineering Simulation and Scientific Software (ESSS), Florianopolis, SC (Brazil)], E-mails: clarissa@esss.com.br, joao.aguirre@esss.com.br; Dutra, Eduardo Stein Soares [PETROBRAS E e P Engenharia de Producao, Rio de Janeiro, RJ (Brazil). Gerencia de Engenharia de Instalacoes de Superficie e Automacao], E-mail: eduardodutra@petrobras.com.br
2011-04-15
Cylindrical tanks are commonly used in onshore facilities to process and treat oil and water streams. These tanks generate a gravitational separation and, when sedimentation velocity is reached, the residence time inside the tank is crucial to guarantee proper separation. The ideal geometry for a tank maximizes the effective residence time by providing the largest possible fluid path, along which sedimentation of the denser phase occurs. Large volume tanks can be used for this purpose. However, internal devices, which increase the effective residence time and decrease undesirable hydrodynamic effects, are a commonly used alternative, allowing a reduction in tank size. This study focuses on the application of computational fluid dynamics as a tool to analyze four geometries found in gravitational separation tanks to identify that which offers the highest residence time values. (author)
Optimization of the wearing time for passive individual dosimeters
International Nuclear Information System (INIS)
Aleinikov, V.E.; )
1998-01-01
A cost-benefit equation was derived for the optimum wearing time of passive individual dosemeters. This equation was applied to the long-normal distribution of occupational individual doses. A plot of the optimum wearing time in dependence on the lower detection limit is reproduced. It is shown that the optimum wearing time depends on the dose distribution as well as on the quotient of the cost assigned to the unit collective dose, α, the cost of the dosemeter, C, and the lower detection limit, D. If the C/α ratio is infinitesimal, the optimum wearing time is directly proportional to the square root of the DL product (L is the dose limit) and inversely proportional to the average annual individual dose for the log-normal distribution. (P.A.)
Hamada, Aulia; Rosyidi, Cucuk Nur; Jauhari, Wakhid Ahmad
2017-11-01
Minimizing processing time in a production system can increase the efficiency of a manufacturing company. Processing time are influenced by application of modern technology and machining parameter. Application of modern technology can be apply by use of CNC machining, one of the machining process can be done with a CNC machining is turning. However, the machining parameters not only affect the processing time but also affect the environmental impact. Hence, optimization model is needed to optimize the machining parameters to minimize the processing time and environmental impact. This research developed a multi-objective optimization to minimize the processing time and environmental impact in CNC turning process which will result in optimal decision variables of cutting speed and feed rate. Environmental impact is converted from environmental burden through the use of eco-indicator 99. The model were solved by using OptQuest optimization software from Oracle Crystal Ball.
Application of Minimum-time Optimal Control System in Buck-Boost Bi-linear Converters
Directory of Open Access Journals (Sweden)
S. M. M. Shariatmadar
2017-08-01
Full Text Available In this study, the theory of minimum-time optimal control system in buck-boost bi-linear converters is described, so that output voltage regulation is carried out within minimum time. For this purpose, the Pontryagin's Minimum Principle is applied to find optimal switching level applying minimum-time optimal control rules. The results revealed that by utilizing an optimal switching level instead of classical switching patterns, output voltage regulation will be carried out within minimum time. However, transient energy index of increased overvoltage significantly reduces in order to attain minimum time optimal control in reduced output load. The laboratory results were used in order to verify numerical simulations.
DEFF Research Database (Denmark)
Dalgas, Karina Märcher
2015-01-01
pair-sending families in the Philippines, this dissertation examines the long-term trajectories of these young Filipinas. It shows how the au pairs’ local and transnational family relations develop over time and greatly influence their life trajectories. A focal point of the study is how au pairs...... that Filipina au pairs see their stay abroad as an avenue of personal development and social recognition, I examine how the au pairs re-position themselves within their families at home through migration, and how they navigate between the often conflicting expectations of participation in the sociality......Since 2000, thousands of young Filipino migrants have come to Denmark as au pairs. Officially, they are there to “broaden their cultural horizons” by living temporarily with a Danish host family, but they also conduct domestic labor in exchange for food and money, which allows them to send...
Robust Optimization for Time-Cost Tradeoff Problem in Construction Projects
Li, Ming; Wu, Guangdong
2014-01-01
Construction projects are generally subject to uncertainty, which influences the realization of time-cost tradeoff in project management. This paper addresses a time-cost tradeoff problem under uncertainty, in which activities in projects can be executed in different construction modes corresponding to specified time and cost with interval uncertainty. Based on multiobjective robust optimization method, a robust optimization model for time-cost tradeoff problem is developed. In order to illus...
International Nuclear Information System (INIS)
Marquet, F; Aubry, J F; Pernot, M; Fink, M; Tanter, M
2011-01-01
Recent studies have demonstrated the feasibility of transcostal high intensity focused ultrasound (HIFU) treatment in liver. However, two factors limit thermal necrosis of the liver through the ribs: the energy deposition at focus is decreased by the respiratory movement of the liver and the energy deposition on the skin is increased by the presence of highly absorbing bone structures. Ex vivo ablations were conducted to validate the feasibility of a transcostal real-time 3D movement tracking and correction mode. Experiments were conducted through a chest phantom made of three human ribs immersed in water and were placed in front of a 300 element array working at 1 MHz. A binarized apodization law introduced recently in order to spare the rib cage during treatment has been extended here with real-time electronic steering of the beam. Thermal simulations have been conducted to determine the steering limits. In vivo 3D-movement detection was performed on pigs using an ultrasonic sequence. The maximum error on the transcostal motion detection was measured to be 0.09 ± 0.097 mm on the anterior–posterior axis. Finally, a complete sequence was developed combining real-time 3D transcostal movement correction and spiral trajectory of the HIFU beam, allowing the system to treat larger areas with optimized efficiency. Lesions as large as 1 cm in diameter have been produced at focus in excised liver, whereas no necroses could be obtained with the same emitted power without correcting the movement of the tissue sample.
Long Range Aircraft Trajectory Prediction
Magister, Tone
2009-01-01
The subject of the paper is the improvement of the aircraft future trajectory prediction accuracy for long-range airborne separation assurance. The strategic planning of safe aircraft flights and effective conflict avoidance tactics demand timely and accurate conflict detection based upon future four–dimensional airborne traffic situation prediction which is as accurate as each aircraft flight trajectory prediction. The improved kinematics model of aircraft relative flight considering flight ...
Discrete Analysis of Portfolio Selection with Optimal Stopping Time
Directory of Open Access Journals (Sweden)
Jianfeng Liang
2009-01-01
Full Text Available Most of the investments in practice are carried out without certain horizons. There are many factors to drive investment to a stop. In this paper, we consider a portfolio selection policy with market-related stopping time. Particularly, we assume that the investor exits the market once his wealth reaches a given investment target or falls below a bankruptcy threshold. Our objective is to minimize the expected time when the investment target is obtained, at the same time, we guarantee the probability that bankruptcy happens is no larger than a given level. We formulate the problem as a mix integer linear programming model and make analysis of the model by using a numerical example.
A Harmony Search Algorithm approach for optimizing traffic signal timings
Directory of Open Access Journals (Sweden)
Mauro Dell'Orco
2013-07-01
Full Text Available In this study, a bi-level formulation is presented for solving the Equilibrium Network Design Problem (ENDP. The optimisation of the signal timing has been carried out at the upper-level using the Harmony Search Algorithm (HSA, whilst the traffic assignment has been carried out through the Path Flow Estimator (PFE at the lower level. The results of HSA have been first compared with those obtained using the Genetic Algorithm, and the Hill Climbing on a two-junction network for a fixed set of link flows. Secondly, the HSA with PFE has been applied to the medium-sized network to show the applicability of the proposed algorithm in solving the ENDP. Additionally, in order to test the sensitivity of perceived travel time error, we have used the HSA with PFE with various level of perceived travel time. The results showed that the proposed method is quite simple and efficient in solving the ENDP.
Resource Optimization in Distributed Real-Time Multimedia Applications
Yang, R.; van der Mei, R.D.; Roubos, D.; Seinstra, F.J.; Bal, H.E.
2012-01-01
The research area of multimedia content analysis (MMCA) considers all aspects of the automated extraction of knowledge from multimedia archives and data streams. To adhere to strict time constraints, large-scalemultimedia applications typically are being executed on distributed systems consisting of
Scheduling with Optimized Communication for Time-Triggered Embedded Systems
DEFF Research Database (Denmark)
Pop, Paul; Eles, Petru; Peng, Zebo
1999-01-01
We present an approach to process scheduling for synthesis of safety-critical distributed embedded systems.Our system model captures both the flow of data and that of control. The communication model is based on a time-triggered protocol. We take into consideration overheads due to communication...
Optease Vena Cava Filter Optimal Indwelling Time and Retrievability
International Nuclear Information System (INIS)
Rimon, Uri; Bensaid, Paul; Golan, Gil; Garniek, Alexander; Khaitovich, Boris; Dotan, Zohar; Konen, Eli
2011-01-01
The purpose of this study was to assess the indwelling time and retrievability of the Optease IVC filter. Between 2002 and 2009, a total of 811 Optease filters were inserted: 382 for prophylaxis in multitrauma patients and 429 for patients with venous thromboembolic (VTE) disease. In 139 patients [97 men and 42 women; mean age, 36 (range, 17–82) years], filter retrieval was attempted. They were divided into two groups to compare change in retrieval policy during the years: group A, 60 patients with filter retrievals performed before December 31 2006; and group B, 79 patients with filter retrievals from January 2007 to October 2009. A total of 128 filters were successfully removed (57 in group A, and 71 in group B). The mean filter indwelling time in the study group was 25 (range, 3–122) days. In group A the mean indwelling time was 18 (range, 7–55) days and in group B 31 days (range, 8–122). There were 11 retrieval failures: 4 for inability to engage the filter hook and 7 for inability to sheathe the filter due to intimal overgrowth. The mean indwelling time of group A retrieval failures was 16 (range, 15–18) days and in group B 54 (range, 17–122) days. Mean fluoroscopy time for successful retrieval was 3.5 (range, 1–16.6) min and for retrieval failures 25.2 (range, 7.2–62) min. Attempts to retrieve the Optease filter can be performed up to 60 days, but more failures will be encountered with this approach.
Optimizing the Time Performance of Subcontractors in Building Projects
Directory of Open Access Journals (Sweden)
Andy K.W Ng
2010-07-01
Full Text Available The main contractors of Hong Kong building projects tend to subcontract most of their work. However, many of the subcontractors complain that they are not being fully utilized due main contractors’ poor site coordination of temporary works and interfacing works and plant supports etc. A list of critical site coordination problems caused by main contractors that had adversely influence to the time performance of subcontractors was prepared. A questionnaire survey was conducted to collect data to generate multiple regression equations that explain how the critical site coordination problems affected the time performance of different types of subcontractor. The survey results were validated by neural network analysis. Backward elimination method was adopted to identify the ‘most critical’ site coordination problems that enable main contractors to formulate measures to enhance their site management system.
Changes in Optimism Are Associated with Changes in Health Over Time Among Older Adults.
Chopik, William J; Kim, Eric S; Smith, Jacqui
2015-09-01
Little is known about how optimism differs by age and changes over time, particularly among older adults. Even less is known about how changes in optimism are related to changes in physical health. We examined age differences and longitudinal changes in optimism in 9,790 older adults over a four-year period. We found an inverted U-shaped pattern between optimism and age both cross-sectionally and longitudinally, such that optimism generally increased in older adults before decreasing. Increases in optimism over a four-year period were associated with improvements in self-rated health and fewer chronic illnesses over the same time frame. The findings from the current study are consistent with changes in emotion regulation strategies employed by older adults and age-related changes in well-being.
Changes in Optimism Are Associated with Changes in Health Over Time Among Older Adults
Chopik, William J.; Kim, Eric S.; Smith, Jacqui
2016-01-01
Little is known about how optimism differs by age and changes over time, particularly among older adults. Even less is known about how changes in optimism are related to changes in physical health. We examined age differences and longitudinal changes in optimism in 9,790 older adults over a four-year period. We found an inverted U-shaped pattern between optimism and age both cross-sectionally and longitudinally, such that optimism generally increased in older adults before decreasing. Increases in optimism over a four-year period were associated with improvements in self-rated health and fewer chronic illnesses over the same time frame. The findings from the current study are consistent with changes in emotion regulation strategies employed by older adults and age-related changes in well-being. PMID:27114753
Blocking Optimality in Distributed Real-Time Locking Protocols
Directory of Open Access Journals (Sweden)
Björn Bernhard Brandenburg
2014-09-01
Full Text Available Lower and upper bounds on the maximum priority inversion blocking (pi-blocking that is generally unavoidable in distributed multiprocessor real-time locking protocols (where resources may be accessed only from specific synchronization processors are established. Prior work on suspension-based shared-memory multiprocessor locking protocols (which require resources to be accessible from all processors has established asymptotically tight bounds of Ω(m and Ω(n maximum pi-blocking under suspension-oblivious and suspension-aware analysis, respectively, where m denotes the total number of processors and n denotes the number of tasks. In this paper, it is shown that, in the case of distributed semaphore protocols, there exist two different task allocation scenarios that give rise to distinct lower bounds. In the case of co-hosted task allocation, where application tasks may also be assigned to synchronization processors (i.e., processors hosting critical sections, Ω(Φ · n maximum pi-blocking is unavoidable for some tasks under any locking protocol under both suspension-aware and suspension-oblivious schedulability analysis, where Φ denotes the ratio of the maximum response time to the shortest period. In contrast, in the case of disjoint task allocation (i.e., if application tasks may not be assigned to synchronization processors, only Ω(m and Ω(n maximum pi-blocking is fundamentally unavoidable under suspension-oblivious and suspension-aware analysis, respectively, as in the shared-memory case. These bounds are shown to be asymptotically tight with the construction of two new distributed real-time locking protocols that ensure O(m and O(n maximum pi-blocking under suspension-oblivious and suspension-aware analysis, respectively.
Laub, Bernard; Grinstead, Jay; Dyakonov, Artem; Venkatapathy, Ethiraj
2011-01-01
Though arc jet testing has been the proven method employed for development testing and certification of TPS and TPS instrumentation, the operational aspects of arc jets limit testing to selected, but constant, conditions. Flight, on the other hand, produces timevarying entry conditions in which the heat flux increases, peaks, and recedes as a vehicle descends through an atmosphere. As a result, we are unable to "test as we fly." Attempts to replicate the time-dependent aerothermal environment of atmospheric entry by varying the arc jet facility operating conditions during a test have proven to be difficult, expensive, and only partially successful. A promising alternative is to rotate the test model exposed to a constant-condition arc jet flow to yield a time-varying test condition at a point on a test article (Fig. 1). The model shape and rotation rate can be engineered so that the heat flux at a point on the model replicates the predicted profile for a particular point on a flight vehicle. This simple concept will enable, for example, calibration of the TPS sensors on the Mars Science Laboratory (MSL) aeroshell for anticipated flight environments.
Directory of Open Access Journals (Sweden)
Mina Ghanbarikarekani
2016-06-01
Full Text Available Optimization of signal timing in urban network is usually done by minimizing the delay times or queue lengths. Sincethe effect of each intersection on the whole network is not considered in the mentioned methods, traffic congestion may occur in network links. Therefore, this paper has aimed to provide a timing optimization algorithm for traffic signals using internal timing policy based on balancing queue time ratio of vehicles in network links. In the proposed algorithm, the difference between the real queue time ratio and the optimum one for each link of intersection was minimized. To evaluate the efficiency of the proposed algorithm on traffic performance, the proposed algorithm was applied in a hypothetical network. By comparing the simulating software outputs, before and after implementing the algorithm, it was concluded that the queue time ratio algorithm has improved the traffic parameters by increasing the flow as well as reducing the delay time and density of the network.
FEM for time-fractional diffusion equations, novel optimal error analyses
Mustapha, Kassem
2016-01-01
A semidiscrete Galerkin finite element method applied to time-fractional diffusion equations with time-space dependent diffusivity on bounded convex spatial domains will be studied. The main focus is on achieving optimal error results with respect to both the convergence order of the approximate solution and the regularity of the initial data. By using novel energy arguments, for each fixed time $t$, optimal error bounds in the spatial $L^2$- and $H^1$-norms are derived for both cases: smooth...
Real-Time Dosimetry and Optimization of Prostate Photodynamic Therapy
2005-05-01
85cm’ 0:k -" l)=O5.0O25,=0.10cnf’ Ps4 ൱ crm’ 0 cik)=5.012p 5,4=5.45c,1’. G~cff’* - 0~n) .012,P. 0.49cff’,0:=3.56c-0 cink) = - 1,00 c ’", V-= 1.75 ccml...tissue to make a measurement. This limits the resolution of absorption spectroscopy, and makes it more time- consuming than fluorescence spectroscopy...photobleaching versus those that do not. Further research into the photobleaching behavior and in vivo vascular effects of MLu is needed to resolve the
[Just-in-time initiation of optimal dialysis].
Cornelis, Tom; Kooman, Jeroen P; van der Sande, Frank M
2010-01-01
The IDEAL trial shows that the decision to start renal replacement treatment should not depend on GFR alone, but should be taken on the basis of clinical parameters. Quality of Life (QoL) questionnaires and bio-impedance analysis are potential tools for detecting subtle changes in the predialysis clinic. Too early an initiation of dialysis may be deleterious for the patient and the healthcare system. We are convinced that ESRD patients should be informed about intensive haemodialysis (HD), especially nocturnal (home) HD, as the best available dialysis modality. There is substantial evidence which shows that intensive HD improves clinical, biochemical and biological parameters, and may even prolong survival. We believe that 'just-in-time delivery of intensive haemodialysis' may result in optimised QoL and reduced economic burden.
Sumoylation promotes optimal APC/C Activation and Timely Anaphase.
Lee, Christine C; Li, Bing; Yu, Hongtao; Matunis, Michael J
2018-03-08
The Anaphase Promoting Complex/Cyclosome (APC/C) is a ubiquitin E3 ligase that functions as the gatekeeper to mitotic exit. APC/C activity is controlled by an interplay of multiple pathways during mitosis, including the spindle assembly checkpoint (SAC), that are not yet fully understood. Here, we show that sumoylation of the APC4 subunit of the APC/C peaks during mitosis and is critical for timely APC/C activation and anaphase onset. We have also identified a functionally important SUMO interacting motif in the cullin-homology domain of APC2 located near the APC4 sumoylation sites and APC/C catalytic core. Our findings provide evidence of an important regulatory role for SUMO modification and binding in affecting APC/C activation and mitotic exit. © 2018, Lee et al.
On-Board Real-Time Optimization Control for Turbo-Fan Engine Life Extending
Zheng, Qiangang; Zhang, Haibo; Miao, Lizhen; Sun, Fengyong
2017-11-01
A real-time optimization control method is proposed to extend turbo-fan engine service life. This real-time optimization control is based on an on-board engine mode, which is devised by a MRR-LSSVR (multi-input multi-output recursive reduced least squares support vector regression method). To solve the optimization problem, a FSQP (feasible sequential quadratic programming) algorithm is utilized. The thermal mechanical fatigue is taken into account during the optimization process. Furthermore, to describe the engine life decaying, a thermal mechanical fatigue model of engine acceleration process is established. The optimization objective function not only contains the sub-item which can get fast response of the engine, but also concludes the sub-item of the total mechanical strain range which has positive relationship to engine fatigue life. Finally, the simulations of the conventional optimization control which just consider engine acceleration performance or the proposed optimization method have been conducted. The simulations demonstrate that the time of the two control methods from idle to 99.5 % of the maximum power are equal. However, the engine life using the proposed optimization method could be surprisingly increased by 36.17 % compared with that using conventional optimization control.
Directory of Open Access Journals (Sweden)
Dexin Yu
2016-01-01
Full Text Available In order to optimize the signal timing for isolated intersection, a new method based on fuzzy programming approach is proposed in this paper. Considering the whole operation efficiency of the intersection comprehensively, traffic capacity, vehicle cycle delay, cycle stops, and exhaust emission are chosen as optimization goals to establish a multiobjective function first. Then fuzzy compromise programming approach is employed to give different weight coefficients to various optimization objectives for different traffic flow ratios states. And then the multiobjective function is converted to a single objective function. By using genetic algorithm, the optimized signal cycle and effective green time can be obtained. Finally, the performance of the traditional method and new method proposed in this paper is compared and analyzed through VISSIM software. It can be concluded that the signal timing optimized in this paper can effectively reduce vehicle delays and stops, which can improve traffic capacity of the intersection as well.
Optimization of thermal systems based on finite-time thermodynamics and thermoeconomics
Energy Technology Data Exchange (ETDEWEB)
Durmayaz, A. [Istanbul Technical University (Turkey). Department of Mechanical Engineering; Sogut, O.S. [Istanbul Technical University, Maslak (Turkey). Department of Naval Architecture and Ocean Engineering; Sahin, B. [Yildiz Technical University, Besiktas, Istanbul (Turkey). Department of Naval Architecture; Yavuz, H. [Istanbul Technical University, Maslak (Turkey). Institute of Energy
2004-07-01
The irreversibilities originating from finite-time and finite-size constraints are important in the real thermal system optimization. Since classical thermodynamic analysis based on thermodynamic equilibrium do not consider these constraints directly, it is necessary to consider the energy transfer between the system and its surroundings in the rate form. Finite-time thermodynamics provides a fundamental starting point for the optimization of real thermal systems including the fundamental concepts of heat transfer and fluid mechanics to classical thermodynamics. In this study, optimization studies of thermal systems, that consider various objective functions, based on finite-time thermodynamics and thermoeconomics are reviewed. (author)
Keren, Baruch; Pliskin, Joseph S
2011-12-01
The optimal timing for performing radical medical procedures as joint (e.g., hip) replacement must be seriously considered. In this paper we show that under deterministic assumptions the optimal timing for joint replacement is a solution of a mathematical programming problem, and under stochastic assumptions the optimal timing can be formulated as a stochastic programming problem. We formulate deterministic and stochastic models that can serve as decision support tools. The results show that the benefit from joint replacement surgery is heavily dependent on timing. Moreover, for a special case where the patient's remaining life is normally distributed along with a normally distributed survival of the new joint, the expected benefit function from surgery is completely solved. This enables practitioners to draw the expected benefit graph, to find the optimal timing, to evaluate the benefit for each patient, to set priorities among patients and to decide if joint replacement should be performed and when.
Li, Jinna; Kiumarsi, Bahare; Chai, Tianyou; Lewis, Frank L; Fan, Jialu
2017-12-01
Industrial flow lines are composed of unit processes operating on a fast time scale and performance measurements known as operational indices measured at a slower time scale. This paper presents a model-free optimal solution to a class of two time-scale industrial processes using off-policy reinforcement learning (RL). First, the lower-layer unit process control loop with a fast sampling period and the upper-layer operational index dynamics at a slow time scale are modeled. Second, a general optimal operational control problem is formulated to optimally prescribe the set-points for the unit industrial process. Then, a zero-sum game off-policy RL algorithm is developed to find the optimal set-points by using data measured in real-time. Finally, a simulation experiment is employed for an industrial flotation process to show the effectiveness of the proposed method.
The optimal time path of clean energy R&D policy when patents have finite lifetime
Gerlagh, R.; Kverndokk, S.; Rosendahl, K.E.
We study the optimal time path for clean energy innovation policy. In a model with emission reduction through clean energy deployment, and with R&D increasing the overall productivity of clean energy, we describe optimal R&D policies jointly with emission pricing policies. We find that while
Optimal control of nonlinear continuous-time systems in strict-feedback form.
Zargarzadeh, Hassan; Dierks, Travis; Jagannathan, Sarangapani
2015-10-01
This paper proposes a novel optimal tracking control scheme for nonlinear continuous-time systems in strict-feedback form with uncertain dynamics. The optimal tracking problem is transformed into an equivalent optimal regulation problem through a feedforward adaptive control input that is generated by modifying the standard backstepping technique. Subsequently, a neural network-based optimal control scheme is introduced to estimate the cost, or value function, over an infinite horizon for the resulting nonlinear continuous-time systems in affine form when the internal dynamics are unknown. The estimated cost function is then used to obtain the optimal feedback control input; therefore, the overall optimal control input for the nonlinear continuous-time system in strict-feedback form includes the feedforward plus the optimal feedback terms. It is shown that the estimated cost function minimizes the Hamilton-Jacobi-Bellman estimation error in a forward-in-time manner without using any value or policy iterations. Finally, optimal output feedback control is introduced through the design of a suitable observer. Lyapunov theory is utilized to show the overall stability of the proposed schemes without requiring an initial admissible controller. Simulation examples are provided to validate the theoretical results.
Optimal operation of smart houses by a real-time rolling horizon algorithm
Paterakis, N.G.; Pappi, I.N.; Catalão, J.P.S.; Erdinc, O.
2016-01-01
In this paper, a novel real-time rolling horizon optimization framework for the optimal operation of a smart household is presented. A home energy management system (HEMS) model based on mixed-integer linear programming (MILP) is developed in order to minimize the energy procurement cost considering
Optimal time-domain technique for pulse width modulation in power electronics
Directory of Open Access Journals (Sweden)
I. Mayergoyz
2018-05-01
Full Text Available Optimal time-domain technique for pulse width modulation is presented. It is based on exact and explicit analytical solutions for inverter circuits, obtained for any sequence of input voltage rectangular pulses. Two optimal criteria are discussed and illustrated by numerical examples.
Free terminal time optimal control problem for the treatment of HIV infection
Directory of Open Access Journals (Sweden)
Amine Hamdache
2016-01-01
to provide the explicit formulations of the optimal controls. The corresponding optimality system with the additional transversality condition for the terminal time is derived and solved numerically using an adapted iterative method with a Runge-Kutta fourth order scheme and a gradient method routine.
Global Optimization using Interval Analysis : Interval Optimization for Aerospace Applications
Van Kampen, E.
2010-01-01
Optimization is an important element in aerospace related research. It is encountered for example in trajectory optimization problems, such as: satellite formation flying, spacecraft re-entry optimization and airport approach and departure optimization; in control optimization, for example in
International Nuclear Information System (INIS)
Zimmer, J.
1986-09-01
The computation of three dimensional trajectories is described in this report. Since measurements of the position and velocity of individual fluid parcels are difficult to be carried out and analytic solutions applicable to the trajectory problem are not available, trajectories have to be calculated by successive observations of the corresponding velocity fields using a method of successive approximation. The application is restricted to cartesian grid coordinate system with equidistant grid points. This model was developed for meteorological purposes (transport of pollutants) but can also be used for other fluids and scales. (orig./PW) [de
Optimal timing of cholecystectomy in children with gallstone pancreatitis.
Badru, Faidah; Saxena, Saurabh; Breeden, Robert; Bourdillon, Maximillan; Fitzpatrick, Colleen; Chatoorgoon, Kaveer; Greenspon, Jose; Villalona, Gustavo
2017-07-01
Little data exist regarding the recurrence of pancreatitis in pediatric patients with gallstone pancreatitis awaiting cholecystectomy. This study evaluates the recurrence rate of pancreatitis after acute gallstone pancreatitis based on the timing of cholecystectomy in pediatric patients. A retrospective chart review of all patients admitted with gallstone pancreatitis from 2007 to 2015 was performed. Children were divided into the following five groups. Group 1 had surgery during the index admission. Group 2 had surgery within 2 wk of discharge. Group 3 had surgery between 2 and 6 wk postdischarge. Group 4 had surgery 6 wk after discharge, and group 5 patients had no surgery. The recurrence rates of pancreatitis were calculated for all groups. Forty-eight patients with gallstone pancreatitis were identified in this study. The 19 patients in group 1 had no recurrence of their pancreatitis. Of the remaining 29 patients, nine (31%) had recurrence of pancreatitis or required readmission for abdominal pain prior to their cholecystectomy. In group 2, two of the eight patients (25%) had recurrent pancreatitis. In group 3, three of eight patients (37.5%) developed recurrent pancreatitis. In group 4, three of five patients (60%), and in group 5, one of eight. No children in group 5 had demonstrable gallstones at presentation, only sludge in their gallbladder. Cholecystectomy during the index admission is associated with no recurrence or readmission for pancreatitis. Therefore, we recommend that cholecystectomy be performed after resolution of an episode of gallstone pancreatitis during index admission. Copyright © 2017 Elsevier Inc. All rights reserved.
International Nuclear Information System (INIS)
Pittner, Jiri; Lischka, Hans; Barbatti, Mario
2009-01-01
The usage of time-derivative non-adiabatic coupling terms and partially coupled time-dependent equations are investigated to accelerate non-adiabatic dynamics simulations at multireference configuration interaction (MRCI) level. The quality of the results and computational costs are compared against non-adiabatic benchmark dynamics calculations using non-adiabatic coupling vectors. In the comparison between the time-derivative couplings and coupling vectors, deviations in the adiabatic population of individual trajectories were observed in regions of rapid variation of the coupling terms. They, however, affected the average adiabatic population to only about 5%. For small multiconfiguration spaces, dynamics with time-derivative couplings are significantly faster than those with coupling vectors. This relation inverts for larger configuration spaces. The use of the partially coupled equations approach speeds up the simulations significantly while keeping the deviations in the population below few percent. Imidazole and the methaniminium cation are used as test examples
A study of variable thrust, variable specific impulse trajectories for solar system exploration
Sakai, Tadashi
A study has been performed to determine the advantages and disadvantages of variable thrust and variable Isp (specific impulse) trajectories for solar system exploration. There have been several numerical research efforts for variable thrust, variable Isp, power-limited trajectory optimization problems. All of these results conclude that variable thrust, variable Isp (variable specific impulse, or VSI) engines are superior to constant thrust, constant Isp (constant specific impulse; or CSI) engines. However, most of these research efforts assume a mission from Earth to Mars, and some of them further assume that these planets are circular and coplanar. Hence they still lack the generality. This research has been conducted to answer the following questions: (1) Is a VSI engine always better than a CSI engine or a high thrust engine for any mission to any planet with any time of flight considering lower propellant mass as the sole criterion? (2) If a planetary swing-by is used for a VSI trajectory, is the fuel savings of a VSI swing-by trajectory better than that of a CSI swing-by or high thrust swing-by trajectory? To support this research, an unique, new computer-based interplanetary trajectory calculation program has been created. This program utilizes a calculus of variations algorithm to perform overall optimization of thrust, Isp, and thrust vector direction along a trajectory that minimizes fuel consumption for interplanetary travel. It is assumed that the propulsion system is power-limited, and thus the compromise between thrust and Isp is a variable to be optimized along the flight path. This program is capable of optimizing not only variable thrust trajectories but also constant thrust trajectories in 3-D space using a planetary ephemeris database. It is also capable of conducting planetary swing-bys. Using this program, various Earth-originating trajectories have been investigated and the optimized results have been compared to traditional CSI and high
Predictors of Psychological Distress Trajectories in the First Year After a Breast Cancer Diagnosis
Directory of Open Access Journals (Sweden)
Jin-Hee Park, RN, Ph.D.
2017-12-01
Full Text Available Purpose: Psychological distress is a significant and ongoing problem for breast cancer. These mental health problems are often neglected as they are not always properly understood. This study was performed to explore the trajectory of psychological distress over 1 year since breast cancer surgery and to identify the associated factors for the trajectory. Methods: One hundred seventeen women who underwent surgery for breast cancer completed the psychological distress thermometer and problem lists from after surgery to 12 months after surgery. Information on their sociodemographic and clinical characteristics was also obtained. Group-based trajectory modeling was performed to identify the distinct trajectories of psychological distress. Chi-square test and logistic regression analysis were performed to determine predictors of psychological distress trajectories. Results: A two-group linear trajectory model was optimal for modeling psychological distress (Bayesian information criterion = −777.41. Group-based trajectory modeling identified consistently high-distress (19.4% and low-decreasing distress (80.6% trajectories. Old age, depression, nervousness, and pain were significant predictors of consistently high-distress trajectory. Conclusion: Our results indicate that distinct trajectory groups can be used as a screening tool to identify patients who may be at an increased risk of psychological distress over time. Screening for psychological distress during disease diagnosis is important and necessary to identify patients who are at an increased risk of elevated distress or at risk of experiencing psychological distress over time. Keywords: anxiety, breast neoplasms, depression, pain, psychological stress
Sufficient conditions for Lagrange, Mayer, and Bolza optimization problems
Directory of Open Access Journals (Sweden)
Boltyanski V.
2001-01-01
Full Text Available The Maximum Principle [2,13] is a well known necessary condition for optimality. This condition, generally, is not sufficient. In [3], the author proved that if there exists regular synthesis of trajectories, the Maximum Principle also is a sufficient condition for time-optimality. In this article, we generalize this result for Lagrange, Mayer, and Bolza optimization problems.
International Nuclear Information System (INIS)
Lee, Tsung-Ying; Chen, Chun-Lung
2007-01-01
This paper presents a new algorithm for solving the optimal contract capacities of a time-of-use (TOU) rates industrial customer. This algorithm is named iteration particle swarm optimization (IPSO). A new index, called iteration best is incorporated into particle swarm optimization (PSO) to improve solution quality and computation efficiency. Expanding line construction cost and contract recovery cost are considered, as well as demand contract capacity cost and penalty bill, in the selection of the optimal contract capacities. The resulting optimal contract capacity effectively reaches the minimum electricity charge of TOU rates users. A significant reduction in electricity costs is observed. The effects of expanding line construction cost and contract recovery cost on the selection of optimal contract capacities can also be estimated. The feasibility of the new algorithm is demonstrated by a numerical example, and the IPSO solution quality and computation efficiency are compared to those of other algorithms
Directory of Open Access Journals (Sweden)
Mingjian Sun
2015-01-01
Full Text Available Photoacoustic imaging is an innovative imaging technique to image biomedical tissues. The time reversal reconstruction algorithm in which a numerical model of the acoustic forward problem is run backwards in time is widely used. In the paper, a time reversal reconstruction algorithm based on particle swarm optimization (PSO optimized support vector machine (SVM interpolation method is proposed for photoacoustics imaging. Numerical results show that the reconstructed images of the proposed algorithm are more accurate than those of the nearest neighbor interpolation, linear interpolation, and cubic convolution interpolation based time reversal algorithm, which can provide higher imaging quality by using significantly fewer measurement positions or scanning times.
Management by Trajectory: Trajectory Management Study Report
Leiden, Kenneth; Atkins, Stephen; Fernandes, Alicia D.; Kaler, Curt; Bell, Alan; Kilbourne, Todd; Evans, Mark
2017-01-01
In order to realize the full potential of the Next Generation Air Transportation System (NextGen), improved management along planned trajectories between air navigation service providers (ANSPs) and system users (e.g., pilots and airline dispatchers) is needed. Future automation improvements and increased data communications between aircraft and ground automation would make the concept of Management by Trajectory (MBT) possible.
Worst-Case Execution Time Based Optimization of Real-Time Java Programs
DEFF Research Database (Denmark)
Hepp, Stefan; Schoeberl, Martin
2012-01-01
optimization is method in lining. It is especially important for languages, like Java, where small setter and getter methods are considered good programming style. In this paper we present and explore WCET driven in lining of Java methods. We use the WCET analysis tool for the Java processor JOP to guide...
Optimal timing of coronary invasive strategy in non-ST-segment elevation acute coronary syndromes
DEFF Research Database (Denmark)
Navarese, Eliano P; Gurbel, Paul A; Andreotti, Felicita
2013-01-01
The optimal timing of coronary intervention in patients with non-ST-segment elevation acute coronary syndromes (NSTE-ACSs) is a matter of debate. Conflicting results among published studies partly relate to different risk profiles of the studied populations.......The optimal timing of coronary intervention in patients with non-ST-segment elevation acute coronary syndromes (NSTE-ACSs) is a matter of debate. Conflicting results among published studies partly relate to different risk profiles of the studied populations....
International Nuclear Information System (INIS)
Chang, C.-M.; Huang, Y.-H.; Liu, S.-Y.; Lee, Y.-P.; Pombar-Perez, Marta; Martinez-Nunez, Emilio; Vazquez, Saulo A.
2008-01-01
Following photodissociation of 2-chloropropene (H 2 CCClCH 3 ) at 193 nm, vibration-rotationally resolved emission spectra of HCl (υ≤6) in the spectral region of 1900-2900 cm -1 were recorded with a step-scan time-resolved Fourier-transform spectrometer. All vibrational levels show a small low-J component corresponding to ∼400 K and a major high-J component corresponding to 7100-18 700 K with average rotational energy of 39± 3 11 kJ mol -1 . The vibrational population of HCl is inverted at υ=2, and the average vibrational energy is 86±5 kJ mol -1 . Two possible channels of molecular elimination producing HCl+propyne or HCl+allene cannot be distinguished positively based on the observed internal energy distribution of HCl. The observed rotational distributions fit qualitatively with the distributions of both channels obtained with quasiclassical trajectories (QCTs), but the QCT calculations predict negligible populations for states at small J. The observed vibrational distribution agrees satisfactorily with the total QCT distribution obtained as a weighted sum of contributions from both four-center elimination channels. Internal energy distributions of HCl from 2-chloropropene and vinyl chloride are compared.
Shadowing of physical trajectories in chaotic dynamics: Containment and refinement
International Nuclear Information System (INIS)
Grebogi, C.; Hammel, S.M.; Yorke, J.A.; Sauer, T.
1990-01-01
For a chaotic system, a noisy trajectory diverges rapidly from the true trajectory with the same initial condition. To understand in what sense the noisy trajectory reflects the true dynamics of the actual system, we developed a rigorous procedure to show that some true trajectories remain close to the noisy one for long times. The procedure involves a combination of containment, which establishes the existence of an uncountable number of true trajectories close to the noisy one, and refinement, which produces a less noisy trajectory. Our procedure is applied to noisy chaotic trajectories of the standard map and the driven pendulum
National Aeronautics and Space Administration — Adaptive Trajectory Design (ATD) is an original concept for quick and efficient end-to-end trajectory designs using proven piece-wise dynamical methods. With ongoing...
Developing an optimal valve closing rule curve for real-time pressure control in pipes
Energy Technology Data Exchange (ETDEWEB)
Bazarganlari, Mohammad Reza; Afshar, Hossein [Islamic Azad University, Tehran (Iran, Islamic Republic of); Kerachian, Reza [University of Tehran, Tehran (Iran, Islamic Republic of); Bashiazghadi, Seyyed Nasser [Iran University of Science and Technology, Tehran (Iran, Islamic Republic of)
2013-01-15
Sudden valve closure in pipeline systems can cause high pressures that may lead to serious damages. Using an optimal valve closing rule can play an important role in managing extreme pressures in sudden valve closure. In this paper, an optimal closing rule curve is developed using a multi-objective optimization model and Bayesian networks (BNs) for controlling water pressure in valve closure instead of traditional step functions or single linear functions. The method of characteristics is used to simulate transient flow caused by valve closure. Non-dominated sorting genetic algorithms-II is also used to develop a Pareto front among three objectives related to maximum and minimum water pressures, and the amount of water passes through the valve during the valve-closing process. Simulation and optimization processes are usually time-consuming, thus results of the optimization model are used for training the BN. The trained BN is capable of determining optimal real-time closing rules without running costly simulation and optimization models. To demonstrate its efficiency, the proposed methodology is applied to a reservoir-pipe-valve system and the optimal closing rule curve is calculated for the valve. The results of the linear and BN-based valve closure rules show that the latter can significantly reduce the range of variations in water hammer pressures.
Continuous and Discrete-Time Optimal Controls for an Isolated Signalized Intersection
Directory of Open Access Journals (Sweden)
Jiyuan Tan
2017-01-01
Full Text Available A classical control problem for an isolated oversaturated intersection is revisited with a focus on the optimal control policy to minimize total delay. The difference and connection between existing continuous-time planning models and recently proposed discrete-time planning models are studied. A gradient descent algorithm is proposed to convert the optimal control plan of the continuous-time model to the plan of the discrete-time model in many cases. Analytic proof and numerical tests for the algorithm are also presented. The findings shed light on the links between two kinds of models.
Optimizing Time Windows For Managing Export Container Arrivals At Chinese Container Terminals
DEFF Research Database (Denmark)
Chen, Gang; Yang, Zhongzhen
2010-01-01
window management programme that is widely used in Chinese terminals to facilitate terminal and truck delivery operations. Firstly, the arrangement of time windows is assumed to follow the principle of minimizing transport costs. A cost function is defined that includes the costs of truck and driver...... waiting time, fuel consumption associated with truck idling, storage time of the containerized cargos and yard fee. Secondly, to minimize the total cost, a heuristic is developed based on a genetic algorithm to find a near optimal time window arrangement. The optimized solution involves the position...
OPTIMIZING TIME WINDOWS FOR MANAGING ARRIVALS OF EXPORT CONTAINERS AT CHINESE CONTAINER TERMINALS
DEFF Research Database (Denmark)
Chen, Gang; Yang, Zhongzhen
2009-01-01
of driver and truck waiting time, the cost of container cargo storage time, the truck idle cost and terminal yard fee. Secondly, to minimize the costs, a heuristic is developed based on a genetic algorithm to optimize the time window arrangement. The optimal solution involves the position and the length...... window management programme that is widely used in Chinese terminals to facilitate the terminal operations and the truck delivery operations. Firstly, the arrangement of time windows is assumed to follow the principle of minimizing the transport costs. A cost function is defined that includes the cost...
Computing with spatial trajectories
2011-01-01
Covers the fundamentals and the state-of-the-art research inspired by the spatial trajectory data Readers are provided with tutorial-style chapters, case studies and references to other relevant research work This is the first book that presents the foundation dealing with spatial trajectories and state-of-the-art research and practices enabled by trajectories
Trajectories of Delinquency and Parenting Styles
Hoeve, Machteld; Blokland, Arjan; Dubas, Judith Semon; Loeber, Rolf; Gerris, Jan R. M.; van der Laan, Peter H.
2007-01-01
We investigated trajectories of adolescent delinquent development using data from the Pittsburgh Youth Study and examined the extent to which these different trajectories are differentially predicted by childhood parenting styles. Based on self-reported and official delinquency seriousness, covering ages 10?19, we identified five distinct delinquency trajectories differing in both level and change in seriousness over time: a nondelinquent, minor persisting, moderate desisting, serious persist...
Liu, Xiaomei; Li, Shengtao; Zhang, Kanjian
2017-08-01
In this paper, we solve an optimal control problem for a class of time-invariant switched stochastic systems with multi-switching times, where the objective is to minimise a cost functional with different costs defined on the states. In particular, we focus on problems in which a pre-specified sequence of active subsystems is given and the switching times are the only control variables. Based on the calculus of variation, we derive the gradient of the cost functional with respect to the switching times on an especially simple form, which can be directly used in gradient descent algorithms to locate the optimal switching instants. Finally, a numerical example is given, highlighting the validity of the proposed methodology.
An Optimization Method of Time Window Based on Travel Time and Reliability
Fu, Fengjie; Ma, Dongfang; Wang, Dianhai; Qian, Wei
2015-01-01
The dynamic change of urban road travel time was analyzed using video image detector data, and it showed cyclic variation, so the signal cycle length at the upstream intersection was conducted as the basic unit of time window; there was some evidence of bimodality in the actual travel time distributions; therefore, the fitting parameters of the travel time bimodal distribution were estimated using the EM algorithm. Then the weighted average value of the two means was indicated as the travel t...
3D Pattern Synthesis of Time-Modulated Conformal Arrays with a Multiobjective Optimization Approach
Directory of Open Access Journals (Sweden)
Wentao Li
2014-01-01
Full Text Available This paper addresses the synthesis of the three-dimensional (3D radiation patterns of the time-modulated conformal arrays. Due to the nature of periodic time modulation, harmonic radiation patterns are generated at the multiples of the modulation frequency in time-modulated arrays. Thus, the optimization goal of the time-modulated conformal array includes the optimization of the sidelobe level at the operating frequency and the sideband levels (SBLs at the harmonic frequency, and the design can be regarded as a multiobjective problem. The multiobjective particle swarm optimization (MOPSO is applied to optimize the switch-on instants and pulse durations of the time-modulated conformal array. To significantly reduce the optimization variables, the modified Bernstein polynomial is employed in the synthesis process. Furthermore, dual polarized patch antenna is designed as radiator to achieve low cross-polarization level during the beam scanning. A 12 × 13 (156-element conical conformal microstrip array is simulated to demonstrate the proposed synthesis mechanism, and good results reveal the promising ability of the proposed algorithm in solving the synthesis of the time-modulated conformal arrays problem.
Trajectory Design Considerations for Exploration Mission 1
Dawn, Timothy F.; Gutkowski, Jeffrey P.; Batcha, Amelia L.; Williams, Jacob; Pedrotty, Samuel M.
2018-01-01
Exploration Mission 1 (EM-1) will be the first mission to send an uncrewed Orion Multi-Purpose Crew Vehicle (MPCV) to cislunar space in the fall of 2019. EM-1 was originally conceived as a lunar free-return mission, but was later changed to a Distant Retrograde Orbit (DRO) mission as a precursor to the Asteroid Redirect Mission. To understand the required mission performance (i.e., propellant requirement), a series of trajectory optimization runs was conducted using JSC's Copernicus spacecraft trajectory optimization tool. In order for the runs to be done in a timely manner, it was necessary to employ a parallelization approach on a computing cluster using a new trajectory scan tool written in Python. Details of the scan tool are provided and how it is used to perform the scans and post-process the results. Initially, a scan of daily due east launched EM-1 DRO missions in 2018 was made. Valid mission opportunities are ones that do not exceed the useable propellant available to perform the required burns. The initial scan data showed the propellant and delta-V performance patterns for each launch period. As questions were raised from different subsystems (e.g., power, thermal, communications, flight operations, etc.), the mission parameters or data that were of interest to them were added to the scan output data file. The additional data includes: (1) local launch and landing times in relation to sunrise and sunset, (2) length of eclipse periods during the in-space portion of the mission, (3) Earth line of sight from cislunar space, (4) Deep Space Network field of view looking towards cislunar space, and (5) variation of the downrange distance from Earth entry interface to splashdown. Mission design trades can also be performed based on the information that the additional data shows. For example, if the landing is in darkness, but the recovery operations team desires a landing in daylight, then an analysis is performed to determine how to change the mission design
A Novel Approach to Identifying Trajectories of Mobility Change in Older Adults.
Directory of Open Access Journals (Sweden)
Rachel E Ward
Full Text Available To validate trajectories of late-life mobility change using a novel approach designed to overcome the constraints of modest sample size and few follow-up time points.Using clinical reasoning and distribution-based methodology, we identified trajectories of mobility change (Late Life Function and Disability Instrument across 2 years in 391 participants age ≥65 years from a prospective cohort study designed to identify modifiable impairments predictive of mobility in late-life. We validated our approach using model fit indices and comparing baseline mobility-related factors between trajectories.Model fit indices confirmed that the optimal number of trajectories were between 4 and 6. Mobility-related factors varied across trajectories with the most unfavorable values in poor mobility trajectories and the most favorable in high mobility trajectories. These factors included leg strength, trunk extension endurance, knee flexion range of motion, limb velocity, physical performance measures, and the number and prevalence of medical conditions including osteoarthritis and back pain.Our findings support the validity of this approach and may facilitate the investigation of a broader scope of research questions within aging populations of varied sizes and traits.
International Nuclear Information System (INIS)
Yang, In-Ho; Yeo, Myoung-Souk; Kim, Kwang-Woo
2003-01-01
The artificial neural network (ANN) approach is a generic technique for mapping non-linear relationships between inputs and outputs without knowing the details of these relationships. This paper presents an application of the ANN in a building control system. The objective of this study is to develop an optimized ANN model to determine the optimal start time for a heating system in a building. For this, programs for predicting the room air temperature and the learning of the ANN model based on back propagation learning were developed, and learning data for various building conditions were collected through program simulation for predicting the room air temperature using systems of experimental design. Then, the optimized ANN model was presented through learning of the ANN, and its performance to determine the optimal start time was evaluated
The trajectory prediction of spacecraft by grey method
International Nuclear Information System (INIS)
Wang, Qiyue; Wang, Zhongyu; Zhang, Zili; Wang, Yanqing; Zhou, Weihu
2016-01-01
The real-time and high-precision trajectory prediction of a moving object is a core technology in the field of aerospace engineering. The real-time monitoring and tracking technology are also significant guarantees of aerospace equipment. A dynamic trajectory prediction method called grey dynamic filter (GDF) which combines the dynamic measurement theory and grey system theory is proposed. GDF can use coordinates of the current period to extrapolate coordinates of the following period. At meantime, GDF can also keep the instantaneity of measured coordinates by the metabolism model. In this paper the optimal model length of GDF is firstly selected to improve the prediction accuracy. Then the simulation for uniformly accelerated motion and variably accelerated motion is conducted. The simulation results indicate that the mean composite position error of GDF prediction is one-fifth to that of Kalman filter (KF). By using a spacecraft landing experiment, the prediction accuracy of GDF is compared with the KF method and the primitive grey method (GM). The results show that the motion trajectory of spacecraft predicted by GDF is much closer to actual trajectory than the other two methods. The mean composite position error calculated by GDF is one-eighth to KF and one-fifth to GM respectively. (paper)
Simultaneous time-optimal control of the inversion of two spin-(1/2) particles
International Nuclear Information System (INIS)
Assemat, E.; Lapert, M.; Sugny, D.; Zhang, Y.; Braun, M.; Glaser, S. J.
2010-01-01
We analyze the simultaneous time-optimal control of two-spin systems. The two noncoupled spins, which differ in the value of their chemical offsets, are controlled by the same magnetic fields. Using an appropriate rotating frame, we restrict the study to the case of opposite shifts. We then show that the optimal solution of the inversion problem in a rotating frame is composed of a pulse sequence of maximum intensity and is similar to the optimal solution for inverting only one spin by using a nonresonant control field in the laboratory frame. An example is implemented experimentally using nuclear magnetic resonance techniques.
Optimization of incident EC wave polarization in real-time polarization scan experiments on LHD
International Nuclear Information System (INIS)
Tsujimura, Toru I.; Mizuno, Yoshinori; Makino, Ryohei
2016-01-01
Real-time polarization scan experiments were performed on the Large Helical Device (LHD) to search an optimal incident wave polarization for electron cyclotron resonance heating. The obtained optimal polarization state to maximize the power absorption to the LHD plasma is compared with the ray-tracing code that includes mode content analyses, which indicates that the calculated results are generally in good agreement with the experimental results. The analyses show that optimal coupling to plasma waves requires a fine adjustment for an incident wave polarization even for perpendicular injection due to the finite density profile and the magnetic shear at the peripheral region. (author)
Optimal control of LQR for discrete time-varying systems with input delays
Yin, Yue-Zhu; Yang, Zhong-Lian; Yin, Zhi-Xiang; Xu, Feng
2018-04-01
In this work, we consider the optimal control problem of linear quadratic regulation for discrete time-variant systems with single input and multiple input delays. An innovative and simple method to derive the optimal controller is given. The studied problem is first equivalently converted into a problem subject to a constraint condition. Last, with the established duality, the problem is transformed into a static mathematical optimisation problem without input delays. The optimal control input solution to minimise performance index function is derived by solving this optimisation problem with two methods. A numerical simulation example is carried out and its results show that our two approaches are both feasible and very effective.
International Nuclear Information System (INIS)
Doyle, E.K.; Jardine, A.K.S.
2001-01-01
The use of various maintenance optimization techniques at Bruce has lead to cost effective preventive maintenance applications for complex systems. As previously reported at ICONE 6 in New Orleans, 1996, several innovative practices reduced Reliability Centered Maintenance costs while maintaining the accuracy of the analysis. The optimization strategy has undergone further evolution and at the present an Integrated Maintenance Program (IMP) is in place where an Expert Panel consisting of all players/experts proceed through each system in a disciplined fashion and reach agreement on all items under a rigorous time frame. It is well known that there are essentially 3 maintenance based actions that can flow from a Maintenance Optimization Analysis: condition based maintenance, time based maintenance and time based discard. The present effort deals with time based discard decisions. Maintenance data from the Remote On-Power Fuel Changing System was used. (author)
Mean-Variance portfolio optimization when each asset has individual uncertain exit-time
Directory of Open Access Journals (Sweden)
Reza Keykhaei
2016-12-01
Full Text Available The standard Markowitz Mean-Variance optimization model is a single-period portfolio selection approach where the exit-time (or the time-horizon is deterministic. In this paper we study the Mean-Variance portfolio selection problem with uncertain exit-time when each has individual uncertain xit-time, which generalizes the Markowitz's model. We provide some conditions under which the optimal portfolio of the generalized problem is independent of the exit-times distributions. Also, it is shown that under some general circumstances, the sets of optimal portfolios in the generalized model and the standard model are the same.
Mean-variance Optimal Reinsurance-investment Strategy in Continuous Time
Directory of Open Access Journals (Sweden)
Daheng Peng
2017-10-01
Full Text Available In this paper, Lagrange method is used to solve the continuous-time mean-variance reinsurance-investment problem. Proportional reinsurance, multiple risky assets and risk-free asset are considered synthetically in the optimal strategy for insurers. By solving the backward stochastic differential equation for the Lagrange multiplier, we get the mean-variance optimal reinsurance-investment strategy and its effective frontier in explicit forms.
Optimizing Ship Speed to Minimize Total Fuel Consumption with Multiple Time Windows
Directory of Open Access Journals (Sweden)
Jae-Gon Kim
2016-01-01
Full Text Available We study the ship speed optimization problem with the objective of minimizing the total fuel consumption. We consider multiple time windows for each port call as constraints and formulate the problem as a nonlinear mixed integer program. We derive intrinsic properties of the problem and develop an exact algorithm based on the properties. Computational experiments show that the suggested algorithm is very efficient in finding an optimal solution.
International Nuclear Information System (INIS)
Jiang, R.
2009-01-01
It is difficult to find the optimal solution of the sequential age replacement policy for a finite-time horizon. This paper presents an accurate approximation to find an approximate optimal solution of the sequential replacement policy. The proposed approximation is computationally simple and suitable for any failure distribution. Their accuracy is illustrated by two examples. Based on the approximate solution, an approximate estimate for the total cost is derived.
Core design and operation optimization methods based on time-dependent perturbation theory
International Nuclear Information System (INIS)
Greenspan, E.
1983-08-01
A general approach for the optimization of nuclear reactor core design and operation is outlined; it is based on two cornerstones: a newly developed time-dependent (or burnup-dependent) perturbation theory for nonlinear problems and a succesive iteration technique. The resulting approach is capable of handling realistic reactor models using computational methods of any degree of sophistication desired, while accounting for all the constraints imposed. Three general optimization strategies, different in the way for handling the constraints, are formulated. (author)
Mean-variance Optimal Reinsurance-investment Strategy in Continuous Time
Daheng Peng; Fang Zhang
2017-01-01
In this paper, Lagrange method is used to solve the continuous-time mean-variance reinsurance-investment problem. Proportional reinsurance, multiple risky assets and risk-free asset are considered synthetically in the optimal strategy for insurers. By solving the backward stochastic differential equation for the Lagrange multiplier, we get the mean-variance optimal reinsurance-investment strategy and its effective frontier in explicit forms.
International Nuclear Information System (INIS)
Afrin, B.A.; Rechnov, A.V.; Usynin, G.B.
1987-01-01
The formulation and solution of optimization problem for parameters determining the layout of the central part of sodium cooled power reactor taking into account possible changes in fuel charge type during reactor operation time are performed. The losses under change of fuel composition type for two reactor modifications providing for minimum doubling time for oxide and carbide fuels respectively, are estimated
An Efficient Algorithm for the Optimal Market Timing over Two Stocks
Institute of Scientific and Technical Information of China (English)
Hui Li; Hong-zhi An; Guo-fu Wu
2004-01-01
In this paper,the optimal trading strategy in timing the market by switching between two stocks is given.In order to deal with a large sample size with a fast turnaround computation time,we propose a class of recursive algorithm.A simulation is given to verify the efiectiveness of our method.
Using real time traveler demand data to optimize commuter rail feeder systems.
2012-08-01
"This report focuses on real time optimization of the Commuter Rail Circulator Route Network Design Problem (CRCNDP). The route configuration of the circulator system where to stop and the route among the stops is determined on a real-time ba...
Williamson, Meredith L C; Elliott, Timothy R; Bogner, Jennifer; Dreer, Laura E; Arango-Lasprilla, Juan Carlos; Kolakowsky-Hayner, Stephanie A; Pretz, Christopher R; Lequerica, Anthony; Perrin, Paul B
2016-01-01
This study investigated the influence of race, gender, functional ability, and an array of preinjury, injury-related, and sociodemographic variables on life satisfaction trajectories over 10 years following moderate to severe traumatic brain injury (TBI). A sample of 3157 individuals with TBI from the TBI Model Systems database was included in this study. Hierarchical linear modeling (HLM) analyses were conducted to examine the trajectories of life satisfaction. The Functional Independence Measure, Glasgow Coma Scale, and the Satisfaction With Life Scale were utilized. Initial models suggested that life satisfaction trajectories increased over the 10-year period and Asian/Pacific Islander participants experienced an increase in life satisfaction over time. In a comprehensive model, time was no longer a significant predictor of increased life satisfaction. Black race, however, was associated with lower life satisfaction, and significant interactions revealed that black participants' life satisfaction trajectory decreased over time while white participants' trajectory increased over the same time period. Life satisfaction trajectories did not significantly differ by gender, and greater motor and cognitive functioning were associated with increasingly positive life satisfaction trajectories over the 10 years. Individuals with more functional impairments are at risk for decreases in life satisfaction over time. Further research is needed to identify the mechanisms and factors that contribute to the lower levels of life satisfaction observed among black individuals post-TBI. This work is needed to determine strategic ways to promote optimal adjustment for these individuals.
Miri, Raz; Graf, Iulia M; Dössel, Olaf
2009-11-01
Electrode positions and timing delays influence the efficacy of biventricular pacing (BVP). Accordingly, this study focuses on BVP optimization, using a detailed 3-D electrophysiological model of the human heart, which is adapted to patient-specific anatomy and pathophysiology. The research is effectuated on ten heart models with left bundle branch block and myocardial infarction derived from magnetic resonance and computed tomography data. Cardiac electrical activity is simulated with the ten Tusscher cell model and adaptive cellular automaton at physiological and pathological conduction levels. The optimization methods are based on a comparison between the electrical response of the healthy and diseased heart models, measured in terms of root mean square error (E(RMS)) of the excitation front and the QRS duration error (E(QRS)). Intra- and intermethod associations of the pacing electrodes and timing delays variables were analyzed with statistical methods, i.e., t -test for dependent data, one-way analysis of variance for electrode pairs, and Pearson model for equivalent parameters from the two optimization methods. The results indicate that lateral the left ventricle and the upper or middle septal area are frequently (60% of cases) the optimal positions of the left and right electrodes, respectively. Statistical analysis proves that the two optimization methods are in good agreement. In conclusion, a noninvasive preoperative BVP optimization strategy based on computer simulations can be used to identify the most beneficial patient-specific electrode configuration and timing delays.
Real-time parameter optimization based on neural network for smart injection molding
Lee, H.; Liau, Y.; Ryu, K.
2018-03-01
The manufacturing industry has been facing several challenges, including sustainability, performance and quality of production. Manufacturers attempt to enhance the competitiveness of companies by implementing CPS (Cyber-Physical Systems) through the convergence of IoT(Internet of Things) and ICT(Information & Communication Technology) in the manufacturing process level. Injection molding process has a short cycle time and high productivity. This features have been making it suitable for mass production. In addition, this process is used to produce precise parts in various industry fields such as automobiles, optics and medical devices. Injection molding process has a mixture of discrete and continuous variables. In order to optimized the quality, variables that is generated in the injection molding process must be considered. Furthermore, Optimal parameter setting is time-consuming work to predict the optimum quality of the product. Since the process parameter cannot be easily corrected during the process execution. In this research, we propose a neural network based real-time process parameter optimization methodology that sets optimal process parameters by using mold data, molding machine data, and response data. This paper is expected to have academic contribution as a novel study of parameter optimization during production compare with pre - production parameter optimization in typical studies.
From the trajectory to the density memory
International Nuclear Information System (INIS)
Cakir, Rasit; Krokhin, Arkadii; Grigolini, Paolo
2007-01-01
In this paper we discuss the connection between trajectory and density memory. The first form of memory is a property of a stochastic trajectory, whose stationary correlation function shows that the fluctuation at a given time depends on the earlier fluctuations. The density memory is a property of a collection of trajectories, whose density time evolution is described by a time convoluted equation showing that the density time evolution depends on its past history. We show that the trajectory memory does not necessarily yields density memory, and that density memory might be compatible with the existence of abrupt jumps resetting to zero the system's memory. We focus our attention on a time-convoluted diffusion equation, when the memory kernel is an inverse power law with (i) negative and (ii) positive tail. In case (i) there exist both renewal trajectories and trajectories with memory, compatible with this equation. Case (ii), which has eluded so far a convincing interpretation in terms of trajectories, is shown to be compatible only with trajectory memory