36,310 research outputs found

    Chebfun and numerical quadrature

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    Chebfun is a Matlab-based software system that overloads Matlab’s discrete operations for vectors and matrices to analogous continuous operations for functions and operators. We begin by describing Chebfun’s fast capabilities for Clenshaw–Curtis and also Gauss–Legendre, –Jacobi, –Hermite, and –Laguerre quadrature, based on algorithms of Waldvogel and Glaser, Liu, and Rokhlin. Then we consider how such methods can be applied to quadrature problems including 2D integrals over rectangles, fractional derivatives and integrals, functions defined on unbounded intervals, and the fast computation of weights for barycentric interpolation

    From discretization to regularization of composite discontinuous functions

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    Discontinuities between distinct regions, described by different equation sets, cause difficulties for PDE/ODE solvers. We present a new algorithm that eliminates integrator discontinuities through regularizing discontinuities. First, the algorithm determines the optimum switch point between two functions spanning adjacent or overlapping domains. The optimum switch point is determined by searching for a “jump point” that minimizes a discontinuity between adjacent/overlapping functions. Then, discontinuity is resolved using an interpolating polynomial that joins the two discontinuous functions. This approach eliminates the need for conventional integrators to either discretize and then link discontinuities through generating interpolating polynomials based on state variables or to reinitialize state variables when discontinuities are detected in an ODE/DAE system. In contrast to conventional approaches that handle discontinuities at the state variable level only, the new approach tackles discontinuity at both state variable and the constitutive equations level. Thus, this approach eliminates errors associated with interpolating polynomials generated at a state variable level for discontinuities occurring in the constitutive equations. Computer memory space requirements for this approach exponentially increase with the dimension of the discontinuous function hence there will be limitations for functions with relatively high dimensions. Memory availability continues to increase with price decreasing so this is not expected to be a major limitation

    Completeness of Randomized Kinodynamic Planners with State-based Steering

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    Probabilistic completeness is an important property in motion planning. Although it has been established with clear assumptions for geometric planners, the panorama of completeness results for kinodynamic planners is still incomplete, as most existing proofs rely on strong assumptions that are difficult, if not impossible, to verify on practical systems. In this paper, we focus on an important class of kinodynamic planners, namely those that interpolate trajectories in the state space. We provide a proof of probabilistic completeness for these planners under assumptions that can be readily verified from the system's equations of motion and the user-defined interpolation function. Our proof relies crucially on a property of interpolated trajectories, termed second-order continuity (SOC), which we show is tightly related to the ability of a planner to benefit from denser sampling. We analyze the impact of this property in simulations on a low-torque pendulum. Our results show that a simple RRT using a second-order continuous interpolation swiftly finds solution, while it is impossible for the same planner using standard Bezier curves (which are not SOC) to find any solution.Comment: 21 pages, 5 figure

    GRID2D/3D: A computer program for generating grid systems in complex-shaped two- and three-dimensional spatial domains. Part 1: Theory and method

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    An efficient computer program, called GRID2D/3D was developed to generate single and composite grid systems within geometrically complex two- and three-dimensional (2- and 3-D) spatial domains that can deform with time. GRID2D/3D generates single grid systems by using algebraic grid generation methods based on transfinite interpolation in which the distribution of grid points within the spatial domain is controlled by stretching functions. All single grid systems generated by GRID2D/3D can have grid lines that are continuous and differentiable everywhere up to the second-order. Also, grid lines can intersect boundaries of the spatial domain orthogonally. GRID2D/3D generates composite grid systems by patching together two or more single grid systems. The patching can be discontinuous or continuous. For continuous composite grid systems, the grid lines are continuous and differentiable everywhere up to the second-order except at interfaces where different single grid systems meet. At interfaces where different single grid systems meet, the grid lines are only differentiable up to the first-order. For 2-D spatial domains, the boundary curves are described by using either cubic or tension spline interpolation. For 3-D spatial domains, the boundary surfaces are described by using either linear Coon's interpolation, bi-hyperbolic spline interpolation, or a new technique referred to as 3-D bi-directional Hermite interpolation. Since grid systems generated by algebraic methods can have grid lines that overlap one another, GRID2D/3D contains a graphics package for evaluating the grid systems generated. With the graphics package, the user can generate grid systems in an interactive manner with the grid generation part of GRID2D/3D. GRID2D/3D is written in FORTRAN 77 and can be run on any IBM PC, XT, or AT compatible computer. In order to use GRID2D/3D on workstations or mainframe computers, some minor modifications must be made in the graphics part of the program; no modifications are needed in the grid generation part of the program. This technical memorandum describes the theory and method used in GRID2D/3D

    Invariant higher-order variational problems II

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    Motivated by applications in computational anatomy, we consider a second-order problem in the calculus of variations on object manifolds that are acted upon by Lie groups of smooth invertible transformations. This problem leads to solution curves known as Riemannian cubics on object manifolds that are endowed with normal metrics. The prime examples of such object manifolds are the symmetric spaces. We characterize the class of cubics on object manifolds that can be lifted horizontally to cubics on the group of transformations. Conversely, we show that certain types of non-horizontal geodesics on the group of transformations project to cubics. Finally, we apply second-order Lagrange--Poincar\'e reduction to the problem of Riemannian cubics on the group of transformations. This leads to a reduced form of the equations that reveals the obstruction for the projection of a cubic on a transformation group to again be a cubic on its object manifold.Comment: 40 pages, 1 figure. First version -- comments welcome

    Fast and accurate clothoid fitting

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    An effective solution to the problem of Hermite G1G^1 interpolation with a clothoid curve is provided. At the beginning the problem is naturally formulated as a system of nonlinear equations with multiple solutions that is generally difficult to solve numerically. All the solutions of this nonlinear system are reduced to the computation of the zeros of a single nonlinear equation. A simple strategy, together with the use of a good and simple guess function, permits to solve the single nonlinear equation with a few iterations of the Newton--Raphson method. The computation of the clothoid curve requires the computation of Fresnel and Fresnel related integrals. Such integrals need asymptotic expansions near critical values to avoid loss of precision. This is necessary when, for example, the solution of interpolation problem is close to a straight line or an arc of circle. Moreover, some special recurrences are deduced for the efficient computation of asymptotic expansion. The reduction of the problem to a single nonlinear function in one variable and the use of asymptotic expansions make the solution algorithm fast and robust.Comment: 14 pages, 3 figures, 9 Algorithm Table

    Exponential Parameterized Cubic B-Spline Curves And Surfaces

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    The use of B-spline interpolation function for curves and surfaces has been developed for many reasons. One reason is the higher degree of continuity and smoothness. A general B-Spline is a polynomial curve and its shape is determined by the control points. To interpolate data points, various works have been done by previous researchers who studies B-Spline parameterization. In this thesis, we develop a new way for interpolating cubic B-Spline curve by taking the first and the second derivative at endpoints and only the first derivative at inner points. The proposed method is the extension in the B-spline interpolation technique of using arbitrary derivatives at end points. In developing B-spline curve interpolation method, an algorithm is presented for interpolating data points. The algorithm computes knot values for parameterization methods. These knot values are used in constructing a matrix of B-Spline basis function and derivative of the basis function. Then, we solve it for control points by using the LU decomposition method, such that the curve will pass through the given data points. Selection of proper parametrization technique is critical for curve and surface reconstruction process. The parametrization method used in this study is an exponential parameterization method with a = 0:8. The main advantage of developing B-spline curve interpolation method is that we can generate different shapes of curves by setting different direction at all data points. As an application, we applied the proposed method in curve reconstruction on a road map from given data points and driving directions, and also for path planning in autonomous vehicle with given starting and goal position
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