Measurements, Models, Systems and Design

531 s.

Certainty Closure: Reliable Constraint Reasoning with Incomplete or Erroneous Data

Constraint Programming (CP) has proved an effective paradigm to model and solve difficult combinatorial satisfaction and optimisation problems from disparate domains. Many such problems arising from the commercial world are permeated by data uncertainty. Existing CP approaches that accommodate uncertainty are less suited to uncertainty arising due to incomplete and erroneous data, because they do not build reliable models and solutions guaranteed to address the user's genuine problem as she perceives it. Other fields such as reliable computation offer combinations of models and associated methods to handle these types of uncertain data, but lack an expressive framework characterising the resolution methodology independently of the model. We present a unifying framework that extends the CP formalism in both model and solutions, to tackle ill-defined combinatorial problems with incomplete or erroneous data. The certainty closure framework brings together modelling and solving methodologies from different fields into the CP paradigm to provide reliable and efficient approches for uncertain constraint problems. We demonstrate the applicability of the framework on a case study in network diagnosis. We define resolution forms that give generic templates, and their associated operational semantics, to derive practical solution methods for reliable solutions.Comment: Revised versio

Contributions to fuzzy polynomial techniques for stability analysis and control

The present thesis employs fuzzy-polynomial control techniques in order to improve the stability analysis and control of nonlinear systems. Initially, it reviews the more extended techniques in the field of Takagi-Sugeno fuzzy systems, such as the more relevant results about polynomial and fuzzy polynomial systems. The basic framework uses fuzzy polynomial models by Taylor series and sum-of-squares techniques (semidefinite programming) in order to obtain stability guarantees. The contributions of the thesis are: ¿ Improved domain of attraction estimation of nonlinear systems for both continuous-time and discrete-time cases. An iterative methodology based on invariant-set results is presented for obtaining polynomial boundaries of such domain of attraction. ¿ Extension of the above problem to the case with bounded persistent disturbances acting. Different characterizations of inescapable sets with polynomial boundaries are determined. ¿ State estimation: extension of the previous results in literature to the case of fuzzy observers with polynomial gains, guaranteeing stability of the estimation error and inescapability in a subset of the zone where the model is valid. ¿ Proposal of a polynomial Lyapunov function with discrete delay in order to improve some polynomial control designs from literature. Preliminary extension to the fuzzy polynomial case. Last chapters present a preliminary experimental work in order to check and validate the theoretical results on real platforms in the future.Pitarch Pérez, JL. (2013). Contributions to fuzzy polynomial techniques for stability analysis and control [Tesis doctoral no publicada]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/34773TESI

Reservoir Flooding Optimization by Control Polynomial Approximations

In this dissertation, we provide novel parametrization procedures for water-flooding production optimization problems, using polynomial approximation techniques. The methods project the original infinite dimensional controls space into a polynomial subspace. Our contribution includes new parameterization formulations using natural polynomials, orthogonal Chebyshev polynomials and Cubic spline interpolation. We show that the proposed methods are well suited for black-box approach with stochastic global-search method as they tend to produce smooth control trajectories, while reducing the solution space size. We demonstrate their efficiency on synthetic two-dimensional problems and on a realistic 3-dimensional problem. By contributing with a new adjoint method formulation for polynomial approximation, we implemented the methods also with gradient-based algorithms. In addition to fine-scale simulation, we also performed reduced order modeling, where we demonstrated a synergistic effect when combining polynomial approximation with model order reduction, that leads to faster optimization with higher gains in terms of Net Present Value. Finally, we performed gradient-based optimization under uncertainty. We proposed a new multi-objective function with three components, one that maximizes the expected value of all realizations, and two that maximize the averages of distribution tails from both sides. The new objective provides decision makers with the flexibility to choose the amount of risk they are willing to take, while deciding on production strategy or performing reserves estimation (P10;P50;P90)

On noncommutative spherically symmetric spaces

Two families of noncommutative extensions are given of a general space-time metric with spherical symmetry, both based on the matrix truncation of the functions on the sphere of symmetry. The first family uses the truncation to foliate space as an infinite set of spheres, is of dimension four and necessarily time-dependent; the second can be time-dependent or static, is of dimension five and uses the truncation to foliate the internal space.Comment: 22 page

Industrial Robotics

This book covers a wide range of topics relating to advanced industrial robotics, sensors and automation technologies. Although being highly technical and complex in nature, the papers presented in this book represent some of the latest cutting edge technologies and advancements in industrial robotics technology. This book covers topics such as networking, properties of manipulators, forward and inverse robot arm kinematics, motion path-planning, machine vision and many other practical topics too numerous to list here. The authors and editor of this book wish to inspire people, especially young ones, to get involved with robotic and mechatronic engineering technology and to develop new and exciting practical applications, perhaps using the ideas and concepts presented herein

Neuro-fuzzy software for intelligent control and education

Tese de mestrado integrado. Engenharia Electrotécnica e de Computadores (Major Automação). Faculdade de Engenharia. Universidade do Porto. 200