Modelling & analysis of hybrid dynamic systems using a bond graph approach

Hybrid models are those containing continuous and discontinuous behaviour. In constructing dynamic systems models, it is frequently desirable to abstract rapidly changing, highly nonlinear behaviour to a discontinuity. Bond graphs lend themselves to systems modelling by being multi-disciplinary and reflecting the physics of the system. One advantage is that they can produce a mathematical model in a form that simulates quickly and efficiently. Hybrid bond graphs are a logical development which could further improve speed and efficiency. A range of hybrid bond graph forms have been proposed which are suitable for either simulation or further analysis, but not both. None have reached common usage. A Hybrid bond graph method is proposed here which is suitable for simulation as well as providing engineering insight through analysis. This new method features a distinction between structural and parametric switching. The controlled junction is used for the former, and gives rise to dynamic causality. A controlled element is developed for the latter. Dynamic causality is unconstrained so as to aid insight, and a new notation is proposed. The junction structure matrix for the hybrid bond graph features Boolean terms to reflect the controlled junctions in the graph structure. This hybrid JSM is used to generate a mixed-Boolean state equation. When storage elements are in dynamic causality, the resulting system equation is implicit. The focus of this thesis is the exploitation of the model. The implicit form enables application of matrix-rank criteria from control theory, and control properties can be seen in the structure and causal assignment. An impulsive mode may occur when storage elements are in dynamic causality, but otherwise there are no energy losses associated with commutation because this method dictates the way discontinuities are abstracted. The main contribution is therefore a Hybrid Bond Graph which reflects the physics of commutating systems and offers engineering insight through the choice of controlled elements and dynamic causality. It generates a unique, implicit, mixed-Boolean system equation, describing all modes of operation. This form is suitable for both simulation and analysis

Robotic workcell analysis and object level programming

For many years robots have been programmed at manipulator or joint level without any real thought to the implementation of sensing until errors occur during program execution. For the control of complex, or multiple robot workcells, programming must be carried out at a higher level, taking into account the possibility of error occurrence. This requires the integration of decision information based on sensory data.Aspects of robotic workcell control are explored during this work with the object of integrating the results of sensor outputs to facilitate error recovery for the purposes of achieving completely autonomous operation.Network theory is used for the development of analysis techniques based on stochastic data. Object level programming is implemented using Markov chain theory to provide fully sensor integrated robot workcell control

Recognizing Handwriting Styles in a Historical Scanned Document Using Unsupervised Fuzzy Clustering

The forensic attribution of the handwriting in a digitized document to multiple scribes is a challenging problem of high dimensionality. Unique handwriting styles may be dissimilar in a blend of several factors including character size, stroke width, loops, ductus, slant angles, and cursive ligatures. Previous work on labeled data with Hidden Markov models, support vector machines, and semi-supervised recurrent neural networks have provided moderate to high success. In this study, we successfully detect hand shifts in a historical manuscript through fuzzy soft clustering in combination with linear principal component analysis. This advance demonstrates the successful deployment of unsupervised methods for writer attribution of historical documents and forensic document analysis.Comment: 26 pages in total, 5 figures and 2 table

Decentralised network prediction and reconstruction algorithms

This study concerns the decentralised prediction and reconstruction problems in a network. First of all, we propose a decentralised prediction algorithm in the framework of network consensus problem. It allows any individual to compute the consensus value of the whole network in finite time using only the minimal number of successive values of its own history. We further prove that the minimal number of steps can be characterised using other algebraic and graph theoretical notions: minimal external equitable partition (mEEP) that can be directly computed from the Laplacian matrix of the graph and from the underlying network structure. Later, we consider a number of possible theoretical extensions of the proposed algorithm to issues arising from practical applications, e.g., time-delays, noise, external inputs, nonlinearities in the network, and analyse how the proposed algorithm should be changed to incorporate such constraints. For the decentralised reconstruction problem, we firstly define a new presentation: dynamical structure functions encoding structural information and explore the properties of such a representation for the purpose of solving the reconstruction problem. We have studied a number of theoretical problems: identification, realisation, reduction, etc. for dynamical structure functions and showed that how these theoretical can be used in solving decentralised network reconstruction problems. We later illustrate the results on a number of in-silico examples. We conclude the thesis with some ideas and future perspectives to continue based on the research of decentralised prediction and reconstruction problems

Verification of floating point programs

In this thesis we present an approach to automated verification of floating point programs. Existing techniques for automated generation of correctness theorems are extended to produce proof obligations for accuracy guarantees and absence of floating point exceptions. A prototype automated real number theorem prover is presented, demonstrating a novel application of function interval arithmetic in the context of subdivision-based numerical theorem proving. The prototype is tested on correctness theorems for two simple yet nontrivial programs, proving exception freedom and tight accuracy guarantees automatically. The prover demonstrates a novel application of function interval arithmetic in the context of subdivision-based numerical theorem proving. The experiments show how function intervals can be used to combat the information loss problems that limit the applicability of traditional interval arithmetic in the context of hard real number theorem proving

Synchrotron-based visualization and segmentation of elastic lamellae in the mouse carotid artery during quasi-static pressure inflation

This dataset contains images that were obtained during quasi-static pressure inflation of mouse carotid arteries. Images were taken with phase propagation imaging at the X02DA TOMCAT beamline of the Swiss Light Source synchrotron at the Paul Scherrer Institute in Villigen, Switzerland. Scans of n=12 left carotid arteries (n-6 Apoe-deficient mice, n=6 wild-type mice, all on a C57Bl6J background) were taken at pressure levels of 0, 10, 20, 30, 40, 50, 70, 90 and 120 mmHg. For analysis we selected 75 images from the center of each stack (starting at the center of the stack, and skipping 2 of every three images in both cranial and caudal axial directions) for each sample and for each pressure level, resulting in a total of 75 x 12 x 9 = 8100 analyzed images from 108 different scans. Segmentation, 3D visualization and geometric analysis is presented in the corresponding manuscript. Files are uploaded in 16bit .tif format and are named: mouseid_pressurelevel_stacknumber, with mouseid consisting of either Apoe (Apoe-deficient) or Bl (wild-type) and the mouse number, pressurelevel varies from P0 to P120 and stacknumber indicates which image from the stack has been uploaded

Slivers, computational modularity via synchronized lazy aggregates

Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1994.Includes bibliographical references (p. 435-442).by Farnklyn Albin Turbak.Ph.D