Motion Planning of Uncertain Ordinary Differential Equation Systems

This work presents a novel motion planning framework, rooted in nonlinear programming theory, that treats uncertain fully and under-actuated dynamical systems described by ordinary differential equations. Uncertainty in multibody dynamical systems comes from various sources, such as: system parameters, initial conditions, sensor and actuator noise, and external forcing. Treatment of uncertainty in design is of paramount practical importance because all real-life systems are affected by it, and poor robustness and suboptimal performance result if it’s not accounted for in a given design. In this work uncertainties are modeled using Generalized Polynomial Chaos and are solved quantitatively using a least-square collocation method. The computational efficiency of this approach enables the inclusion of uncertainty statistics in the nonlinear programming optimization process. As such, the proposed framework allows the user to pose, and answer, new design questions related to uncertain dynamical systems. Specifically, the new framework is explained in the context of forward, inverse, and hybrid dynamics formulations. The forward dynamics formulation, applicable to both fully and under-actuated systems, prescribes deterministic actuator inputs which yield uncertain state trajectories. The inverse dynamics formulation is the dual to the forward dynamic, and is only applicable to fully-actuated systems; deterministic state trajectories are prescribed and yield uncertain actuator inputs. The inverse dynamics formulation is more computationally efficient as it requires only algebraic evaluations and completely avoids numerical integration. Finally, the hybrid dynamics formulation is applicable to under-actuated systems where it leverages the benefits of inverse dynamics for actuated joints and forward dynamics for unactuated joints; it prescribes actuated state and unactuated input trajectories which yield uncertain unactuated states and actuated inputs. The benefits of the ability to quantify uncertainty when planning the motion of multibody dynamic systems are illustrated through several case-studies. The resulting designs determine optimal motion plans—subject to deterministic and statistical constraints—for all possible systems within the probability space

Determination of Gas Pressure Distribution in a Pipeline Network using the Broyden Method

A potential problem in natural gas pipeline networks is bottlenecks occurring in the flow system due to unexpected high pressure at the pipeline network junctions resulting in inaccurate quantity and quality (pressure) at the end user outlets. The gas operator should be able to measure the pressure distribution in its network so the consumers can expect adequate gas quality and quantity obtained at their outlets. In this paper, a new approach to determine the gas pressure distribution in a pipeline network is proposed. A practical and user-friendly software application was developed. The network was modeled as a collection of node pressures and edge flows. The steady state gas flow equations Panhandle A, Panhandle B and Weymouth to represent flow in pipes of different sizes and a valve and regulator equation were considered. The obtained system consists of a set of nonlinear equations of node pressures and edge flowrates. Application in a network in the field involving a large number of outlets will result in a large system of nonlinear equations to be solved. In this study, the Broyden method was used for solving the system of equations. It showed satisfactory performance when implemented with field data

Comparison of POD reduced order strategies for the nonlinear 2D Shallow Water Equations

This paper introduces tensorial calculus techniques in the framework of Proper Orthogonal Decomposition (POD) to reduce the computational complexity of the reduced nonlinear terms. The resulting method, named tensorial POD, can be applied to polynomial nonlinearities of any degree $p$. Such nonlinear terms have an on-line complexity of $\mathcal{O}(k^{p+1})$, where $k$ is the dimension of POD basis, and therefore is independent of full space dimension. However it is efficient only for quadratic nonlinear terms since for higher nonlinearities standard POD proves to be less time consuming once the POD basis dimension $k$ is increased. Numerical experiments are carried out with a two dimensional shallow water equation (SWE) test problem to compare the performance of tensorial POD, standard POD, and POD/Discrete Empirical Interpolation Method (DEIM). Numerical results show that tensorial POD decreases by $76\times$ times the computational cost of the on-line stage of standard POD for configurations using more than $300,000$ model variables. The tensorial POD SWE model was only $2-8\times$ slower than the POD/DEIM SWE model but the implementation effort is considerably increased. Tensorial calculus was again employed to construct a new algorithm allowing POD/DEIM shallow water equation model to compute its off-line stage faster than the standard and tensorial POD approaches.Comment: 23 pages, 8 figures, 5 table

PENERAPAN OPTIMASI CHAOS DAN METODE BFGS (BROYDEN, FLETCHER, GOLDFARB, AND SHANNO) PADA PENYELESAIAN PERMASALAHAN SISTEM PERSAMAAN NONLINIER

Penyelesaian permasalahan sistem persamaan nonlinier merupakan salah satu hal yang paling sulit dalam kasus komputasi numerik dan metode Newton merupakan salah satu metode yang banyak digunakan untuk menyelesaikannya. Konvergensi dari metode Newton ini sangat sensitif terhadap perkiraan awal solusi. Tetapi sangatlah sulit memilih perkiraan awal solusi yang bagus untuk sebagian besar sistem persamaan nonlinier. Selain itu, penggunaan matriks Jacobian membuat biaya komputasi untuk metode Newton menjadi besar. Metode Quasi-Newton merupakan perbaikan dari metode Newton. Dengan memanfaatkan kemampuan pencarian global dari optimasi chaos dan nilai konvergensi yang tinggi dari metode Quasi-Newton, maka pendekatan gabungan dari kedua metode tersebut diusulkan. Pada paper ini digunakan algoritma optimasi chaos yang hasilnya akan dijadikan input sebagai perkiraan awal solusi pada algoritma Quasi-Newton. Dari hasil pengujian dan evaluasi, dengan pendekatan gabungan ini diperoleh tingkat konvergensi yang tinggi dan tidak diperlukan lagi perkiraan awal solusi untuk dapat menyelesaikan permasalahan sistem persamaan nonlinie