A fast stroboscopic spectral method for rotating systems in numerical relativity

We present a numerical technique for solving evolution equations, as the wave equation, in the description of rotating astrophysical compact objects in comoving coordinates, which avoids the problems associated with the light cylinder. The technique implements a fast spectral matching between two domains in relative rotation: an inner spherical domain, comoving with the sources and lying strictly inside the light cylinder, and an outer inertial spherical shell. Even though the emphasis is placed on spectral techniques, the matching is independent of the specific manner in which equations are solved inside each domain, and can be adapted to different schemes. We illustrate the strategy with some simple but representative examples.Comment: 16 pages, 15 figure

Nested Sampling with Constrained Hamiltonian Monte Carlo

Nested sampling is a powerful approach to Bayesian inference ultimately limited by the computationally demanding task of sampling from a heavily constrained probability distribution. An effective algorithm in its own right, Hamiltonian Monte Carlo is readily adapted to efficiently sample from any smooth, constrained distribution. Utilizing this constrained Hamiltonian Monte Carlo, I introduce a general implementation of the nested sampling algorithm.Comment: 15 pages, 4 figure

SQG-Differential Evolution for difficult optimization problems under a tight function evaluation budget

In the context of industrial engineering, it is important to integrate efficient computational optimization methods in the product development process. Some of the most challenging simulation-based engineering design optimization problems are characterized by: a large number of design variables, the absence of analytical gradients, highly non-linear objectives and a limited function evaluation budget. Although a huge variety of different optimization algorithms is available, the development and selection of efficient algorithms for problems with these industrial relevant characteristics, remains a challenge. In this communication, a hybrid variant of Differential Evolution (DE) is introduced which combines aspects of Stochastic Quasi-Gradient (SQG) methods within the framework of DE, in order to improve optimization efficiency on problems with the previously mentioned characteristics. The performance of the resulting derivative-free algorithm is compared with other state-of-the-art DE variants on 25 commonly used benchmark functions, under tight function evaluation budget constraints of 1000 evaluations. The experimental results indicate that the new algorithm performs excellent on the 'difficult' (high dimensional, multi-modal, inseparable) test functions. The operations used in the proposed mutation scheme, are computationally inexpensive, and can be easily implemented in existing differential evolution variants or other population-based optimization algorithms by a few lines of program code as an non-invasive optional setting. Besides the applicability of the presented algorithm by itself, the described concepts can serve as a useful and interesting addition to the algorithmic operators in the frameworks of heuristics and evolutionary optimization and computing

A Bayesian approach to the semi-analytic model of galaxy formation: methodology

We believe that a wide range of physical processes conspire to shape the observed galaxy population but we remain unsure of their detailed interactions. The semi-analytic model (SAM) of galaxy formation uses multi-dimensional parameterisations of the physical processes of galaxy formation and provides a tool to constrain these underlying physical interactions. Because of the high dimensionality, the parametric problem of galaxy formation may be profitably tackled with a Bayesian-inference based approach, which allows one to constrain theory with data in a statistically rigorous way. In this paper we develop a SAM in the framework of Bayesian inference. We show that, with a parallel implementation of an advanced Markov-Chain Monte-Carlo algorithm, it is now possible to rigorously sample the posterior distribution of the high-dimensional parameter space of typical SAMs. As an example, we characterise galaxy formation in the current $\Lambda$CDM cosmology using the stellar mass function of galaxies as an observational constraint. We find that the posterior probability distribution is both topologically complex and degenerate in some important model parameters, suggesting that thorough explorations of the parameter space are needed to understand the models. We also demonstrate that because of the model degeneracy, adopting a narrow prior strongly restricts the model. Therefore, the inferences based on SAMs are conditional to the model adopted. Using synthetic data to mimic systematic errors in the stellar mass function, we demonstrate that an accurate observational error model is essential to meaningful inference.Comment: revised version to match published article published in MNRA

Robust MPC of constrained nonlinear systems based on interval arithmetic

A robust MPC for constrained discrete-time nonlinear systems with additive uncertainties is presented. The proposed controller is based on the concept of reachable sets, that is, the sets that contain the predicted evolution of the uncertain system for all possible uncertainties. If processes are nonlinear these sets are very difficult to compute. A conservative approximation based on interval arithmetic is proposed for the online computation of these sets. This technique provides good results with a computational effort only slightly greater than the one corresponding to the nominal prediction. These sets are incorporated into the MPC formulation to achieve robust stability. By choosing a robust positively invariant set as a terminal constraint, a robustly stabilising controller is obtained. Stability is guaranteed in the case of suboptimality of the computed solution. The proposed controller is applied to a continuous stirred tank reactor with an exothermic reaction.Ministerio de Ciencia y Tecnología DPI-2001-2380-03- 01Ministerio de Ciencia y Tecnología DPI-2002-4375-C02-0

Implementation of Nonlinear Model Predictive Path-Following Control for an Industrial Robot

Many robotic applications, such as milling, gluing, or high precision measurements, require the exact following of a pre-defined geometric path. In this paper, we investigate the real-time feasible implementation of model predictive path-following control for an industrial robot. We consider constrained output path following with and without reference speed assignment. We present results from an implementation of the proposed model predictive path-following controller on a KUKA LWR IV robot.Comment: 8 pages, 3 figures; final revised versio