Energy-based trajectory tracking and vibration control for multilink highly flexible manipulators

In this paper, a discrete model is adopted, as proposed by Hencky for elastica based on rigid bars and lumped rotational springs, to design the control of a lightweight planar manipulator with multiple highly flexible links. This model is particularly suited to deal with nonlinear equations of motion as those associated with multilink robot arms, because it does not include any simplification due to linearization, as in the assumed modes method. The aim of the control is to track a trajectory of the end effector of the robot arm, without the onset of vibrations. To this end, an energy-based method is proposed. Numerical simulations show the effectiveness of the presented approach

Real-time dynamic articulations in the 2-D waveguide mesh vocal tract model

Time domain articulatory vocal tract modeling in one-dimensional (1-D) is well established. Previous studies into two-dimensional (2-D) simulation of wave propagation in the vocal tract have shown it to present accurate static vowel synthesis. However, little has been done to demonstrate how such a model might accommodate the dynamic tract shape changes necessary in modeling speech. Two methods of applying the area function to the 2-D digital waveguide mesh vocal tract model are presented here. First, a method based on mapping the cross-sectional area onto the number of waveguides across the mesh, termed a widthwise mapping approach is detailed. Discontinuity problems associated with the dynamic manipulation of the model are highlighted. Second, a new method is examined that uses a static-shaped rectangular mesh with the area function translated into an impedance map which is then applied to each waveguide. Two approaches for constructing such a map are demonstrated; one using a linear impedance increase to model a constriction to the tract and another using a raised cosine function. Recommendations are made towards the use of the cosine method as it allows for a wider central propagational channel. It is also shown that this impedance mapping approach allows for stable dynamic shape changes and also permits a reduction in sampling frequency leading to real-time interaction with the model

Acoustic modeling using the digital waveguide mesh

The digital waveguide mesh has been an active area of music acoustics research for over ten years. Although founded in 1-D digital waveguide modeling, the principles on which it is based are not new to researchers grounded in numerical simulation, FDTD methods, electromagnetic simulation, etc. This article has attempted to provide a considerable review of how the DWM has been applied to acoustic modeling and sound synthesis problems, including new 2-D object synthesis and an overview of recent research activities in articulatory vocal tract modeling, RIR synthesis, and reverberation simulation. The extensive, although not by any means exhaustive, list of references indicates that though the DWM may have parallels in other disciplines, it still offers something new in the field of acoustic simulation and sound synth

Stochastic simulation of charged particle transport on the massively parallel processor

Computations of cosmic-ray transport based upon finite-difference methods are afflicted by instabilities, inaccuracies, and artifacts. To avoid these problems, researchers developed a Monte Carlo formulation which is closely related not only to the finite-difference formulation, but also to the underlying physics of transport phenomena. Implementations of this approach are currently running on the Massively Parallel Processor at Goddard Space Flight Center, whose enormous computing power overcomes the poor statistical accuracy that usually limits the use of stochastic methods. These simulations have progressed to a stage where they provide a useful and realistic picture of solar energetic particle propagation in interplanetary space

Approximating Dynamic Time Warping and Edit Distance for a Pair of Point Sequences

We give the first subquadratic-time approximation schemes for dynamic time warping (DTW) and edit distance (ED) of several natural families of point sequences in $\mathbb{R}^d$, for any fixed $d \ge 1$. In particular, our algorithms compute $(1+\varepsilon)$-approximations of DTW and ED in time near-linear for point sequences drawn from k-packed or k-bounded curves, and subquadratic for backbone sequences. Roughly speaking, a curve is $\kappa$-packed if the length of its intersection with any ball of radius $r$ is at most $\kappa \cdot r$, and a curve is $\kappa$-bounded if the sub-curve between two curve points does not go too far from the two points compared to the distance between the two points. In backbone sequences, consecutive points are spaced at approximately equal distances apart, and no two points lie very close together. Recent results suggest that a subquadratic algorithm for DTW or ED is unlikely for an arbitrary pair of point sequences even for $d=1$. Our algorithms work by constructing a small set of rectangular regions that cover the entries of the dynamic programming table commonly used for these distance measures. The weights of entries inside each rectangle are roughly the same, so we are able to use efficient procedures to approximately compute the cheapest paths through these rectangles

Heuristics for the dynamic facility layout problem with unequal area departments

The facility layout problem (FLP) is a well researched problem of finding positions of departments on a plant floor such that departments do not overlap and some objective(s) is (are) optimized. In this dissertation, the FLP with unequal area rectangular shaped departments is considered, when material flows between departments change during the planning horizon. This problem is known as the dynamic FLP. The change in material flows between pairs of departments in consecutive periods may require rearrangements of departments during the planning horizon in order to keep material handling costs low. The objective of our problem is to minimize the sum of the material handling and rearrangement costs. Because of the combinatorial structure of the problem, only small sized problems can be solved in reasonable time using exact techniques. As a result, construction and improvement heuristics are developed for the proposed problem. The construction algorithms are boundary search heuristics as well as a dual simplex method, and the improvement heuristics are tabu search and memetic heuristics with boundary search and dual simplex (linear programming model) techniques. The heuristics were tested on a generated data set as well as some instances from the literature. In summary, the memetic heuristic with the boundary search technique out-performed the other techniques with respect to solution quality

On the Fine-Grained Complexity of Small-Size Geometric Set Cover and Discrete k-Center for Small k

We study the time complexity of the discrete k-center problem and related (exact) geometric set cover problems when k or the size of the cover is small. We obtain a plethora of new results: - We give the first subquadratic algorithm for rectilinear discrete 3-center in 2D, running in O?(n^{3/2}) time. - We prove a lower bound of ?(n^{4/3-?}) for rectilinear discrete 3-center in 4D, for any constant ? > 0, under a standard hypothesis about triangle detection in sparse graphs. - Given n points and n weighted axis-aligned unit squares in 2D, we give the first subquadratic algorithm for finding a minimum-weight cover of the points by 3 unit squares, running in O?(n^{8/5}) time. We also prove a lower bound of ?(n^{3/2-?}) for the same problem in 2D, under the well-known APSP Hypothesis. For arbitrary axis-aligned rectangles in 2D, our upper bound is O?(n^{7/4}). - We prove a lower bound of ?(n^{2-?}) for Euclidean discrete 2-center in 13D, under the Hyperclique Hypothesis. This lower bound nearly matches the straightforward upper bound of O?(n^?), if the matrix multiplication exponent ? is equal to 2. - We similarly prove an ?(n^{k-?}) lower bound for Euclidean discrete k-center in O(k) dimensions for any constant k ? 3, under the Hyperclique Hypothesis. This lower bound again nearly matches known upper bounds if ? = 2. - We also prove an ?(n^{2-?}) lower bound for the problem of finding 2 boxes to cover the largest number of points, given n points and n boxes in 12D . This matches the straightforward near-quadratic upper bound

A Framework for Dynamic Terrain with Application in Off-road Ground Vehicle Simulations

The dissertation develops a framework for the visualization of dynamic terrains for use in interactive real-time 3D systems. Terrain visualization techniques may be classified as either static or dynamic. Static terrain solutions simulate rigid surface types exclusively; whereas dynamic solutions can also represent non-rigid surfaces. Systems that employ a static terrain approach lack realism due to their rigid nature. Disregarding the accurate representation of terrain surface interaction is rationalized because of the inherent difficulties associated with providing runtime dynamism. Nonetheless, dynamic terrain systems are a more correct solution because they allow the terrain database to be modified at run-time for the purpose of deforming the surface. Many established techniques in terrain visualization rely on invalid assumptions and weak computational models that hinder the use of dynamic terrain. Moreover, many existing techniques do not exploit the capabilities offered by current computer hardware. In this research, we present a component framework for terrain visualization that is useful in research, entertainment, and simulation systems. In addition, we present a novel method for deforming the terrain that can be used in real-time, interactive systems. The development of a component framework unifies disparate works under a single architecture. The high-level nature of the framework makes it flexible and adaptable for developing a variety of systems, independent of the static or dynamic nature of the solution. Currently, there are only a handful of documented deformation techniques and, in particular, none make explicit use of graphics hardware. The approach developed by this research offloads extra work to the graphics processing unit; in an effort to alleviate the overhead associated with deforming the terrain. Off-road ground vehicle simulation is used as an application domain to demonstrate the practical nature of the framework and the deformation technique. In order to realistically simulate terrain surface interactivity with the vehicle, the solution balances visual fidelity and speed. Accurately depicting terrain surface interactivity in off-road ground vehicle simulations improves visual realism; thereby, increasing the significance and worth of the application. Systems in academia, government, and commercial institutes can make use of the research findings to achieve the real-time display of interactive terrain surfaces