Joint-layer encoder optimization for HEVC scalable extensions

NASA Astrophysics Data System (ADS)

Tsai, Chia-Ming; He, Yuwen; Dong, Jie; Ye, Yan; Xiu, Xiaoyu; He, Yong

2014-09-01

Scalable video coding provides an efficient solution to support video playback on heterogeneous devices with various channel conditions in heterogeneous networks. SHVC is the latest scalable video coding standard based on the HEVC standard. To improve enhancement layer coding efficiency, inter-layer prediction including texture and motion information generated from the base layer is used for enhancement layer coding. However, the overall performance of the SHVC reference encoder is not fully optimized because rate-distortion optimization (RDO) processes in the base and enhancement layers are independently considered. It is difficult to directly extend the existing joint-layer optimization methods to SHVC due to the complicated coding tree block splitting decisions and in-loop filtering process (e.g., deblocking and sample adaptive offset (SAO) filtering) in HEVC. To solve those problems, a joint-layer optimization method is proposed by adjusting the quantization parameter (QP) to optimally allocate the bit resource between layers. Furthermore, to make more proper resource allocation, the proposed method also considers the viewing probability of base and enhancement layers according to packet loss rate. Based on the viewing probability, a novel joint-layer RD cost function is proposed for joint-layer RDO encoding. The QP values of those coding tree units (CTUs) belonging to lower layers referenced by higher layers are decreased accordingly, and the QP values of those remaining CTUs are increased to keep total bits unchanged. Finally the QP values with minimal joint-layer RD cost are selected to match the viewing probability. The proposed method was applied to the third temporal level (TL-3) pictures in the Random Access configuration. Simulation results demonstrate that the proposed joint-layer optimization method can improve coding performance by 1.3% for these TL-3 pictures compared to the SHVC reference encoder without joint-layer optimization.

Joint location, inventory, and preservation decisions for non-instantaneous deterioration items under delay in payments

NASA Astrophysics Data System (ADS)

Tsao, Yu-Chung

2016-02-01

This study models a joint location, inventory and preservation decision-making problem for non-instantaneous deteriorating items under delay in payments. An outside supplier provides a credit period to the wholesaler which has a distribution system with distribution centres (DCs). The non-instantaneous deteriorating means no deterioration occurs in the earlier stage, which is very useful for items such as fresh food and fruits. This paper also considers that the deteriorating rate will decrease and the reservation cost will increase as the preservation effort increases. Therefore, how much preservation effort should be made is a crucial decision. The objective of this paper is to determine the optimal locations and number of DCs, the optimal replenishment cycle time at DCs, and the optimal preservation effort simultaneously such that the total network profit is maximised. The problem is formulated as piecewise nonlinear functions and has three different cases. Algorithms based on piecewise nonlinear optimisation are provided to solve the joint location and inventory problem for all cases. Computational analysis illustrates the solution procedures and the impacts of the related parameters on decisions and profits. The results of this study can serve as references for business managers or administrators.

Fractional Programming for Communication Systems—Part II: Uplink Scheduling via Matching

NASA Astrophysics Data System (ADS)

Shen, Kaiming; Yu, Wei

2018-05-01

This two-part paper develops novel methodologies for using fractional programming (FP) techniques to design and optimize communication systems. Part I of this paper proposes a new quadratic transform for FP and treats its application for continuous optimization problems. In this Part II of the paper, we study discrete problems, such as those involving user scheduling, which are considerably more difficult to solve. Unlike the continuous problems, discrete or mixed discrete-continuous problems normally cannot be recast as convex problems. In contrast to the common heuristic of relaxing the discrete variables, this work reformulates the original problem in an FP form amenable to distributed combinatorial optimization. The paper illustrates this methodology by tackling the important and challenging problem of uplink coordinated multi-cell user scheduling in wireless cellular systems. Uplink scheduling is more challenging than downlink scheduling, because uplink user scheduling decisions significantly affect the interference pattern in nearby cells. Further, the discrete scheduling variable needs to be optimized jointly with continuous variables such as transmit power levels and beamformers. The main idea of the proposed FP approach is to decouple the interaction among the interfering links, thereby permitting a distributed and joint optimization of the discrete and continuous variables with provable convergence. The paper shows that the well-known weighted minimum mean-square-error (WMMSE) algorithm can also be derived from a particular use of FP; but our proposed FP-based method significantly outperforms WMMSE when discrete user scheduling variables are involved, both in term of run-time efficiency and optimizing results.

Simultaneous Calibration: A Joint Optimization Approach for Multiple Kinect and External Cameras.

PubMed

Liao, Yajie; Sun, Ying; Li, Gongfa; Kong, Jianyi; Jiang, Guozhang; Jiang, Du; Cai, Haibin; Ju, Zhaojie; Yu, Hui; Liu, Honghai

2017-06-24

Camera calibration is a crucial problem in many applications, such as 3D reconstruction, structure from motion, object tracking and face alignment. Numerous methods have been proposed to solve the above problem with good performance in the last few decades. However, few methods are targeted at joint calibration of multi-sensors (more than four devices), which normally is a practical issue in the real-time systems. In this paper, we propose a novel method and a corresponding workflow framework to simultaneously calibrate relative poses of a Kinect and three external cameras. By optimizing the final cost function and adding corresponding weights to the external cameras in different locations, an effective joint calibration of multiple devices is constructed. Furthermore, the method is tested in a practical platform, and experiment results show that the proposed joint calibration method can achieve a satisfactory performance in a project real-time system and its accuracy is higher than the manufacturer's calibration.

Simultaneous Calibration: A Joint Optimization Approach for Multiple Kinect and External Cameras

PubMed Central

Liao, Yajie; Sun, Ying; Li, Gongfa; Kong, Jianyi; Jiang, Guozhang; Jiang, Du; Cai, Haibin; Ju, Zhaojie; Yu, Hui; Liu, Honghai

2017-01-01

Camera calibration is a crucial problem in many applications, such as 3D reconstruction, structure from motion, object tracking and face alignment. Numerous methods have been proposed to solve the above problem with good performance in the last few decades. However, few methods are targeted at joint calibration of multi-sensors (more than four devices), which normally is a practical issue in the real-time systems. In this paper, we propose a novel method and a corresponding workflow framework to simultaneously calibrate relative poses of a Kinect and three external cameras. By optimizing the final cost function and adding corresponding weights to the external cameras in different locations, an effective joint calibration of multiple devices is constructed. Furthermore, the method is tested in a practical platform, and experiment results show that the proposed joint calibration method can achieve a satisfactory performance in a project real-time system and its accuracy is higher than the manufacturer’s calibration. PMID:28672823

Stochastic Evolutionary Algorithms for Planning Robot Paths

NASA Technical Reports Server (NTRS)

Fink, Wolfgang; Aghazarian, Hrand; Huntsberger, Terrance; Terrile, Richard

2006-01-01

A computer program implements stochastic evolutionary algorithms for planning and optimizing collision-free paths for robots and their jointed limbs. Stochastic evolutionary algorithms can be made to produce acceptably close approximations to exact, optimal solutions for path-planning problems while often demanding much less computation than do exhaustive-search and deterministic inverse-kinematics algorithms that have been used previously for this purpose. Hence, the present software is better suited for application aboard robots having limited computing capabilities (see figure). The stochastic aspect lies in the use of simulated annealing to (1) prevent trapping of an optimization algorithm in local minima of an energy-like error measure by which the fitness of a trial solution is evaluated while (2) ensuring that the entire multidimensional configuration and parameter space of the path-planning problem is sampled efficiently with respect to both robot joint angles and computation time. Simulated annealing is an established technique for avoiding local minima in multidimensional optimization problems, but has not, until now, been applied to planning collision-free robot paths by use of low-power computers.

Dynamic motion planning of 3D human locomotion using gradient-based optimization.

PubMed

Kim, Hyung Joo; Wang, Qian; Rahmatalla, Salam; Swan, Colby C; Arora, Jasbir S; Abdel-Malek, Karim; Assouline, Jose G

2008-06-01

Since humans can walk with an infinite variety of postures and limb movements, there is no unique solution to the modeling problem to predict human gait motions. Accordingly, we test herein the hypothesis that the redundancy of human walking mechanisms makes solving for human joint profiles and force time histories an indeterminate problem best solved by inverse dynamics and optimization methods. A new optimization-based human-modeling framework is thus described for predicting three-dimensional human gait motions on level and inclined planes. The basic unknowns in the framework are the joint motion time histories of a 25-degree-of-freedom human model and its six global degrees of freedom. The joint motion histories are calculated by minimizing an objective function such as deviation of the trunk from upright posture that relates to the human model's performance. A variety of important constraints are imposed on the optimization problem, including (1) satisfaction of dynamic equilibrium equations by requiring the model's zero moment point (ZMP) to lie within the instantaneous geometrical base of support, (2) foot collision avoidance, (3) limits on ground-foot friction, and (4) vanishing yawing moment. Analytical forms of objective and constraint functions are presented and discussed for the proposed human-modeling framework in which the resulting optimization problems are solved using gradient-based mathematical programming techniques. When the framework is applied to the modeling of bipedal locomotion on level and inclined planes, acyclic human walking motions that are smooth and realistic as opposed to less natural robotic motions are obtained. The aspects of the modeling framework requiring further investigation and refinement, as well as potential applications of the framework in biomechanics, are discussed.

Minimizing distortion and internal forces in truss structures by simulated annealing

NASA Technical Reports Server (NTRS)

Kincaid, Rex K.

1989-01-01

Inaccuracies in the length of members and the diameters of joints of large truss reflector backup structures may produce unacceptable levels of surface distortion and member forces. However, if the member lengths and joint diameters can be measured accurately it is possible to configure the members and joints so that root-mean-square (rms) surface error and/or rms member forces is minimized. Following Greene and Haftka (1989) it is assumed that the force vector f is linearly proportional to the member length errors e(sub M) of dimension NMEMB (the number of members) and joint errors e(sub J) of dimension NJOINT (the number of joints), and that the best-fit displacement vector d is a linear function of f. Let NNODES denote the number of positions on the surface of the truss where error influences are measured. The solution of the problem is discussed. To classify, this problem was compared to a similar combinatorial optimization problem. In particular, when only the member length errors are considered, minimizing d(sup 2)(sub rms) is equivalent to the quadratic assignment problem. The quadratic assignment problem is a well known NP-complete problem in operations research literature. Hence minimizing d(sup 2)(sub rms) is is also an NP-complete problem. The focus of the research is the development of a simulated annealing algorithm to reduce d(sup 2)(sub rms). The plausibility of this technique is its recent success on a variety of NP-complete combinatorial optimization problems including the quadratic assignment problem. A physical analogy for simulated annealing is the way liquids freeze and crystallize. All computational experiments were done on a MicroVAX. The two interchange heuristic is very fast but produces widely varying results. The two and three interchange heuristic provides less variability in the final objective function values but runs much more slowly. Simulated annealing produced the best objective function values for every starting configuration and was faster than the two and three interchange heuristic.

Joint Transmit and Receive Filter Optimization for Sub-Nyquist Delay-Doppler Estimation

NASA Astrophysics Data System (ADS)

Lenz, Andreas; Stein, Manuel S.; Swindlehurst, A. Lee

2018-05-01

In this article, a framework is presented for the joint optimization of the analog transmit and receive filter with respect to a parameter estimation problem. At the receiver, conventional signal processing systems restrict the two-sided bandwidth of the analog pre-filter $B$ to the rate of the analog-to-digital converter $f_s$ to comply with the well-known Nyquist-Shannon sampling theorem. In contrast, here we consider a transceiver that by design violates the common paradigm $B\\leq f_s$. To this end, at the receiver, we allow for a higher pre-filter bandwidth $B>f_s$ and study the achievable parameter estimation accuracy under a fixed sampling rate when the transmit and receive filter are jointly optimized with respect to the Bayesian Cram\\'{e}r-Rao lower bound. For the case of delay-Doppler estimation, we propose to approximate the required Fisher information matrix and solve the transceiver design problem by an alternating optimization algorithm. The presented approach allows us to explore the Pareto-optimal region spanned by transmit and receive filters which are favorable under a weighted mean squared error criterion. We also discuss the computational complexity of the obtained transceiver design by visualizing the resulting ambiguity function. Finally, we verify the performance of the optimized designs by Monte-Carlo simulations of a likelihood-based estimator.

A Novel Joint Problem of Routing, Scheduling, and Variable-Width Channel Allocation in WMNs

PubMed Central

Liu, Wan-Yu; Chou, Chun-Hung

2014-01-01

This paper investigates a novel joint problem of routing, scheduling, and channel allocation for single-radio multichannel wireless mesh networks in which multiple channel widths can be adjusted dynamically through a new software technology so that more concurrent transmissions and suppressed overlapping channel interference can be achieved. Although the previous works have studied this joint problem, their linear programming models for the problem were not incorporated with some delicate constraints. As a result, this paper first constructs a linear programming model with more practical concerns and then proposes a simulated annealing approach with a novel encoding mechanism, in which the configurations of multiple time slots are devised to characterize the dynamic transmission process. Experimental results show that our approach can find the same or similar solutions as the optimal solutions for smaller-scale problems and can efficiently find good-quality solutions for a variety of larger-scale problems. PMID:24982990

Preoperative Optimization of Total Joint Arthroplasty Surgical Risk: Obesity.

PubMed

Fournier, Matthew N; Hallock, Justin; Mihalko, William M

2016-08-01

Obesity is a problem that is increasing in prevalence in the United States and in other countries, and it is a common comorbidity in patients seeking total joint arthroplasty for degenerative musculoskeletal diseases. Obesity, as well as commonly associated comorbidities such as diabetes mellitus, cardiovascular disease, and those contributing to the diagnosis of metabolic syndrome, have been shown to have detrimental effects on total joint arthroplasty outcomes. Although there are effective surgical and nonsurgical interventions which can result in weight loss in these patients, concomitant benefit on arthroplasty outcomes is not clear. Preoperative optimization of surgical risk in obese total joint arthroplasty patients is an important point of intervention to improve arthroplasty outcomes. Copyright © 2016 Elsevier Inc. All rights reserved.

Modeling and optimization of the multiobjective stochastic joint replenishment and delivery problem under supply chain environment.

PubMed

Wang, Lin; Qu, Hui; Liu, Shan; Dun, Cai-xia

2013-01-01

As a practical inventory and transportation problem, it is important to synthesize several objectives for the joint replenishment and delivery (JRD) decision. In this paper, a new multiobjective stochastic JRD (MSJRD) of the one-warehouse and n-retailer systems considering the balance of service level and total cost simultaneously is proposed. The goal of this problem is to decide the reasonable replenishment interval, safety stock factor, and traveling routing. Secondly, two approaches are designed to handle this complex multi-objective optimization problem. Linear programming (LP) approach converts the multi-objective to single objective, while a multi-objective evolution algorithm (MOEA) solves a multi-objective problem directly. Thirdly, three intelligent optimization algorithms, differential evolution algorithm (DE), hybrid DE (HDE), and genetic algorithm (GA), are utilized in LP-based and MOEA-based approaches. Results of the MSJRD with LP-based and MOEA-based approaches are compared by a contrastive numerical example. To analyses the nondominated solution of MOEA, a metric is also used to measure the distribution of the last generation solution. Results show that HDE outperforms DE and GA whenever LP or MOEA is adopted.

Modeling and Optimization of the Multiobjective Stochastic Joint Replenishment and Delivery Problem under Supply Chain Environment

PubMed Central

Dun, Cai-xia

2013-01-01

As a practical inventory and transportation problem, it is important to synthesize several objectives for the joint replenishment and delivery (JRD) decision. In this paper, a new multiobjective stochastic JRD (MSJRD) of the one-warehouse and n-retailer systems considering the balance of service level and total cost simultaneously is proposed. The goal of this problem is to decide the reasonable replenishment interval, safety stock factor, and traveling routing. Secondly, two approaches are designed to handle this complex multi-objective optimization problem. Linear programming (LP) approach converts the multi-objective to single objective, while a multi-objective evolution algorithm (MOEA) solves a multi-objective problem directly. Thirdly, three intelligent optimization algorithms, differential evolution algorithm (DE), hybrid DE (HDE), and genetic algorithm (GA), are utilized in LP-based and MOEA-based approaches. Results of the MSJRD with LP-based and MOEA-based approaches are compared by a contrastive numerical example. To analyses the nondominated solution of MOEA, a metric is also used to measure the distribution of the last generation solution. Results show that HDE outperforms DE and GA whenever LP or MOEA is adopted. PMID:24302880

A New Technique for Compensating Joint Limits in a Robot Manipulator

NASA Technical Reports Server (NTRS)

Litt, Jonathan; Hickman, Andre; Guo, Ten-Huei

1996-01-01

A new robust, optimal, adaptive technique for compensating rate and position limits in the joints of a six degree-of-freedom elbow manipulator is presented. In this new algorithm, the unmet demand as a result of actuator saturation is redistributed among the remaining unsaturated joints. The scheme is used to compensate for inadequate path planning, problems such as joint limiting, joint freezing, or even obstacle avoidance, where a desired position and orientation are not attainable due to an unrealizable joint command. Once a joint encounters a limit, supplemental commands are sent to other joints to best track, according to a selected criterion, the desired trajectory.

Energy optimization in mobile sensor networks

NASA Astrophysics Data System (ADS)

Yu, Shengwei

Mobile sensor networks are considered to consist of a network of mobile robots, each of which has computation, communication and sensing capabilities. Energy efficiency is a critical issue in mobile sensor networks, especially when mobility (i.e., locomotion control), routing (i.e., communications) and sensing are unique characteristics of mobile robots for energy optimization. This thesis focuses on the problem of energy optimization of mobile robotic sensor networks, and the research results can be extended to energy optimization of a network of mobile robots that monitors the environment, or a team of mobile robots that transports materials from stations to stations in a manufacturing environment. On the energy optimization of mobile robotic sensor networks, our research focuses on the investigation and development of distributed optimization algorithms to exploit the mobility of robotic sensor nodes for network lifetime maximization. In particular, the thesis studies these five problems: 1. Network-lifetime maximization by controlling positions of networked mobile sensor robots based on local information with distributed optimization algorithms; 2. Lifetime maximization of mobile sensor networks with energy harvesting modules; 3. Lifetime maximization using joint design of mobility and routing; 4. Optimal control for network energy minimization; 5. Network lifetime maximization in mobile visual sensor networks. In addressing the first problem, we consider only the mobility strategies of the robotic relay nodes in a mobile sensor network in order to maximize its network lifetime. By using variable substitutions, the original problem is converted into a convex problem, and a variant of the sub-gradient method for saddle-point computation is developed for solving this problem. An optimal solution is obtained by the method. Computer simulations show that mobility of robotic sensors can significantly prolong the lifetime of the whole robotic sensor network while consuming negligible amount of energy for mobility cost. For the second problem, the problem is extended to accommodate mobile robotic nodes with energy harvesting capability, which makes it a non-convex optimization problem. The non-convexity issue is tackled by using the existing sequential convex approximation method, based on which we propose a novel procedure of modified sequential convex approximation that has fast convergence speed. For the third problem, the proposed procedure is used to solve another challenging non-convex problem, which results in utilizing mobility and routing simultaneously in mobile robotic sensor networks to prolong the network lifetime. The results indicate that joint design of mobility and routing has an edge over other methods in prolonging network lifetime, which is also the justification for the use of mobility in mobile sensor networks for energy efficiency purpose. For the fourth problem, we include the dynamics of the robotic nodes in the problem by modeling the networked robotic system using hybrid systems theory. A novel distributed method for the networked hybrid system is used to solve the optimal moving trajectories for robotic nodes and optimal network links, which are not answered by previous approaches. Finally, the fact that mobility is more effective in prolonging network lifetime for a data-intensive network leads us to apply our methods to study mobile visual sensor networks, which are useful in many applications. We investigate the joint design of mobility, data routing, and encoding power to help improving the video quality while maximizing the network lifetime. This study leads to a better understanding of the role mobility can play in data-intensive surveillance sensor networks.

Distributed computer system enhances productivity for SRB joint optimization

NASA Technical Reports Server (NTRS)

Rogers, James L., Jr.; Young, Katherine C.; Barthelemy, Jean-Francois M.

1987-01-01

Initial calculations of a redesign of the solid rocket booster joint that failed during the shuttle tragedy showed that the design had a weight penalty associated with it. Optimization techniques were to be applied to determine if there was any way to reduce the weight while keeping the joint opening closed and limiting the stresses. To allow engineers to examine as many alternatives as possible, a system was developed consisting of existing software that coupled structural analysis with optimization which would execute on a network of computer workstations. To increase turnaround, this system took advantage of the parallelism offered by the finite difference technique of computing gradients to allow several workstations to contribute to the solution of the problem simultaneously. The resulting system reduced the amount of time to complete one optimization cycle from two hours to one-half hour with a potential of reducing it to 15 minutes. The current distributed system, which contains numerous extensions, requires one hour turnaround per optimization cycle. This would take four hours for the sequential system.

Joint Power Charging and Routing in Wireless Rechargeable Sensor Networks.

PubMed

Jia, Jie; Chen, Jian; Deng, Yansha; Wang, Xingwei; Aghvami, Abdol-Hamid

2017-10-09

The development of wireless power transfer (WPT) technology has inspired the transition from traditional battery-based wireless sensor networks (WSNs) towards wireless rechargeable sensor networks (WRSNs). While extensive efforts have been made to improve charging efficiency, little has been done for routing optimization. In this work, we present a joint optimization model to maximize both charging efficiency and routing structure. By analyzing the structure of the optimization model, we first decompose the problem and propose a heuristic algorithm to find the optimal charging efficiency for the predefined routing tree. Furthermore, by coding the many-to-one communication topology as an individual, we further propose to apply a genetic algorithm (GA) for the joint optimization of both routing and charging. The genetic operations, including tree-based recombination and mutation, are proposed to obtain a fast convergence. Our simulation results show that the heuristic algorithm reduces the number of resident locations and the total moving distance. We also show that our proposed algorithm achieves a higher charging efficiency compared with existing algorithms.

Joint Power Charging and Routing in Wireless Rechargeable Sensor Networks

PubMed Central

Jia, Jie; Chen, Jian; Deng, Yansha; Wang, Xingwei; Aghvami, Abdol-Hamid

2017-01-01

The development of wireless power transfer (WPT) technology has inspired the transition from traditional battery-based wireless sensor networks (WSNs) towards wireless rechargeable sensor networks (WRSNs). While extensive efforts have been made to improve charging efficiency, little has been done for routing optimization. In this work, we present a joint optimization model to maximize both charging efficiency and routing structure. By analyzing the structure of the optimization model, we first decompose the problem and propose a heuristic algorithm to find the optimal charging efficiency for the predefined routing tree. Furthermore, by coding the many-to-one communication topology as an individual, we further propose to apply a genetic algorithm (GA) for the joint optimization of both routing and charging. The genetic operations, including tree-based recombination and mutation, are proposed to obtain a fast convergence. Our simulation results show that the heuristic algorithm reduces the number of resident locations and the total moving distance. We also show that our proposed algorithm achieves a higher charging efficiency compared with existing algorithms. PMID:28991200

Structural optimization of an alternate design for the Space Shuttle solid rocket booster field joint

NASA Technical Reports Server (NTRS)

Barthelemy, Jean-Francois M.; Rogers, James L., Jr.; Chang, Kwan J.

1987-01-01

A structural optimization procedure is used to determine the shape of an alternate design for the Shuttle's solid rocket booster field joint. In contrast to the tang and clevis design of the existing joint, this alternate design consists of two flanges bolted together. Configurations with 150 studs of 1 1/8 in diameter and 135 studs of 1 3/16 in diameter are considered. Using a nonlinear programming procedure, the joint weight is minimized under constraints on either von Mises or maximum normal stresses, joint opening and geometry. The procedure solves the design problem by replacing it by a sequence of approximate (convex) subproblems; the pattern of contact between the joint halves is determined every few cycles by a nonlinear displacement analysis. The minimum weight design has 135 studs of 1 3/16 in diameter and is designed under constraints on normal stresses. It weighs 1144 lb per joint more than the current tang and clevis design.

Annual Review of Research Under the Joint Service Electronics Program.

DTIC Science & Technology

1979-10-01

Contents: Quadratic Optimization Problems; Nonlinear Control; Nonlinear Fault Analysis; Qualitative Analysis of Large Scale Systems; Multidimensional System Theory ; Optical Noise; and Pattern Recognition.

On-orbit identifying the inertia parameters of space robotic systems using simple equivalent dynamics

NASA Astrophysics Data System (ADS)

Xu, Wenfu; Hu, Zhonghua; Zhang, Yu; Liang, Bin

2017-03-01

After being launched into space to perform some tasks, the inertia parameters of a space robotic system may change due to fuel consumption, hardware reconfiguration, target capturing, and so on. For precision control and simulation, it is required to identify these parameters on orbit. This paper proposes an effective method for identifying the complete inertia parameters (including the mass, inertia tensor and center of mass position) of a space robotic system. The key to the method is to identify two types of simple dynamics systems: equivalent single-body and two-body systems. For the former, all of the joints are locked into a designed configuration and the thrusters are used for orbital maneuvering. The object function for optimization is defined in terms of acceleration and velocity of the equivalent single body. For the latter, only one joint is unlocked and driven to move along a planned (exiting) trajectory in free-floating mode. The object function is defined based on the linear and angular momentum equations. Then, the parameter identification problems are transformed into non-linear optimization problems. The Particle Swarm Optimization (PSO) algorithm is applied to determine the optimal parameters, i.e. the complete dynamic parameters of the two equivalent systems. By sequentially unlocking the 1st to nth joints (or unlocking the nth to 1st joints), the mass properties of body 0 to n (or n to 0) are completely identified. For the proposed method, only simple dynamics equations are needed for identification. The excitation motion (orbit maneuvering and joint motion) is also easily realized. Moreover, the method does not require prior knowledge of the mass properties of any body. It is general and practical for identifying a space robotic system on-orbit.

Variational Trajectory Optimization Tool Set: Technical description and user's manual

NASA Technical Reports Server (NTRS)

Bless, Robert R.; Queen, Eric M.; Cavanaugh, Michael D.; Wetzel, Todd A.; Moerder, Daniel D.

1993-01-01

The algorithms that comprise the Variational Trajectory Optimization Tool Set (VTOTS) package are briefly described. The VTOTS is a software package for solving nonlinear constrained optimal control problems from a wide range of engineering and scientific disciplines. The VTOTS package was specifically designed to minimize the amount of user programming; in fact, for problems that may be expressed in terms of analytical functions, the user needs only to define the problem in terms of symbolic variables. This version of the VTOTS does not support tabular data; thus, problems must be expressed in terms of analytical functions. The VTOTS package consists of two methods for solving nonlinear optimal control problems: a time-domain finite-element algorithm and a multiple shooting algorithm. These two algorithms, under the VTOTS package, may be run independently or jointly. The finite-element algorithm generates approximate solutions, whereas the shooting algorithm provides a more accurate solution to the optimization problem. A user's manual, some examples with results, and a brief description of the individual subroutines are included.

Optimal design for robust control of uncertain flexible joint manipulators: a fuzzy dynamical system approach

NASA Astrophysics Data System (ADS)

Han, Jiang; Chen, Ye-Hwa; Zhao, Xiaomin; Dong, Fangfang

2018-04-01

A novel fuzzy dynamical system approach to the control design of flexible joint manipulators with mismatched uncertainty is proposed. Uncertainties of the system are assumed to lie within prescribed fuzzy sets. The desired system performance includes a deterministic phase and a fuzzy phase. First, by creatively implanting a fictitious control, a robust control scheme is constructed to render the system uniformly bounded and uniformly ultimately bounded. Both the manipulator modelling and control scheme are deterministic and not IF-THEN heuristic rules-based. Next, a fuzzy-based performance index is proposed. An optimal design problem for a control design parameter is formulated as a constrained optimisation problem. The global solution to this problem can be obtained from solving two quartic equations. The fuzzy dynamical system approach is systematic and is able to assure the deterministic performance as well as to minimise the fuzzy performance index.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Guta, Madalin; Matsumoto, Keiji; Quantum Computation and Information Project, JST, Hongo 5-28-3, Bunkyo-ku, Tokyo 113-0033

We construct the optimal one to two cloning transformation for the family of displaced thermal equilibrium states of a harmonic oscillator, with a fixed and known temperature. The transformation is Gaussian and it is optimal with respect to the figure of merit based on the joint output state and norm distance. The proof of the result is based on the equivalence between the optimal cloning problem and that of optimal amplification of Gaussian states which is then reduced to an optimization problem for diagonal states of a quantum oscillator. A key concept in finding the optimum is that of stochasticmore » ordering which plays a similar role in the purely classical problem of Gaussian cloning. The result is then extended to the case of n to m cloning of mixed Gaussian states.« less

Joint sparse reconstruction of multi-contrast MRI images with graph based redundant wavelet transform.

PubMed

Lai, Zongying; Zhang, Xinlin; Guo, Di; Du, Xiaofeng; Yang, Yonggui; Guo, Gang; Chen, Zhong; Qu, Xiaobo

2018-05-03

Multi-contrast images in magnetic resonance imaging (MRI) provide abundant contrast information reflecting the characteristics of the internal tissues of human bodies, and thus have been widely utilized in clinical diagnosis. However, long acquisition time limits the application of multi-contrast MRI. One efficient way to accelerate data acquisition is to under-sample the k-space data and then reconstruct images with sparsity constraint. However, images are compromised at high acceleration factor if images are reconstructed individually. We aim to improve the images with a jointly sparse reconstruction and Graph-based redundant wavelet transform (GBRWT). First, a sparsifying transform, GBRWT, is trained to reflect the similarity of tissue structures in multi-contrast images. Second, joint multi-contrast image reconstruction is formulated as a ℓ 2, 1 norm optimization problem under GBRWT representations. Third, the optimization problem is numerically solved using a derived alternating direction method. Experimental results in synthetic and in vivo MRI data demonstrate that the proposed joint reconstruction method can achieve lower reconstruction errors and better preserve image structures than the compared joint reconstruction methods. Besides, the proposed method outperforms single image reconstruction with joint sparsity constraint of multi-contrast images. The proposed method explores the joint sparsity of multi-contrast MRI images under graph-based redundant wavelet transform and realizes joint sparse reconstruction of multi-contrast images. Experiment demonstrate that the proposed method outperforms the compared joint reconstruction methods as well as individual reconstructions. With this high quality image reconstruction method, it is possible to achieve the high acceleration factors by exploring the complementary information provided by multi-contrast MRI.

Risk-Constrained Dynamic Programming for Optimal Mars Entry, Descent, and Landing

NASA Technical Reports Server (NTRS)

Ono, Masahiro; Kuwata, Yoshiaki

2013-01-01

A chance-constrained dynamic programming algorithm was developed that is capable of making optimal sequential decisions within a user-specified risk bound. This work handles stochastic uncertainties over multiple stages in the CEMAT (Combined EDL-Mobility Analyses Tool) framework. It was demonstrated by a simulation of Mars entry, descent, and landing (EDL) using real landscape data obtained from the Mars Reconnaissance Orbiter. Although standard dynamic programming (DP) provides a general framework for optimal sequential decisionmaking under uncertainty, it typically achieves risk aversion by imposing an arbitrary penalty on failure states. Such a penalty-based approach cannot explicitly bound the probability of mission failure. A key idea behind the new approach is called risk allocation, which decomposes a joint chance constraint into a set of individual chance constraints and distributes risk over them. The joint chance constraint was reformulated into a constraint on an expectation over a sum of an indicator function, which can be incorporated into the cost function by dualizing the optimization problem. As a result, the chance-constraint optimization problem can be turned into an unconstrained optimization over a Lagrangian, which can be solved efficiently using a standard DP approach.

Unified anomaly suppression and boundary extraction in laser radar range imagery based on a joint curve-evolution and expectation-maximization algorithm.

PubMed

Feng, Haihua; Karl, William Clem; Castañon, David A

2008-05-01

In this paper, we develop a new unified approach for laser radar range anomaly suppression, range profiling, and segmentation. This approach combines an object-based hybrid scene model for representing the range distribution of the field and a statistical mixture model for the range data measurement noise. The image segmentation problem is formulated as a minimization problem which jointly estimates the target boundary together with the target region range variation and background range variation directly from the noisy and anomaly-filled range data. This formulation allows direct incorporation of prior information concerning the target boundary, target ranges, and background ranges into an optimal reconstruction process. Curve evolution techniques and a generalized expectation-maximization algorithm are jointly employed as an efficient solver for minimizing the objective energy, resulting in a coupled pair of object and intensity optimization tasks. The method directly and optimally extracts the target boundary, avoiding a suboptimal two-step process involving image smoothing followed by boundary extraction. Experiments are presented demonstrating that the proposed approach is robust to anomalous pixels (missing data) and capable of producing accurate estimation of the target boundary and range values from noisy data.

Optimal ordering quantities for substitutable deteriorating items under joint replenishment with cost of substitution

NASA Astrophysics Data System (ADS)

Mishra, Vinod Kumar

2017-09-01

In this paper we develop an inventory model, to determine the optimal ordering quantities, for a set of two substitutable deteriorating items. In this inventory model the inventory level of both items depleted due to demands and deterioration and when an item is out of stock, its demands are partially fulfilled by the other item and all unsatisfied demand is lost. Each substituted item incurs a cost of substitution and the demands and deterioration is considered to be deterministic and constant. Items are order jointly in each ordering cycle, to take the advantages of joint replenishment. The problem is formulated and a solution procedure is developed to determine the optimal ordering quantities that minimize the total inventory cost. We provide an extensive numerical and sensitivity analysis to illustrate the effect of different parameter on the model. The key observation on the basis of numerical analysis, there is substantial improvement in the optimal total cost of the inventory model with substitution over without substitution.

Optimal spacecraft attitude control using collocation and nonlinear programming

NASA Astrophysics Data System (ADS)

Herman, A. L.; Conway, B. A.

1992-10-01

Direct collocation with nonlinear programming (DCNLP) is employed to find the optimal open-loop control histories for detumbling a disabled satellite. The controls are torques and forces applied to the docking arm and joint and torques applied about the body axes of the OMV. Solutions are obtained for cases in which various constraints are placed on the controls and in which the number of controls is reduced or increased from that considered in Conway and Widhalm (1986). DCLNP works well when applied to the optimal control problem of satellite attitude control. The formulation is straightforward and produces good results in a relatively small amount of time on a Cray X/MP with no a priori information about the optimal solution. The addition of joint acceleration to the controls significantly reduces the control magnitudes and optimal cost. In all cases, the torques and acclerations are modest and the optimal cost is very modest.

Joint optimization of green vehicle scheduling and routing problem with time-varying speeds

PubMed Central

Zhang, Dezhi; Wang, Xin; Ni, Nan; Zhang, Zhuo

2018-01-01

Based on an analysis of the congestion effect and changes in the speed of vehicle flow during morning and evening peaks in a large- or medium-sized city, the piecewise function is used to capture the rules of the time-varying speed of vehicles, which are very important in modelling their fuel consumption and CO2 emission. A joint optimization model of the green vehicle scheduling and routing problem with time-varying speeds is presented in this study. Extra wages during nonworking periods and soft time-window constraints are considered. A heuristic algorithm based on the adaptive large neighborhood search algorithm is also presented. Finally, a numerical simulation example is provided to illustrate the optimization model and its algorithm. Results show that, (1) the shortest route is not necessarily the route that consumes the least energy, (2) the departure time influences the vehicle fuel consumption and CO2 emissions and the optimal departure time saves on fuel consumption and reduces CO2 emissions by up to 5.4%, and (3) extra driver wages have significant effects on routing and departure time slot decisions. PMID:29466370

Joint optimization of green vehicle scheduling and routing problem with time-varying speeds.

PubMed

Zhang, Dezhi; Wang, Xin; Li, Shuangyan; Ni, Nan; Zhang, Zhuo

2018-01-01

Based on an analysis of the congestion effect and changes in the speed of vehicle flow during morning and evening peaks in a large- or medium-sized city, the piecewise function is used to capture the rules of the time-varying speed of vehicles, which are very important in modelling their fuel consumption and CO2 emission. A joint optimization model of the green vehicle scheduling and routing problem with time-varying speeds is presented in this study. Extra wages during nonworking periods and soft time-window constraints are considered. A heuristic algorithm based on the adaptive large neighborhood search algorithm is also presented. Finally, a numerical simulation example is provided to illustrate the optimization model and its algorithm. Results show that, (1) the shortest route is not necessarily the route that consumes the least energy, (2) the departure time influences the vehicle fuel consumption and CO2 emissions and the optimal departure time saves on fuel consumption and reduces CO2 emissions by up to 5.4%, and (3) extra driver wages have significant effects on routing and departure time slot decisions.

A Scheme to Optimize Flow Routing and Polling Switch Selection of Software Defined Networks.

PubMed

Chen, Huan; Li, Lemin; Ren, Jing; Wang, Yang; Zhao, Yangming; Wang, Xiong; Wang, Sheng; Xu, Shizhong

2015-01-01

This paper aims at minimizing the communication cost for collecting flow information in Software Defined Networks (SDN). Since flow-based information collecting method requires too much communication cost, and switch-based method proposed recently cannot benefit from controlling flow routing, jointly optimize flow routing and polling switch selection is proposed to reduce the communication cost. To this end, joint optimization problem is formulated as an Integer Linear Programming (ILP) model firstly. Since the ILP model is intractable in large size network, we also design an optimal algorithm for the multi-rooted tree topology and an efficient heuristic algorithm for general topology. According to extensive simulations, it is found that our method can save up to 55.76% communication cost compared with the state-of-the-art switch-based scheme.

Cost Minimization for Joint Energy Management and Production Scheduling Using Particle Swarm Optimization

NASA Astrophysics Data System (ADS)

Shah, Rahul H.

Production costs account for the largest share of the overall cost of manufacturing facilities. With the U.S. industrial sector becoming more and more competitive, manufacturers are looking for more cost and resource efficient working practices. Operations management and production planning have shown their capability to dramatically reduce manufacturing costs and increase system robustness. When implementing operations related decision making and planning, two fields that have shown to be most effective are maintenance and energy. Unfortunately, the current research that integrates both is limited. Additionally, these studies fail to consider parameter domains and optimization on joint energy and maintenance driven production planning. Accordingly, production planning methodology that considers maintenance and energy is investigated. Two models are presented to achieve well-rounded operating strategy. The first is a joint energy and maintenance production scheduling model. The second is a cost per part model considering maintenance, energy, and production. The proposed methodology will involve a Time-of-Use electricity demand response program, buffer and holding capacity, station reliability, production rate, station rated power, and more. In practice, the scheduling problem can be used to determine a joint energy, maintenance, and production schedule. Meanwhile, the cost per part model can be used to: (1) test the sensitivity of the obtained optimal production schedule and its corresponding savings by varying key production system parameters; and (2) to determine optimal system parameter combinations when using the joint energy, maintenance, and production planning model. Additionally, a factor analysis on the system parameters is conducted and the corresponding performance of the production schedule under variable parameter conditions, is evaluated. Also, parameter optimization guidelines that incorporate maintenance and energy parameter decision making in the production planning framework are discussed. A modified Particle Swarm Optimization solution technique is adopted to solve the proposed scheduling problem. The algorithm is described in detail and compared to Genetic Algorithm. Case studies are presented to illustrate the benefits of using the proposed model and the effectiveness of the Particle Swarm Optimization approach. Numerical Experiments are implemented and analyzed to test the effectiveness of the proposed model. The proposed scheduling strategy can achieve savings of around 19 to 27 % in cost per part when compared to the baseline scheduling scenarios. By optimizing key production system parameters from the cost per part model, the baseline scenarios can obtain around 20 to 35 % in savings for the cost per part. These savings further increase by 42 to 55 % when system parameter optimization is integrated with the proposed scheduling problem. Using this method, the most influential parameters on the cost per part are the rated power from production, the production rate, and the initial machine reliabilities. The modified Particle Swarm Optimization algorithm adopted allows greater diversity and exploration compared to Genetic Algorithm for the proposed joint model which results in it being more computationally efficient in determining the optimal scheduling. While Genetic Algorithm could achieve a solution quality of 2,279.63 at an expense of 2,300 seconds in computational effort. In comparison, the proposed Particle Swarm Optimization algorithm achieved a solution quality of 2,167.26 in less than half the computation effort which is required by Genetic Algorithm.

Multiantenna Relay Beamforming Design for QoS Discrimination in Two-Way Relay Networks

PubMed Central

Xiong, Ke; Zhang, Yu; Li, Dandan; Zhong, Zhangdui

2013-01-01

This paper investigates the relay beamforming design for quality of service (QoS) discrimination in two-way relay networks. The purpose is to keep legitimate two-way relay users exchange their information via a helping multiantenna relay with QoS guarantee while avoiding the exchanged information overhearing by unauthorized receiver. To this end, we propose a physical layer method, where the relay beamforming is jointly designed with artificial noise (AN) which is used to interfere in the unauthorized user's reception. We formulate the joint beamforming and AN (BFA) design into an optimization problem such that the received signal-to-interference-ratio (SINR) at the two legitimate users is over a predefined QoS threshold while limiting the received SINR at the unauthorized user which is under a certain secure threshold. The objective of the optimization problem is to seek the optimal AN and beamforming vectors to minimize the total power consumed by the relay node. Since the optimization problem is nonconvex, we solve it by using semidefinite program (SDP) relaxation. For comparison, we also study the optimal relay beamforming without using AN (BFO) under the same QoS discrimination constraints. Simulation results show that both the proposed BFA and BFO can achieve the QoS discrimination of the two-way transmission. However, the proposed BFA yields significant power savings and lower infeasible rates compared with the BFO method. PMID:24391459

Optimization of controlled processes in combined-cycle plant (new developments and researches)

NASA Astrophysics Data System (ADS)

Tverskoy, Yu S.; Muravev, I. K.

2017-11-01

All modern complex technical systems, including power units of TPP and nuclear power plants, work in the system-forming structure of multifunctional APCS. The development of the modern APCS mathematical support allows bringing the automation degree to the solution of complex optimization problems of equipment heat-mass-exchange processes in real time. The difficulty of efficient management of a binary power unit is related to the need to solve jointly at least three problems. The first problem is related to the physical issues of combined-cycle technologies. The second problem is determined by the criticality of the CCGT operation to changes in the regime and climatic factors. The third problem is related to a precise description of a vector of controlled coordinates of a complex technological object. To obtain a joint solution of this complex of interconnected problems, the methodology of generalized thermodynamic analysis, methods of the theory of automatic control and mathematical modeling are used. In the present report, results of new developments and studies are shown. These results allow improving the principles of process control and the automatic control systems structural synthesis of power units with combined-cycle plants that provide attainable technical and economic efficiency and operational reliability of equipment.

Mechanism design and optimization of a bionic kangaroo jumping robot

NASA Astrophysics Data System (ADS)

Zhang, Y. H.; Zheng, L.; Ge, W. J.; Zou, Z. H.

2018-03-01

Hopping robots have broad application prospects in the fields of military reconnaissance, field search or life rescue. However, current hopping robots still face the problems of weak jumping ability and load bearing. Inspired by the jumping of kangaroo, we design a Kangaroo hopping robot “Zbot”, which has two degrees of freedom and three joints. The geared five-bar mechanism is used to decouple the knee and ankle joints of the robot. In order to get a bionic performance, the coupling mechanism parameters are optimized. The simulation and experiments show that the robot has an excellent jumping ability and load capacity.

Optimal False Discovery Rate Control for Dependent Data

PubMed Central

Xie, Jichun; Cai, T. Tony; Maris, John; Li, Hongzhe

2013-01-01

This paper considers the problem of optimal false discovery rate control when the test statistics are dependent. An optimal joint oracle procedure, which minimizes the false non-discovery rate subject to a constraint on the false discovery rate is developed. A data-driven marginal plug-in procedure is then proposed to approximate the optimal joint procedure for multivariate normal data. It is shown that the marginal procedure is asymptotically optimal for multivariate normal data with a short-range dependent covariance structure. Numerical results show that the marginal procedure controls false discovery rate and leads to a smaller false non-discovery rate than several commonly used p-value based false discovery rate controlling methods. The procedure is illustrated by an application to a genome-wide association study of neuroblastoma and it identifies a few more genetic variants that are potentially associated with neuroblastoma than several p-value-based false discovery rate controlling procedures. PMID:23378870

A musculoskeletal shoulder model based on pseudo-inverse and null-space optimization.

PubMed

Terrier, Alexandre; Aeberhard, Martin; Michellod, Yvan; Mullhaupt, Philippe; Gillet, Denis; Farron, Alain; Pioletti, Dominique P

2010-11-01

The goal of the present work was assess the feasibility of using a pseudo-inverse and null-space optimization approach in the modeling of the shoulder biomechanics. The method was applied to a simplified musculoskeletal shoulder model. The mechanical system consisted in the arm, and the external forces were the arm weight, 6 scapulo-humeral muscles and the reaction at the glenohumeral joint, which was considered as a spherical joint. The muscle wrapping was considered around the humeral head assumed spherical. The dynamical equations were solved in a Lagrangian approach. The mathematical redundancy of the mechanical system was solved in two steps: a pseudo-inverse optimization to minimize the square of the muscle stress and a null-space optimization to restrict the muscle force to physiological limits. Several movements were simulated. The mathematical and numerical aspects of the constrained redundancy problem were efficiently solved by the proposed method. The prediction of muscle moment arms was consistent with cadaveric measurements and the joint reaction force was consistent with in vivo measurements. This preliminary work demonstrated that the developed algorithm has a great potential for more complex musculoskeletal modeling of the shoulder joint. In particular it could be further applied to a non-spherical joint model, allowing for the natural translation of the humeral head in the glenoid fossa. Copyright © 2010 IPEM. Published by Elsevier Ltd. All rights reserved.

Predictive Simulations of Neuromuscular Coordination and Joint-Contact Loading in Human Gait.

PubMed

Lin, Yi-Chung; Walter, Jonathan P; Pandy, Marcus G

2018-04-18

We implemented direct collocation on a full-body neuromusculoskeletal model to calculate muscle forces, ground reaction forces and knee contact loading simultaneously for one cycle of human gait. A data-tracking collocation problem was solved for walking at the normal speed to establish the practicality of incorporating a 3D model of articular contact and a model of foot-ground interaction explicitly in a dynamic optimization simulation. The data-tracking solution then was used as an initial guess to solve predictive collocation problems, where novel patterns of movement were generated for walking at slow and fast speeds, independent of experimental data. The data-tracking solutions accurately reproduced joint motion, ground forces and knee contact loads measured for two total knee arthroplasty patients walking at their preferred speeds. RMS errors in joint kinematics were < 2.0° for rotations and < 0.3 cm for translations while errors in the model-computed ground-reaction and knee-contact forces were < 0.07 BW and < 0.4 BW, respectively. The predictive solutions were also consistent with joint kinematics, ground forces, knee contact loads and muscle activation patterns measured for slow and fast walking. The results demonstrate the feasibility of performing computationally-efficient, predictive, dynamic optimization simulations of movement using full-body, muscle-actuated models with realistic representations of joint function.

A joint economic lot-sizing problem with fuzzy demand, defective items and environmental impacts

NASA Astrophysics Data System (ADS)

Jauhari, W. A.; Laksono, P. W.

2017-11-01

In this paper, a joint economic lot-sizing problem consisting of a vendor and a buyer was proposed. A buyer ordered products from a vendor to fulfill end customer’s demand. A produced a batch of products, and delivered it to the buyer. The production process in the vendor was imperfect and produced a number of defective products. Production rate was assumed to be adjustable to control the output of vendor’s production. A continuous review policy was adopted by the buyer to manage his inventory level. In addition, an average annual demand was considered to be fuzzy rather than constant. The proposed model contributed to the current inventory literature by allowing the inclusion of fuzzy annual demand, imperfect production emission cost, and adjustable production rate. The proposed model also considered carbon emission cost which was resulted from the transportation activity. A mathematical model was developed for obtaining the optimal ordering quantity, safety factor and the number of deliveries so the joint total cost was minimized. Furthermore, an iterative procedure was suggested to determine the optimal solutions.

Fast myopic 2D-SIM super resolution microscopy with joint modulation pattern estimation

NASA Astrophysics Data System (ADS)

Orieux, François; Loriette, Vincent; Olivo-Marin, Jean-Christophe; Sepulveda, Eduardo; Fragola, Alexandra

2017-12-01

Super-resolution in structured illumination microscopy (SIM) is obtained through de-aliasing of modulated raw images, in which high frequencies are measured indirectly inside the optical transfer function. Usual approaches that use 9 or 15 images are often too slow for dynamic studies. Moreover, as experimental conditions change with time, modulation parameters must be estimated within the images. This paper tackles the problem of image reconstruction for fast super resolution in SIM, where the number of available raw images is reduced to four instead of nine or fifteen. Within an optimization framework, the solution is inferred via a joint myopic criterion for image and modulation (or acquisition) parameters, leading to what is frequently called a myopic or semi-blind inversion problem. The estimate is chosen as the minimizer of the nonlinear criterion, numerically calculated by means of a block coordinate optimization algorithm. The effectiveness of the proposed method is demonstrated for simulated and experimental examples. The results show precise estimation of the modulation parameters jointly with the reconstruction of the super resolution image. The method also shows its effectiveness for thick biological samples.

A Scheme to Optimize Flow Routing and Polling Switch Selection of Software Defined Networks

PubMed Central

Chen, Huan; Li, Lemin; Ren, Jing; Wang, Yang; Zhao, Yangming; Wang, Xiong; Wang, Sheng; Xu, Shizhong

2015-01-01

This paper aims at minimizing the communication cost for collecting flow information in Software Defined Networks (SDN). Since flow-based information collecting method requires too much communication cost, and switch-based method proposed recently cannot benefit from controlling flow routing, jointly optimize flow routing and polling switch selection is proposed to reduce the communication cost. To this end, joint optimization problem is formulated as an Integer Linear Programming (ILP) model firstly. Since the ILP model is intractable in large size network, we also design an optimal algorithm for the multi-rooted tree topology and an efficient heuristic algorithm for general topology. According to extensive simulations, it is found that our method can save up to 55.76% communication cost compared with the state-of-the-art switch-based scheme. PMID:26690571

Decomposing Large Inverse Problems with an Augmented Lagrangian Approach: Application to Joint Inversion of Body-Wave Travel Times and Surface-Wave Dispersion Measurements

NASA Astrophysics Data System (ADS)

Reiter, D. T.; Rodi, W. L.

2015-12-01

Constructing 3D Earth models through the joint inversion of large geophysical data sets presents numerous theoretical and practical challenges, especially when diverse types of data and model parameters are involved. Among the challenges are the computational complexity associated with large data and model vectors and the need to unify differing model parameterizations, forward modeling methods and regularization schemes within a common inversion framework. The challenges can be addressed in part by decomposing the inverse problem into smaller, simpler inverse problems that can be solved separately, providing one knows how to merge the separate inversion results into an optimal solution of the full problem. We have formulated an approach to the decomposition of large inverse problems based on the augmented Lagrangian technique from optimization theory. As commonly done, we define a solution to the full inverse problem as the Earth model minimizing an objective function motivated, for example, by a Bayesian inference formulation. Our decomposition approach recasts the minimization problem equivalently as the minimization of component objective functions, corresponding to specified data subsets, subject to the constraints that the minimizing models be equal. A standard optimization algorithm solves the resulting constrained minimization problems by alternating between the separate solution of the component problems and the updating of Lagrange multipliers that serve to steer the individual solution models toward a common model solving the full problem. We are applying our inversion method to the reconstruction of the·crust and upper-mantle seismic velocity structure across Eurasia.· Data for the inversion comprise a large set of P and S body-wave travel times·and fundamental and first-higher mode Rayleigh-wave group velocities.

Joint optimization of regional water-power systems

NASA Astrophysics Data System (ADS)

Pereira-Cardenal, Silvio J.; Mo, Birger; Gjelsvik, Anders; Riegels, Niels D.; Arnbjerg-Nielsen, Karsten; Bauer-Gottwein, Peter

2016-06-01

Energy and water resources systems are tightly coupled; energy is needed to deliver water and water is needed to extract or produce energy. Growing pressure on these resources has raised concerns about their long-term management and highlights the need to develop integrated solutions. A method for joint optimization of water and electric power systems was developed in order to identify methodologies to assess the broader interactions between water and energy systems. The proposed method is to include water users and power producers into an economic optimization problem that minimizes the cost of power production and maximizes the benefits of water allocation, subject to constraints from the power and hydrological systems. The method was tested on the Iberian Peninsula using simplified models of the seven major river basins and the power market. The optimization problem was successfully solved using stochastic dual dynamic programming. The results showed that current water allocation to hydropower producers in basins with high irrigation productivity, and to irrigation users in basins with high hydropower productivity was sub-optimal. Optimal allocation was achieved by managing reservoirs in very distinct ways, according to the local inflow, storage capacity, hydropower productivity, and irrigation demand and productivity. This highlights the importance of appropriately representing the water users' spatial distribution and marginal benefits and costs when allocating water resources optimally. The method can handle further spatial disaggregation and can be extended to include other aspects of the water-energy nexus.

A note on the modelling of circular smallholder migration.

PubMed

Bigsten, A

1988-01-01

"It is argued that circular migration [in Africa] should be seen as an optimization problem, where the household allocates its labour resources across activities, including work which requires migration, so as to maximize the joint family utility function. The migration problem is illustrated in a simple diagram, which makes it possible to analyse economic aspects of migration." excerpt

An optimization method for defects reduction in fiber laser keyhole welding

NASA Astrophysics Data System (ADS)

Ai, Yuewei; Jiang, Ping; Shao, Xinyu; Wang, Chunming; Li, Peigen; Mi, Gaoyang; Liu, Yang; Liu, Wei

2016-01-01

Laser welding has been widely used in automotive, power, chemical, nuclear and aerospace industries. The quality of welded joints is closely related to the existing defects which are primarily determined by the welding process parameters. This paper proposes a defects optimization method that takes the formation mechanism of welding defects and weld geometric features into consideration. The analysis of welding defects formation mechanism aims to investigate the relationship between welding defects and process parameters, and weld features are considered to identify the optimal process parameters for the desired welded joints with minimum defects. The improved back-propagation neural network possessing good modeling for nonlinear problems is adopted to establish the mathematical model and the obtained model is solved by genetic algorithm. The proposed method is validated by macroweld profile, microstructure and microhardness in the confirmation tests. The results show that the proposed method is effective at reducing welding defects and obtaining high-quality joints for fiber laser keyhole welding in practical production.

Cooperative Optimal Coordination for Distributed Energy Resources

DOE Office of Scientific and Technical Information (OSTI.GOV)

Yang, Tao; Wu, Di; Ren, Wei

In this paper, we consider the optimal coordination problem for distributed energy resources (DERs) including distributed generators and energy storage devices. We propose an algorithm based on the push-sum and gradient method to optimally coordinate storage devices and distributed generators in a distributed manner. In the proposed algorithm, each DER only maintains a set of variables and updates them through information exchange with a few neighbors over a time-varying directed communication network. We show that the proposed distributed algorithm solves the optimal DER coordination problem if the time-varying directed communication network is uniformly jointly strongly connected, which is a mildmore » condition on the connectivity of communication topologies. The proposed distributed algorithm is illustrated and validated by numerical simulations.« less

Optimal sequential measurements for bipartite state discrimination

NASA Astrophysics Data System (ADS)

Croke, Sarah; Barnett, Stephen M.; Weir, Graeme

2017-05-01

State discrimination is a useful test problem with which to clarify the power and limitations of different classes of measurement. We consider the problem of discriminating between given states of a bipartite quantum system via sequential measurement of the subsystems, with classical feed-forward of measurement results. Our aim is to understand when sequential measurements, which are relatively easy to implement experimentally, perform as well, or almost as well, as optimal joint measurements, which are in general more technologically challenging. We construct conditions that the optimal sequential measurement must satisfy, analogous to the well-known Helstrom conditions for minimum error discrimination in the unrestricted case. We give several examples and compare the optimal probability of correctly identifying the state via global versus sequential measurement strategies.

Joint reconstruction of multiview compressed images.

PubMed

Thirumalai, Vijayaraghavan; Frossard, Pascal

2013-05-01

Distributed representation of correlated multiview images is an important problem that arises in vision sensor networks. This paper concentrates on the joint reconstruction problem where the distributively compressed images are decoded together in order to take benefit from the image correlation. We consider a scenario where the images captured at different viewpoints are encoded independently using common coding solutions (e.g., JPEG) with a balanced rate distribution among different cameras. A central decoder first estimates the inter-view image correlation from the independently compressed data. The joint reconstruction is then cast as a constrained convex optimization problem that reconstructs total-variation (TV) smooth images, which comply with the estimated correlation model. At the same time, we add constraints that force the reconstructed images to be as close as possible to their compressed versions. We show through experiments that the proposed joint reconstruction scheme outperforms independent reconstruction in terms of image quality, for a given target bit rate. In addition, the decoding performance of our algorithm compares advantageously to state-of-the-art distributed coding schemes based on motion learning and on the DISCOVER algorithm.

Cocontraction of pairs of antagonistic muscles: analytical solution for planar static nonlinear optimization approaches.

PubMed

Herzog, W; Binding, P

1993-11-01

It has been stated in the literature that static, nonlinear optimization approaches cannot predict coactivation of pairs of antagonistic muscles; however, numerical solutions of such approaches have predicted coactivation of pairs of one-joint and multijoint antagonists. Analytical support for either finding is not available in the literature for systems containing more than one degree of freedom. The purpose of this study was to investigate analytically the possibility of cocontraction of pairs of antagonistic muscles using a static nonlinear optimization approach for a multidegree-of-freedom, two-dimensional system. Analytical solutions were found using the Karush-Kuhn-Tucker conditions, which were necessary and sufficient for optimality in this problem. The results show that cocontraction of pairs of one-joint antagonistic muscles is not possible, whereas cocontraction of pairs of multijoint antagonists is. These findings suggest that cocontraction of pairs of antagonistic muscles may be an "efficient" way to accomplish many movement tasks.

Joint Geophysical Inversion With Multi-Objective Global Optimization Methods

NASA Astrophysics Data System (ADS)

Lelievre, P. G.; Bijani, R.; Farquharson, C. G.

2015-12-01

Pareto multi-objective global optimization (PMOGO) methods generate a suite of solutions that minimize multiple objectives (e.g. data misfits and regularization terms) in a Pareto-optimal sense. Providing a suite of models, as opposed to a single model that minimizes a weighted sum of objectives, allows a more complete assessment of the possibilities and avoids the often difficult choice of how to weight each objective. We are applying PMOGO methods to three classes of inverse problems. The first class are standard mesh-based problems where the physical property values in each cell are treated as continuous variables. The second class of problems are also mesh-based but cells can only take discrete physical property values corresponding to known or assumed rock units. In the third class we consider a fundamentally different type of inversion in which a model comprises wireframe surfaces representing contacts between rock units; the physical properties of each rock unit remain fixed while the inversion controls the position of the contact surfaces via control nodes. This third class of problem is essentially a geometry inversion, which can be used to recover the unknown geometry of a target body or to investigate the viability of a proposed Earth model. Joint inversion is greatly simplified for the latter two problem classes because no additional mathematical coupling measure is required in the objective function. PMOGO methods can solve numerically complicated problems that could not be solved with standard descent-based local minimization methods. This includes the latter two classes of problems mentioned above. There are significant increases in the computational requirements when PMOGO methods are used but these can be ameliorated using parallelization and problem dimension reduction strategies.

OpenMDAO: Framework for Flexible Multidisciplinary Design, Analysis and Optimization Methods

NASA Technical Reports Server (NTRS)

Heath, Christopher M.; Gray, Justin S.

2012-01-01

The OpenMDAO project is underway at NASA to develop a framework which simplifies the implementation of state-of-the-art tools and methods for multidisciplinary design, analysis and optimization. Foremost, OpenMDAO has been designed to handle variable problem formulations, encourage reconfigurability, and promote model reuse. This work demonstrates the concept of iteration hierarchies in OpenMDAO to achieve a flexible environment for supporting advanced optimization methods which include adaptive sampling and surrogate modeling techniques. In this effort, two efficient global optimization methods were applied to solve a constrained, single-objective and constrained, multiobjective version of a joint aircraft/engine sizing problem. The aircraft model, NASA's nextgeneration advanced single-aisle civil transport, is being studied as part of the Subsonic Fixed Wing project to help meet simultaneous program goals for reduced fuel burn, emissions, and noise. This analysis serves as a realistic test problem to demonstrate the flexibility and reconfigurability offered by OpenMDAO.

Pareto-Optimal Multi-objective Inversion of Geophysical Data

NASA Astrophysics Data System (ADS)

Schnaidt, Sebastian; Conway, Dennis; Krieger, Lars; Heinson, Graham

2018-01-01

In the process of modelling geophysical properties, jointly inverting different data sets can greatly improve model results, provided that the data sets are compatible, i.e., sensitive to similar features. Such a joint inversion requires a relationship between the different data sets, which can either be analytic or structural. Classically, the joint problem is expressed as a scalar objective function that combines the misfit functions of multiple data sets and a joint term which accounts for the assumed connection between the data sets. This approach suffers from two major disadvantages: first, it can be difficult to assess the compatibility of the data sets and second, the aggregation of misfit terms introduces a weighting of the data sets. We present a pareto-optimal multi-objective joint inversion approach based on an existing genetic algorithm. The algorithm treats each data set as a separate objective, avoiding forced weighting and generating curves of the trade-off between the different objectives. These curves are analysed by their shape and evolution to evaluate data set compatibility. Furthermore, the statistical analysis of the generated solution population provides valuable estimates of model uncertainty.

FSMRank: feature selection algorithm for learning to rank.

PubMed

Lai, Han-Jiang; Pan, Yan; Tang, Yong; Yu, Rong

2013-06-01

In recent years, there has been growing interest in learning to rank. The introduction of feature selection into different learning problems has been proven effective. These facts motivate us to investigate the problem of feature selection for learning to rank. We propose a joint convex optimization formulation which minimizes ranking errors while simultaneously conducting feature selection. This optimization formulation provides a flexible framework in which we can easily incorporate various importance measures and similarity measures of the features. To solve this optimization problem, we use the Nesterov's approach to derive an accelerated gradient algorithm with a fast convergence rate O(1/T(2)). We further develop a generalization bound for the proposed optimization problem using the Rademacher complexities. Extensive experimental evaluations are conducted on the public LETOR benchmark datasets. The results demonstrate that the proposed method shows: 1) significant ranking performance gain compared to several feature selection baselines for ranking, and 2) very competitive performance compared to several state-of-the-art learning-to-rank algorithms.

Joint Transmitter and Receiver Power Allocation under Minimax MSE Criterion with Perfect and Imperfect CSI for MC-CDMA Transmissions

NASA Astrophysics Data System (ADS)

Kotchasarn, Chirawat; Saengudomlert, Poompat

We investigate the problem of joint transmitter and receiver power allocation with the minimax mean square error (MSE) criterion for uplink transmissions in a multi-carrier code division multiple access (MC-CDMA) system. The objective of power allocation is to minimize the maximum MSE among all users each of which has limited transmit power. This problem is a nonlinear optimization problem. Using the Lagrange multiplier method, we derive the Karush-Kuhn-Tucker (KKT) conditions which are necessary for a power allocation to be optimal. Numerical results indicate that, compared to the minimum total MSE criterion, the minimax MSE criterion yields a higher total MSE but provides a fairer treatment across the users. The advantages of the minimax MSE criterion are more evident when we consider the bit error rate (BER) estimates. Numerical results show that the minimax MSE criterion yields a lower maximum BER and a lower average BER. We also observe that, with the minimax MSE criterion, some users do not transmit at full power. For comparison, with the minimum total MSE criterion, all users transmit at full power. In addition, we investigate robust joint transmitter and receiver power allocation where the channel state information (CSI) is not perfect. The CSI error is assumed to be unknown but bounded by a deterministic value. This problem is formulated as a semidefinite programming (SDP) problem with bilinear matrix inequality (BMI) constraints. Numerical results show that, with imperfect CSI, the minimax MSE criterion also outperforms the minimum total MSE criterion in terms of the maximum and average BERs.

Not Again! 20th Century Hollow Force Lessons Learned for the 21st Century Military

DTIC Science & Technology

2011-06-17

capabilities in combat units . Although further research is required to determine the optimal balance between the Active and Reserve Component forces, a... UNIT NUMBER 7. PERFORMING ORGANIZATION NAME(S) AND ADDRESS(ES) 8. PERFORMING ORGANIZATION REPORT Joint Forces Staff College NUMBER Joint Advanced...SUPPLEMENTARY NOTES 14. ABSTRACT This paper investigates the problem of how United States Department of Defense (DoD) planners should organize the

An ant colony optimization heuristic for an integrated production and distribution scheduling problem

NASA Astrophysics Data System (ADS)

Chang, Yung-Chia; Li, Vincent C.; Chiang, Chia-Ju

2014-04-01

Make-to-order or direct-order business models that require close interaction between production and distribution activities have been adopted by many enterprises in order to be competitive in demanding markets. This article considers an integrated production and distribution scheduling problem in which jobs are first processed by one of the unrelated parallel machines and then distributed to corresponding customers by capacitated vehicles without intermediate inventory. The objective is to find a joint production and distribution schedule so that the weighted sum of total weighted job delivery time and the total distribution cost is minimized. This article presents a mathematical model for describing the problem and designs an algorithm using ant colony optimization. Computational experiments illustrate that the algorithm developed is capable of generating near-optimal solutions. The computational results also demonstrate the value of integrating production and distribution in the model for the studied problem.

Uplink Packet-Data Scheduling in DS-CDMA Systems

NASA Astrophysics Data System (ADS)

Choi, Young Woo; Kim, Seong-Lyun

In this letter, we consider the uplink packet scheduling for non-real-time data users in a DS-CDMA system. As an effort to jointly optimize throughput and fairness, we formulate a time-span minimization problem incorporating the time-multiplexing of different simultaneous transmission schemes. Based on simple rules, we propose efficient scheduling algorithms and compare them with the optimal solution obtained by linear programming.

Sparseness- and continuity-constrained seismic imaging

NASA Astrophysics Data System (ADS)

Herrmann, Felix J.

2005-04-01

Non-linear solution strategies to the least-squares seismic inverse-scattering problem with sparseness and continuity constraints are proposed. Our approach is designed to (i) deal with substantial amounts of additive noise (SNR < 0 dB); (ii) use the sparseness and locality (both in position and angle) of directional basis functions (such as curvelets and contourlets) on the model: the reflectivity; and (iii) exploit the near invariance of these basis functions under the normal operator, i.e., the scattering-followed-by-imaging operator. Signal-to-noise ratio and the continuity along the imaged reflectors are significantly enhanced by formulating the solution of the seismic inverse problem in terms of an optimization problem. During the optimization, sparseness on the basis and continuity along the reflectors are imposed by jointly minimizing the l1- and anisotropic diffusion/total-variation norms on the coefficients and reflectivity, respectively. [Joint work with Peyman P. Moghaddam was carried out as part of the SINBAD project, with financial support secured through ITF (the Industry Technology Facilitator) from the following organizations: BG Group, BP, ExxonMobil, and SHELL. Additional funding came from the NSERC Discovery Grants 22R81254.

A Hierarchical Modeling for Reactive Power Optimization With Joint Transmission and Distribution Networks by Curve Fitting

DOE Office of Scientific and Technical Information (OSTI.GOV)

Ding, Tao; Li, Cheng; Huang, Can

Here, in order to solve the reactive power optimization with joint transmission and distribution networks, a hierarchical modeling method is proposed in this paper. It allows the reactive power optimization of transmission and distribution networks to be performed separately, leading to a master–slave structure and improves traditional centralized modeling methods by alleviating the big data problem in a control center. Specifically, the transmission-distribution-network coordination issue of the hierarchical modeling method is investigated. First, a curve-fitting approach is developed to provide a cost function of the slave model for the master model, which reflects the impacts of each slave model. Second,more » the transmission and distribution networks are decoupled at feeder buses, and all the distribution networks are coordinated by the master reactive power optimization model to achieve the global optimality. Finally, numerical results on two test systems verify the effectiveness of the proposed hierarchical modeling and curve-fitting methods.« less

A Hierarchical Modeling for Reactive Power Optimization With Joint Transmission and Distribution Networks by Curve Fitting

DOE PAGES

Ding, Tao; Li, Cheng; Huang, Can; ...

2017-01-09

Here, in order to solve the reactive power optimization with joint transmission and distribution networks, a hierarchical modeling method is proposed in this paper. It allows the reactive power optimization of transmission and distribution networks to be performed separately, leading to a master–slave structure and improves traditional centralized modeling methods by alleviating the big data problem in a control center. Specifically, the transmission-distribution-network coordination issue of the hierarchical modeling method is investigated. First, a curve-fitting approach is developed to provide a cost function of the slave model for the master model, which reflects the impacts of each slave model. Second,more » the transmission and distribution networks are decoupled at feeder buses, and all the distribution networks are coordinated by the master reactive power optimization model to achieve the global optimality. Finally, numerical results on two test systems verify the effectiveness of the proposed hierarchical modeling and curve-fitting methods.« less

Model Predictive Control considering Reachable Range of Wheels for Leg / Wheel Mobile Robots

NASA Astrophysics Data System (ADS)

Suzuki, Naito; Nonaka, Kenichiro; Sekiguchi, Kazuma

2016-09-01

Obstacle avoidance is one of the important tasks for mobile robots. In this paper, we study obstacle avoidance control for mobile robots equipped with four legs comprised of three DoF SCARA leg/wheel mechanism, which enables the robot to change its shape adapting to environments. Our previous method achieves obstacle avoidance by model predictive control (MPC) considering obstacle size and lateral wheel positions. However, this method does not ensure existence of joint angles which achieves reference wheel positions calculated by MPC. In this study, we propose a model predictive control considering reachable mobile ranges of wheels positions by combining multiple linear constraints, where each reachable mobile range is approximated as a convex trapezoid. Thus, we achieve to formulate a MPC as a quadratic problem with linear constraints for nonlinear problem of longitudinal and lateral wheel position control. By optimization of MPC, the reference wheel positions are calculated, while each joint angle is determined by inverse kinematics. Considering reachable mobile ranges explicitly, the optimal joint angles are calculated, which enables wheels to reach the reference wheel positions. We verify its advantages by comparing the proposed method with the previous method through numerical simulations.

Multi-objective evolutionary optimization for the joint operation of reservoirs of water supply under water-food-energy nexus management

NASA Astrophysics Data System (ADS)

Uen, T. S.; Tsai, W. P.; Chang, F. J.; Huang, A.

2016-12-01

In recent years, urbanization had a great effect on the growth of population and the resource management scheme of water, food and energy nexus (WFE nexus) in Taiwan. Resource shortages of WFE become a long-term and thorny issue due to the complex interactions of WFE nexus. In consideration of rapid socio-economic development, it is imperative to explore an efficient and practical approach for WFE resources management. This study aims to search the optimal solution to WFE nexus and construct a stable water supply system for multiple stakeholders. The Shimen Reservoir and Feitsui Reservoir in northern Taiwan are chosen to conduct the joint operation of the two reservoirs for water supply. This study intends to achieve water resource allocation from the two reservoirs subject to different operating rules and restrictions of resource allocation. The multi-objectives of the joint operation aim at maximizing hydro-power synergistic gains while minimizing water supply deficiency as well as food shortages. We propose to build a multi-objective evolutionary optimization model for analyzing the hydro-power synergistic gains to suggest the most favorable solutions in terms of tradeoffs between WFE. First, this study collected data from two reservoirs and Taiwan power company. Next, we built a WFE nexus model based on system dynamics. Finally, this study optimized the joint operation of the two reservoirs and calculated the synergy of hydro-power generation. The proposed methodology can tackle the complex joint reservoir operation problems. Results can suggest a reliable policy for joint reservoir operation for creating a green economic city under the lowest risks of water supply.

[Optimal solution and analysis of muscular force during standing balance].

PubMed

Wang, Hongrui; Zheng, Hui; Liu, Kun

2015-02-01

The present study was aimed at the optimal solution of the main muscular force distribution in the lower extremity during standing balance of human. The movement musculoskeletal system of lower extremity was simplified to a physical model with 3 joints and 9 muscles. Then on the basis of this model, an optimum mathematical model was built up to solve the problem of redundant muscle forces. Particle swarm optimization (PSO) algorithm is used to calculate the single objective and multi-objective problem respectively. The numerical results indicated that the multi-objective optimization could be more reasonable to obtain the distribution and variation of the 9 muscular forces. Finally, the coordination of each muscle group during maintaining standing balance under the passive movement was qualitatively analyzed using the simulation results obtained.

An Approximation Solution to Refinery Crude Oil Scheduling Problem with Demand Uncertainty Using Joint Constrained Programming

PubMed Central

Duan, Qianqian; Yang, Genke; Xu, Guanglin; Pan, Changchun

2014-01-01

This paper is devoted to develop an approximation method for scheduling refinery crude oil operations by taking into consideration the demand uncertainty. In the stochastic model the demand uncertainty is modeled as random variables which follow a joint multivariate distribution with a specific correlation structure. Compared to deterministic models in existing works, the stochastic model can be more practical for optimizing crude oil operations. Using joint chance constraints, the demand uncertainty is treated by specifying proximity level on the satisfaction of product demands. However, the joint chance constraints usually hold strong nonlinearity and consequently, it is still hard to handle it directly. In this paper, an approximation method combines a relax-and-tight technique to approximately transform the joint chance constraints to a serial of parameterized linear constraints so that the complicated problem can be attacked iteratively. The basic idea behind this approach is to approximate, as much as possible, nonlinear constraints by a lot of easily handled linear constraints which will lead to a well balance between the problem complexity and tractability. Case studies are conducted to demonstrate the proposed methods. Results show that the operation cost can be reduced effectively compared with the case without considering the demand correlation. PMID:24757433

An approximation solution to refinery crude oil scheduling problem with demand uncertainty using joint constrained programming.

PubMed

Duan, Qianqian; Yang, Genke; Xu, Guanglin; Pan, Changchun

2014-01-01

This paper is devoted to develop an approximation method for scheduling refinery crude oil operations by taking into consideration the demand uncertainty. In the stochastic model the demand uncertainty is modeled as random variables which follow a joint multivariate distribution with a specific correlation structure. Compared to deterministic models in existing works, the stochastic model can be more practical for optimizing crude oil operations. Using joint chance constraints, the demand uncertainty is treated by specifying proximity level on the satisfaction of product demands. However, the joint chance constraints usually hold strong nonlinearity and consequently, it is still hard to handle it directly. In this paper, an approximation method combines a relax-and-tight technique to approximately transform the joint chance constraints to a serial of parameterized linear constraints so that the complicated problem can be attacked iteratively. The basic idea behind this approach is to approximate, as much as possible, nonlinear constraints by a lot of easily handled linear constraints which will lead to a well balance between the problem complexity and tractability. Case studies are conducted to demonstrate the proposed methods. Results show that the operation cost can be reduced effectively compared with the case without considering the demand correlation.

Octopuses use a human-like strategy to control precise point-to-point arm movements.

PubMed

Sumbre, Germán; Fiorito, Graziano; Flash, Tamar; Hochner, Binyamin

2006-04-18

One of the key problems in motor control is mastering or reducing the number of degrees of freedom (DOFs) through coordination. This problem is especially prominent with hyper-redundant limbs such as the extremely flexible arm of the octopus. Several strategies for simplifying these control problems have been suggested for human point-to-point arm movements. Despite the evolutionary gap and morphological differences, humans and octopuses evolved similar strategies when fetching food to the mouth. To achieve this precise point-to-point-task, octopus arms generate a quasi-articulated structure based on three dynamic joints. A rotational movement around these joints brings the object to the mouth . Here, we describe a peripheral neural mechanism-two waves of muscle activation propagate toward each other, and their collision point sets the medial-joint location. This is a remarkably simple mechanism for adjusting the length of the segments according to where the object is grasped. Furthermore, similar to certain human arm movements, kinematic invariants were observed at the joint level rather than at the end-effector level, suggesting intrinsic control coordination. The evolutionary convergence to similar geometrical and kinematic features suggests that a kinematically constrained articulated limb controlled at the level of joint space is the optimal solution for precise point-to-point movements.

Vehicle Routing with Three-dimensional Container Loading Constraints—Comparison of Nested and Joint Algorithms

NASA Astrophysics Data System (ADS)

Koloch, Grzegorz; Kaminski, Bogumil

2010-10-01

In the paper we examine a modification of the classical Vehicle Routing Problem (VRP) in which shapes of transported cargo are accounted for. This problem, known as a three-dimensional VRP with loading constraints (3D-VRP), is appropriate when transported commodities are not perfectly divisible, but they have fixed and heterogeneous dimensions. In the paper restrictions on allowable cargo positionings are also considered. These restrictions are derived from business practice and they extended the baseline 3D-VRP formulation as considered by Koloch and Kaminski (2010). In particular, we investigate how additional restrictions influence relative performance of two proposed optimization algorithms: the nested and the joint one. Performance of both methods is compared on artificial problems and on a big-scale real life case study.

Simultaneous multislice refocusing via time optimal control.

PubMed

Rund, Armin; Aigner, Christoph Stefan; Kunisch, Karl; Stollberger, Rudolf

2018-02-09

Joint design of minimum duration RF pulses and slice-selective gradient shapes for MRI via time optimal control with strict physical constraints, and its application to simultaneous multislice imaging. The minimization of the pulse duration is cast as a time optimal control problem with inequality constraints describing the refocusing quality and physical constraints. It is solved with a bilevel method, where the pulse length is minimized in the upper level, and the constraints are satisfied in the lower level. To address the inherent nonconvexity of the optimization problem, the upper level is enhanced with new heuristics for finding a near global optimizer based on a second optimization problem. A large set of optimized examples shows an average temporal reduction of 87.1% for double diffusion and 74% for turbo spin echo pulses compared to power independent number of slices pulses. The optimized results are validated on a 3T scanner with phantom measurements. The presented design method computes minimum duration RF pulse and slice-selective gradient shapes subject to physical constraints. The shorter pulse duration can be used to decrease the effective echo time in existing echo-planar imaging or echo spacing in turbo spin echo sequences. © 2018 International Society for Magnetic Resonance in Medicine.

Economic growth and carbon emission control

NASA Astrophysics Data System (ADS)

Zhang, Zhenyu

The question about whether environmental improvement is compatible with continued economic growth remains unclear and requires further study in a specific context. This study intends to provide insight on the potential for carbon emissions control in the absence of international agreement, and connect the empirical analysis with theoretical framework. The Chinese electricity generation sector is used as a case study to demonstrate the problem. Both social planner and private problems are examined to derive the conditions that define the optimal level of production and pollution. The private problem will be demonstrated under the emission regulation using an emission tax, an input tax and an abatement subsidy respectively. The social optimal emission flow is imposed into the private problem. To provide tractable analytical results, a Cobb-Douglas type production function is used to describe the joint production process of the desired output and undesired output (i.e., electricity and emissions). A modified Hamiltonian approach is employed to solve the system and the steady state solutions are examined for policy implications. The theoretical analysis suggests that the ratio of emissions to desired output (refer to 'emission factor'), is a function of productive capital and other parameters. The finding of non-constant emission factor shows that reducing emissions without further cutting back the production of desired outputs is feasible under some circumstances. Rather than an ad hoc specification, the optimal conditions derived from our theoretical framework are used to examine the relationship between desired output and emission level. Data comes from the China Statistical Yearbook and China Electric Power Yearbook and provincial information of electricity generation for the year of 1993-2003 are used to estimate the Cobb-Douglas type joint production by the full information maximum likelihood (FIML) method. The empirical analysis shed light on the optimal policies of emissions control required for achieving the social goal in a private context. The results suggest that the efficiency of abatement technology is crucial for the timing of executing the emission tax. And emission tax is preferred to an input tax, as long as the detection of emissions is not costly and abatement technology is efficient. Keywords: Economic growth, Carbon emission, Power generation, Joint production, China

Energy latency tradeoffs for medium access and sleep scheduling in wireless sensor networks

NASA Astrophysics Data System (ADS)

Gang, Lu

Wireless sensor networks are expected to be used in a wide range of applications from environment monitoring to event detection. The key challenge is to provide energy efficient communication; however, latency remains an important concern for many applications that require fast response. The central thesis of this work is that energy efficient medium access and sleep scheduling mechanisms can be designed without necessarily sacrificing application-specific latency performance. We validate this thesis through results from four case studies that cover various aspects of medium access and sleep scheduling design in wireless sensor networks. Our first effort, DMAC, is to design an adaptive low latency and energy efficient MAC for data gathering to reduce the sleep latency. We propose staggered schedule, duty cycle adaptation, data prediction and the use of more-to-send packets to enable seamless packet forwarding under varying traffic load and channel contentions. Simulation and experimental results show significant energy savings and latency reduction while ensuring high data reliability. The second research effort, DESS, investigates the problem of designing sleep schedules in arbitrary network communication topologies to minimize the worst case end-to-end latency (referred to as delay diameter). We develop a novel graph-theoretical formulation, derive and analyze optimal solutions for the tree and ring topologies and heuristics for arbitrary topologies. The third study addresses the problem of minimum latency joint scheduling and routing (MLSR). By constructing a novel delay graph, the optimal joint scheduling and routing can be solved by M node-disjoint paths algorithm under multiple channel model. We further extended the algorithm to handle dynamic traffic changes and topology changes. A heuristic solution is proposed for MLSR under single channel interference. In the fourth study, EEJSPC, we first formulate a fundamental optimization problem that provides tunable energy-latency-throughput tradeoffs with joint scheduling and power control and present both exponential and polynomial complexity solutions. Then we investigate the problem of minimizing total transmission energy while satisfying transmission requests within a latency bound, and present an iterative approach which converges rapidly to the optimal parameter settings.

Pareto joint inversion of 2D magnetotelluric and gravity data

NASA Astrophysics Data System (ADS)

Miernik, Katarzyna; Bogacz, Adrian; Kozubal, Adam; Danek, Tomasz; Wojdyła, Marek

2015-04-01

In this contribution, the first results of the "Innovative technology of petrophysical parameters estimation of geological media using joint inversion algorithms" project were described. At this stage of the development, Pareto joint inversion scheme for 2D MT and gravity data was used. Additionally, seismic data were provided to set some constrains for the inversion. Sharp Boundary Interface(SBI) approach and description model with set of polygons were used to limit the dimensionality of the solution space. The main engine was based on modified Particle Swarm Optimization(PSO). This algorithm was properly adapted to handle two or more target function at once. Additional algorithm was used to eliminate non- realistic solution proposals. Because PSO is a method of stochastic global optimization, it requires a lot of proposals to be evaluated to find a single Pareto solution and then compose a Pareto front. To optimize this stage parallel computing was used for both inversion engine and 2D MT forward solver. There are many advantages of proposed solution of joint inversion problems. First of all, Pareto scheme eliminates cumbersome rescaling of the target functions, that can highly affect the final solution. Secondly, the whole set of solution is created in one optimization run, providing a choice of the final solution. This choice can be based off qualitative data, that are usually very hard to be incorporated into the regular inversion schema. SBI parameterisation not only limits the problem of dimensionality, but also makes constraining of the solution easier. At this stage of work, decision to test the approach using MT and gravity data was made, because this combination is often used in practice. It is important to mention, that the general solution is not limited to this two methods and it is flexible enough to be used with more than two sources of data. Presented results were obtained for synthetic models, imitating real geological conditions, where interesting density distributions are relatively shallow and resistivity changes are related to deeper parts. This kind of conditions are well suited for joint inversion of MT and gravity data. In the next stage of the solution development of further code optimization and extensive tests for real data will be realized. Presented work was supported by Polish National Centre for Research and Development under the contract number POIG.01.04.00-12-279/13

Motion and force control of multiple robotic manipulators

NASA Technical Reports Server (NTRS)

Wen, John T.; Kreutz-Delgado, Kenneth

1992-01-01

This paper addresses the motion and force control problem of multiple robot arms manipulating a cooperatively held object. A general control paradigm is introduced which decouples the motion and force control problems. For motion control, different control strategies are constructed based on the variables used as the control input in the controller design. There are three natural choices; acceleration of a generalized coordinate, arm tip force vectors, and the joint torques. The first two choices require full model information but produce simple models for the control design problem. The last choice results in a class of relatively model independent control laws by exploiting the Hamiltonian structure of the open loop system. The motion control only determines the joint torque to within a manifold, due to the multiple-arm kinematic constraint. To resolve the nonuniqueness of the joint torques, two methods are introduced. If the arm and object models are available, an optimization can be performed to best allocate the desired and effector control force to the joint actuators. The other possibility is to control the internal force about some set point. It is shown that effective force regulation can be achieved even if little model information is available.

Geodesic regression for image time-series.

PubMed

Niethammer, Marc; Huang, Yang; Vialard, François-Xavier

2011-01-01

Registration of image-time series has so far been accomplished (i) by concatenating registrations between image pairs, (ii) by solving a joint estimation problem resulting in piecewise geodesic paths between image pairs, (iii) by kernel based local averaging or (iv) by augmenting the joint estimation with additional temporal irregularity penalties. Here, we propose a generative model extending least squares linear regression to the space of images by using a second-order dynamic formulation for image registration. Unlike previous approaches, the formulation allows for a compact representation of an approximation to the full spatio-temporal trajectory through its initial values. The method also opens up possibilities to design image-based approximation algorithms. The resulting optimization problem is solved using an adjoint method.

A Framework for a Supervisory Expert System for Robotic Manipulators with Joint-Position Limits and Joint-Rate Limits

NASA Technical Reports Server (NTRS)

Mutambara, Arthur G. O.; Litt, Jonathan

1998-01-01

This report addresses the problem of path planning and control of robotic manipulators which have joint-position limits and joint-rate limits. The manipulators move autonomously and carry out variable tasks in a dynamic, unstructured and cluttered environment. The issue considered is whether the robotic manipulator can achieve all its tasks, and if it cannot, the objective is to identify the closest achievable goal. This problem is formalized and systematically solved for generic manipulators by using inverse kinematics and forward kinematics. Inverse kinematics are employed to define the subspace, workspace and constrained workspace, which are then used to identify when a task is not achievable. The closest achievable goal is obtained by determining weights for an optimal control redistribution scheme. These weights are quantified by using forward kinematics. Conditions leading to joint rate limits are identified, in particular it is established that all generic manipulators have singularities at the boundary of their workspace, while some have loci of singularities inside their workspace. Once the manipulator singularity is identified the command redistribution scheme is used to compute the closest achievable Cartesian velocities. Two examples are used to illustrate the use of the algorithm: A three link planar manipulator and the Unimation Puma 560. Implementation of the derived algorithm is effected by using a supervisory expert system to check whether the desired goal lies in the constrained workspace and if not, to evoke the redistribution scheme which determines the constraint relaxation between end effector position and orientation, and then computes optimal gains.

Motion and force control for multiple cooperative manipulators

NASA Technical Reports Server (NTRS)

Wen, John T.; Kreutz, Kenneth

1989-01-01

The motion and force control of multiple robot arms manipulating a commonly held object is addressed. A general control paradigm that decouples the motion and force control problems is introduced. For motion control, there are three natural choices: (1) joint torques, (2) arm-tip force vectors, and (3) the acceleration of a generalized coordinate. Choice (1) allows a class of relatively model-independent control laws by exploiting the Hamiltonian structure of the open-loop system; (2) and (3) require the full model information but produce simpler problems. To resolve the nonuniqueness of the joint torques, two methods are introduced. If the arm and object models are available, the allocation of the desired end-effector control force to the joint actuators can be optimized; otherwise the internal force can be controlled about some set point. It is shown that effective force regulation can be achieved even if little model information is available.

Optimal control, optimization and asymptotic analysis of Purcell's microswimmer model

NASA Astrophysics Data System (ADS)

Wiezel, Oren; Or, Yizhar

2016-11-01

Purcell's swimmer (1977) is a classic model of a three-link microswimmer that moves by performing periodic shape changes. Becker et al. (2003) showed that the swimmer's direction of net motion is reversed upon increasing the stroke amplitude of joint angles. Tam and Hosoi (2007) used numerical optimization in order to find optimal gaits for maximizing either net displacement or Lighthill's energetic efficiency. In our work, we analytically derive leading-order expressions as well as next-order corrections for both net displacement and energetic efficiency of Purcell's microswimmer. Using these expressions enables us to explicitly show the reversal in direction of motion, as well as obtaining an estimate for the optimal stroke amplitude. We also find the optimal swimmer's geometry for maximizing either displacement or energetic efficiency. Additionally, the gait optimization problem is revisited and analytically formulated as an optimal control system with only two state variables, which can be solved using Pontryagin's maximum principle. It can be shown that the optimal solution must follow a "singular arc". Numerical solution of the boundary value problem is obtained, which exactly reproduces Tam and Hosoi's optimal gait.

Base Station Activation and Linear Transceiver Design for Optimal Resource Management in Heterogeneous Networks

NASA Astrophysics Data System (ADS)

Liao, Wei-Cheng; Hong, Mingyi; Liu, Ya-Feng; Luo, Zhi-Quan

2014-08-01

In a densely deployed heterogeneous network (HetNet), the number of pico/micro base stations (BS) can be comparable with the number of the users. To reduce the operational overhead of the HetNet, proper identification of the set of serving BSs becomes an important design issue. In this work, we show that by jointly optimizing the transceivers and determining the active set of BSs, high system resource utilization can be achieved with only a small number of BSs. In particular, we provide formulations and efficient algorithms for such joint optimization problem, under the following two common design criteria: i) minimization of the total power consumption at the BSs, and ii) maximization of the system spectrum efficiency. In both cases, we introduce a nonsmooth regularizer to facilitate the activation of the most appropriate BSs. We illustrate the efficiency and the efficacy of the proposed algorithms via extensive numerical simulations.

Optimal Power Allocation Strategy in a Joint Bistatic Radar and Communication System Based on Low Probability of Intercept

PubMed Central

Wang, Fei; Salous, Sana; Zhou, Jianjiang

2017-01-01

In this paper, we investigate a low probability of intercept (LPI)-based optimal power allocation strategy for a joint bistatic radar and communication system, which is composed of a dedicated transmitter, a radar receiver, and a communication receiver. The joint system is capable of fulfilling the requirements of both radar and communications simultaneously. First, assuming that the signal-to-noise ratio (SNR) corresponding to the target surveillance path is much weaker than that corresponding to the line of sight path at radar receiver, the analytically closed-form expression for the probability of false alarm is calculated, whereas the closed-form expression for the probability of detection is not analytically tractable and is approximated due to the fact that the received signals are not zero-mean Gaussian under target presence hypothesis. Then, an LPI-based optimal power allocation strategy is presented to minimize the total transmission power for information signal and radar waveform, which is constrained by a specified information rate for the communication receiver and the desired probabilities of detection and false alarm for the radar receiver. The well-known bisection search method is employed to solve the resulting constrained optimization problem. Finally, numerical simulations are provided to reveal the effects of several system parameters on the power allocation results. It is also demonstrated that the LPI performance of the joint bistatic radar and communication system can be markedly improved by utilizing the proposed scheme. PMID:29186850

Optimal Power Allocation Strategy in a Joint Bistatic Radar and Communication System Based on Low Probability of Intercept.

PubMed

Shi, Chenguang; Wang, Fei; Salous, Sana; Zhou, Jianjiang

2017-11-25

In this paper, we investigate a low probability of intercept (LPI)-based optimal power allocation strategy for a joint bistatic radar and communication system, which is composed of a dedicated transmitter, a radar receiver, and a communication receiver. The joint system is capable of fulfilling the requirements of both radar and communications simultaneously. First, assuming that the signal-to-noise ratio (SNR) corresponding to the target surveillance path is much weaker than that corresponding to the line of sight path at radar receiver, the analytically closed-form expression for the probability of false alarm is calculated, whereas the closed-form expression for the probability of detection is not analytically tractable and is approximated due to the fact that the received signals are not zero-mean Gaussian under target presence hypothesis. Then, an LPI-based optimal power allocation strategy is presented to minimize the total transmission power for information signal and radar waveform, which is constrained by a specified information rate for the communication receiver and the desired probabilities of detection and false alarm for the radar receiver. The well-known bisection search method is employed to solve the resulting constrained optimization problem. Finally, numerical simulations are provided to reveal the effects of several system parameters on the power allocation results. It is also demonstrated that the LPI performance of the joint bistatic radar and communication system can be markedly improved by utilizing the proposed scheme.

Integrated optimization of location assignment and sequencing in multi-shuttle automated storage and retrieval systems under modified 2n-command cycle pattern

NASA Astrophysics Data System (ADS)

Yang, Peng; Peng, Yongfei; Ye, Bin; Miao, Lixin

2017-09-01

This article explores the integrated optimization problem of location assignment and sequencing in multi-shuttle automated storage/retrieval systems under the modified 2n-command cycle pattern. The decision of storage and retrieval (S/R) location assignment and S/R request sequencing are jointly considered. An integer quadratic programming model is formulated to describe this integrated optimization problem. The optimal travel cycles for multi-shuttle S/R machines can be obtained to process S/R requests in the storage and retrieval request order lists by solving the model. The small-sized instances are optimally solved using CPLEX. For large-sized problems, two tabu search algorithms are proposed, in which the first come, first served and nearest neighbour are used to generate initial solutions. Various numerical experiments are conducted to examine the heuristics' performance and the sensitivity of algorithm parameters. Furthermore, the experimental results are analysed from the viewpoint of practical application, and a parameter list for applying the proposed heuristics is recommended under different real-life scenarios.

The added value of a family-centered approach to optimize infants’ social-emotional development: A quasi-experimental study

PubMed Central

Hielkema, Margriet; Stewart, Roy E.; de Winter, Andrea F.

2017-01-01

Objective Family-centered care (FCC) has been related to positive healthcare outcomes in pediatric care. Our aim was to assess whether an FCC approach also leads to better and earlier identification of social-emotional problems and less child psychosocial problems at age 18 months. Methods In a quasi-experimental study within routine well-child care in the Netherlands, we compared those regions in which an FCC approach was implemented (FCC-JointStart) to those regions with “care-as-usual” (CAU), including all children. In all regions, professionals performed well-child visits (2–18 months) and assessed social-emotional problems, or risks developing these, by rating outcomes of assessments as “not optimal” or as “a problem.” We compared FCC-JointStart and CAU regarding the rates of newly identified (risks for) social-emotional problems, the pace of identification over time, and the child’s psychosocial wellbeing at eighteen months as measured by the Child Behavior Checklist (CBCL). For participants that received extra care, we compared FCC-JointStart and CAU regarding the severity of parent-reported problems. Parents were blinded, professionals were not. Results 5658 parents (68%) agreed to participate in the study. In the FCC-JointStart group, risks were identified more frequently, though differences were small (24.7% versus 22.0%, odds ratio (95%-confidence interval) adjusted for confounders: 1.44 (0.96; 2.18), Phi = .03). Risks were also identified earlier (p = .008), and additional care was provided to more severe cases than in CAU. Effect sizes r ranged from 0.17 (PSBC) to 0.22 (FAD). CBCL scores at 18 months did not differ between groups. Conclusions FFC-JointStart may contribute to more and earlier identification of risks for social-emotional problems and of families that need additional care, but not to fewer child psychosocial problems at age 18 months. Trial registration Netherlands Trial Register NTR2681 PMID:29267270

Optimization, Monotonicity and the Determination of Nash Equilibria — An Algorithmic Analysis

NASA Astrophysics Data System (ADS)

Lozovanu, D.; Pickl, S. W.; Weber, G.-W.

2004-08-01

This paper is concerned with the optimization of a nonlinear time-discrete model exploiting the special structure of the underlying cost game and the property of inverse matrices. The costs are interlinked by a system of linear inequalities. It is shown that, if the players cooperate, i.e., minimize the sum of all the costs, they achieve a Nash equilibrium. In order to determine Nash equilibria, the simplex method can be applied with respect to the dual problem. An introduction into the TEM model and its relationship to an economic Joint Implementation program is given. The equivalence problem is presented. The construction of the emission cost game and the allocation problem is explained. The assumption of inverse monotony for the matrices leads to a new result in the area of such allocation problems. A generalization of such problems is presented.

Joint subchannel pairing and power control for cognitive radio networks with amplify-and-forward relaying.

PubMed

Shen, Yanyan; Wang, Shuqiang; Wei, Zhiming

2014-01-01

Dynamic spectrum sharing has drawn intensive attention in cognitive radio networks. The secondary users are allowed to use the available spectrum to transmit data if the interference to the primary users is maintained at a low level. Cooperative transmission for secondary users can reduce the transmission power and thus improve the performance further. We study the joint subchannel pairing and power allocation problem in relay-based cognitive radio networks. The objective is to maximize the sum rate of the secondary user that is helped by an amplify-and-forward relay. The individual power constraints at the source and the relay, the subchannel pairing constraints, and the interference power constraints are considered. The problem under consideration is formulated as a mixed integer programming problem. By the dual decomposition method, a joint optimal subchannel pairing and power allocation algorithm is proposed. To reduce the computational complexity, two suboptimal algorithms are developed. Simulations have been conducted to verify the performance of the proposed algorithms in terms of sum rate and average running time under different conditions.

Estimation of Saxophone Control Parameters by Convex Optimization.

PubMed

Wang, Cheng-I; Smyth, Tamara; Lipton, Zachary C

2014-12-01

In this work, an approach to jointly estimating the tone hole configuration (fingering) and reed model parameters of a saxophone is presented. The problem isn't one of merely estimating pitch as one applied fingering can be used to produce several different pitches by bugling or overblowing. Nor can a fingering be estimated solely by the spectral envelope of the produced sound (as it might for estimation of vocal tract shape in speech) since one fingering can produce markedly different spectral envelopes depending on the player's embouchure and control of the reed. The problem is therefore addressed by jointly estimating both the reed (source) parameters and the fingering (filter) of a saxophone model using convex optimization and 1) a bank of filter frequency responses derived from measurement of the saxophone configured with all possible fingerings and 2) sample recordings of notes produced using all possible fingerings, played with different overblowing, dynamics and timbre. The saxophone model couples one of several possible frequency response pairs (corresponding to the applied fingering), and a quasi-static reed model generating input pressure at the mouthpiece, with control parameters being blowing pressure and reed stiffness. Applied fingering and reed parameters are estimated for a given recording by formalizing a minimization problem, where the cost function is the error between the recording and the synthesized sound produced by the model having incremental parameter values for blowing pressure and reed stiffness. The minimization problem is nonlinear and not differentiable and is made solvable using convex optimization. The performance of the fingering identification is evaluated with better accuracy than previous reported value.

Organizational transformation: a model for joint optimization of culture change and evidence-based design.

PubMed

Hamilton, D Kirk; Orr, Robin Diane; Raboin, W Ellen

2008-01-01

Healthcare organizations face continuous and accelerating external change and thus must be prepared to manage their own change initiatives proactively. Given that many believe that the U.S. healthcare system is broken and most healthcare organizations are dealing with pervasive problems, some organizations may choose to seek transformational change to achieve the six aims identified by the Institute of Medicine: healthcare that is safe, effective, patient-centered, timely, efficient, and equitable. Transformational change will almost certainly involve organizational culture. Culture change may be most effective when linked to other organizational change initiatives such as organizational strategy, structure, policies, procedures, and recruiting. Significant organizational change often requires accompanying facility change. There is an interdependent relationship between facility design and organizational culture. They affect each other and both impact organizational performance. Sociotechnical theory promotes joint optimization of the social (culture) and technical (facilities) aspects of an organization to achieve sustained positive change. To achieve organizational transformation and to sustain positive change, organizations must be prepared to adopt collaborative efforts in culture change and facility design. The authors propose a model for accomplishing joint optimization of culture change and evidence-based facility design.

Uplink transmit beamforming design for SINR maximization with full multiuser channel state information

NASA Astrophysics Data System (ADS)

Xi, Songnan; Zoltowski, Michael D.

2008-04-01

Multiuser multiple-input multiple-output (MIMO) systems are considered in this paper. We continue our research on uplink transmit beamforming design for multiple users under the assumption that the full multiuser channel state information, which is the collection of the channel state information between each of the users and the base station, is known not only to the receiver but also to all the transmitters. We propose an algorithm for designing optimal beamforming weights in terms of maximizing the signal-to-interference-plus-noise ratio (SINR). Through statistical modeling, we decouple the original mathematically intractable optimization problem and achieved a closed-form solution. As in our previous work, the minimum mean-squared error (MMSE) receiver with successive interference cancellation (SIC) is adopted for multiuser detection. The proposed scheme is compared with an existing jointly optimized transceiver design, referred to as the joint transceiver in this paper, and our previously proposed eigen-beamforming algorithm. Simulation results demonstrate that our algorithm, with much less computational burden, accomplishes almost the same performance as the joint transceiver for spatially independent MIMO channel and even better performance for spatially correlated MIMO channels. And it always works better than our previously proposed eigen beamforming algorithm.

Optimizing parameters of GTU cycle and design values of air-gas channel in a gas turbine with cooled nozzle and rotor blades

NASA Astrophysics Data System (ADS)

Kler, A. M.; Zakharov, Yu. B.

2012-09-01

The authors have formulated the problem of joint optimization of pressure and temperature of combustion products before gas turbine, profiles of nozzle and rotor blades of gas turbine, and cooling air flow rates through nozzle and rotor blades. The article offers an original approach to optimization of profiles of gas turbine blades where the optimized profiles are presented as linear combinations of preliminarily formed basic profiles. The given examples relate to optimization of the gas turbine unit on the criterion of power efficiency at preliminary heat removal from air flows supplied for the air-gas channel cooling and without such removal.

Management of Shoulder Problems Following Obstetric Brachial Plexus Injury

PubMed Central

Nixon, Matthew; Trail, Ian

2013-01-01

Obstetric brachial plexus injuries are common, with an incidence of 0.42 per 1000 live births in the UK, and with 25% of patients being left with permanent disability without intervention. The shoulder is the most commonly affected joint and, as a result of the subsequent imbalance of musculature, the abnormal deforming forces cause dysplasia of the glenohumeral joint. In the growing child, this presents with changing pattern of pathology, which requires a multidisciplinary approach and a broad range of treatment modalities to optimize function. PMID:27582903

Dynamic modeling and optimal joint torque coordination of advanced robotic systems

NASA Astrophysics Data System (ADS)

Kang, Hee-Jun

The development is documented of an efficient dynamic modeling algorithm and the subsequent optimal joint input load coordination of advanced robotic systems for industrial application. A closed-form dynamic modeling algorithm for the general closed-chain robotic linkage systems is presented. The algorithm is based on the transfer of system dependence from a set of open chain Lagrangian coordinates to any desired system generalized coordinate set of the closed-chain. Three different techniques for evaluation of the kinematic closed chain constraints allow the representation of the dynamic modeling parameters in terms of system generalized coordinates and have no restriction with regard to kinematic redundancy. The total computational requirement of the closed-chain system model is largely dependent on the computation required for the dynamic model of an open kinematic chain. In order to improve computational efficiency, modification of an existing open-chain KIC based dynamic formulation is made by the introduction of the generalized augmented body concept. This algorithm allows a 44 pct. computational saving over the current optimized one (O(N4), 5995 when N = 6). As means of resolving redundancies in advanced robotic systems, local joint torque optimization is applied for effectively using actuator power while avoiding joint torque limits. The stability problem in local joint torque optimization schemes is eliminated by using fictitious dissipating forces which act in the necessary null space. The performance index representing the global torque norm is shown to be satisfactory. In addition, the resulting joint motion trajectory becomes conservative, after a transient stage, for repetitive cyclic end-effector trajectories. The effectiveness of the null space damping method is shown. The modular robot, which is built of well defined structural modules from a finite-size inventory and is controlled by one general computer system, is another class of evolving, highly versatile, advanced robotic systems. Therefore, finally, a module based dynamic modeling algorithm is presented for the dynamic coordination of such reconfigurable modular robotic systems. A user interactive module based manipulator analysis program (MBMAP) has been coded in C language running on 4D/70 Silicon Graphics.

Research on vehicles and cargos matching model based on virtual logistics platform

NASA Astrophysics Data System (ADS)

Zhuang, Yufeng; Lu, Jiang; Su, Zhiyuan

2018-04-01

Highway less than truckload (LTL) transportation vehicles and cargos matching problem is a joint optimization problem of typical vehicle routing and loading, which is also a hot issue of operational research. This article based on the demand of virtual logistics platform, for the problem of the highway LTL transportation, the matching model of the idle vehicle and the transportation order is set up and the corresponding genetic algorithm is designed. Then the algorithm is implemented by Java. The simulation results show that the solution is satisfactory.

Non-convex optimization for self-calibration of direction-dependent effects in radio interferometric imaging

NASA Astrophysics Data System (ADS)

Repetti, Audrey; Birdi, Jasleen; Dabbech, Arwa; Wiaux, Yves

2017-10-01

Radio interferometric imaging aims to estimate an unknown sky intensity image from degraded observations, acquired through an antenna array. In the theoretical case of a perfectly calibrated array, it has been shown that solving the corresponding imaging problem by iterative algorithms based on convex optimization and compressive sensing theory can be competitive with classical algorithms such as clean. However, in practice, antenna-based gains are unknown and have to be calibrated. Future radio telescopes, such as the Square Kilometre Array, aim at improving imaging resolution and sensitivity by orders of magnitude. At this precision level, the direction-dependency of the gains must be accounted for, and radio interferometric imaging can be understood as a blind deconvolution problem. In this context, the underlying minimization problem is non-convex, and adapted techniques have to be designed. In this work, leveraging recent developments in non-convex optimization, we propose the first joint calibration and imaging method in radio interferometry, with proven convergence guarantees. Our approach, based on a block-coordinate forward-backward algorithm, jointly accounts for visibilities and suitable priors on both the image and the direction-dependent effects (DDEs). As demonstrated in recent works, sparsity remains the prior of choice for the image, while DDEs are modelled as smooth functions of the sky, I.e. spatially band-limited. Finally, we show through simulations the efficiency of our method, for the reconstruction of both images of point sources and complex extended sources. matlab code is available on GitHub.

Adaptive Multi-Agent Systems for Constrained Optimization

NASA Technical Reports Server (NTRS)

Macready, William; Bieniawski, Stefan; Wolpert, David H.

2004-01-01

Product Distribution (PD) theory is a new framework for analyzing and controlling distributed systems. Here we demonstrate its use for distributed stochastic optimization. First we review one motivation of PD theory, as the information-theoretic extension of conventional full-rationality game theory to the case of bounded rational agents. In this extension the equilibrium of the game is the optimizer of a Lagrangian of the (probability distribution of) the joint state of the agents. When the game in question is a team game with constraints, that equilibrium optimizes the expected value of the team game utility, subject to those constraints. The updating of the Lagrange parameters in the Lagrangian can be viewed as a form of automated annealing, that focuses the MAS more and more on the optimal pure strategy. This provides a simple way to map the solution of any constrained optimization problem onto the equilibrium of a Multi-Agent System (MAS). We present computer experiments involving both the Queen s problem and K-SAT validating the predictions of PD theory and its use for off-the-shelf distributed adaptive optimization.

Integrated configurable equipment selection and line balancing for mass production with serial-parallel machining systems

NASA Astrophysics Data System (ADS)

Battaïa, Olga; Dolgui, Alexandre; Guschinsky, Nikolai; Levin, Genrikh

2014-10-01

Solving equipment selection and line balancing problems together allows better line configurations to be reached and avoids local optimal solutions. This article considers jointly these two decision problems for mass production lines with serial-parallel workplaces. This study was motivated by the design of production lines based on machines with rotary or mobile tables. Nevertheless, the results are more general and can be applied to assembly and production lines with similar structures. The designers' objectives and the constraints are studied in order to suggest a relevant mathematical model and an efficient optimization approach to solve it. A real case study is used to validate the model and the developed approach.

Combining gait optimization with passive system to increase the energy efficiency of a humanoid robot walking movement

DOE Office of Scientific and Technical Information (OSTI.GOV)

Pereira, Ana I.; ALGORITMI,University of Minho; Lima, José

There are several approaches to create the Humanoid robot gait planning. This problem presents a large number of unknown parameters that should be found to make the humanoid robot to walk. Optimization in simulation models can be used to find the gait based on several criteria such as energy minimization, acceleration, step length among the others. The energy consumption can also be reduced with elastic elements coupled to each joint. The presented paper addresses an optimization method, the Stretched Simulated Annealing, that runs in an accurate and stable simulation model to find the optimal gait combined with elastic elements. Finalmore » results demonstrate that optimization is a valid gait planning technique.« less

Capacity planning of link restorable optical networks under dynamic change of traffic

NASA Astrophysics Data System (ADS)

Ho, Kwok Shing; Cheung, Kwok Wai

2005-11-01

Future backbone networks shall require full-survivability and support dynamic changes of traffic demands. The Generalized Survivable Networks (GSN) was proposed to meet these challenges. GSN is fully-survivable under dynamic traffic demand changes, so it offers a practical and guaranteed characterization framework for ASTN / ASON survivable network planning and bandwidth-on-demand resource allocation 4. The basic idea of GSN is to incorporate the non-blocking network concept into the survivable network models. In GSN, each network node must specify its I/O capacity bound which is taken as constraints for any allowable traffic demand matrix. In this paper, we consider the following generic GSN network design problem: Given the I/O bounds of each network node, find a routing scheme (and the corresponding rerouting scheme under failure) and the link capacity assignment (both working and spare) which minimize the cost, such that any traffic matrix consistent with the given I/O bounds can be feasibly routed and it is single-fault tolerant under the link restoration scheme. We first show how the initial, infeasible formal mixed integer programming formulation can be transformed into a more feasible problem using the duality transformation of the linear program. Then we show how the problem can be simplified using the Lagrangian Relaxation approach. Previous work has outlined a two-phase approach for solving this problem where the first phase optimizes the working capacity assignment and the second phase optimizes the spare capacity assignment. In this paper, we present a jointly optimized framework for dimensioning the survivable optical network with the GSN model. Experiment results show that the jointly optimized GSN can bring about on average of 3.8% cost savings when compared with the separate, two-phase approach. Finally, we perform a cost comparison and show that GSN can be deployed with a reasonable cost.

Joint pricing, inventory, and preservation decisions for deteriorating items with stochastic demand and promotional efforts

NASA Astrophysics Data System (ADS)

Soni, Hardik N.; Chauhan, Ashaba D.

2018-03-01

This study models a joint pricing, inventory, and preservation decision-making problem for deteriorating items subject to stochastic demand and promotional effort. The generalized price-dependent stochastic demand, time proportional deterioration, and partial backlogging rates are used to model the inventory system. The objective is to find the optimal pricing, replenishment, and preservation technology investment strategies while maximizing the total profit per unit time. Based on the partial backlogging and lost sale cases, we first deduce the criterion for optimal replenishment schedules for any given price and technology investment cost. Second, we show that, respectively, total profit per time unit is concave function of price and preservation technology cost. At the end, some numerical examples and the results of a sensitivity analysis are used to illustrate the features of the proposed model.

A fast and robust kinematic model for a 12 DoF hyper-redundant robot positioning: An optimization proposal

NASA Astrophysics Data System (ADS)

Lima, José; Pereira, Ana I.; Costa, Paulo; Pinto, Andry; Costa, Pedro

2017-07-01

This paper describes an optimization procedure for a robot with 12 degrees of freedom avoiding the inverse kinematics problem, which is a hard task for this type of robot manipulator. This robot can be used to pick and place tasks in complex designs. Combining an accurate and fast direct kinematics model with optimization strategies, it is possible to achieve the joints angles for a desired end-effector position and orientation. The optimization methods stretched simulated annealing algorithm and genetic algorithm were used. The solutions found were validated using data originated by a real and by a simulated robot formed by 12 servomotors with a gripper.

Stochastic Control of Energy Efficient Buildings: A Semidefinite Programming Approach

DOE Office of Scientific and Technical Information (OSTI.GOV)

Ma, Xiao; Dong, Jin; Djouadi, Seddik M

2015-01-01

The key goal in energy efficient buildings is to reduce energy consumption of Heating, Ventilation, and Air- Conditioning (HVAC) systems while maintaining a comfortable temperature and humidity in the building. This paper proposes a novel stochastic control approach for achieving joint performance and power control of HVAC. We employ a constrained Stochastic Linear Quadratic Control (cSLQC) by minimizing a quadratic cost function with a disturbance assumed to be Gaussian. The problem is formulated to minimize the expected cost subject to a linear constraint and a probabilistic constraint. By using cSLQC, the problem is reduced to a semidefinite optimization problem, wheremore » the optimal control can be computed efficiently by Semidefinite programming (SDP). Simulation results are provided to demonstrate the effectiveness and power efficiency by utilizing the proposed control approach.« less

Minimizing distortion and internal forces in truss structures by simulated annealing

NASA Technical Reports Server (NTRS)

Kincaid, Rex K.; Padula, Sharon L.

1990-01-01

Inaccuracies in the length of members and the diameters of joints of large space structures may produce unacceptable levels of surface distortion and internal forces. Here, two discrete optimization problems are formulated, one to minimize surface distortion (DSQRMS) and the other to minimize internal forces (FSQRMS). Both of these problems are based on the influence matrices generated by a small-deformation linear analysis. Good solutions are obtained for DSQRMS and FSQRMS through the use of a simulated annealing heuristic.

COOPERATIVE ROUTING FOR DYNAMIC AERIAL LAYER NETWORKS

DTIC Science & Technology

2018-03-01

Advisor, Computing & Communications Division Information Directorate This report is published in the interest of scientific and technical...information accumulation at the physical layer, and study the cooperative routing and resource allocation problems associated with such SU networks...interference power constraint is studied . In [Shi2012Joint], an optimal power and sub-carrier allocation strategy to maximize SUs’ throughput subject to

Computational problems in autoregressive moving average (ARMA) models

NASA Technical Reports Server (NTRS)

Agarwal, G. C.; Goodarzi, S. M.; Oneill, W. D.; Gottlieb, G. L.

1981-01-01

The choice of the sampling interval and the selection of the order of the model in time series analysis are considered. Band limited (up to 15 Hz) random torque perturbations are applied to the human ankle joint. The applied torque input, the angular rotation output, and the electromyographic activity using surface electrodes from the extensor and flexor muscles of the ankle joint are recorded. Autoregressive moving average models are developed. A parameter constraining technique is applied to develop more reliable models. The asymptotic behavior of the system must be taken into account during parameter optimization to develop predictive models.

Subwavelength elastic joints connecting torsional waveguides to maximize the power transmission coefficient

NASA Astrophysics Data System (ADS)

Lee, Joong Seok; Lee, Il Kyu; Seung, Hong Min; Lee, Jun Kyu; Kim, Yoon Young

2017-03-01

Joints with slowly varying tapered shapes, such as linear or exponential profiles, are known to transmit incident wave power efficiently between two waveguides with dissimilar impedances. This statement is valid only when the considered joint length is longer than the wavelengths of the incident waves. When the joint length is shorter than the wavelengths, however, appropriate shapes of such subwavelength joints for efficient power transmission have not been explored much. In this work, considering one-dimensional torsional wave motion in a cylindrical elastic waveguide system, optimal shapes or radial profiles of a subwavelength joint maximizing the power transmission coefficient are designed by a gradient-based optimization formulation. The joint is divided into a number of thin disk elements using the transfer matrix approach and optimal radii of the disks are determined by iterative shape optimization processes for several single or bands of wavenumbers. Due to the subwavelength constraint, the optimized joint profiles were found to be considerably different from the slowly varying tapered shapes. Specifically, for bands of wavenumbers, peculiar gourd-like shapes were obtained as optimal shapes to maximize the power transmission coefficient. Numerical results from the proposed optimization formulation were also experimentally realized to verify the validity of the present designs.

Simultaneous segmentation of the bone and cartilage surfaces of a knee joint in 3D

NASA Astrophysics Data System (ADS)

Yin, Y.; Zhang, X.; Anderson, D. D.; Brown, T. D.; Hofwegen, C. Van; Sonka, M.

2009-02-01

We present a novel framework for the simultaneous segmentation of multiple interacting surfaces belonging to multiple mutually interacting objects. The method is a non-trivial extension of our previously reported optimal multi-surface segmentation. Considering an example application of knee-cartilage segmentation, the framework consists of the following main steps: 1) Shape model construction: Building a mean shape for each bone of the joint (femur, tibia, patella) from interactively segmented volumetric datasets. Using the resulting mean-shape model - identification of cartilage, non-cartilage, and transition areas on the mean-shape bone model surfaces. 2) Presegmentation: Employment of iterative optimal surface detection method to achieve approximate segmentation of individual bone surfaces. 3) Cross-object surface mapping: Detection of inter-bone equidistant separating sheets to help identify corresponding vertex pairs for all interacting surfaces. 4) Multi-object, multi-surface graph construction and final segmentation: Construction of a single multi-bone, multi-surface graph so that two surfaces (bone and cartilage) with zero and non-zero intervening distances can be detected for each bone of the joint, according to whether or not cartilage can be locally absent or present on the bone. To define inter-object relationships, corresponding vertex pairs identified using the separating sheets were interlinked in the graph. The graph optimization algorithm acted on the entire multiobject, multi-surface graph to yield a globally optimal solution. The segmentation framework was tested on 16 MR-DESS knee-joint datasets from the Osteoarthritis Initiative database. The average signed surface positioning error for the 6 detected surfaces ranged from 0.00 to 0.12 mm. When independently initialized, the signed reproducibility error of bone and cartilage segmentation ranged from 0.00 to 0.26 mm. The results showed that this framework provides robust, accurate, and reproducible segmentation of the knee joint bone and cartilage surfaces of the femur, tibia, and patella. As a general segmentation tool, the developed framework can be applied to a broad range of multi-object segmentation problems.

Joint optimization of a partially coherent Gaussian beam for free-space optical communication over turbulent channels with pointing errors.

PubMed

Lee, It Ee; Ghassemlooy, Zabih; Ng, Wai Pang; Khalighi, Mohammad-Ali

2013-02-01

Joint beam width and spatial coherence length optimization is proposed to maximize the average capacity in partially coherent free-space optical links, under the combined effects of atmospheric turbulence and pointing errors. An optimization metric is introduced to enable feasible translation of the joint optimal transmitter beam parameters into an analogous level of divergence of the received optical beam. Results show that near-ideal average capacity is best achieved through the introduction of a larger receiver aperture and the joint optimization technique.

A stochastic framework for spot-scanning particle therapy.

PubMed

Robini, Marc; Yuemin Zhu; Wanyu Liu; Magnin, Isabelle

2016-08-01

In spot-scanning particle therapy, inverse treatment planning is usually limited to finding the optimal beam fluences given the beam trajectories and energies. We address the much more challenging problem of jointly optimizing the beam fluences, trajectories and energies. For this purpose, we design a simulated annealing algorithm with an exploration mechanism that balances the conflicting demands of a small mixing time at high temperatures and a reasonable acceptance rate at low temperatures. Numerical experiments substantiate the relevance of our approach and open new horizons to spot-scanning particle therapy.

A complete analytical solution for the inverse instantaneous kinematics of a spherical-revolute-spherical (7R) redundant manipulator

NASA Technical Reports Server (NTRS)

Podhorodeski, R. P.; Fenton, R. G.; Goldenberg, A. A.

1989-01-01

Using a method based upon resolving joint velocities using reciprocal screw quantities, compact analytical expressions are generated for the inverse solution of the joint rates of a seven revolute (spherical-revolute-spherical) manipulator. The method uses a sequential decomposition of screw coordinates to identify reciprocal screw quantities used in the resolution of a particular joint rate solution, and also to identify a Jacobian null-space basis used for the direct solution of optimal joint rates. The results of the screw decomposition are used to study special configurations of the manipulator, generating expressions for the inverse velocity solution for all non-singular configurations of the manipulator, and identifying singular configurations and their characteristics. Two functions are therefore served: a new general method for the solution of the inverse velocity problem is presented; and complete analytical expressions are derived for the resolution of the joint rates of a seven degree of freedom manipulator useful for telerobotic and industrial robotic application.

Multicast Routing and Wavelength Assignment with Shared Protection in Multi-Fiber WDM Mesh Networks: Optimal and Heuristic Solutions

NASA Astrophysics Data System (ADS)

Woradit, Kampol; Guyot, Matthieu; Vanichchanunt, Pisit; Saengudomlert, Poompat; Wuttisittikulkij, Lunchakorn

While the problem of multicast routing and wavelength assignment (MC-RWA) in optical wavelength division multiplexing (WDM) networks has been investigated, relatively few researchers have considered network survivability for multicasting. This paper provides an optimization framework to solve the MC-RWA problem in a multi-fiber WDM network that can recover from a single-link failure with shared protection. Using the light-tree (LT) concept to support multicast sessions, we consider two protection strategies that try to reduce service disruptions after a link failure. The first strategy, called light-tree reconfiguration (LTR) protection, computes a new multicast LT for each session affected by the failure. The second strategy, called optical branch reconfiguration (OBR) protection, tries to restore a logical connection between two adjacent multicast members disconnected by the failure. To solve the MC-RWA problem optimally, we propose an integer linear programming (ILP) formulation that minimizes the total number of fibers required for both working and backup traffic. The ILP formulation takes into account joint routing of working and backup traffic, the wavelength continuity constraint, and the limited splitting degree of multicast-capable optical cross-connects (MC-OXCs). After showing some numerical results for optimal solutions, we propose heuristic algorithms that reduce the computational complexity and make the problem solvable for large networks. Numerical results suggest that the proposed heuristic yields efficient solutions compared to optimal solutions obtained from exact optimization.

A probabilistic multi-criteria decision making technique for conceptual and preliminary aerospace systems design

NASA Astrophysics Data System (ADS)

Bandte, Oliver

It has always been the intention of systems engineering to invent or produce the best product possible. Many design techniques have been introduced over the course of decades that try to fulfill this intention. Unfortunately, no technique has succeeded in combining multi-criteria decision making with probabilistic design. The design technique developed in this thesis, the Joint Probabilistic Decision Making (JPDM) technique, successfully overcomes this deficiency by generating a multivariate probability distribution that serves in conjunction with a criterion value range of interest as a universally applicable objective function for multi-criteria optimization and product selection. This new objective function constitutes a meaningful Xnetric, called Probability of Success (POS), that allows the customer or designer to make a decision based on the chance of satisfying the customer's goals. In order to incorporate a joint probabilistic formulation into the systems design process, two algorithms are created that allow for an easy implementation into a numerical design framework: the (multivariate) Empirical Distribution Function and the Joint Probability Model. The Empirical Distribution Function estimates the probability that an event occurred by counting how many times it occurred in a given sample. The Joint Probability Model on the other hand is an analytical parametric model for the multivariate joint probability. It is comprised of the product of the univariate criterion distributions, generated by the traditional probabilistic design process, multiplied with a correlation function that is based on available correlation information between pairs of random variables. JPDM is an excellent tool for multi-objective optimization and product selection, because of its ability to transform disparate objectives into a single figure of merit, the likelihood of successfully meeting all goals or POS. The advantage of JPDM over other multi-criteria decision making techniques is that POS constitutes a single optimizable function or metric that enables a comparison of all alternative solutions on an equal basis. Hence, POS allows for the use of any standard single-objective optimization technique available and simplifies a complex multi-criteria selection problem into a simple ordering problem, where the solution with the highest POS is best. By distinguishing between controllable and uncontrollable variables in the design process, JPDM can account for the uncertain values of the uncontrollable variables that are inherent to the design problem, while facilitating an easy adjustment of the controllable ones to achieve the highest possible POS. Finally, JPDM's superiority over current multi-criteria decision making techniques is demonstrated with an optimization of a supersonic transport concept and ten contrived equations as well as a product selection example, determining an airline's best choice among Boeing's B-747, B-777, Airbus' A340, and a Supersonic Transport. The optimization examples demonstrate JPDM's ability to produce a better solution with a higher POS than an Overall Evaluation Criterion or Goal Programming approach. Similarly, the product selection example demonstrates JPDM's ability to produce a better solution with a higher POS and different ranking than the Overall Evaluation Criterion or Technique for Order Preferences by Similarity to the Ideal Solution (TOPSIS) approach.

Free-viewpoint video of human actors using multiple handheld Kinects.

PubMed

Ye, Genzhi; Liu, Yebin; Deng, Yue; Hasler, Nils; Ji, Xiangyang; Dai, Qionghai; Theobalt, Christian

2013-10-01

We present an algorithm for creating free-viewpoint video of interacting humans using three handheld Kinect cameras. Our method reconstructs deforming surface geometry and temporal varying texture of humans through estimation of human poses and camera poses for every time step of the RGBZ video. Skeletal configurations and camera poses are found by solving a joint energy minimization problem, which optimizes the alignment of RGBZ data from all cameras, as well as the alignment of human shape templates to the Kinect data. The energy function is based on a combination of geometric correspondence finding, implicit scene segmentation, and correspondence finding using image features. Finally, texture recovery is achieved through jointly optimization on spatio-temporal RGB data using matrix completion. As opposed to previous methods, our algorithm succeeds on free-viewpoint video of human actors under general uncontrolled indoor scenes with potentially dynamic background, and it succeeds even if the cameras are moving.

A computational framework for simultaneous estimation of muscle and joint contact forces and body motion using optimization and surrogate modeling.

PubMed

Eskinazi, Ilan; Fregly, Benjamin J

2018-04-01

Concurrent estimation of muscle activations, joint contact forces, and joint kinematics by means of gradient-based optimization of musculoskeletal models is hindered by computationally expensive and non-smooth joint contact and muscle wrapping algorithms. We present a framework that simultaneously speeds up computation and removes sources of non-smoothness from muscle force optimizations using a combination of parallelization and surrogate modeling, with special emphasis on a novel method for modeling joint contact as a surrogate model of a static analysis. The approach allows one to efficiently introduce elastic joint contact models within static and dynamic optimizations of human motion. We demonstrate the approach by performing two optimizations, one static and one dynamic, using a pelvis-leg musculoskeletal model undergoing a gait cycle. We observed convergence on the order of seconds for a static optimization time frame and on the order of minutes for an entire dynamic optimization. The presented framework may facilitate model-based efforts to predict how planned surgical or rehabilitation interventions will affect post-treatment joint and muscle function. Copyright © 2018 IPEM. Published by Elsevier Ltd. All rights reserved.

A Novel Process for Joining Ti Alloy and Al Alloy using Two-Stage Sintering Powder Metallurgy

NASA Astrophysics Data System (ADS)

Long, Luping; Liu, Wensheng; Ma, Yunzhu; Wu, Lei; Liu, Chao

2018-04-01

The major challenges for conventional diffusion bonding of joining Ti alloy and Al alloy are the undesirable interfacial reaction, low matrixes and joint strength. To avoid the problem in diffusion bonding, a novel two-stage sintering powder metallurgy process is developed. In the present work, the interface characterization and joint performance of the bonds obtained by powder metallurgy bonding are investigated and are compared with the diffusion bonded Ti/Al joints obtained with the same and the optimized process parameters. The results show that no intermetallic compound is visible in the Ti/Al joint obtained by powder metallurgy bonding, while a new layer formed at the joint diffusion bonded with the same parameters. The maximum tensile strength of joint obtained by diffusion bonding is 58 MPa, while a higher tensile strength reaching 111 MPa for a bond made by powder metallurgy bonding. Brittle fractures occur at all the bonds. It is shown that the powder metallurgy bonding of Ti/Al is better than diffusion bonding. The results of this study should benefit the bonding quality.

A novel constrained H2 optimization algorithm for mechatronics design in flexure-linked biaxial gantry.

PubMed

Ma, Jun; Chen, Si-Lu; Kamaldin, Nazir; Teo, Chek Sing; Tay, Arthur; Mamun, Abdullah Al; Tan, Kok Kiong

2017-11-01

The biaxial gantry is widely used in many industrial processes that require high precision Cartesian motion. The conventional rigid-link version suffers from breaking down of joints if any de-synchronization between the two carriages occurs. To prevent above potential risk, a flexure-linked biaxial gantry is designed to allow a small rotation angle of the cross-arm. Nevertheless, the chattering of control signals and inappropriate design of the flexure joint will possibly induce resonant modes of the end-effector. Thus, in this work, the design requirements in terms of tracking accuracy, biaxial synchronization, and resonant mode suppression are achieved by integrated optimization of the stiffness of flexures and PID controller parameters for a class of point-to-point reference trajectories with same dynamics but different steps. From here, an H 2 optimization problem with defined constraints is formulated, and an efficient iterative solver is proposed by hybridizing direct computation of constrained projection gradient and line search of optimal step. Comparative experimental results obtained on the testbed are presented to verify the effectiveness of the proposed method. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Joint Denoising/Compression of Image Contours via Shape Prior and Context Tree

NASA Astrophysics Data System (ADS)

Zheng, Amin; Cheung, Gene; Florencio, Dinei

2018-07-01

With the advent of depth sensing technologies, the extraction of object contours in images---a common and important pre-processing step for later higher-level computer vision tasks like object detection and human action recognition---has become easier. However, acquisition noise in captured depth images means that detected contours suffer from unavoidable errors. In this paper, we propose to jointly denoise and compress detected contours in an image for bandwidth-constrained transmission to a client, who can then carry out aforementioned application-specific tasks using the decoded contours as input. We first prove theoretically that in general a joint denoising / compression approach can outperform a separate two-stage approach that first denoises then encodes contours lossily. Adopting a joint approach, we first propose a burst error model that models typical errors encountered in an observed string y of directional edges. We then formulate a rate-constrained maximum a posteriori (MAP) problem that trades off the posterior probability p(x'|y) of an estimated string x' given y with its code rate R(x'). We design a dynamic programming (DP) algorithm that solves the posed problem optimally, and propose a compact context representation called total suffix tree (TST) that can reduce complexity of the algorithm dramatically. Experimental results show that our joint denoising / compression scheme outperformed a competing separate scheme in rate-distortion performance noticeably.

A parameters optimization method for planar joint clearance model and its application for dynamics simulation of reciprocating compressor

NASA Astrophysics Data System (ADS)

Hai-yang, Zhao; Min-qiang, Xu; Jin-dong, Wang; Yong-bo, Li

2015-05-01

In order to improve the accuracy of dynamics response simulation for mechanism with joint clearance, a parameter optimization method for planar joint clearance contact force model was presented in this paper, and the optimized parameters were applied to the dynamics response simulation for mechanism with oversized joint clearance fault. By studying the effect of increased clearance on the parameters of joint clearance contact force model, the relation of model parameters between different clearances was concluded. Then the dynamic equation of a two-stage reciprocating compressor with four joint clearances was developed using Lagrange method, and a multi-body dynamic model built in ADAMS software was used to solve this equation. To obtain a simulated dynamic response much closer to that of experimental tests, the parameters of joint clearance model, instead of using the designed values, were optimized by genetic algorithms approach. Finally, the optimized parameters were applied to simulate the dynamics response of model with oversized joint clearance fault according to the concluded parameter relation. The dynamics response of experimental test verified the effectiveness of this application.

Joint Optimization of Vertical Component Gravity and Seismic P-wave First Arrivals by Simulated Annealing

NASA Astrophysics Data System (ADS)

Louie, J. N.; Basler-Reeder, K.; Kent, G. M.; Pullammanappallil, S. K.

2015-12-01

Simultaneous joint seismic-gravity optimization improves P-wave velocity models in areas with sharp lateral velocity contrasts. Optimization is achieved using simulated annealing, a metaheuristic global optimization algorithm that does not require an accurate initial model. Balancing the seismic-gravity objective function is accomplished by a novel approach based on analysis of Pareto charts. Gravity modeling uses a newly developed convolution algorithm, while seismic modeling utilizes the highly efficient Vidale eikonal equation traveltime generation technique. Synthetic tests show that joint optimization improves velocity model accuracy and provides velocity control below the deepest headwave raypath. Detailed first arrival picking followed by trial velocity modeling remediates inconsistent data. We use a set of highly refined first arrival picks to compare results of a convergent joint seismic-gravity optimization to the Plotrefa™ and SeisOpt® Pro™ velocity modeling packages. Plotrefa™ uses a nonlinear least squares approach that is initial model dependent and produces shallow velocity artifacts. SeisOpt® Pro™ utilizes the simulated annealing algorithm and is limited to depths above the deepest raypath. Joint optimization increases the depth of constrained velocities, improving reflector coherency at depth. Kirchoff prestack depth migrations reveal that joint optimization ameliorates shallow velocity artifacts caused by limitations in refraction ray coverage. Seismic and gravity data from the San Emidio Geothermal field of the northwest Basin and Range province demonstrate that joint optimization changes interpretation outcomes. The prior shallow-valley interpretation gives way to a deep valley model, while shallow antiformal reflectors that could have been interpreted as antiformal folds are flattened. Furthermore, joint optimization provides a clearer image of the rangefront fault. This technique can readily be applied to existing datasets and could replace the existing strategy of forward modeling to match gravity data.

A black box optimization approach to parameter estimation in a model for long/short term variations dynamics of commodity prices

NASA Astrophysics Data System (ADS)

De Santis, Alberto; Dellepiane, Umberto; Lucidi, Stefano

2012-11-01

In this paper we investigate the estimation problem for a model of the commodity prices. This model is a stochastic state space dynamical model and the problem unknowns are the state variables and the system parameters. Data are represented by the commodity spot prices, very seldom time series of Futures contracts are available for free. Both the system joint likelihood function (state variables and parameters) and the system marginal likelihood (the state variables are eliminated) function are addressed.

Joint optimization of maintenance, buffers and machines in manufacturing lines

NASA Astrophysics Data System (ADS)

Nahas, Nabil; Nourelfath, Mustapha

2018-01-01

This article considers a series manufacturing line composed of several machines separated by intermediate buffers of finite capacity. The goal is to find the optimal number of preventive maintenance actions performed on each machine, the optimal selection of machines and the optimal buffer allocation plan that minimize the total system cost, while providing the desired system throughput level. The mean times between failures of all machines are assumed to increase when applying periodic preventive maintenance. To estimate the production line throughput, a decomposition method is used. The decision variables in the formulated optimal design problem are buffer levels, types of machines and times between preventive maintenance actions. Three heuristic approaches are developed to solve the formulated combinatorial optimization problem. The first heuristic consists of a genetic algorithm, the second is based on the nonlinear threshold accepting metaheuristic and the third is an ant colony system. The proposed heuristics are compared and their efficiency is shown through several numerical examples. It is found that the nonlinear threshold accepting algorithm outperforms the genetic algorithm and ant colony system, while the genetic algorithm provides better results than the ant colony system for longer manufacturing lines.

On computing the global time-optimal motions of robotic manipulators in the presence of obstacles

NASA Technical Reports Server (NTRS)

Shiller, Zvi; Dubowsky, Steven

1991-01-01

A method for computing the time-optimal motions of robotic manipulators is presented that considers the nonlinear manipulator dynamics, actuator constraints, joint limits, and obstacles. The optimization problem is reduced to a search for the time-optimal path in the n-dimensional position space. A small set of near-optimal paths is first efficiently selected from a grid, using a branch and bound search and a series of lower bound estimates on the traveling time along a given path. These paths are further optimized with a local path optimization to yield the global optimal solution. Obstacles are considered by eliminating the collision points from the tessellated space and by adding a penalty function to the motion time in the local optimization. The computational efficiency of the method stems from the reduced dimensionality of the searched spaced and from combining the grid search with a local optimization. The method is demonstrated in several examples for two- and six-degree-of-freedom manipulators with obstacles.

Implicit methods for efficient musculoskeletal simulation and optimal control

PubMed Central

van den Bogert, Antonie J.; Blana, Dimitra; Heinrich, Dieter

2011-01-01

The ordinary differential equations for musculoskeletal dynamics are often numerically stiff and highly nonlinear. Consequently, simulations require small time steps, and optimal control problems are slow to solve and have poor convergence. In this paper, we present an implicit formulation of musculoskeletal dynamics, which leads to new numerical methods for simulation and optimal control, with the expectation that we can mitigate some of these problems. A first order Rosenbrock method was developed for solving forward dynamic problems using the implicit formulation. It was used to perform real-time dynamic simulation of a complex shoulder arm system with extreme dynamic stiffness. Simulations had an RMS error of only 0.11 degrees in joint angles when running at real-time speed. For optimal control of musculoskeletal systems, a direct collocation method was developed for implicitly formulated models. The method was applied to predict gait with a prosthetic foot and ankle. Solutions were obtained in well under one hour of computation time and demonstrated how patients may adapt their gait to compensate for limitations of a specific prosthetic limb design. The optimal control method was also applied to a state estimation problem in sports biomechanics, where forces during skiing were estimated from noisy and incomplete kinematic data. Using a full musculoskeletal dynamics model for state estimation had the additional advantage that forward dynamic simulations, could be done with the same implicitly formulated model to simulate injuries and perturbation responses. While these methods are powerful and allow solution of previously intractable problems, there are still considerable numerical challenges, especially related to the convergence of gradient-based solvers. PMID:22102983

Shoulder model validation and joint contact forces during wheelchair activities.

PubMed

Morrow, Melissa M B; Kaufman, Kenton R; An, Kai-Nan

2010-09-17

Chronic shoulder impingement is a common problem for manual wheelchair users. The loading associated with performing manual wheelchair activities of daily living is substantial and often at a high frequency. Musculoskeletal modeling and optimization techniques can be used to estimate the joint contact forces occurring at the shoulder to assess the soft tissue loading during an activity and to possibly identify activities and strategies that place manual wheelchair users at risk for shoulder injuries. The purpose of this study was to validate an upper extremity musculoskeletal model and apply the model to wheelchair activities for analysis of the estimated joint contact forces. Upper extremity kinematics and handrim wheelchair kinetics were measured over three conditions: level propulsion, ramp propulsion, and a weight relief lift. The experimental data were used as input to a subject-specific musculoskeletal model utilizing optimization to predict joint contact forces of the shoulder during all conditions. The model was validated using a mean absolute error calculation. Model results confirmed that ramp propulsion and weight relief lifts place the shoulder under significantly higher joint contact loading than level propulsion. In addition, they exhibit large superior contact forces that could contribute to impingement. This study highlights the potential impingement risk associated with both the ramp and weight relief lift activities. Level propulsion was shown to have a low relative risk of causing injury, but with consideration of the frequency with which propulsion is performed, this observation is not conclusive.

Characterization and control of self-motions in redundant manipulators

NASA Technical Reports Server (NTRS)

Burdick, J.; Seraji, Homayoun

1989-01-01

The presence of redundant degrees of freedom in a manipulator structure leads to a physical phenomenon known as a self-motion, which is a continuous motion of the manipulator joints that leaves the end-effector motionless. In the first part of the paper, a global manifold mapping reformulation of manipulator kinematics is reviewed, and the inverse kinematic solution for redundant manipulators is developed in terms of self-motion manifolds. Global characterizations of the self-motion manifolds in terms of their number, geometry, homotopy class, and null space are reviewed using examples. Much previous work in redundant manipulator control has been concerned with the redundancy resolution problem, in which methods are developed to determine, or resolve, the motion of the joints in order to achieve end-effector trajectory control while optimizing additional objective functions. Redundancy resolution problems can be equivalently posed as the control of self-motions. Alternatives for redundancy resolution are briefly discussed.

Escript: Open Source Environment For Solving Large-Scale Geophysical Joint Inversion Problems in Python

NASA Astrophysics Data System (ADS)

Gross, Lutz; Altinay, Cihan; Fenwick, Joel; Smith, Troy

2014-05-01

The program package escript has been designed for solving mathematical modeling problems using python, see Gross et al. (2013). Its development and maintenance has been funded by the Australian Commonwealth to provide open source software infrastructure for the Australian Earth Science community (recent funding by the Australian Geophysical Observing System EIF (AGOS) and the AuScope Collaborative Research Infrastructure Scheme (CRIS)). The key concepts of escript are based on the terminology of spatial functions and partial differential equations (PDEs) - an approach providing abstraction from the underlying spatial discretization method (i.e. the finite element method (FEM)). This feature presents a programming environment to the user which is easy to use even for complex models. Due to the fact that implementations are independent from data structures simulations are easily portable across desktop computers and scalable compute clusters without modifications to the program code. escript has been successfully applied in a variety of applications including modeling mantel convection, melting processes, volcanic flow, earthquakes, faulting, multi-phase flow, block caving and mineralization (see Poulet et al. 2013). The recent escript release (see Gross et al. (2013)) provides an open framework for solving joint inversion problems for geophysical data sets (potential field, seismic and electro-magnetic). The strategy bases on the idea to formulate the inversion problem as an optimization problem with PDE constraints where the cost function is defined by the data defect and the regularization term for the rock properties, see Gross & Kemp (2013). This approach of first-optimize-then-discretize avoids the assemblage of the - in general- dense sensitivity matrix as used in conventional approaches where discrete programming techniques are applied to the discretized problem (first-discretize-then-optimize). In this paper we will discuss the mathematical framework for inversion and appropriate solution schemes in escript. We will also give a brief introduction into escript's open framework for defining and solving geophysical inversion problems. Finally we will show some benchmark results to demonstrate the computational scalability of the inversion method across a large number of cores and compute nodes in a parallel computing environment. References: - L. Gross et al. (2013): Escript Solving Partial Differential Equations in Python Version 3.4, The University of Queensland, https://launchpad.net/escript-finley - L. Gross and C. Kemp (2013) Large Scale Joint Inversion of Geophysical Data using the Finite Element Method in escript. ASEG Extended Abstracts 2013, http://dx.doi.org/10.1071/ASEG2013ab306 - T. Poulet, L. Gross, D. Georgiev, J. Cleverley (2012): escript-RT: Reactive transport simulation in Python using escript, Computers & Geosciences, Volume 45, 168-176. http://dx.doi.org/10.1016/j.cageo.2011.11.005.

Associations between yoga practice and joint problems: a cross-sectional survey among 9151 Australian women.

PubMed

Lauche, Romy; Schumann, Dania; Sibbritt, David; Adams, Jon; Cramer, Holger

2017-07-01

Yoga exercises have been associated with joint problems recently, indicating that yoga practice might be potentially dangerous for joint health. This study aimed to analyse whether regular yoga practice is associated with the frequency of joint problems in upper middle-aged Australian women. Women aged 62-67 years from the Australian Longitudinal Study on Women's Health (ALSWH) were questioned in 2013 whether they experienced regular joint pain or problems in the past 12 months and whether they regularly practiced yoga. Associations of joint problems with yoga practice were analysed using Chi-squared tests and multiple logistic regression modelling. Of 9151 women, 29.8% reported regular problems with stiff or painful joints, and 15.2, 11.9, 18.1 and 15.9% reported regular problems with shoulders, hips, knees and feet, respectively, in the past 12 months. Yoga was practiced sometimes by 10.1% and often by 8.4% of women. Practicing yoga was not associated with upper or lower limb joint problems. No association between yoga practice and joint problems has been identified. Further studies are warranted for conclusive judgement of benefits and safety of yoga in relation to joint problems.

Improving Kinematic Accuracy of Soft Wearable Data Gloves by Optimizing Sensor Locations

PubMed Central

Kim, Dong Hyun; Lee, Sang Wook; Park, Hyung-Soon

2016-01-01

Bending sensors enable compact, wearable designs when used for measuring hand configurations in data gloves. While existing data gloves can accurately measure angular displacement of the finger and distal thumb joints, accurate measurement of thumb carpometacarpal (CMC) joint movements remains challenging due to crosstalk between the multi-sensor outputs required to measure the degrees of freedom (DOF). To properly measure CMC-joint configurations, sensor locations that minimize sensor crosstalk must be identified. This paper presents a novel approach to identifying optimal sensor locations. Three-dimensional hand surface data from ten subjects was collected in multiple thumb postures with varied CMC-joint flexion and abduction angles. For each posture, scanned CMC-joint contours were used to estimate CMC-joint flexion and abduction angles by varying the positions and orientations of two bending sensors. Optimal sensor locations were estimated by the least squares method, which minimized the difference between the true CMC-joint angles and the joint angle estimates. Finally, the resultant optimal sensor locations were experimentally validated. Placing sensors at the optimal locations, CMC-joint angle measurement accuracies improved (flexion, 2.8° ± 1.9°; abduction, 1.9° ± 1.2°). The proposed method for improving the accuracy of the sensing system can be extended to other types of soft wearable measurement devices. PMID:27240364

Joint moments and contact forces in the foot during walking.

PubMed

Kim, Yongcheol; Lee, Kyoung Min; Koo, Seungbum

2018-06-06

The net force and moment of a joint have been widely used to understand joint disease in the foot. Meanwhile, it does not reflect the physiological forces on muscles and contact surfaces. The objective of the study is to estimate active moments by muscles, passive moments by connective tissues and joint contact forces in the foot joints during walking. Joint kinematics and external forces of ten healthy subjects (all males, 24.7 ± 1.2 years) were acquired during walking. The data were entered into the five-segment musculoskeletal foot model to calculate muscle forces and joint contact forces of the foot joints using an inverse dynamics-based optimization. Joint reaction forces and active, passive and net moments of each joint were calculated from muscle and ligament forces. The maximum joint reaction forces were 8.72, 4.31, 2.65, and 3.41 body weight (BW) for the ankle, Chopart's, Lisfranc and metatarsophalangeal joints, respectively. Active and passive moments along with net moments were also obtained. The maximum net moments were 8.6, 8.4, 5.4 and 0.8%BW∙HT, respectively. While the trend of net moment was very similar between the four joints, the magnitudes and directions of the active and passive moments varied between joints. The active and passive moments during walking could reveal the roles of muscles and ligaments in each of the foot joints, which was not obvious in the net moment. This method may help narrow down the source of joint problems if applied to clinical studies. Copyright © 2018 Elsevier Ltd. All rights reserved.

Learning in engineered multi-agent systems

NASA Astrophysics Data System (ADS)

Menon, Anup

Consider the problem of maximizing the total power produced by a wind farm. Due to aerodynamic interactions between wind turbines, each turbine maximizing its individual power---as is the case in present-day wind farms---does not lead to optimal farm-level power capture. Further, there are no good models to capture the said aerodynamic interactions, rendering model based optimization techniques ineffective. Thus, model-free distributed algorithms are needed that help turbines adapt their power production on-line so as to maximize farm-level power capture. Motivated by such problems, the main focus of this dissertation is a distributed model-free optimization problem in the context of multi-agent systems. The set-up comprises of a fixed number of agents, each of which can pick an action and observe the value of its individual utility function. An individual's utility function may depend on the collective action taken by all agents. The exact functional form (or model) of the agent utility functions, however, are unknown; an agent can only measure the numeric value of its utility. The objective of the multi-agent system is to optimize the welfare function (i.e. sum of the individual utility functions). Such a collaborative task requires communications between agents and we allow for the possibility of such inter-agent communications. We also pay attention to the role played by the pattern of such information exchange on certain aspects of performance. We develop two algorithms to solve this problem. The first one, engineered Interactive Trial and Error Learning (eITEL) algorithm, is based on a line of work in the Learning in Games literature and applies when agent actions are drawn from finite sets. While in a model-free setting, we introduce a novel qualitative graph-theoretic framework to encode known directed interactions of the form "which agents' action affect which others' payoff" (interaction graph). We encode explicit inter-agent communications in a directed graph (communication graph) and, under certain conditions, prove convergence of agent joint action (under eITEL) to the welfare optimizing set. The main condition requires that the union of interaction and communication graphs be strongly connected; thus the algorithm combines an implicit form of communication (via interactions through utility functions) with explicit inter-agent communications to achieve the given collaborative goal. This work has kinship with certain evolutionary computation techniques such as Simulated Annealing; the algorithm steps are carefully designed such that it describes an ergodic Markov chain with a stationary distribution that has support over states where agent joint actions optimize the welfare function. The main analysis tool is perturbed Markov chains and results of broader interest regarding these are derived as well. The other algorithm, Collaborative Extremum Seeking (CES), uses techniques from extremum seeking control to solve the problem when agent actions are drawn from the set of real numbers. In this case, under the assumption of existence of a local minimizer for the welfare function and a connected undirected communication graph between agents, a result regarding convergence of joint action to a small neighborhood of a local optimizer of the welfare function is proved. Since extremum seeking control uses a simultaneous gradient estimation-descent scheme, gradient information available in the continuous action space formulation is exploited by the CES algorithm to yield improved convergence speeds. The effectiveness of this algorithm for the wind farm power maximization problem is evaluated via simulations. Lastly, we turn to a different question regarding role of the information exchange pattern on performance of distributed control systems by means of a case study for the vehicle platooning problem. In the vehicle platoon control problem, the objective is to design distributed control laws for individual vehicles in a platoon (or a road-train) that regulate inter-vehicle distances at a specified safe value while the entire platoon follows a leader-vehicle. While most of the literature on the problem deals with some inadequacy in control performance when the information exchange is of the nearest neighbor-type, we consider an arbitrary graph serving as information exchange pattern and derive a relationship between how a certain indicator of control performance is related to the information pattern. Such analysis helps in understanding qualitative features of the `right' information pattern for this problem.

Sn-Ag-Cu Nanosolders: Solder Joints Integrity and Strength

NASA Astrophysics Data System (ADS)

Roshanghias, Ali; Khatibi, Golta; Yakymovych, Andriy; Bernardi, Johannes; Ipser, Herbert

2016-08-01

Although considerable research has been dedicated to the synthesis and characterization of lead-free nanoparticle solder alloys, only very little has been reported on the reliability of the respective joints. In fact, the merit of nanoparticle solders with depressed melting temperatures close to the Sn-Pb eutectic temperature has always been challenged when compared with conventional solder joints, especially in terms of inferior solderability due to the oxide shell commonly present on the nanoparticles, as well as due to compatibility problems with common fluxing agents. Correspondingly, in the current study, Sn-Ag-Cu (SAC) nanoparticle alloys were combined with a proper fluxing vehicle to produce prototype nanosolder pastes. The reliability of the solder joints was successively investigated by means of electron microscopy and mechanical tests. As a result, the optimized condition for employing nanoparticles as a competent nanopaste and a novel procedure for surface treatment of the SAC nanoparticles to diminish the oxide shell prior to soldering are being proposed.

Parana Basin Structure from Multi-Objective Inversion of Surface Wave and Receiver Function by Competent Genetic Algorithm

NASA Astrophysics Data System (ADS)

An, M.; Assumpcao, M.

2003-12-01

The joint inversion of receiver function and surface wave is an effective way to diminish the influences of the strong tradeoff among parameters and the different sensitivity to the model parameters in their respective inversions, but the inversion problem becomes more complex. Multi-objective problems can be much more complicated than single-objective inversion in the model selection and optimization. If objectives are involved and conflicting, models can be ordered only partially. In this case, Pareto-optimal preference should be used to select solutions. On the other hand, the inversion to get only a few optimal solutions can not deal properly with the strong tradeoff between parameters, the uncertainties in the observation, the geophysical complexities and even the incompetency of the inversion technique. The effective way is to retrieve the geophysical information statistically from many acceptable solutions, which requires more competent global algorithms. Competent genetic algorithms recently proposed are far superior to the conventional genetic algorithm and can solve hard problems quickly, reliably and accurately. In this work we used one of competent genetic algorithms, Bayesian Optimization Algorithm as the main inverse procedure. This algorithm uses Bayesian networks to draw out inherited information and can use Pareto-optimal preference in the inversion. With this algorithm, the lithospheric structure of Paran"› basin is inverted to fit both the observations of inter-station surface wave dispersion and receiver function.

Adaptive, Distributed Control of Constrained Multi-Agent Systems

NASA Technical Reports Server (NTRS)

Bieniawski, Stefan; Wolpert, David H.

2004-01-01

Product Distribution (PO) theory was recently developed as a broad framework for analyzing and optimizing distributed systems. Here we demonstrate its use for adaptive distributed control of Multi-Agent Systems (MASS), i.e., for distributed stochastic optimization using MAS s. First we review one motivation of PD theory, as the information-theoretic extension of conventional full-rationality game theory to the case of bounded rational agents. In this extension the equilibrium of the game is the optimizer of a Lagrangian of the (Probability dist&&on on the joint state of the agents. When the game in question is a team game with constraints, that equilibrium optimizes the expected value of the team game utility, subject to those constraints. One common way to find that equilibrium is to have each agent run a Reinforcement Learning (E) algorithm. PD theory reveals this to be a particular type of search algorithm for minimizing the Lagrangian. Typically that algorithm i s quite inefficient. A more principled alternative is to use a variant of Newton's method to minimize the Lagrangian. Here we compare this alternative to RL-based search in three sets of computer experiments. These are the N Queen s problem and bin-packing problem from the optimization literature, and the Bar problem from the distributed RL literature. Our results confirm that the PD-theory-based approach outperforms the RL-based scheme in all three domains.

SVM-RFE based feature selection and Taguchi parameters optimization for multiclass SVM classifier.

PubMed

Huang, Mei-Ling; Hung, Yung-Hsiang; Lee, W M; Li, R K; Jiang, Bo-Ru

2014-01-01

Recently, support vector machine (SVM) has excellent performance on classification and prediction and is widely used on disease diagnosis or medical assistance. However, SVM only functions well on two-group classification problems. This study combines feature selection and SVM recursive feature elimination (SVM-RFE) to investigate the classification accuracy of multiclass problems for Dermatology and Zoo databases. Dermatology dataset contains 33 feature variables, 1 class variable, and 366 testing instances; and the Zoo dataset contains 16 feature variables, 1 class variable, and 101 testing instances. The feature variables in the two datasets were sorted in descending order by explanatory power, and different feature sets were selected by SVM-RFE to explore classification accuracy. Meanwhile, Taguchi method was jointly combined with SVM classifier in order to optimize parameters C and γ to increase classification accuracy for multiclass classification. The experimental results show that the classification accuracy can be more than 95% after SVM-RFE feature selection and Taguchi parameter optimization for Dermatology and Zoo databases.

SVM-RFE Based Feature Selection and Taguchi Parameters Optimization for Multiclass SVM Classifier

PubMed Central

Huang, Mei-Ling; Hung, Yung-Hsiang; Lee, W. M.; Li, R. K.; Jiang, Bo-Ru

2014-01-01

Recently, support vector machine (SVM) has excellent performance on classification and prediction and is widely used on disease diagnosis or medical assistance. However, SVM only functions well on two-group classification problems. This study combines feature selection and SVM recursive feature elimination (SVM-RFE) to investigate the classification accuracy of multiclass problems for Dermatology and Zoo databases. Dermatology dataset contains 33 feature variables, 1 class variable, and 366 testing instances; and the Zoo dataset contains 16 feature variables, 1 class variable, and 101 testing instances. The feature variables in the two datasets were sorted in descending order by explanatory power, and different feature sets were selected by SVM-RFE to explore classification accuracy. Meanwhile, Taguchi method was jointly combined with SVM classifier in order to optimize parameters C and γ to increase classification accuracy for multiclass classification. The experimental results show that the classification accuracy can be more than 95% after SVM-RFE feature selection and Taguchi parameter optimization for Dermatology and Zoo databases. PMID:25295306

An Optimized Trajectory Planning for Welding Robot

NASA Astrophysics Data System (ADS)

Chen, Zhilong; Wang, Jun; Li, Shuting; Ren, Jun; Wang, Quan; Cheng, Qunchao; Li, Wentao

2018-03-01

In order to improve the welding efficiency and quality, this paper studies the combined planning between welding parameters and space trajectory for welding robot and proposes a trajectory planning method with high real-time performance, strong controllability and small welding error. By adding the virtual joint at the end-effector, the appropriate virtual joint model is established and the welding process parameters are represented by the virtual joint variables. The trajectory planning is carried out in the robot joint space, which makes the control of the welding process parameters more intuitive and convenient. By using the virtual joint model combined with the B-spline curve affine invariant, the welding process parameters are indirectly controlled by controlling the motion curve of the real joint. To solve the optimal time solution as the goal, the welding process parameters and joint space trajectory joint planning are optimized.

Optimization of a chemical identification algorithm

NASA Astrophysics Data System (ADS)

Chyba, Thomas H.; Fisk, Brian; Gunning, Christin; Farley, Kevin; Polizzi, Amber; Baughman, David; Simpson, Steven; Slamani, Mohamed-Adel; Almassy, Robert; Da Re, Ryan; Li, Eunice; MacDonald, Steve; Slamani, Ahmed; Mitchell, Scott A.; Pendell-Jones, Jay; Reed, Timothy L.; Emge, Darren

2010-04-01

A procedure to evaluate and optimize the performance of a chemical identification algorithm is presented. The Joint Contaminated Surface Detector (JCSD) employs Raman spectroscopy to detect and identify surface chemical contamination. JCSD measurements of chemical warfare agents, simulants, toxic industrial chemicals, interferents and bare surface backgrounds were made in the laboratory and under realistic field conditions. A test data suite, developed from these measurements, is used to benchmark algorithm performance throughout the improvement process. In any one measurement, one of many possible targets can be present along with interferents and surfaces. The detection results are expressed as a 2-category classification problem so that Receiver Operating Characteristic (ROC) techniques can be applied. The limitations of applying this framework to chemical detection problems are discussed along with means to mitigate them. Algorithmic performance is optimized globally using robust Design of Experiments and Taguchi techniques. These methods require figures of merit to trade off between false alarms and detection probability. Several figures of merit, including the Matthews Correlation Coefficient and the Taguchi Signal-to-Noise Ratio are compared. Following the optimization of global parameters which govern the algorithm behavior across all target chemicals, ROC techniques are employed to optimize chemical-specific parameters to further improve performance.

An optimal resolved rate law for kindematically redundant manipulators

NASA Technical Reports Server (NTRS)

Bourgeois, B. J.

1987-01-01

The resolved rate law for a manipulator provides the instantaneous joint rates required to satisfy a given instantaneous hand motion. When the joint space has more degrees of freedom than the task space, the manipulator is kinematically redundant and the kinematic rate equations are underdetermined. These equations can be locally optimized, but the resulting pseudo-inverse solution was found to cause large joint rates in some case. A weighting matrix in the locally optimized (pseudo-inverse) solution is dynamically adjusted to control the joint motion as desired. Joint reach limit avoidance is demonstrated in a kinematically redundant planar arm model. The treatment is applicable to redundant manipulators with any number of revolute joints and to nonplanar manipulators.

JointMMCC: Joint Maximum-Margin Classification and Clustering of Imaging Data

PubMed Central

Filipovych, Roman; Resnick, Susan M.; Davatzikos, Christos

2012-01-01

A number of conditions are characterized by pathologies that form continuous or nearly-continuous spectra spanning from the absence of pathology to very pronounced pathological changes (e.g., normal aging, Mild Cognitive Impairment, Alzheimer's). Moreover, diseases are often highly heterogeneous with a number of diagnostic subcategories or subconditions lying within the spectra (e.g., Autism Spectrum Disorder, schizophrenia). Discovering coherent subpopulations of subjects within the spectrum of pathological changes may further our understanding of diseases, and potentially identify subconditions that require alternative or modified treatment options. In this paper, we propose an approach that aims at identifying coherent subpopulations with respect to the underlying MRI in the scenario where the condition is heterogeneous and pathological changes form a continuous spectrum. We describe a Joint Maximum-Margin Classification and Clustering (JointMMCC) approach that jointly detects the pathologic population via semi-supervised classification, as well as disentangles heterogeneity of the pathological cohort by solving a clustering subproblem. We propose an efficient solution to the non-convex optimization problem associated with JointMMCC. We apply our proposed approach to an MRI study of aging, and identify coherent subpopulations (i.e., clusters) of cognitively less stable adults. PMID:22328179

Jointly Optimal Design for MIMO Radar Frequency-Hopping Waveforms Using Game Theory

DTIC Science & Technology

2016-04-01

Washington University in St . Louis St . Louis, MO, USA Using a colocated multiple input/multiple output (MIMO) radar system, we consider the problem of...Authors’ address: Preston M. Green Department of Electrical and Systems Engineering, Washington University in St . Louis, St . Louis, MO, 63130...engineering from Washington University in St . Louis, under the guidance of Dr. Arye Nehorai, in 2012 and 2015, respectively. His research interests

Multi-view non-negative tensor factorization as relation learning in healthcare data.

PubMed

Hang Wu; Wang, May D

2016-08-01

Discovering patterns in co-occurrences data between objects and groups of concepts is a useful task in many domains, such as healthcare data analysis, information retrieval, and recommender systems. These relational representations come from objects' behaviors in different views, posing a challenging task of integrating information from these views to uncover the shared latent structures. The problem is further complicated by the high dimension of data and the large ratio of missing data. We propose a new paradigm of learning semantic relations using tensor factorization, by jointly factorizing multi-view tensors and searching for a consistent underlying semantic space across each views. We formulate the idea as an optimization problem and propose efficient optimization algorithms, with a special treatment of missing data as well as high-dimensional data. Experiments results show the potential and effectiveness of our algorithms.

Image Reconstruction from Highly Undersampled (k, t)-Space Data with Joint Partial Separability and Sparsity Constraints

PubMed Central

Zhao, Bo; Haldar, Justin P.; Christodoulou, Anthony G.; Liang, Zhi-Pei

2012-01-01

Partial separability (PS) and sparsity have been previously used to enable reconstruction of dynamic images from undersampled (k, t)-space data. This paper presents a new method to use PS and sparsity constraints jointly for enhanced performance in this context. The proposed method combines the complementary advantages of PS and sparsity constraints using a unified formulation, achieving significantly better reconstruction performance than using either of these constraints individually. A globally convergent computational algorithm is described to efficiently solve the underlying optimization problem. Reconstruction results from simulated and in vivo cardiac MRI data are also shown to illustrate the performance of the proposed method. PMID:22695345

An object correlation and maneuver detection approach for space surveillance

NASA Astrophysics Data System (ADS)

Huang, Jian; Hu, Wei-Dong; Xin, Qin; Du, Xiao-Yong

2012-10-01

Object correlation and maneuver detection are persistent problems in space surveillance and maintenance of a space object catalog. We integrate these two problems into one interrelated problem, and consider them simultaneously under a scenario where space objects only perform a single in-track orbital maneuver during the time intervals between observations. We mathematically formulate this integrated scenario as a maximum a posteriori (MAP) estimation. In this work, we propose a novel approach to solve the MAP estimation. More precisely, the corresponding posterior probability of an orbital maneuver and a joint association event can be approximated by the Joint Probabilistic Data Association (JPDA) algorithm. Subsequently, the maneuvering parameters are estimated by optimally solving the constrained non-linear least squares iterative process based on the second-order cone programming (SOCP) algorithm. The desired solution is derived according to the MAP criterions. The performance and advantages of the proposed approach have been shown by both theoretical analysis and simulation results. We hope that our work will stimulate future work on space surveillance and maintenance of a space object catalog.

Joint Transmit Antenna Selection and Power Allocation for ISDF Relaying Mobile-to-Mobile Sensor Networks

PubMed Central

Xu, Lingwei; Zhang, Hao; Gulliver, T. Aaron

2016-01-01

The outage probability (OP) performance of multiple-relay incremental-selective decode-and-forward (ISDF) relaying mobile-to-mobile (M2M) sensor networks with transmit antenna selection (TAS) over N-Nakagami fading channels is investigated. Exact closed-form OP expressions for both optimal and suboptimal TAS schemes are derived. The power allocation problem is formulated to determine the optimal division of transmit power between the broadcast and relay phases. The OP performance under different conditions is evaluated via numerical simulation to verify the analysis. These results show that the optimal TAS scheme has better OP performance than the suboptimal scheme. Further, the power allocation parameter has a significant influence on the OP performance. PMID:26907282

A Novel Sensor Selection and Power Allocation Algorithm for Multiple-Target Tracking in an LPI Radar Network

PubMed Central

She, Ji; Wang, Fei; Zhou, Jianjiang

2016-01-01

Radar networks are proven to have numerous advantages over traditional monostatic and bistatic radar. With recent developments, radar networks have become an attractive platform due to their low probability of intercept (LPI) performance for target tracking. In this paper, a joint sensor selection and power allocation algorithm for multiple-target tracking in a radar network based on LPI is proposed. It is found that this algorithm can minimize the total transmitted power of a radar network on the basis of a predetermined mutual information (MI) threshold between the target impulse response and the reflected signal. The MI is required by the radar network system to estimate target parameters, and it can be calculated predictively with the estimation of target state. The optimization problem of sensor selection and power allocation, which contains two variables, is non-convex and it can be solved by separating power allocation problem from sensor selection problem. To be specific, the optimization problem of power allocation can be solved by using the bisection method for each sensor selection scheme. Also, the optimization problem of sensor selection can be solved by a lower complexity algorithm based on the allocated powers. According to the simulation results, it can be found that the proposed algorithm can effectively reduce the total transmitted power of a radar network, which can be conducive to improving LPI performance. PMID:28009819

Strategy of arm movement control is determined by minimization of neural effort for joint coordination.

PubMed

Dounskaia, Natalia; Shimansky, Yury

2016-06-01

Optimality criteria underlying organization of arm movements are often validated by testing their ability to adequately predict hand trajectories. However, kinematic redundancy of the arm allows production of the same hand trajectory through different joint coordination patterns. We therefore consider movement optimality at the level of joint coordination patterns. A review of studies of multi-joint movement control suggests that a 'trailing' pattern of joint control is consistently observed during which a single ('leading') joint is rotated actively and interaction torque produced by this joint is the primary contributor to the motion of the other ('trailing') joints. A tendency to use the trailing pattern whenever the kinematic redundancy is sufficient and increased utilization of this pattern during skillful movements suggests optimality of the trailing pattern. The goal of this study is to determine the cost function minimization of which predicts the trailing pattern. We show that extensive experimental testing of many known cost functions cannot successfully explain optimality of the trailing pattern. We therefore propose a novel cost function that represents neural effort for joint coordination. That effort is quantified as the cost of neural information processing required for joint coordination. We show that a tendency to reduce this 'neurocomputational' cost predicts the trailing pattern and that the theoretically developed predictions fully agree with the experimental findings on control of multi-joint movements. Implications for future research of the suggested interpretation of the trailing joint control pattern and the theory of joint coordination underlying it are discussed.

Electromagnetic interference-aware transmission scheduling and power control for dynamic wireless access in hospital environments.

PubMed

Phunchongharn, Phond; Hossain, Ekram; Camorlinga, Sergio

2011-11-01

We study the multiple access problem for e-Health applications (referred to as secondary users) coexisting with medical devices (referred to as primary or protected users) in a hospital environment. In particular, we focus on transmission scheduling and power control of secondary users in multiple spatial reuse time-division multiple access (STDMA) networks. The objective is to maximize the spectrum utilization of secondary users and minimize their power consumption subject to the electromagnetic interference (EMI) constraints for active and passive medical devices and minimum throughput guarantee for secondary users. The multiple access problem is formulated as a dual objective optimization problem which is shown to be NP-complete. We propose a joint scheduling and power control algorithm based on a greedy approach to solve the problem with much lower computational complexity. To this end, an enhanced greedy algorithm is proposed to improve the performance of the greedy algorithm by finding the optimal sequence of secondary users for scheduling. Using extensive simulations, the tradeoff in performance in terms of spectrum utilization, energy consumption, and computational complexity is evaluated for both the algorithms.

An optimal resolved rate law for kinematically redundant manipulators

NASA Technical Reports Server (NTRS)

Bourgeois, B. J.

1987-01-01

The resolved rate law for a manipulator provides the instantaneous joint rates required to satisfy a given instantaneous hand motion. When the joint space has more degrees of freedom than the task space, the manipulator is kinematically redundant and the kinematic rate equations are underdetermined. These equations can be locally optimized, but the resulting pseudo-inverse solution has been found to cause large joint rates in some cases. A weighting matrix in the locally optimized (pseudo-inverse) solution is dynamically adjusted to control the joint motion as desired. Joint reach limit avoidance is demonstrated in a kinematically redundant planar arm model. The treatment is applicable to redundant manipulators with any number of revolute joints and to non-planar manipulators.

Solving an emergency rescue materials problem under the joint reserves mode of government and framework agreement suppliers

PubMed Central

Sun, Xiao-Qing; Zhu, Rui; Li, Ming; Miao, Wang

2017-01-01

Emergency rescue material reserves are vital for the success of emergency rescue activities. In this study, we consider a situation where a government owned distribution center and framework agreement suppliers jointly store emergency rescue materials. Using a scenario-based approach to represent demand uncertainty, we propose a comprehensive transportation pattern for the following supply chain: “suppliers—government distribution center—disaster area.” Using a joint reserves model that includes the government and framework agreement suppliers, we develop a non-linear mathematic model that determines the choices of the framework suppliers, the corresponding optimal commitment quantities, and the quantity of materials that are stored at a government distribution center. Finally, we use IBM ILOG CPLEX to solve the numerical examples to verify the effectiveness of the mode and perform sensitivity analyses on the relevant parameters. PMID:29077722

Graph Design via Convex Optimization: Online and Distributed Perspectives

NASA Astrophysics Data System (ADS)

Meng, De

Network and graph have long been natural abstraction of relations in a variety of applications, e.g. transportation, power system, social network, communication, electrical circuit, etc. As a large number of computation and optimization problems are naturally defined on graphs, graph structures not only enable important properties of these problems, but also leads to highly efficient distributed and online algorithms. For example, graph separability enables the parallelism for computation and operation as well as limits the size of local problems. More interestingly, graphs can be defined and constructed in order to take best advantage of those problem properties. This dissertation focuses on graph structure and design in newly proposed optimization problems, which establish a bridge between graph properties and optimization problem properties. We first study a new optimization problem called Geodesic Distance Maximization Problem (GDMP). Given a graph with fixed edge weights, finding the shortest path, also known as the geodesic, between two nodes is a well-studied network flow problem. We introduce the Geodesic Distance Maximization Problem (GDMP): the problem of finding the edge weights that maximize the length of the geodesic subject to convex constraints on the weights. We show that GDMP is a convex optimization problem for a wide class of flow costs, and provide a physical interpretation using the dual. We present applications of the GDMP in various fields, including optical lens design, network interdiction, and resource allocation in the control of forest fires. We develop an Alternating Direction Method of Multipliers (ADMM) by exploiting specific problem structures to solve large-scale GDMP, and demonstrate its effectiveness in numerical examples. We then turn our attention to distributed optimization on graph with only local communication. Distributed optimization arises in a variety of applications, e.g. distributed tracking and localization, estimation problems in sensor networks, multi-agent coordination. Distributed optimization aims to optimize a global objective function formed by summation of coupled local functions over a graph via only local communication and computation. We developed a weighted proximal ADMM for distributed optimization using graph structure. This fully distributed, single-loop algorithm allows simultaneous updates and can be viewed as a generalization of existing algorithms. More importantly, we achieve faster convergence by jointly designing graph weights and algorithm parameters. Finally, we propose a new problem on networks called Online Network Formation Problem: starting with a base graph and a set of candidate edges, at each round of the game, player one first chooses a candidate edge and reveals it to player two, then player two decides whether to accept it; player two can only accept limited number of edges and make online decisions with the goal to achieve the best properties of the synthesized network. The network properties considered include the number of spanning trees, algebraic connectivity and total effective resistance. These network formation games arise in a variety of cooperative multiagent systems. We propose a primal-dual algorithm framework for the general online network formation game, and analyze the algorithm performance by the competitive ratio and regret.

Matching relations for optimal entanglement concentration and purification

PubMed Central

Kong, Fan-Zhen; Xia, Hui-Zhi; Yang, Ming; Yang, Qing; Cao, Zhuo-Liang

2016-01-01

The bilateral controlled NOT (CNOT) operation plays a key role in standard entanglement purification process, but the CNOT operation may not be the optimal joint operation in the sense that the output entanglement is maximized. In this paper, the CNOT operations in both the Schmidt-projection based entanglement concentration and the entanglement purification schemes are replaced with a general joint unitary operation, and the optimal matching relations between the entangling power of the joint unitary operation and the non-maximal entangled channel are found for optimizing the entanglement in- crement or the output entanglement. The result is somewhat counter-intuitive for entanglement concentration. The output entanglement is maximized when the entangling power of the joint unitary operation and the quantum channel satisfy certain relation. There exist a variety of joint operations with non-maximal entangling power that can induce a maximal output entanglement, which will greatly broaden the set of the potential joint operations in entanglement concentration. In addition, the entanglement increment in purification process is maximized only by the joint unitary operations (including CNOT) with maximal entangling power. PMID:27189800

Parameter identification and optimization of slide guide joint of CNC machine tools

NASA Astrophysics Data System (ADS)

Zhou, S.; Sun, B. B.

2017-11-01

The joint surface has an important influence on the performance of CNC machine tools. In order to identify the dynamic parameters of slide guide joint, the parametric finite element model of the joint is established and optimum design method is used based on the finite element simulation and modal test. Then the mode that has the most influence on the dynamics of slip joint is found through harmonic response analysis. Take the frequency of this mode as objective, the sensitivity analysis of the stiffness of each joint surface is carried out using Latin Hypercube Sampling and Monte Carlo Simulation. The result shows that the vertical stiffness of slip joint surface constituted by the bed and the slide plate has the most obvious influence on the structure. Therefore, this stiffness is taken as the optimization variable and the optimal value is obtained through studying the relationship between structural dynamic performance and stiffness. Take the stiffness values before and after optimization into the FEM of machine tool, and it is found that the dynamic performance of the machine tool is improved.

Modeling joint restoration strategies for interdependent infrastructure systems.

PubMed

Zhang, Chao; Kong, Jingjing; Simonovic, Slobodan P

2018-01-01

Life in the modern world depends on multiple critical services provided by infrastructure systems which are interdependent at multiple levels. To effectively respond to infrastructure failures, this paper proposes a model for developing optimal joint restoration strategy for interdependent infrastructure systems following a disruptive event. First, models for (i) describing structure of interdependent infrastructure system and (ii) their interaction process, are presented. Both models are considering the failure types, infrastructure operating rules and interdependencies among systems. Second, an optimization model for determining an optimal joint restoration strategy at infrastructure component level by minimizing the economic loss from the infrastructure failures, is proposed. The utility of the model is illustrated using a case study of electric-water systems. Results show that a small number of failed infrastructure components can trigger high level failures in interdependent systems; the optimal joint restoration strategy varies with failure occurrence time. The proposed models can help decision makers to understand the mechanisms of infrastructure interactions and search for optimal joint restoration strategy, which can significantly enhance safety of infrastructure systems.

Welded joints integrity analysis and optimization for fiber laser welding of dissimilar materials

NASA Astrophysics Data System (ADS)

Ai, Yuewei; Shao, Xinyu; Jiang, Ping; Li, Peigen; Liu, Yang; Liu, Wei

2016-11-01

Dissimilar materials welded joints provide many advantages in power, automotive, chemical, and spacecraft industries. The weld bead integrity which is determined by process parameters plays a significant role in the welding quality during the fiber laser welding (FLW) of dissimilar materials. In this paper, an optimization method by taking the integrity of the weld bead and weld area into consideration is proposed for FLW of dissimilar materials, the low carbon steel and stainless steel. The relationships between the weld bead integrity and process parameters are developed by the genetic algorithm optimized back propagation neural network (GA-BPNN). The particle swarm optimization (PSO) algorithm is taken for optimizing the predicted outputs from GA-BPNN for the objective. Through the optimization process, the desired weld bead with good integrity and minimum weld area are obtained and the corresponding microstructure and microhardness are excellent. The mechanical properties of the optimized joints are greatly improved compared with that of the un-optimized welded joints. Moreover, the effects of significant factors are analyzed based on the statistical approach and the laser power (LP) is identified as the most significant factor on the weld bead integrity and weld area. The results indicate that the proposed method is effective for improving the reliability and stability of welded joints in the practical production.

LOGISMOS—Layered Optimal Graph Image Segmentation of Multiple Objects and Surfaces: Cartilage Segmentation in the Knee Joint

PubMed Central

Zhang, Xiangmin; Williams, Rachel; Wu, Xiaodong; Anderson, Donald D.; Sonka, Milan

2011-01-01

A novel method for simultaneous segmentation of multiple interacting surfaces belonging to multiple interacting objects, called LOGISMOS (layered optimal graph image segmentation of multiple objects and surfaces), is reported. The approach is based on the algorithmic incorporation of multiple spatial inter-relationships in a single n-dimensional graph, followed by graph optimization that yields a globally optimal solution. The LOGISMOS method’s utility and performance are demonstrated on a bone and cartilage segmentation task in the human knee joint. Although trained on only a relatively small number of nine example images, this system achieved good performance. Judged by dice similarity coefficients (DSC) using a leave-one-out test, DSC values of 0.84 ± 0.04, 0.80 ± 0.04 and 0.80 ± 0.04 were obtained for the femoral, tibial, and patellar cartilage regions, respectively. These are excellent DSC values, considering the narrow-sheet character of the cartilage regions. Similarly, low signed mean cartilage thickness errors were obtained when compared to a manually-traced independent standard in 60 randomly selected 3-D MR image datasets from the Osteoarthritis Initiative database—0.11 ± 0.24, 0.05 ± 0.23, and 0.03 ± 0.17 mm for the femoral, tibial, and patellar cartilage thickness, respectively. The average signed surface positioning errors for the six detected surfaces ranged from 0.04 ± 0.12 mm to 0.16 ± 0.22 mm. The reported LOGISMOS framework provides robust and accurate segmentation of the knee joint bone and cartilage surfaces of the femur, tibia, and patella. As a general segmentation tool, the developed framework can be applied to a broad range of multiobject multisurface segmentation problems. PMID:20643602

Optimization of the Robotic Joint Equipped with Epicyloidal Gear and Direct Drive for Space Applications

NASA Astrophysics Data System (ADS)

Seweryn, Karol; Grassmann, Kamil; Ciesielska, Monika; Rybus, Tomasz; Turek, Michal

2013-09-01

One of the most critical element in the orbital manipulators are kinematic joints. Joints must be adapted to work in tough conditions of space environment and must ensure the greatest efficiency and work without backlash. At the Space Mechatronics and Robotics Laboratory (LMRS) of the Space Research Centre, PAS our team designed and built a lightweight kinematic pair based on a new concept. The new concept is based on the epicycloid two-stage gearbox with torque motor. In this paper we have focused on optimization of the joint design for space application. The optimization was focused on the minimization of the mass and backlash effects and on maximizing the joint efficiency.

A Single-Lap Joint Adhesive Bonding Optimization Method Using Gradient and Genetic Algorithms

NASA Technical Reports Server (NTRS)

Smeltzer, Stanley S., III; Finckenor, Jeffrey L.

1999-01-01

A natural process for any engineer, scientist, educator, etc. is to seek the most efficient method for accomplishing a given task. In the case of structural design, an area that has a significant impact on the structural efficiency is joint design. Unless the structure is machined from a solid block of material, the individual components which compose the overall structure must be joined together. The method for joining a structure varies depending on the applied loads, material, assembly and disassembly requirements, service life, environment, etc. Using both metallic and fiber reinforced plastic materials limits the user to two methods or a combination of these methods for joining the components into one structure. The first is mechanical fastening and the second is adhesive bonding. Mechanical fastening is by far the most popular joining technique; however, in terms of structural efficiency, adhesive bonding provides a superior joint since the load is distributed uniformly across the joint. The purpose of this paper is to develop a method for optimizing single-lap joint adhesive bonded structures using both gradient and genetic algorithms and comparing the solution process for each method. The goal of the single-lap joint optimization is to find the most efficient structure that meets the imposed requirements while still remaining as lightweight, economical, and reliable as possible. For the single-lap joint, an optimum joint is determined by minimizing the weight of the overall joint based on constraints from adhesive strengths as well as empirically derived rules. The analytical solution of the sin-le-lap joint is determined using the classical Goland-Reissner technique for case 2 type adhesive joints. Joint weight minimization is achieved using a commercially available routine, Design Optimization Tool (DOT), for the gradient solution while an author developed method is used for the genetic algorithm solution. Results illustrate the critical design variables as a function of adhesive properties and convergences of different joints based on the two optimization methods.

Modeling and optimization of joint quality for laser transmission joint of thermoplastic using an artificial neural network and a genetic algorithm

NASA Astrophysics Data System (ADS)

Wang, Xiao; Zhang, Cheng; Li, Pin; Wang, Kai; Hu, Yang; Zhang, Peng; Liu, Huixia

2012-11-01

A central composite rotatable experimental design(CCRD) is conducted to design experiments for laser transmission joining of thermoplastic-Polycarbonate (PC). The artificial neural network was used to establish the relationships between laser transmission joining process parameters (the laser power, velocity, clamp pressure, scanning number) and joint strength and joint seam width. The developed mathematical models are tested by analysis of variance (ANOVA) method to check their adequacy and the effects of process parameters on the responses and the interaction effects of key process parameters on the quality are analyzed and discussed. Finally, the desirability function coupled with genetic algorithm is used to carry out the optimization of the joint strength and joint width. The results show that the predicted results of the optimization are in good agreement with the experimental results, so this study provides an effective method to enhance the joint quality.

Closed loop problems in biomechanics. Part II--an optimization approach.

PubMed

Vaughan, C L; Hay, J G; Andrews, J G

1982-01-01

A closed loop problem in biomechanics may be defined as a problem in which there are one or more closed loops formed by the human body in contact with itself or with an external system. Under certain conditions the problem is indeterminate--the unknown forces and torques outnumber the equations. Force transducing devices, which would help solve this problem, have serious drawbacks, and existing methods are inaccurate and non-general. The purposes of the present paper are (1) to develop a general procedure for solving closed loop problems; (2) to illustrate the application of the procedure; and (3) to examine the validity of the procedure. A mathematical optimization approach is applied to the solution of three different closed loop problems--walking up stairs, vertical jumping and cartwheeling. The following conclusions are drawn: (1) the method described is reasonably successful for predicting horizontal and vertical reaction forces at the distal segments although problems exist for predicting the points of application of these forces; (2) the results provide some support for the notion that the human neuromuscular mechanism attempts to minimize the joint torques and thus, to a certain degree, the amount of muscular effort; (3) in the validation procedure it is desirable to have a force device for each of the distal segments in contact with a fixed external system; and (4) the method is sufficiently general to be applied to all classes of closed loop problems.

Generalized networking engineering: optimal pricing and routing in multiservice networks

NASA Astrophysics Data System (ADS)

Mitra, Debasis; Wang, Qiong

2002-07-01

One of the functions of network engineering is to allocate resources optimally to forecasted demand. We generalize the mechanism by incorporating price-demand relationships into the problem formulation, and optimizing pricing and routing jointly to maximize total revenue. We consider a network, with fixed topology and link bandwidths, that offers multiple services, such as voice and data, each having characteristic price elasticity of demand, and quality of service and policy requirements on routing. Prices, which depend on service type and origin-destination, determine demands, that are routed, subject to their constraints, so as to maximize revenue. We study the basic properties of the optimal solution and prove that link shadow costs provide the basis for both optimal prices and optimal routing policies. We investigate the impact of input parameters, such as link capacities and price elasticities, on prices, demand growth, and routing policies. Asymptotic analyses, in which network bandwidth is scaled to grow, give results that are noteworthy for their qualitative insights. Several numerical examples illustrate the analyses.

Fast three-dimensional inner volume excitations using parallel transmission and optimized k-space trajectories.

PubMed

Davids, Mathias; Schad, Lothar R; Wald, Lawrence L; Guérin, Bastien

2016-10-01

To design short parallel transmission (pTx) pulses for excitation of arbitrary three-dimensional (3D) magnetization patterns. We propose a joint optimization of the pTx radiofrequency (RF) and gradient waveforms for excitation of arbitrary 3D magnetization patterns. Our optimization of the gradient waveforms is based on the parameterization of k-space trajectories (3D shells, stack-of-spirals, and cross) using a small number of shape parameters that are well-suited for optimization. The resulting trajectories are smooth and sample k-space efficiently with few turns while using the gradient system at maximum performance. Within each iteration of the k-space trajectory optimization, we solve a small tip angle least-squares RF pulse design problem. Our RF pulse optimization framework was evaluated both in Bloch simulations and experiments on a 7T scanner with eight transmit channels. Using an optimized 3D cross (shells) trajectory, we were able to excite a cube shape (brain shape) with 3.4% (6.2%) normalized root-mean-square error in less than 5 ms using eight pTx channels and a clinical gradient system (Gmax  = 40 mT/m, Smax  = 150 T/m/s). This compared with 4.7% (41.2%) error for the unoptimized 3D cross (shells) trajectory. Incorporation of B0 robustness in the pulse design significantly altered the k-space trajectory solutions. Our joint gradient and RF optimization approach yields excellent excitation of 3D cube and brain shapes in less than 5 ms, which can be used for reduced field of view imaging and fat suppression in spectroscopy by excitation of the brain only. Magn Reson Med 76:1170-1182, 2016. © 2015 Wiley Periodicals, Inc. © 2015 Wiley Periodicals, Inc.

Evidence for composite cost functions in arm movement planning: an inverse optimal control approach.

PubMed

Berret, Bastien; Chiovetto, Enrico; Nori, Francesco; Pozzo, Thierry

2011-10-01

An important issue in motor control is understanding the basic principles underlying the accomplishment of natural movements. According to optimal control theory, the problem can be stated in these terms: what cost function do we optimize to coordinate the many more degrees of freedom than necessary to fulfill a specific motor goal? This question has not received a final answer yet, since what is optimized partly depends on the requirements of the task. Many cost functions were proposed in the past, and most of them were found to be in agreement with experimental data. Therefore, the actual principles on which the brain relies to achieve a certain motor behavior are still unclear. Existing results might suggest that movements are not the results of the minimization of single but rather of composite cost functions. In order to better clarify this last point, we consider an innovative experimental paradigm characterized by arm reaching with target redundancy. Within this framework, we make use of an inverse optimal control technique to automatically infer the (combination of) optimality criteria that best fit the experimental data. Results show that the subjects exhibited a consistent behavior during each experimental condition, even though the target point was not prescribed in advance. Inverse and direct optimal control together reveal that the average arm trajectories were best replicated when optimizing the combination of two cost functions, nominally a mix between the absolute work of torques and the integrated squared joint acceleration. Our results thus support the cost combination hypothesis and demonstrate that the recorded movements were closely linked to the combination of two complementary functions related to mechanical energy expenditure and joint-level smoothness.

Lithological and Surface Geometry Joint Inversions Using Multi-Objective Global Optimization Methods

NASA Astrophysics Data System (ADS)

Lelièvre, Peter; Bijani, Rodrigo; Farquharson, Colin

2016-04-01

Geologists' interpretations about the Earth typically involve distinct rock units with contacts (interfaces) between them. In contrast, standard minimum-structure geophysical inversions are performed on meshes of space-filling cells (typically prisms or tetrahedra) and recover smoothly varying physical property distributions that are inconsistent with typical geological interpretations. There are several approaches through which mesh-based minimum-structure geophysical inversion can help recover models with some of the desired characteristics. However, a more effective strategy may be to consider two fundamentally different types of inversions: lithological and surface geometry inversions. A major advantage of these two inversion approaches is that joint inversion of multiple types of geophysical data is greatly simplified. In a lithological inversion, the subsurface is discretized into a mesh and each cell contains a particular rock type. A lithological model must be translated to a physical property model before geophysical data simulation. Each lithology may map to discrete property values or there may be some a priori probability density function associated with the mapping. Through this mapping, lithological inverse problems limit the parameter domain and consequently reduce the non-uniqueness from that presented by standard mesh-based inversions that allow physical property values on continuous ranges. Furthermore, joint inversion is greatly simplified because no additional mathematical coupling measure is required in the objective function to link multiple physical property models. In a surface geometry inversion, the model comprises wireframe surfaces representing contacts between rock units. This parameterization is then fully consistent with Earth models built by geologists, which in 3D typically comprise wireframe contact surfaces of tessellated triangles. As for the lithological case, the physical properties of the units lying between the contact surfaces are set to a priori values. The inversion is tasked with calculating the geometry of the contact surfaces instead of some piecewise distribution of properties in a mesh. Again, no coupling measure is required and joint inversion is simplified. Both of these inverse problems involve high nonlinearity and discontinuous or non-obtainable derivatives. They can also involve the existence of multiple minima. Hence, one can not apply the standard descent-based local minimization methods used to solve typical minimum-structure inversions. Instead, we are applying Pareto multi-objective global optimization (PMOGO) methods, which generate a suite of solutions that minimize multiple objectives (e.g. data misfits and regularization terms) in a Pareto-optimal sense. Providing a suite of models, as opposed to a single model that minimizes a weighted sum of objectives, allows a more complete assessment of the possibilities and avoids the often difficult choice of how to weight each objective. While there are definite advantages to PMOGO joint inversion approaches, the methods come with significantly increased computational requirements. We are researching various strategies to ameliorate these computational issues including parallelization and problem dimension reduction.

New numerical methods for open-loop and feedback solutions to dynamic optimization problems

NASA Astrophysics Data System (ADS)

Ghosh, Pradipto

The topic of the first part of this research is trajectory optimization of dynamical systems via computational swarm intelligence. Particle swarm optimization is a nature-inspired heuristic search method that relies on a group of potential solutions to explore the fitness landscape. Conceptually, each particle in the swarm uses its own memory as well as the knowledge accumulated by the entire swarm to iteratively converge on an optimal or near-optimal solution. It is relatively straightforward to implement and unlike gradient-based solvers, does not require an initial guess or continuity in the problem definition. Although particle swarm optimization has been successfully employed in solving static optimization problems, its application in dynamic optimization, as posed in optimal control theory, is still relatively new. In the first half of this thesis particle swarm optimization is used to generate near-optimal solutions to several nontrivial trajectory optimization problems including thrust programming for minimum fuel, multi-burn spacecraft orbit transfer, and computing minimum-time rest-to-rest trajectories for a robotic manipulator. A distinct feature of the particle swarm optimization implementation in this work is the runtime selection of the optimal solution structure. Optimal trajectories are generated by solving instances of constrained nonlinear mixed-integer programming problems with the swarming technique. For each solved optimal programming problem, the particle swarm optimization result is compared with a nearly exact solution found via a direct method using nonlinear programming. Numerical experiments indicate that swarm search can locate solutions to very great accuracy. The second half of this research develops a new extremal-field approach for synthesizing nearly optimal feedback controllers for optimal control and two-player pursuit-evasion games described by general nonlinear differential equations. A notable revelation from this development is that the resulting control law has an algebraic closed-form structure. The proposed method uses an optimal spatial statistical predictor called universal kriging to construct the surrogate model of a feedback controller, which is capable of quickly predicting an optimal control estimate based on current state (and time) information. With universal kriging, an approximation to the optimal feedback map is computed by conceptualizing a set of state-control samples from pre-computed extremals to be a particular realization of a jointly Gaussian spatial process. Feedback policies are computed for a variety of example dynamic optimization problems in order to evaluate the effectiveness of this methodology. This feedback synthesis approach is found to combine good numerical accuracy with low computational overhead, making it a suitable candidate for real-time applications. Particle swarm and universal kriging are combined for a capstone example, a near optimal, near-admissible, full-state feedback control law is computed and tested for the heat-load-limited atmospheric-turn guidance of an aeroassisted transfer vehicle. The performance of this explicit guidance scheme is found to be very promising; initial errors in atmospheric entry due to simulated thruster misfirings are found to be accurately corrected while closely respecting the algebraic state-inequality constraint.

A review of multivariate methods in brain imaging data fusion

NASA Astrophysics Data System (ADS)

Sui, Jing; Adali, Tülay; Li, Yi-Ou; Yang, Honghui; Calhoun, Vince D.

2010-03-01

On joint analysis of multi-task brain imaging data sets, a variety of multivariate methods have shown their strengths and been applied to achieve different purposes based on their respective assumptions. In this paper, we provide a comprehensive review on optimization assumptions of six data fusion models, including 1) four blind methods: joint independent component analysis (jICA), multimodal canonical correlation analysis (mCCA), CCA on blind source separation (sCCA) and partial least squares (PLS); 2) two semi-blind methods: parallel ICA and coefficient-constrained ICA (CC-ICA). We also propose a novel model for joint blind source separation (BSS) of two datasets using a combination of sCCA and jICA, i.e., 'CCA+ICA', which, compared with other joint BSS methods, can achieve higher decomposition accuracy as well as the correct automatic source link. Applications of the proposed model to real multitask fMRI data are compared to joint ICA and mCCA; CCA+ICA further shows its advantages in capturing both shared and distinct information, differentiating groups, and interpreting duration of illness in schizophrenia patients, hence promising applicability to a wide variety of medical imaging problems.

Water-Energy-Food Nexus in Asia-Pacific Ring of Fire

NASA Astrophysics Data System (ADS)

Taniguchi, M.; Endo, A.; Gurdak, J. J.; Allen, D. M.; Siringan, F.; Delinom, R.; Shoji, J.; Fujii, M.; Baba, K.

2013-12-01

Climate change and economic development are causing increased pressure on water, energy and food resources, presenting communities with increased levels of tradeoffs and potential conflicts among these resources. Therefore, the water-energy-food nexus is one of the most important and fundamental global environmental issues facing the world. For the purposes of this research project, we define human-environmental security as the joint optimization between human and environmental security as well as the water-energy-food nexus. To optimize the governance and management within these inter-connected needs, it is desirable to increase human-environmental security by improving social managements for the water-energy-food nexus. In this research project, we intend to establish a method to manage and optimize the human-environmental security of the water-energy-food nexus by using integrated models, indices, and maps as well as social and natural investigations with stakeholder analyses. We base our approach on the viewpoint that it is important for a sustainable society to increase human-environmental security with decreasing risk and increasing resilience by optimizing the connections within the critical water-energy and water-food clusters. We will take a regional perspective to address these global environmental problems. The geological and geomorphological conditions in our proposed study area are heavily influenced by the so-called 'Ring of Fire,' around the Pacific Ocean. Within these areas including Japan and Southeast Asia, the hydro-meteorological conditions are dominated by the Asia monsoon. The populations that live under these natural conditions face elevated risk and potential disaster as negative impacts, while also benefitting from positive ecological goods and services. There are therefore tradeoffs and conflicts within the water-energy-food nexus, as well as among various stakeholders in the region. The objective of this project is to maximize human-environmental security (minimize the risk) by choosing management structures and policies that optimize both the water-food-energy nexus in Asia-Pacific coastal regions. We define joint security approach as optimized policy. Optimal policies will develop joint security approaches for human-environmental security in the coastal region of the Ring of Fire, including stakeholders and decision-makers.

Retrospective Cost Adaptive Control with Concurrent Closed-Loop Identification

NASA Astrophysics Data System (ADS)

Sobolic, Frantisek M.

Retrospective cost adaptive control (RCAC) is a discrete-time direct adaptive control algorithm for stabilization, command following, and disturbance rejection. RCAC is known to work on systems given minimal modeling information which is the leading numerator coefficient and any nonminimum-phase (NMP) zeros of the plant transfer function. This information is normally needed a priori and is key in the development of the filter, also known as the target model, within the retrospective performance variable. A novel approach to alleviate the need for prior modeling of both the leading coefficient of the plant transfer function as well as any NMP zeros is developed. The extension to the RCAC algorithm is the use of concurrent optimization of both the target model and the controller coefficients. Concurrent optimization of the target model and controller coefficients is a quadratic optimization problem in the target model and controller coefficients separately. However, this optimization problem is not convex as a joint function of both variables, and therefore nonconvex optimization methods are needed. Finally, insights within RCAC that include intercalated injection between the controller numerator and the denominator, unveil the workings of RCAC fitting a specific closed-loop transfer function to the target model. We exploit this interpretation by investigating several closed-loop identification architectures in order to extract this information for use in the target model.

Short-Term Planning of Hybrid Power System

NASA Astrophysics Data System (ADS)

Knežević, Goran; Baus, Zoran; Nikolovski, Srete

2016-07-01

In this paper short-term planning algorithm for hybrid power system consist of different types of cascade hydropower plants (run-of-the river, pumped storage, conventional), thermal power plants (coal-fired power plants, combined cycle gas-fired power plants) and wind farms is presented. The optimization process provides a joint bid of the hybrid system, and thus making the operation schedule of hydro and thermal power plants, the operation condition of pumped-storage hydropower plants with the aim of maximizing profits on day ahead market, according to expected hourly electricity prices, the expected local water inflow in certain hydropower plants, and the expected production of electrical energy from the wind farm, taking into account previously contracted bilateral agreement for electricity generation. Optimization process is formulated as hourly-discretized mixed integer linear optimization problem. Optimization model is applied on the case study in order to show general features of the developed model.

The joint measurement entanglement can significantly offset the effect of a noisy channel in teleportation

NASA Astrophysics Data System (ADS)

Roa, Luis; Ladrón de Guevara, María L.; Soto-Moscoso, Matias; Catalán, Pamela

2018-05-01

In our work we consider the following problem in the context of teleportation: an unknown pure state has to be teleported and there are two laboratories which can perform the task. One laboratory uses a pure non-maximally entangled channel but has a capability of performing the joint measurement on bases with a constrained degree of entanglement; the other lab makes use of a mixed X-state channel but can perform a joint measurement on bases with higher entanglement degrees. We compare the average teleportation fidelity achieved in both cases, finding that the fidelity achieved with the X-state can surpass the obtained with a pure channel, even though the X-state is less entangled than the latter. We find the conditions under which this effect occurs. Our results evidence that the entanglement of the joint measurement plays a role as important as the entanglement of the channel in order to optimize the teleportation process. We include an example showing that the average fidelity of teleportation obtained with a Werner state channel can be greater than that obtained with a Bell state channel.

Regularity Aspects in Inverse Musculoskeletal Biomechanics

NASA Astrophysics Data System (ADS)

Lund, Marie; Stâhl, Fredrik; Gulliksson, Mârten

2008-09-01

Inverse simulations of musculoskeletal models computes the internal forces such as muscle and joint reaction forces, which are hard to measure, using the more easily measured motion and external forces as input data. Because of the difficulties of measuring muscle forces and joint reactions, simulations are hard to validate. One way of reducing errors for the simulations is to ensure that the mathematical problem is well-posed. This paper presents a study of regularity aspects for an inverse simulation method, often called forward dynamics or dynamical optimization, that takes into account both measurement errors and muscle dynamics. Regularity is examined for a test problem around the optimum using the approximated quadratic problem. The results shows improved rank by including a regularization term in the objective that handles the mechanical over-determinancy. Using the 3-element Hill muscle model the chosen regularization term is the norm of the activation. To make the problem full-rank only the excitation bounds should be included in the constraints. However, this results in small negative values of the activation which indicates that muscles are pushing and not pulling, which is unrealistic but the error maybe small enough to be accepted for specific applications. These results are a start to ensure better results of inverse musculoskeletal simulations from a numerical point of view.

Pareto Joint Inversion of Love and Quasi Rayleigh's waves - synthetic study

NASA Astrophysics Data System (ADS)

Bogacz, Adrian; Dalton, David; Danek, Tomasz; Miernik, Katarzyna; Slawinski, Michael A.

2017-04-01

In this contribution the specific application of Pareto joint inversion in solving geophysical problem is presented. Pareto criterion combine with Particle Swarm Optimization were used to solve geophysical inverse problems for Love and Quasi Rayleigh's waves. Basic theory of forward problem calculation for chosen surface waves is described. To avoid computational problems some simplification were made. This operation allowed foster and more straightforward calculation without lost of solution generality. According to the solving scheme restrictions, considered model must have exact two layers, elastic isotropic surface layer and elastic isotropic half space with infinite thickness. The aim of the inversion is to obain elastic parameters and model geometry using dispersion data. In calculations different case were considered, such as different number of modes for different wave types and different frequencies. Created solutions are using OpenMP standard for parallel computing, which help in reduction of computational times. The results of experimental computations are presented and commented. This research was performed in the context of The Geomechanics Project supported by Husky Energy. Also, this research was partially supported by the Natural Sciences and Engineering Research Council of Canada, grant 238416-2013, and by the Polish National Science Center under contract No. DEC-2013/11/B/ST10/0472.

Publications | Grid Modernization | NREL

Science.gov Websites

Photovoltaics: Trajectories and Challenges Cover of Efficient Relaxations for Joint Chance Constrained AC Optimal Power Flow publication Efficient Relaxations for Joint Chance Constrained AC Optimal Power Flow

Modeling joint restoration strategies for interdependent infrastructure systems

PubMed Central

Simonovic, Slobodan P.

2018-01-01

Life in the modern world depends on multiple critical services provided by infrastructure systems which are interdependent at multiple levels. To effectively respond to infrastructure failures, this paper proposes a model for developing optimal joint restoration strategy for interdependent infrastructure systems following a disruptive event. First, models for (i) describing structure of interdependent infrastructure system and (ii) their interaction process, are presented. Both models are considering the failure types, infrastructure operating rules and interdependencies among systems. Second, an optimization model for determining an optimal joint restoration strategy at infrastructure component level by minimizing the economic loss from the infrastructure failures, is proposed. The utility of the model is illustrated using a case study of electric-water systems. Results show that a small number of failed infrastructure components can trigger high level failures in interdependent systems; the optimal joint restoration strategy varies with failure occurrence time. The proposed models can help decision makers to understand the mechanisms of infrastructure interactions and search for optimal joint restoration strategy, which can significantly enhance safety of infrastructure systems. PMID:29649300

Evaluation of linearly solvable Markov decision process with dynamic model learning in a mobile robot navigation task.

PubMed

Kinjo, Ken; Uchibe, Eiji; Doya, Kenji

2013-01-01

Linearly solvable Markov Decision Process (LMDP) is a class of optimal control problem in which the Bellman's equation can be converted into a linear equation by an exponential transformation of the state value function (Todorov, 2009b). In an LMDP, the optimal value function and the corresponding control policy are obtained by solving an eigenvalue problem in a discrete state space or an eigenfunction problem in a continuous state using the knowledge of the system dynamics and the action, state, and terminal cost functions. In this study, we evaluate the effectiveness of the LMDP framework in real robot control, in which the dynamics of the body and the environment have to be learned from experience. We first perform a simulation study of a pole swing-up task to evaluate the effect of the accuracy of the learned dynamics model on the derived the action policy. The result shows that a crude linear approximation of the non-linear dynamics can still allow solution of the task, despite with a higher total cost. We then perform real robot experiments of a battery-catching task using our Spring Dog mobile robot platform. The state is given by the position and the size of a battery in its camera view and two neck joint angles. The action is the velocities of two wheels, while the neck joints were controlled by a visual servo controller. We test linear and bilinear dynamic models in tasks with quadratic and Guassian state cost functions. In the quadratic cost task, the LMDP controller derived from a learned linear dynamics model performed equivalently with the optimal linear quadratic regulator (LQR). In the non-quadratic task, the LMDP controller with a linear dynamics model showed the best performance. The results demonstrate the usefulness of the LMDP framework in real robot control even when simple linear models are used for dynamics learning.

Optimal combining of ground-based sensors for the purpose of validating satellite-based rainfall estimates

NASA Technical Reports Server (NTRS)

Krajewski, Witold F.; Rexroth, David T.; Kiriaki, Kiriakie

1991-01-01

Two problems related to radar rainfall estimation are described. The first part is a description of a preliminary data analysis for the purpose of statistical estimation of rainfall from multiple (radar and raingage) sensors. Raingage, radar, and joint radar-raingage estimation is described, and some results are given. Statistical parameters of rainfall spatial dependence are calculated and discussed in the context of optimal estimation. Quality control of radar data is also described. The second part describes radar scattering by ellipsoidal raindrops. An analytical solution is derived for the Rayleigh scattering regime. Single and volume scattering are presented. Comparison calculations with the known results for spheres and oblate spheroids are shown.

HyBAR: hybrid bone-attached robot for joint arthroplasty.

PubMed

Song, S; Mor, A; Jaramaz, B

2009-06-01

A number of small bone-attached surgical robots have been introduced to overcome some disadvantages of large stand-alone surgical robots. In orthopaedics, increasing demand on minimally invasive joint replacement surgery has also been encouraging small surgical robot developments. Among various technical aspects of such an approach, optimal miniaturization that maintains structural strength for high speed bone removal was investigated. By observing advantages and disadvantages from serial and parallel robot structures, a new hybrid kinematic configuration was designed for a bone-attached robot to perform precision bone removal for cutting the femoral implant cavity during patellofemoral joint arthroplasty surgery. A series of experimental tests were conducted in order to evaluate the performance of the new robot, especially with respect to accuracy of bone preparation. A miniaturized and rigidly-structured robot prototype was developed for minimally invasive bone-attached robotic surgery. A new minimally invasive modular clamping system was also introduced to enhance the robotic procedure. Foam and pig bone experimental results demonstrated a successful implementation of the new robot that eliminated a number of major design problems of a previous prototype. For small bone-attached surgical robots that utilize high speed orthopaedic tools, structural rigidity and clamping mechanism are major design issues. The new kinematic configuration using hinged prismatic joints enabled an effective miniaturization with good structural rigidity. Although minor problems still exist at the prototype stage, the new development would be a significant step towards the practical use of such a robot.

Optimization of joint energy micro-grid with cold storage

NASA Astrophysics Data System (ADS)

Xu, Bin; Luo, Simin; Tian, Yan; Chen, Xianda; Xiong, Botao; Zhou, Bowen

2018-02-01

To accommodate distributed photovoltaic (PV) curtailment, to make full use of the joint energy micro-grid with cold storage, and to reduce the high operating costs, the economic dispatch of joint energy micro-grid load is particularly important. Considering the different prices during the peak and valley durations, an optimization model is established, which takes the minimum production costs and PV curtailment fluctuations as the objectives. Linear weighted sum method and genetic-taboo Particle Swarm Optimization (PSO) algorithm are used to solve the optimization model, to obtain optimal power supply output. Taking the garlic market in Henan as an example, the simulation results show that considering distributed PV and different prices in different time durations, the optimization strategies are able to reduce the operating costs and accommodate PV power efficiently.

Optimization-Based Approach for Joint X-Ray Fluorescence and Transmission Tomographic Inversion

DOE Office of Scientific and Technical Information (OSTI.GOV)

Di, Zichao; Leyffer, Sven; Wild, Stefan M.

2016-01-01

Fluorescence tomographic reconstruction, based on the detection of photons coming from fluorescent emission, can be used for revealing the internal elemental composition of a sample. On the other hand, conventional X-ray transmission tomography can be used for reconstructing the spatial distribution of the absorption coefficient inside a sample. In this work, we integrate both X-ray fluorescence and X-ray transmission data modalities and formulate a nonlinear optimization-based approach for reconstruction of the elemental composition of a given object. This model provides a simultaneous reconstruction of both the quantitative spatial distribution of all elements and the absorption effect in the sample. Mathematicallymore » speaking, we show that compared with the single-modality inversion (i.e., the X-ray transmission or fluorescence alone), the joint inversion provides a better-posed problem, which implies a better recovery. Therefore, the challenges in X-ray fluorescence tomography arising mainly from the effects of self-absorption in the sample are partially mitigated. The use of this technique is demonstrated on the reconstruction of several synthetic samples.« less

Joint Video Stitching and Stabilization from Moving Cameras.

PubMed

Guo, Heng; Liu, Shuaicheng; He, Tong; Zhu, Shuyuan; Zeng, Bing; Gabbouj, Moncef

2016-09-08

In this paper, we extend image stitching to video stitching for videos that are captured for the same scene simultaneously by multiple moving cameras. In practice, videos captured under this circumstance often appear shaky. Directly applying image stitching methods for shaking videos often suffers from strong spatial and temporal artifacts. To solve this problem, we propose a unified framework in which video stitching and stabilization are performed jointly. Specifically, our system takes several overlapping videos as inputs. We estimate both inter motions (between different videos) and intra motions (between neighboring frames within a video). Then, we solve an optimal virtual 2D camera path from all original paths. An enlarged field of view along the virtual path is finally obtained by a space-temporal optimization that takes both inter and intra motions into consideration. Two important components of this optimization are that (1) a grid-based tracking method is designed for an improved robustness, which produces features that are distributed evenly within and across multiple views, and (2) a mesh-based motion model is adopted for the handling of the scene parallax. Some experimental results are provided to demonstrate the effectiveness of our approach on various consumer-level videos and a Plugin, named "Video Stitcher" is developed at Adobe After Effects CC2015 to show the processed videos.

Synergetic motor control paradigm for optimizing energy efficiency of multijoint reaching via tacit learning

PubMed Central

Hayashibe, Mitsuhiro; Shimoda, Shingo

2014-01-01

A human motor system can improve its behavior toward optimal movement. The skeletal system has more degrees of freedom than the task dimensions, which incurs an ill-posed problem. The multijoint system involves complex interaction torques between joints. To produce optimal motion in terms of energy consumption, the so-called cost function based optimization has been commonly used in previous works.Even if it is a fact that an optimal motor pattern is employed phenomenologically, there is no evidence that shows the existence of a physiological process that is similar to such a mathematical optimization in our central nervous system.In this study, we aim to find a more primitive computational mechanism with a modular configuration to realize adaptability and optimality without prior knowledge of system dynamics.We propose a novel motor control paradigm based on tacit learning with task space feedback. The motor command accumulation during repetitive environmental interactions, play a major role in the learning process. It is applied to a vertical cyclic reaching which involves complex interaction torques.We evaluated whether the proposed paradigm can learn how to optimize solutions with a 3-joint, planar biomechanical model. The results demonstrate that the proposed method was valid for acquiring motor synergy and resulted in energy efficient solutions for different load conditions. The case in feedback control is largely affected by the interaction torques. In contrast, the trajectory is corrected over time with tacit learning toward optimal solutions.Energy efficient solutions were obtained by the emergence of motor synergy. During learning, the contribution from feedforward controller is augmented and the one from the feedback controller is significantly minimized down to 12% for no load at hand, 16% for a 0.5 kg load condition.The proposed paradigm could provide an optimization process in redundant system with dynamic-model-free and cost-function-free approach. PMID:24616695

Synergetic motor control paradigm for optimizing energy efficiency of multijoint reaching via tacit learning.

PubMed

Hayashibe, Mitsuhiro; Shimoda, Shingo

2014-01-01

A human motor system can improve its behavior toward optimal movement. The skeletal system has more degrees of freedom than the task dimensions, which incurs an ill-posed problem. The multijoint system involves complex interaction torques between joints. To produce optimal motion in terms of energy consumption, the so-called cost function based optimization has been commonly used in previous works.Even if it is a fact that an optimal motor pattern is employed phenomenologically, there is no evidence that shows the existence of a physiological process that is similar to such a mathematical optimization in our central nervous system.In this study, we aim to find a more primitive computational mechanism with a modular configuration to realize adaptability and optimality without prior knowledge of system dynamics.We propose a novel motor control paradigm based on tacit learning with task space feedback. The motor command accumulation during repetitive environmental interactions, play a major role in the learning process. It is applied to a vertical cyclic reaching which involves complex interaction torques.We evaluated whether the proposed paradigm can learn how to optimize solutions with a 3-joint, planar biomechanical model. The results demonstrate that the proposed method was valid for acquiring motor synergy and resulted in energy efficient solutions for different load conditions. The case in feedback control is largely affected by the interaction torques. In contrast, the trajectory is corrected over time with tacit learning toward optimal solutions.Energy efficient solutions were obtained by the emergence of motor synergy. During learning, the contribution from feedforward controller is augmented and the one from the feedback controller is significantly minimized down to 12% for no load at hand, 16% for a 0.5 kg load condition.The proposed paradigm could provide an optimization process in redundant system with dynamic-model-free and cost-function-free approach.

Digital transceiver design for two-way AF-MIMO relay systems with imperfect CSI

NASA Astrophysics Data System (ADS)

Hu, Chia-Chang; Chou, Yu-Fei; Chen, Kui-He

2013-09-01

In the paper, combined optimization of the terminal precoders/equalizers and single-relay precoder is proposed for an amplify-and-forward (AF) multiple-input multiple-output (MIMO) two-way single-relay system with correlated channel uncertainties. Both terminal transceivers and relay precoding matrix are designed based on the minimum mean square error (MMSE) criterion when terminals are unable to erase completely self-interference due to imperfect correlated channel state information (CSI). This robust joint optimization problem of beamforming and precoding matrices under power constraints belongs to neither concave nor convex so that a nonlinear matrix-form conjugate gradient (MCG) algorithm is applied to explore local optimal solutions. Simulation results show that the robust transceiver design is able to overcome effectively the loss of bit-error-rate (BER) due to inclusion of correlated channel uncertainties and residual self-interference.

[Osseous and soft tissue operations for treatment of joint malpositioning in infantile cerebral palsy].

PubMed

Senst, S

2013-12-01

If untreated infantile cerebral palsy (ICP) leads to a progressive shortening of muscles and to progressive joint malpositioning. In addition a number of other disorders also result, in particular sensory disorders, intelligence deficits and epilepsy. In order to optimally treat as many as possible of the problems of multi-handicapped children with ICP it is of immanent importance that physiotherapists, occupational therapists, speech therapists, orthopedic technicians, pediatric orthopedists as well as neuropediatricians and social pediatricians work as a team. Surgical measures to correct joint malpositioning serve to improve the function and also to avoid or alleviate pain. Functional improvement measures are ideally undertaken during or shortly before elementary school age, thus enabling a further verticalization/straightening and mobilization. To improve symmetry and therefore the sitting posture, surgery is also indicated for profoundly disabled patients, sometimes making foot operations necessary. It is only in this way that maximum participation can be guaranteed and if necessary utilizing additional aids, such as Zimmer frames or E-wheelchairs.

The Joint Institute for Nuclear Research in Experimental Physics of Elementary Particles

NASA Astrophysics Data System (ADS)

Bednyakov, V. A.; Russakovich, N. A.

2018-05-01

The year 2016 marks the 60th anniversary of the Joint Institute for Nuclear Research (JINR) in Dubna, an international intergovernmental organization for basic research in the fields of elementary particles, atomic nuclei, and condensed matter. Highly productive advances over this long road clearly show that the international basis and diversity of research guarantees successful development (and maintenance) of fundamental science. This is especially important for experimental research. In this review, the most significant achievements are briefly described with an attempt to look into the future (seven to ten years ahead) and show the role of JINR in solution of highly important problems in elementary particle physics, which is a fundamental field of modern natural sciences. This glimpse of the future is full of justified optimism.

Multi-Objective Lake Superior Regulation

NASA Astrophysics Data System (ADS)

Asadzadeh, M.; Razavi, S.; Tolson, B.

2011-12-01

At the direction of the International Joint Commission (IJC) the International Upper Great Lakes Study (IUGLS) Board is investigating possible changes to the present method of regulating the outflows of Lake Superior (SUP) to better meet the contemporary needs of the stakeholders. In this study, a new plan in the form of a rule curve that is directly interpretable for regulation of SUP is proposed. The proposed rule curve has 18 parameters that should be optimized. The IUGLS Board is also interested in a regulation strategy that considers potential effects of climate uncertainty. Therefore, the quality of the rule curve is assessed simultaneously for multiple supply sequences that represent various future climate scenarios. The rule curve parameters are obtained by solving a computationally intensive bi-objective simulation-optimization problem that maximizes the total increase in navigation and hydropower benefits of the new regulation plan and minimizes the sum of all normalized constraint violations. The objective and constraint values are obtained from a Microsoft Excel based Shared Vision Model (SVM) that compares any new SUP regulation plan with the current regulation policy. The underlying optimization problem is solved by a recently developed, highly efficient multi-objective optimization algorithm called Pareto Archived Dynamically Dimensioned Search (PA-DDS). To further improve the computational efficiency of the simulation-optimization problem, the model pre-emption strategy is used in a novel way to avoid the complete evaluation of regulation plans with low quality in both objectives. Results show that the generated rule curve is robust and typically more reliable when facing unpredictable climate conditions compared to other SUP regulation plans.

Integrating operation design into infrastructure planning to foster robustness of planned water systems

NASA Astrophysics Data System (ADS)

Bertoni, Federica; Giuliani, Matteo; Castelletti, Andrea

2017-04-01

Over the past years, many studies have looked at the planning and management of water infrastructure systems as two separate problems, where the dynamic component (i.e., operations) is considered only after the static problem (i.e., planning) has been resolved. Most recent works have started to investigate planning and management as two strictly interconnected faces of the same problem, where the former is solved jointly with the latter in an integrated framework. This brings advantages to multi-purpose water reservoir systems, where several optimal operating strategies exist and similar system designs might perform differently on the long term depending on the considered short-term operating tradeoff. An operationally robust design will be therefore one performing well across multiple feasible tradeoff operating policies. This work aims at studying the interaction between short-term operating strategies and their impacts on long-term structural decisions, when long-lived infrastructures with complex ecological impacts and multi-sectoral demands to satisfy (i.e., reservoirs) are considered. A parametric reinforcement learning approach is adopted for nesting optimization and control yielding to both optimal reservoir design and optimal operational policies for water reservoir systems. The method is demonstrated on a synthetic reservoir that must be designed and operated for ensuring reliable water supply to downstream users. At first, the optimal design capacity derived is compared with the 'no-fail storage' computed through Rippl, a capacity design function that returns the minimum storage needed to satisfy specified water demands without allowing supply shortfall. Then, the optimal reservoir volume is used to simulate the simplified case study under other operating objectives than water supply, in order to assess whether and how the system performance changes. The more robust the infrastructural design, the smaller the difference between the performances of different operating strategies.

Obstacle avoidance handling and mixed integer predictive control for space robots

NASA Astrophysics Data System (ADS)

Zong, Lijun; Luo, Jianjun; Wang, Mingming; Yuan, Jianping

2018-04-01

This paper presents a novel obstacle avoidance constraint and a mixed integer predictive control (MIPC) method for space robots avoiding obstacles and satisfying physical limits during performing tasks. Firstly, a novel kind of obstacle avoidance constraint of space robots, which needs the assumption that the manipulator links and the obstacles can be represented by convex bodies, is proposed by limiting the relative velocity between two closest points which are on the manipulator and the obstacle, respectively. Furthermore, the logical variables are introduced into the obstacle avoidance constraint, which have realized the constraint form is automatically changed to satisfy different obstacle avoidance requirements in different distance intervals between the space robot and the obstacle. Afterwards, the obstacle avoidance constraint and other system physical limits, such as joint angle ranges, the amplitude boundaries of joint velocities and joint torques, are described as inequality constraints of a quadratic programming (QP) problem by using the model predictive control (MPC) method. To guarantee the feasibility of the obtained multi-constraint QP problem, the constraints are treated as soft constraints and assigned levels of priority based on the propositional logic theory, which can realize that the constraints with lower priorities are always firstly violated to recover the feasibility of the QP problem. Since the logical variables have been introduced, the optimization problem including obstacle avoidance and system physical limits as prioritized inequality constraints is termed as MIPC method of space robots, and its computational complexity as well as possible strategies for reducing calculation amount are analyzed. Simulations of the space robot unfolding its manipulator and tracking the end-effector's desired trajectories with the existence of obstacles and physical limits are presented to demonstrate the effectiveness of the proposed obstacle avoidance strategy and MIPC control method of space robots.

Coupling reconstruction and motion estimation for dynamic MRI through optical flow constraint

NASA Astrophysics Data System (ADS)

Zhao, Ningning; O'Connor, Daniel; Gu, Wenbo; Ruan, Dan; Basarab, Adrian; Sheng, Ke

2018-03-01

This paper addresses the problem of dynamic magnetic resonance image (DMRI) reconstruction and motion estimation jointly. Because of the inherent anatomical movements in DMRI acquisition, reconstruction of DMRI using motion estimation/compensation (ME/MC) has been explored under the compressed sensing (CS) scheme. In this paper, by embedding the intensity based optical flow (OF) constraint into the traditional CS scheme, we are able to couple the DMRI reconstruction and motion vector estimation. Moreover, the OF constraint is employed in a specific coarse resolution scale in order to reduce the computational complexity. The resulting optimization problem is then solved using a primal-dual algorithm due to its efficiency when dealing with nondifferentiable problems. Experiments on highly accelerated dynamic cardiac MRI with multiple receiver coils validate the performance of the proposed algorithm.

Analysis and optimization of the active rigidity joint

NASA Astrophysics Data System (ADS)

Manzo, Justin; Garcia, Ephrahim

2009-12-01

The active rigidity joint is a composite mechanism using shape memory alloy and shape memory polymer to create a passively rigid joint with thermally activated deflection. A new model for the active rigidity joint relaxes constraints of earlier methods and allows for more accurate deflection predictions compared to finite element results. Using an iterative process to determine the strain distribution and deflection, the method demonstrates accurate results for both surface bonded and embedded actuators with and without external loading. Deflection capabilities are explored through simulated annealing heuristic optimization using a variety of cost functions to explore actuator performance. A family of responses presents actuator characteristics in terms of load bearing and deflection capabilities given material and thermal constraints. Optimization greatly expands the available workspace of the active rigidity joint from the initial configuration, demonstrating specific work capabilities comparable to those of muscle tissue.

Joint segmentation of lumen and outer wall from femoral artery MR images: Towards 3D imaging measurements of peripheral arterial disease.

PubMed

Ukwatta, Eranga; Yuan, Jing; Qiu, Wu; Rajchl, Martin; Chiu, Bernard; Fenster, Aaron

2015-12-01

Three-dimensional (3D) measurements of peripheral arterial disease (PAD) plaque burden extracted from fast black-blood magnetic resonance (MR) images have shown to be more predictive of clinical outcomes than PAD stenosis measurements. To this end, accurate segmentation of the femoral artery lumen and outer wall is required for generating volumetric measurements of PAD plaque burden. Here, we propose a semi-automated algorithm to jointly segment the femoral artery lumen and outer wall surfaces from 3D black-blood MR images, which are reoriented and reconstructed along the medial axis of the femoral artery to obtain improved spatial coherence between slices of the long, thin femoral artery and to reduce computation time. The developed segmentation algorithm enforces two priors in a global optimization manner: the spatial consistency between the adjacent 2D slices and the anatomical region order between the femoral artery lumen and outer wall surfaces. The formulated combinatorial optimization problem for segmentation is solved globally and exactly by means of convex relaxation using a coupled continuous max-flow (CCMF) model, which is a dual formulation to the convex relaxed optimization problem. In addition, the CCMF model directly derives an efficient duality-based algorithm based on the modern multiplier augmented optimization scheme, which has been implemented on a GPU for fast computation. The computed segmentations from the developed algorithm were compared to manual delineations from experts using 20 black-blood MR images. The developed algorithm yielded both high accuracy (Dice similarity coefficients ≥ 87% for both the lumen and outer wall surfaces) and high reproducibility (intra-class correlation coefficient of 0.95 for generating vessel wall area), while outperforming the state-of-the-art method in terms of computational time by a factor of ≈ 20. Copyright © 2015 Elsevier B.V. All rights reserved.

Application of multiobjective optimization to scheduling capacity expansion of urban water resource systems

NASA Astrophysics Data System (ADS)

Mortazavi-Naeini, Mohammad; Kuczera, George; Cui, Lijie

2014-06-01

Significant population increase in urban areas is likely to result in a deterioration of drought security and level of service provided by urban water resource systems. One way to cope with this is to optimally schedule the expansion of system resources. However, the high capital costs and environmental impacts associated with expanding or building major water infrastructure warrant the investigation of scheduling system operational options such as reservoir operating rules, demand reduction policies, and drought contingency plans, as a way of delaying or avoiding the expansion of water supply infrastructure. Traditionally, minimizing cost has been considered the primary objective in scheduling capacity expansion problems. In this paper, we consider some of the drawbacks of this approach. It is shown that there is no guarantee that the social burden of coping with drought emergencies is shared equitably across planning stages. In addition, it is shown that previous approaches do not adequately exploit the benefits of joint optimization of operational and infrastructure options and do not adequately address the need for the high level of drought security expected for urban systems. To address these shortcomings, a new multiobjective optimization approach to scheduling capacity expansion in an urban water resource system is presented and illustrated in a case study involving the bulk water supply system for Canberra. The results show that the multiobjective approach can address the temporal equity issue of sharing the burden of drought emergencies and that joint optimization of operational and infrastructure options can provide solutions superior to those just involving infrastructure options.

Modeling, simulation and optimization approaches for design of lightweight car body structures

NASA Astrophysics Data System (ADS)

Kiani, Morteza

Simulation-based design optimization and finite element method are used in this research to investigate weight reduction of car body structures made of metallic and composite materials under different design criteria. Besides crashworthiness in full frontal, offset frontal, and side impact scenarios, vibration frequencies, static stiffness, and joint rigidity are also considered. Energy absorption at the component level is used to study the effectiveness of carbon fiber reinforced polymer (CFRP) composite material with consideration of different failure criteria. A global-local design strategy is introduced and applied to multi-objective optimization of car body structures with CFRP components. Multiple example problems involving the analysis of full-vehicle crash and body-in-white models are used to examine the effect of material substitution and the choice of design criteria on weight reduction. The results of this study show that car body structures that are optimized for crashworthiness alone may not meet the vibration criterion. Moreover, optimized car body structures with CFRP components can be lighter with superior crashworthiness than the baseline and optimized metallic structures.

Optimal Lease Contract for Remanufactured Equipment

NASA Astrophysics Data System (ADS)

Iskandar, B. P.; Wangsaputra, R.; Pasaribu, U. S.; Husniah, H.

2018-03-01

In the last two decades, the business of lease products (or equipment) has grown significantly, and many companies acquire equipment through leasing. In this paper, we propose a new lease contract under which a product (or equipment) is leased for a period of time with maximum usage per period (e.g. 1 year). This lease contract has only a time limit but no usage limit. If the total usage per period exceeds the maximum usage allowed in the contract, then the customer (as a lessee) will be charged an additional cost. In general, the lessor (OEM) provides a full coverage of maintenance, which includes PM and CM under the lease contract. It is considered that the lessor offers the lease contract for a remanufactured product. We presume that the price of the lease contract for the remanufactured product is much lower than that of a new one, and hence it would be a more attractive option to the customer. The decision problem for the lessee is to select the best option offered that fits to its requirement, and the decision problem for the lessor is find the optimal maintenance efforts for a given price of the lease option offered. We first find the optimal decisions independently for each party, and then the joint optimal decisions for both parties.

The Normalized-Rate Iterative Algorithm: A Practical Dynamic Spectrum Management Method for DSL

NASA Astrophysics Data System (ADS)

Statovci, Driton; Nordström, Tomas; Nilsson, Rickard

2006-12-01

We present a practical solution for dynamic spectrum management (DSM) in digital subscriber line systems: the normalized-rate iterative algorithm (NRIA). Supported by a novel optimization problem formulation, the NRIA is the only DSM algorithm that jointly addresses spectrum balancing for frequency division duplexing systems and power allocation for the users sharing a common cable bundle. With a focus on being implementable rather than obtaining the highest possible theoretical performance, the NRIA is designed to efficiently solve the DSM optimization problem with the operators' business models in mind. This is achieved with the help of two types of parameters: the desired network asymmetry and the desired user priorities. The NRIA is a centralized DSM algorithm based on the iterative water-filling algorithm (IWFA) for finding efficient power allocations, but extends the IWFA by finding the achievable bitrates and by optimizing the bandplan. It is compared with three other DSM proposals: the IWFA, the optimal spectrum balancing algorithm (OSBA), and the bidirectional IWFA (bi-IWFA). We show that the NRIA achieves better bitrate performance than the IWFA and the bi-IWFA. It can even achieve performance almost as good as the OSBA, but with dramatically lower requirements on complexity. Additionally, the NRIA can achieve bitrate combinations that cannot be supported by any other DSM algorithm.

Joint Multi-Leaf Segmentation, Alignment, and Tracking for Fluorescence Plant Videos.

PubMed

Yin, Xi; Liu, Xiaoming; Chen, Jin; Kramer, David M

2018-06-01

This paper proposes a novel framework for fluorescence plant video processing. The plant research community is interested in the leaf-level photosynthetic analysis within a plant. A prerequisite for such analysis is to segment all leaves, estimate their structures, and track them over time. We identify this as a joint multi-leaf segmentation, alignment, and tracking problem. First, leaf segmentation and alignment are applied on the last frame of a plant video to find a number of well-aligned leaf candidates. Second, leaf tracking is applied on the remaining frames with leaf candidate transformation from the previous frame. We form two optimization problems with shared terms in their objective functions for leaf alignment and tracking respectively. A quantitative evaluation framework is formulated to evaluate the performance of our algorithm with four metrics. Two models are learned to predict the alignment accuracy and detect tracking failure respectively in order to provide guidance for subsequent plant biology analysis. The limitation of our algorithm is also studied. Experimental results show the effectiveness, efficiency, and robustness of the proposed method.

Adaptive torque estimation of robot joint with harmonic drive transmission

NASA Astrophysics Data System (ADS)

Shi, Zhiguo; Li, Yuankai; Liu, Guangjun

2017-11-01

Robot joint torque estimation using input and output position measurements is a promising technique, but the result may be affected by the load variation of the joint. In this paper, a torque estimation method with adaptive robustness and optimality adjustment according to load variation is proposed for robot joint with harmonic drive transmission. Based on a harmonic drive model and a redundant adaptive robust Kalman filter (RARKF), the proposed approach can adapt torque estimation filtering optimality and robustness to the load variation by self-tuning the filtering gain and self-switching the filtering mode between optimal and robust. The redundant factor of RARKF is designed as a function of the motor current for tolerating the modeling error and load-dependent filtering mode switching. The proposed joint torque estimation method has been experimentally studied in comparison with a commercial torque sensor and two representative filtering methods. The results have demonstrated the effectiveness of the proposed torque estimation technique.

Elimination sequence optimization for SPAR

NASA Technical Reports Server (NTRS)

Hogan, Harry A.

1986-01-01

SPAR is a large-scale computer program for finite element structural analysis. The program allows user specification of the order in which the joints of a structure are to be eliminated since this order can have significant influence over solution performance, in terms of both storage requirements and computer time. An efficient elimination sequence can improve performance by over 50% for some problems. Obtaining such sequences, however, requires the expertise of an experienced user and can take hours of tedious effort to affect. Thus, an automatic elimination sequence optimizer would enhance productivity by reducing the analysts' problem definition time and by lowering computer costs. Two possible methods for automating the elimination sequence specifications were examined. Several algorithms based on the graph theory representations of sparse matrices were studied with mixed results. Significant improvement in the program performance was achieved, but sequencing by an experienced user still yields substantially better results. The initial results provide encouraging evidence that the potential benefits of such an automatic sequencer would be well worth the effort.

Simplified Design Method for Tension Fasteners

NASA Astrophysics Data System (ADS)

Olmstead, Jim; Barker, Paul; Vandersluis, Jonathan

2012-07-01

Tension fastened joints design has traditionally been an iterative tradeoff between separation and strength requirements. This paper presents equations for the maximum external load that a fastened joint can support and the optimal preload to achieve this load. The equations, based on linear joint theory, account for separation and strength safety factors and variations in joint geometry, materials, preload, load-plane factor and thermal loading. The strength-normalized versions of the equations are applicable to any fastener and can be plotted to create a "Fastener Design Space", FDS. Any combination of preload and tension that falls within the FDS represents a safe joint design. The equation for the FDS apex represents the optimal preload and load capacity of a set of joints. The method can be used for preliminary design or to evaluate multiple pre-existing joints.

Collaborative sparse priors for multi-view ATR

NASA Astrophysics Data System (ADS)

Li, Xuelu; Monga, Vishal

2018-04-01

Recent work has seen a surge of sparse representation based classification (SRC) methods applied to automatic target recognition problems. While traditional SRC approaches used l0 or l1 norm to quantify sparsity, spike and slab priors have established themselves as the gold standard for providing general tunable sparse structures on vectors. In this work, we employ collaborative spike and slab priors that can be applied to matrices to encourage sparsity for the problem of multi-view ATR. That is, target images captured from multiple views are expanded in terms of a training dictionary multiplied with a coefficient matrix. Ideally, for a test image set comprising of multiple views of a target, coefficients corresponding to its identifying class are expected to be active, while others should be zero, i.e. the coefficient matrix is naturally sparse. We develop a new approach to solve the optimization problem that estimates the sparse coefficient matrix jointly with the sparsity inducing parameters in the collaborative prior. ATR problems are investigated on the mid-wave infrared (MWIR) database made available by the US Army Night Vision and Electronic Sensors Directorate, which has a rich collection of views. Experimental results show that the proposed joint prior and coefficient estimation method (JPCEM) can: 1.) enable improved accuracy when multiple views vs. a single one are invoked, and 2.) outperform state of the art alternatives particularly when training imagery is limited.

An Extended Passive Motion Paradigm for Human-Like Posture and Movement Planning in Redundant Manipulators

PubMed Central

Tommasino, Paolo; Campolo, Domenico

2017-01-01

A major challenge in robotics and computational neuroscience is relative to the posture/movement problem in presence of kinematic redundancy. We recently addressed this issue using a principled approach which, in conjunction with nonlinear inverse optimization, allowed capturing postural strategies such as Donders' law. In this work, after presenting this general model specifying it as an extension of the Passive Motion Paradigm, we show how, once fitted to capture experimental postural strategies, the model is actually able to also predict movements. More specifically, the passive motion paradigm embeds two main intrinsic components: joint damping and joint stiffness. In previous work we showed that joint stiffness is responsible for static postures and, in this sense, its parameters are regressed to fit to experimental postural strategies. Here, we show how joint damping, in particular its anisotropy, directly affects task-space movements. Rather than using damping parameters to fit a posteriori task-space motions, we make the a priori hypothesis that damping is proportional to stiffness. This remarkably allows a postural-fitted model to also capture dynamic performance such as curvature and hysteresis of task-space trajectories during wrist pointing tasks, confirming and extending previous findings in literature. PMID:29249954

Design and Optimization of Slot Aluminum Alloy Connectors of Photovoltaics Applied to High-rise Building Facades

NASA Astrophysics Data System (ADS)

Liang, Ya-Wei; Zhang, Hong-Mei; Dong, Jin-Zhi; Shi, Zhen-Hua

2016-05-01

Building Integrated Photovoltaic (BIPV) is a resort to save energy and reduce heat gain of buildings, utilize new and renewable energy, solve environment problems and alleviate electricity shortage in large cities. The area needed to generate power makes facade integrated photovoltaic panel a superb choice, especially in high-rise buildings. Numerous scholars have hitherto explored Building Facade Integrated Photovoltaic, however, focusing mainly on thermal performance, which fails to ensure seismic safety of high-rise buildings integrated photovoltaic. Based on connecting forms of the glass curtain wall, a connector jointing photovoltaic panel and facade was designed, which underwent loading position and size optimization. Static loading scenarios were conducted to test and verify the connector's mechanical properties under gravity and wind loading by means of HyperWorks. Compared to the unoptimized design, the optimized one saved material and managed to reduce maximum deflection by 74.64%.

Fast super-resolution estimation of DOA and DOD in bistatic MIMO Radar with off-grid targets

NASA Astrophysics Data System (ADS)

Zhang, Dong; Zhang, Yongshun; Zheng, Guimei; Feng, Cunqian; Tang, Jun

2018-05-01

In this paper, we focus on the problem of joint DOA and DOD estimation in Bistatic MIMO Radar using sparse reconstruction method. In traditional ways, we usually convert the 2D parameter estimation problem into 1D parameter estimation problem by Kronecker product which will enlarge the scale of the parameter estimation problem and bring more computational burden. Furthermore, it requires that the targets must fall on the predefined grids. In this paper, a 2D-off-grid model is built which can solve the grid mismatch problem of 2D parameters estimation. Then in order to solve the joint 2D sparse reconstruction problem directly and efficiently, three kinds of fast joint sparse matrix reconstruction methods are proposed which are Joint-2D-OMP algorithm, Joint-2D-SL0 algorithm and Joint-2D-SOONE algorithm. Simulation results demonstrate that our methods not only can improve the 2D parameter estimation accuracy but also reduce the computational complexity compared with the traditional Kronecker Compressed Sensing method.

JIGSAW: Joint Inhomogeneity estimation via Global Segment Assembly for Water-fat separation.

PubMed

Lu, Wenmiao; Lu, Yi

2011-07-01

Water-fat separation in magnetic resonance imaging (MRI) is of great clinical importance, and the key to uniform water-fat separation lies in field map estimation. This work deals with three-point field map estimation, in which water and fat are modelled as two single-peak spectral lines, and field inhomogeneities shift the spectrum by an unknown amount. Due to the simplified spectrum modelling, there exists inherent ambiguity in forming field maps from multiple locally feasible field map values at each pixel. To resolve such ambiguity, spatial smoothness of field maps has been incorporated as a constraint of an optimization problem. However, there are two issues: the optimization problem is computationally intractable and even when it is solved exactly, it does not always separate water and fat images. Hence, robust field map estimation remains challenging in many clinically important imaging scenarios. This paper proposes a novel field map estimation technique called JIGSAW. It extends a loopy belief propagation (BP) algorithm to obtain an approximate solution to the optimization problem. The solution produces locally smooth segments and avoids error propagation associated with greedy methods. The locally smooth segments are then assembled into a globally consistent field map by exploiting the periodicity of the feasible field map values. In vivo results demonstrate that JIGSAW outperforms existing techniques and produces correct water-fat separation in challenging imaging scenarios.

On estimating the phase of periodic waveform in additive Gaussian noise, part 2

NASA Astrophysics Data System (ADS)

Rauch, L. L.

1984-11-01

Motivated by advances in signal processing technology that support more complex algorithms, a new look is taken at the problem of estimating the phase and other parameters of a periodic waveform in additive Gaussian noise. The general problem was introduced and the maximum a posteriori probability criterion with signal space interpretation was used to obtain the structures of optimum and some suboptimum phase estimators for known constant frequency and unknown constant phase with an a priori distribution. Optimal algorithms are obtained for some cases where the frequency is a parameterized function of time with the unknown parameters and phase having a joint a priori distribution. In the last section, the intrinsic and extrinsic geometry of hypersurfaces is introduced to provide insight to the estimation problem for the small noise and large noise cases.

On Estimating the Phase of Periodic Waveform in Additive Gaussian Noise, Part 2

NASA Technical Reports Server (NTRS)

Rauch, L. L.

1984-01-01

Motivated by advances in signal processing technology that support more complex algorithms, a new look is taken at the problem of estimating the phase and other parameters of a periodic waveform in additive Gaussian noise. The general problem was introduced and the maximum a posteriori probability criterion with signal space interpretation was used to obtain the structures of optimum and some suboptimum phase estimators for known constant frequency and unknown constant phase with an a priori distribution. Optimal algorithms are obtained for some cases where the frequency is a parameterized function of time with the unknown parameters and phase having a joint a priori distribution. In the last section, the intrinsic and extrinsic geometry of hypersurfaces is introduced to provide insight to the estimation problem for the small noise and large noise cases.

Mechanics of Suture Joints

NASA Astrophysics Data System (ADS)

Li, Yaning; Song, Juha; Ortiz, Christine; Boyce, Mary; Ortiz Group/DMSE/MIT Team; Boyce Group/ME/MIT Team

2011-03-01

Biological sutures are joints which connect two stiff skeletal or skeletal-like components. These joints possess a wavy geometry with a thin organic layer providing adhesion. Examples of biological sutures include mammalian skulls, the pelvic assembly of the armored fish Gasterosteus aculeatus (the three-spined stickleback), and the suture joints in the shell of the red-eared slider turtle. Biological sutures allow for movement and compliance, control stress concentrations, transmit loads, reduce fatigue stress and absorb energy. In this investigation, the mechanics of the role of suture geometry in providing a naturally optimized joint is explored. In particular, analytical and numerical micromechanical models of the suture joint are constructed. The anisotropic mechanical stiffness and strength are studied as a function of suture wavelength, amplitude and the material properties of the skeletal and organic components, revealing key insights into the optimized nature of these ubiquitous natural joints.

Extrinsic and intrinsic index finger muscle attachments in an OpenSim upper-extremity model.

PubMed

Lee, Jong Hwa; Asakawa, Deanna S; Dennerlein, Jack T; Jindrich, Devin L

2015-04-01

Musculoskeletal models allow estimation of muscle function during complex tasks. We used objective methods to determine possible attachment locations for index finger muscles in an OpenSim upper-extremity model. Data-driven optimization algorithms, Simulated Annealing and Hook-Jeeves, estimated tendon locations crossing the metacarpophalangeal (MCP), proximal interphalangeal (PIP) and distal interphalangeal (DIP) joints by minimizing the difference between model-estimated and experimentally-measured moment arms. Sensitivity analysis revealed that multiple sets of muscle attachments with similar optimized moment arms are possible, requiring additional assumptions or data to select a single set of values. The most smooth muscle paths were assumed to be biologically reasonable. Estimated tendon attachments resulted in variance accounted for (VAF) between calculated moment arms and measured values of 78% for flex/extension and 81% for ab/adduction at the MCP joint. VAF averaged 67% at the PIP joint and 54% at the DIP joint. VAF values at PIP and DIP joints partially reflected the constant moment arms reported for muscles about these joints. However, all moment arm values found through optimization were non-linear and non-constant. Relationships between moment arms and joint angles were best described with quadratic equations for tendons at the PIP and DIP joints.

Optimal area of lateral mass mini-screws implanted in plated cervical laminoplasty: a radiography anatomy study.

PubMed

Chen, Hua; Li, Huibo; Deng, Yuxiao; Rong, Xin; Gong, Quan; Li, Tao; Song, Yueming; Liu, Hao

2017-04-01

Lateral mass mini-screws used in plated cervical laminoplasty might penetrate into facet joints. The objective is to observe this complication incidence and to identify the optimal areas for 5- and 7-mm-long mini-screws to implant on lateral mass. 47 patients who underwent plated cervical laminoplasty were included. The optimal area for mini-screws implanting was set according to pre-operative 3D CT reconstruction data. Then, each posterior-lateral mass surface was divided into three regions: 7-mm region, 5-mm region, and dangerous area. The mini-screw implanted region was recorded. Post-operative CT images were used to identify whether the mini-screws penetrated into facet joints. 235 mini-plates and 470 lateral mass mini-screws were used in the study. 117 (24.9%) mini-screws penetrated 88 (37.4%) facet joints. The 5-mm-long mini-screw optimal area occupied the upper 72, 65, 65, 64, and 65 % area of the posterior-lateral mass surface for C3-7, while the 7-mm-long mini-screw optimal area encompassed the upper 54, 39, 40, 33, and 32 %. Only 7-mm-long mini-screws were used to fix the plate to the lateral mass. 4 of 240 mini-screws in 7-mm region, 67 of the 179 mini-screws in 5-mm region, and 46 of the 51 mini-screws in dangerous region penetrated into the facet joint. The differences in the rate of facet joint penetration related to region were statistically significant (P < 0.001). The facet joint destruction by mini-screws was not a rare complication in plated cervical laminoplasty. The optimal areas we proposed may help guide the mini-screw implantation positions.

Parametric representation of weld fillets using shell finite elements—a proposal based on minimum stiffness and inertia errors

NASA Astrophysics Data System (ADS)

Echer, L.; Marczak, R. J.

2018-02-01

The objective of the present work is to introduce a methodology capable of modelling welded components for structural stress analysis. The modelling technique was based on the recommendations of the International Institute of Welding; however, some geometrical features of the weld fillet were used as design parameters in an optimization problem. Namely, the weld leg length and thickness of the shell elements representing the weld fillet were optimized in such a way that the first natural frequencies were not changed significantly when compared to a reference result. Sequential linear programming was performed for T-joint structures corresponding to two different structural details: with and without full penetration weld fillets. Both structural details were tested in scenarios of various plate thicknesses and depths. Once the optimal parameters were found, a modelling procedure was proposed for T-shaped components. Furthermore, the proposed modelling technique was extended for overlapped welded joints. The results obtained were compared to well-established methodologies presented in standards and in the literature. The comparisons included results for natural frequencies, total mass and structural stress. By these comparisons, it was observed that some established practices produce significant errors in the overall stiffness and inertia. The methodology proposed herein does not share this issue and can be easily extended to other types of structure.

Surrogate modeling of deformable joint contact using artificial neural networks.

PubMed

Eskinazi, Ilan; Fregly, Benjamin J

2015-09-01

Deformable joint contact models can be used to estimate loading conditions for cartilage-cartilage, implant-implant, human-orthotic, and foot-ground interactions. However, contact evaluations are often so expensive computationally that they can be prohibitive for simulations or optimizations requiring thousands or even millions of contact evaluations. To overcome this limitation, we developed a novel surrogate contact modeling method based on artificial neural networks (ANNs). The method uses special sampling techniques to gather input-output data points from an original (slow) contact model in multiple domains of input space, where each domain represents a different physical situation likely to be encountered. For each contact force and torque output by the original contact model, a multi-layer feed-forward ANN is defined, trained, and incorporated into a surrogate contact model. As an evaluation problem, we created an ANN-based surrogate contact model of an artificial tibiofemoral joint using over 75,000 evaluations of a fine-grid elastic foundation (EF) contact model. The surrogate contact model computed contact forces and torques about 1000 times faster than a less accurate coarse grid EF contact model. Furthermore, the surrogate contact model was seven times more accurate than the coarse grid EF contact model within the input domain of a walking motion. For larger input domains, the surrogate contact model showed the expected trend of increasing error with increasing domain size. In addition, the surrogate contact model was able to identify out-of-contact situations with high accuracy. Computational contact models created using our proposed ANN approach may remove an important computational bottleneck from musculoskeletal simulations or optimizations incorporating deformable joint contact models. Copyright © 2015 IPEM. Published by Elsevier Ltd. All rights reserved.

Surrogate Modeling of Deformable Joint Contact using Artificial Neural Networks

PubMed Central

Eskinazi, Ilan; Fregly, Benjamin J.

2016-01-01

Deformable joint contact models can be used to estimate loading conditions for cartilage-cartilage, implant-implant, human-orthotic, and foot-ground interactions. However, contact evaluations are often so expensive computationally that they can be prohibitive for simulations or optimizations requiring thousands or even millions of contact evaluations. To overcome this limitation, we developed a novel surrogate contact modeling method based on artificial neural networks (ANNs). The method uses special sampling techniques to gather input-output data points from an original (slow) contact model in multiple domains of input space, where each domain represents a different physical situation likely to be encountered. For each contact force and torque output by the original contact model, a multi-layer feed-forward ANN is defined, trained, and incorporated into a surrogate contact model. As an evaluation problem, we created an ANN-based surrogate contact model of an artificial tibiofemoral joint using over 75,000 evaluations of a fine-grid elastic foundation (EF) contact model. The surrogate contact model computed contact forces and torques about 1000 times faster than a less accurate coarse grid EF contact model. Furthermore, the surrogate contact model was seven times more accurate than the coarse grid EF contact model within the input domain of a walking motion. For larger input domains, the surrogate contact model showed the expected trend of increasing error with increasing domain size. In addition, the surrogate contact model was able to identify out-of-contact situations with high accuracy. Computational contact models created using our proposed ANN approach may remove an important computational bottleneck from musculoskeletal simulations or optimizations incorporating deformable joint contact models. PMID:26220591

Evaluation of the chondral modeling theory using fe-simulation and numeric shape optimization

PubMed Central

Plochocki, Jeffrey H; Ward, Carol V; Smith, Douglas E

2009-01-01

The chondral modeling theory proposes that hydrostatic pressure within articular cartilage regulates joint size, shape, and congruence through regional variations in rates of tissue proliferation.The purpose of this study is to develop a computational model using a nonlinear two-dimensional finite element analysis in conjunction with numeric shape optimization to evaluate the chondral modeling theory. The model employed in this analysis is generated from an MR image of the medial portion of the tibiofemoral joint in a subadult male. Stress-regulated morphological changes are simulated until skeletal maturity and evaluated against the chondral modeling theory. The computed results are found to support the chondral modeling theory. The shape-optimized model exhibits increased joint congruence, broader stress distributions in articular cartilage, and a relative decrease in joint diameter. The results for the computational model correspond well with experimental data and provide valuable insights into the mechanical determinants of joint growth. The model also provides a crucial first step toward developing a comprehensive model that can be employed to test the influence of mechanical variables on joint conformation. PMID:19438771

Optimization of laser butt welding parameters with multiple performance characteristics

NASA Astrophysics Data System (ADS)

Sathiya, P.; Abdul Jaleel, M. Y.; Katherasan, D.; Shanmugarajan, B.

2011-04-01

This paper presents a study carried out on 3.5 kW cooled slab laser welding of 904 L super austenitic stainless steel. The joints have butts welded with different shielding gases, namely argon, helium and nitrogen, at a constant flow rate. Super austenitic stainless steel (SASS) normally contains high amount of Mo, Cr, Ni, N and Mn. The mechanical properties are controlled to obtain good welded joints. The quality of the joint is evaluated by studying the features of weld bead geometry, such as bead width (BW) and depth of penetration (DOP). In this paper, the tensile strength and bead profiles (BW and DOP) of laser welded butt joints made of AISI 904 L SASS are investigated. The Taguchi approach is used as a statistical design of experiment (DOE) technique for optimizing the selected welding parameters. Grey relational analysis and the desirability approach are applied to optimize the input parameters by considering multiple output variables simultaneously. Confirmation experiments have also been conducted for both of the analyses to validate the optimized parameters.

Application of CFE/POST2 for Simulation of Launch Vehicle Stage Separation

NASA Technical Reports Server (NTRS)

Pamadi, Bandu N.; Tartabini, Paul V.; Toniolo, Matthew D.; Roithmayr, Carlos M.; Karlgaard, Christopher D.; Samareh, Jamshid A.

2009-01-01

The constraint force equation (CFE) methodology provides a framework for modeling constraint forces and moments acting at joints that connect multiple vehicles. With implementation in Program to Optimize Simulated Trajectories II (POST 2), the CFE provides a capability to simulate end-to-end trajectories of launch vehicles, including stage separation. In this paper, the CFE/POST2 methodology is applied to the Shuttle-SRB separation problem as a test and validation case. The CFE/POST2 results are compared with STS-1 flight test data.

A multiobjective optimization model and an orthogonal design-based hybrid heuristic algorithm for regional urban mining management problems.

PubMed

Wu, Hao; Wan, Zhong

2018-02-01

In this paper, a multiobjective mixed-integer piecewise nonlinear programming model (MOMIPNLP) is built to formulate the management problem of urban mining system, where the decision variables are associated with buy-back pricing, choices of sites, transportation planning, and adjustment of production capacity. Different from the existing approaches, the social negative effect, generated from structural optimization of the recycling system, is minimized in our model, as well as the total recycling profit and utility from environmental improvement are jointly maximized. For solving the problem, the MOMIPNLP model is first transformed into an ordinary mixed-integer nonlinear programming model by variable substitution such that the piecewise feature of the model is removed. Then, based on technique of orthogonal design, a hybrid heuristic algorithm is developed to find an approximate Pareto-optimal solution, where genetic algorithm is used to optimize the structure of search neighborhood, and both local branching algorithm and relaxation-induced neighborhood search algorithm are employed to cut the searching branches and reduce the number of variables in each branch. Numerical experiments indicate that this algorithm spends less CPU (central processing unit) time in solving large-scale regional urban mining management problems, especially in comparison with the similar ones available in literature. By case study and sensitivity analysis, a number of practical managerial implications are revealed from the model. Since the metal stocks in society are reliable overground mineral sources, urban mining has been paid great attention as emerging strategic resources in an era of resource shortage. By mathematical modeling and development of efficient algorithms, this paper provides decision makers with useful suggestions on the optimal design of recycling system in urban mining. For example, this paper can answer how to encourage enterprises to join the recycling activities by government's support and subsidies, whether the existing recycling system can meet the developmental requirements or not, and what is a reasonable adjustment of production capacity.

[Which hip articulation bearing for which patient? : Tribology of the future].

PubMed

Morlock, M M; Bishop, N; Kaddick, C

2011-12-01

Replacement of the hip joint has become an exceptionally successful procedure since the inauguration of the low friction principle by Charnley. Aseptic osteolysis and joint dislocation have been addressed by the development of wear-optimized materials and the introduction of larger heads. As an increase in head diameter against polyethylene causes wear increase, larger hard-on-hard bearings were introduced, which exhibit reduced wear and reduced dislocation risk with increasing head diameter. These findings were derived from standard simulator testing, not sufficiently considering the risk of fluid film breakdown under adverse conditions, which can cause a dramatic increase in wear and friction proportional to the head diameter. Such adverse conditions can occur clinically in patients due to several factors and have caused the presently observed unexpected problems with these new designs. Standardized preclinical testing has to be viewed as a minimum requirement but certainly not as a guarantee for the clinical success of new materials and designs even if the testing is adapted to the current patient requirements, which is presently not the case. The future of tribology lies in the prevention of adverse conditions in patients, the improvement and optimized use of proven existing materials and not in the use of new materials.

Comparison of joint space versus task force load distribution optimization for a multiarm manipulator system

NASA Technical Reports Server (NTRS)

Soloway, Donald I.; Alberts, Thomas E.

1989-01-01

It is often proposed that the redundancy in choosing a force distribution for multiple arms grasping a single object should be handled by minimizing a quadratic performance index. The performance index may be formulated in terms of joint torques or in terms of the Cartesian space force/torque applied to the body by the grippers. The former seeks to minimize power consumption while the latter minimizes body stresses. Because the cost functions are related to each other by a joint angle dependent transformation on the weight matrix, it might be argued that either method tends to reduce power consumption, but clearly the joint space minimization is optimal. A comparison of these two options is presented with consideration given to computational cost and power consumption. Simulation results using a two arm robot system are presented to show the savings realized by employing the joint space optimization. These savings are offset by additional complexity, computation time and in some cases processor power consumption.

Human body motion tracking based on quantum-inspired immune cloning algorithm

NASA Astrophysics Data System (ADS)

Han, Hong; Yue, Lichuan; Jiao, Licheng; Wu, Xing

2009-10-01

In a static monocular camera system, to gain a perfect 3D human body posture is a great challenge for Computer Vision technology now. This paper presented human postures recognition from video sequences using the Quantum-Inspired Immune Cloning Algorithm (QICA). The algorithm included three parts. Firstly, prior knowledge of human beings was used, the key joint points of human could be detected automatically from the human contours and skeletons which could be thinning from the contours; And due to the complexity of human movement, a forecasting mechanism of occlusion joint points was addressed to get optimum 2D key joint points of human body; And then pose estimation recovered by optimizing between the 2D projection of 3D human key joint points and 2D detection key joint points using QICA, which recovered the movement of human body perfectly, because this algorithm could acquire not only the global optimal solution, but the local optimal solution.

[Ultrasound in complex of radiological studies in diagnosis of ankle joint medial aspect pathologies].

PubMed

Gurgenidze, T; Mizandari, M

2011-10-01

The aim of the research is to study sonosemiotics of ankle joint pathology by means of ultrasound in order to optimize the diagnostic process and improve the treatment. 130 patients (age ranges from 5 to 70 years) underwent the radiological study of ankle joint medial aspect. Pathology types: degenerative-dystrophic diseases - 39 (30%), inflammatory pathology - 21 (16.2%), traumatic injuries - 20 (15.2%), vascular pathologies - 26 (20%), neurogenic problems -7 (5.4%), soft tissue neoplasms - 5 (3.8%), congenital anomalies - 7 (5.4%) and vertebral pathology - 5 (4.0%). The diagnostic studies include: a) Ultrasound, performed on digital ultrasound system using high frequency (7.5-12.0 MHz) linear probe with Doppler capability (all patients); b) X-Ray filming in antero-posterior and lateral projections (6 patients- 4.5%); c) MRI - T1 and T2 weighted images in saggital and transverse planes 10 patients (10.0%) and d) CT - 2 patients (1.5%); To 2 (1.5%) patient biopsy has been performed. This study showed that ultrasound was successful in ankle joint medial aspect pathology diagnosis in 108 cases (84.0%); It was ineffective in osseous pathology definition. In final diagnosis of impingment syndrom MRI was required in 4 (3.6%) cases. It is concluded that ultrasound should be used as a Gold Standard in diagnosis of localized pain and swelling in the ankle joint.

Bilinear Inverse Problems: Theory, Algorithms, and Applications

NASA Astrophysics Data System (ADS)

Ling, Shuyang

We will discuss how several important real-world signal processing problems, such as self-calibration and blind deconvolution, can be modeled as bilinear inverse problems and solved by convex and nonconvex optimization approaches. In Chapter 2, we bring together three seemingly unrelated concepts, self-calibration, compressive sensing and biconvex optimization. We show how several self-calibration problems can be treated efficiently within the framework of biconvex compressive sensing via a new method called SparseLift. More specifically, we consider a linear system of equations y = DAx, where the diagonal matrix D (which models the calibration error) is unknown and x is an unknown sparse signal. By "lifting" this biconvex inverse problem and exploiting sparsity in this model, we derive explicit theoretical guarantees under which both x and D can be recovered exactly, robustly, and numerically efficiently. In Chapter 3, we study the question of the joint blind deconvolution and blind demixing, i.e., extracting a sequence of functions [special characters omitted] from observing only the sum of their convolutions [special characters omitted]. In particular, for the special case s = 1, it becomes the well-known blind deconvolution problem. We present a non-convex algorithm which guarantees exact recovery under conditions that are competitive with convex optimization methods, with the additional advantage of being computationally much more efficient. We discuss several applications of the proposed framework in image processing and wireless communications in connection with the Internet-of-Things. In Chapter 4, we consider three different self-calibration models of practical relevance. We show how their corresponding bilinear inverse problems can be solved by both the simple linear least squares approach and the SVD-based approach. As a consequence, the proposed algorithms are numerically extremely efficient, thus allowing for real-time deployment. Explicit theoretical guarantees and stability theory are derived and the number of sampling complexity is nearly optimal (up to a poly-log factor). Applications in imaging sciences and signal processing are discussed and numerical simulations are presented to demonstrate the effectiveness and efficiency of our approach.

Selection of optimal multispectral imaging system parameters for small joint arthritis detection

NASA Astrophysics Data System (ADS)

Dolenec, Rok; Laistler, Elmar; Stergar, Jost; Milanic, Matija

2018-02-01

Early detection and treatment of arthritis is essential for a successful outcome of the treatment, but it has proven to be very challenging with existing diagnostic methods. Novel methods based on the optical imaging of the affected joints are becoming an attractive alternative. A non-contact multispectral imaging (MSI) system for imaging of small joints of human hands and feet is being developed. In this work, a numerical simulation of the MSI system is presented. The purpose of the simulation is to determine the optimal design parameters. Inflamed and unaffected human joint models were constructed with a realistic geometry and tissue distributions, based on a MRI scan of a human finger with a spatial resolution of 0.2 mm. The light transport simulation is based on a weighted-photon 3D Monte Carlo method utilizing CUDA GPU acceleration. An uniform illumination of the finger within the 400-1100 nm spectral range was simulated and the photons exiting the joint were recorded using different acceptance angles. From the obtained reflectance and transmittance images the spectral and spatial features most indicative of inflammation were identified. Optimal acceptance angle and spectral bands were determined. This study demonstrates that proper selection of MSI system parameters critically affects ability of a MSI system to discriminate the unaffected and inflamed joints. The presented system design optimization approach could be applied to other pathologies.

Cooperative Adaptive Output Regulation for Second-Order Nonlinear Multiagent Systems With Jointly Connected Switching Networks.

PubMed

Liu, Wei; Huang, Jie

2018-03-01

This paper studies the cooperative global robust output regulation problem for a class of heterogeneous second-order nonlinear uncertain multiagent systems with jointly connected switching networks. The main contributions consist of the following three aspects. First, we generalize the result of the adaptive distributed observer from undirected jointly connected switching networks to directed jointly connected switching networks. Second, by performing a new coordinate and input transformation, we convert our problem into the cooperative global robust stabilization problem of a more complex augmented system via the distributed internal model principle. Third, we solve the stabilization problem by a distributed state feedback control law. Our result is illustrated by the leader-following consensus problem for a group of Van der Pol oscillators.

Target detection in GPR data using joint low-rank and sparsity constraints

NASA Astrophysics Data System (ADS)

Bouzerdoum, Abdesselam; Tivive, Fok Hing Chi; Abeynayake, Canicious

2016-05-01

In ground penetrating radars, background clutter, which comprises the signals backscattered from the rough, uneven ground surface and the background noise, impairs the visualization of buried objects and subsurface inspections. In this paper, a clutter mitigation method is proposed for target detection. The removal of background clutter is formulated as a constrained optimization problem to obtain a low-rank matrix and a sparse matrix. The low-rank matrix captures the ground surface reflections and the background noise, whereas the sparse matrix contains the target reflections. An optimization method based on split-Bregman algorithm is developed to estimate these two matrices from the input GPR data. Evaluated on real radar data, the proposed method achieves promising results in removing the background clutter and enhancing the target signature.

Multi-time Scale Joint Scheduling Method Considering the Grid of Renewable Energy

NASA Astrophysics Data System (ADS)

Zhijun, E.; Wang, Weichen; Cao, Jin; Wang, Xin; Kong, Xiangyu; Quan, Shuping

2018-01-01

Renewable new energy power generation prediction error like wind and light, brings difficulties to dispatch the power system. In this paper, a multi-time scale robust scheduling method is set to solve this problem. It reduces the impact of clean energy prediction bias to the power grid by using multi-time scale (day-ahead, intraday, real time) and coordinating the dispatching power output of various power supplies such as hydropower, thermal power, wind power, gas power and. The method adopts the robust scheduling method to ensure the robustness of the scheduling scheme. By calculating the cost of the abandon wind and the load, it transforms the robustness into the risk cost and optimizes the optimal uncertainty set for the smallest integrative costs. The validity of the method is verified by simulation.

A Scatter-Based Prototype Framework and Multi-Class Extension of Support Vector Machines

PubMed Central

Jenssen, Robert; Kloft, Marius; Zien, Alexander; Sonnenburg, Sören; Müller, Klaus-Robert

2012-01-01

We provide a novel interpretation of the dual of support vector machines (SVMs) in terms of scatter with respect to class prototypes and their mean. As a key contribution, we extend this framework to multiple classes, providing a new joint Scatter SVM algorithm, at the level of its binary counterpart in the number of optimization variables. This enables us to implement computationally efficient solvers based on sequential minimal and chunking optimization. As a further contribution, the primal problem formulation is developed in terms of regularized risk minimization and the hinge loss, revealing the score function to be used in the actual classification of test patterns. We investigate Scatter SVM properties related to generalization ability, computational efficiency, sparsity and sensitivity maps, and report promising results. PMID:23118845

Debiasing comparative optimism and increasing worry for health outcomes.

PubMed

Rose, Jason P

2012-11-01

Comparative optimism - feeling at less personal risk for negative outcomes than one's peers - has been linked to reduced prevention efforts. This study examined a novel debiasing technique aimed at simultaneously reducing both indirectly and directly measured comparative optimism. Before providing direct comparative estimates, participants provided absolute self and peer estimates in a joint format (same computer screen) or a separate format (different computer screens). Relative to the separate format condition, participants in the joint format condition showed (1) lower comparative optimism in absolute/indirect measures, (2) lower direct comparative optimism, and (3) heightened worry. Implications for risk perception screening are discussed.

Efficient mapping algorithms for scheduling robot inverse dynamics computation on a multiprocessor system

NASA Technical Reports Server (NTRS)

Lee, C. S. G.; Chen, C. L.

1989-01-01

Two efficient mapping algorithms for scheduling the robot inverse dynamics computation consisting of m computational modules with precedence relationship to be executed on a multiprocessor system consisting of p identical homogeneous processors with processor and communication costs to achieve minimum computation time are presented. An objective function is defined in terms of the sum of the processor finishing time and the interprocessor communication time. The minimax optimization is performed on the objective function to obtain the best mapping. This mapping problem can be formulated as a combination of the graph partitioning and the scheduling problems; both have been known to be NP-complete. Thus, to speed up the searching for a solution, two heuristic algorithms were proposed to obtain fast but suboptimal mapping solutions. The first algorithm utilizes the level and the communication intensity of the task modules to construct an ordered priority list of ready modules and the module assignment is performed by a weighted bipartite matching algorithm. For a near-optimal mapping solution, the problem can be solved by the heuristic algorithm with simulated annealing. These proposed optimization algorithms can solve various large-scale problems within a reasonable time. Computer simulations were performed to evaluate and verify the performance and the validity of the proposed mapping algorithms. Finally, experiments for computing the inverse dynamics of a six-jointed PUMA-like manipulator based on the Newton-Euler dynamic equations were implemented on an NCUBE/ten hypercube computer to verify the proposed mapping algorithms. Computer simulation and experimental results are compared and discussed.

Joint Optimization of Fluence Field Modulation and Regularization in Task-Driven Computed Tomography.

PubMed

Gang, G J; Siewerdsen, J H; Stayman, J W

2017-02-11

This work presents a task-driven joint optimization of fluence field modulation (FFM) and regularization in quadratic penalized-likelihood (PL) reconstruction. Conventional FFM strategies proposed for filtered-backprojection (FBP) are evaluated in the context of PL reconstruction for comparison. We present a task-driven framework that leverages prior knowledge of the patient anatomy and imaging task to identify FFM and regularization. We adopted a maxi-min objective that ensures a minimum level of detectability index ( d' ) across sample locations in the image volume. The FFM designs were parameterized by 2D Gaussian basis functions to reduce dimensionality of the optimization and basis function coefficients were estimated using the covariance matrix adaptation evolutionary strategy (CMA-ES) algorithm. The FFM was jointly optimized with both space-invariant and spatially-varying regularization strength ( β ) - the former via an exhaustive search through discrete values and the latter using an alternating optimization where β was exhaustively optimized locally and interpolated to form a spatially-varying map. The optimal FFM inverts as β increases, demonstrating the importance of a joint optimization. For the task and object investigated, the optimal FFM assigns more fluence through less attenuating views, counter to conventional FFM schemes proposed for FBP. The maxi-min objective homogenizes detectability throughout the image and achieves a higher minimum detectability than conventional FFM strategies. The task-driven FFM designs found in this work are counter to conventional patterns for FBP and yield better performance in terms of the maxi-min objective, suggesting opportunities for improved image quality and/or dose reduction when model-based reconstructions are applied in conjunction with FFM.

On the analytic and numeric optimisation of airplane trajectories under real atmospheric conditions

NASA Astrophysics Data System (ADS)

Gonzalo, J.; Domínguez, D.; López, D.

2014-12-01

From the beginning of aviation era, economic constraints have forced operators to continuously improve the planning of the flights. The revenue is proportional to the cost per flight and the airspace occupancy. Many methods, the first started in the middle of last century, have explore analytical, numerical and artificial intelligence resources to reach the optimal flight planning. In parallel, advances in meteorology and communications allow an almost real-time knowledge of the atmospheric conditions and a reliable, error-bounded forecast for the near future. Thus, apart from weather risks to be avoided, airplanes can dynamically adapt their trajectories to minimise their costs. International regulators are aware about these capabilities, so it is reasonable to envisage some changes to allow this dynamic planning negotiation to soon become operational. Moreover, current unmanned airplanes, very popular and often small, suffer the impact of winds and other weather conditions in form of dramatic changes in their performance. The present paper reviews analytic and numeric solutions for typical trajectory planning problems. Analytic methods are those trying to solve the problem using the Pontryagin principle, where influence parameters are added to state variables to form a split condition differential equation problem. The system can be solved numerically -indirect optimisation- or using parameterised functions -direct optimisation-. On the other hand, numerical methods are based on Bellman's dynamic programming (or Dijkstra algorithms), where the fact that two optimal trajectories can be concatenated to form a new optimal one if the joint point is demonstrated to belong to the final optimal solution. There is no a-priori conditions for the best method. Traditionally, analytic has been more employed for continuous problems whereas numeric for discrete ones. In the current problem, airplane behaviour is defined by continuous equations, while wind fields are given in a discrete grid at certain time intervals. The research demonstrates advantages and disadvantages of each method as well as performance figures of the solutions found for typical flight conditions under static and dynamic atmospheres. This provides significant parameters to be used in the selection of solvers for optimal trajectories.

Structural Damage Detection Using Changes in Natural Frequencies: Theory and Applications

NASA Astrophysics Data System (ADS)

He, K.; Zhu, W. D.

2011-07-01

A vibration-based method that uses changes in natural frequencies of a structure to detect damage has advantages over conventional nondestructive tests in detecting various types of damage, including loosening of bolted joints, using minimum measurement data. Two major challenges associated with applications of the vibration-based damage detection method to engineering structures are addressed: accurate modeling of structures and the development of a robust inverse algorithm to detect damage, which are defined as the forward and inverse problems, respectively. To resolve the forward problem, new physics-based finite element modeling techniques are developed for fillets in thin-walled beams and for bolted joints, so that complex structures can be accurately modeled with a reasonable model size. To resolve the inverse problem, a logistical function transformation is introduced to convert the constrained optimization problem to an unconstrained one, and a robust iterative algorithm using a trust-region method, called the Levenberg-Marquardt method, is developed to accurately detect the locations and extent of damage. The new methodology can ensure global convergence of the iterative algorithm in solving under-determined system equations and deal with damage detection problems with relatively large modeling error and measurement noise. The vibration-based damage detection method is applied to various structures including lightning masts, a space frame structure and one of its components, and a pipeline. The exact locations and extent of damage can be detected in the numerical simulation where there is no modeling error and measurement noise. The locations and extent of damage can be successfully detected in experimental damage detection.

Joint learning of labels and distance metric.

PubMed

Liu, Bo; Wang, Meng; Hong, Richang; Zha, Zhengjun; Hua, Xian-Sheng

2010-06-01

Machine learning algorithms frequently suffer from the insufficiency of training data and the usage of inappropriate distance metric. In this paper, we propose a joint learning of labels and distance metric (JLLDM) approach, which is able to simultaneously address the two difficulties. In comparison with the existing semi-supervised learning and distance metric learning methods that focus only on label prediction or distance metric construction, the JLLDM algorithm optimizes the labels of unlabeled samples and a Mahalanobis distance metric in a unified scheme. The advantage of JLLDM is multifold: 1) the problem of training data insufficiency can be tackled; 2) a good distance metric can be constructed with only very few training samples; and 3) no radius parameter is needed since the algorithm automatically determines the scale of the metric. Extensive experiments are conducted to compare the JLLDM approach with different semi-supervised learning and distance metric learning methods, and empirical results demonstrate its effectiveness.

Verification of a Constraint Force Equation Methodology for Modeling Multi-Body Stage Separation

NASA Technical Reports Server (NTRS)

Tartabini, Paul V.; Roithmayr, Carlos; Toniolo, Matthew D.; Karlgaard, Christopher; Pamadi, Bandu N.

2008-01-01

This paper discusses the verification of the Constraint Force Equation (CFE) methodology and its implementation in the Program to Optimize Simulated Trajectories II (POST2) for multibody separation problems using three specially designed test cases. The first test case involves two rigid bodies connected by a fixed joint; the second case involves two rigid bodies connected with a universal joint; and the third test case is that of Mach 7 separation of the Hyper-X vehicle. For the first two cases, the POST2/CFE solutions compared well with those obtained using industry standard benchmark codes, namely AUTOLEV and ADAMS. For the Hyper-X case, the POST2/CFE solutions were in reasonable agreement with the flight test data. The CFE implementation in POST2 facilitates the analysis and simulation of stage separation as an integral part of POST2 for seamless end-to-end simulations of launch vehicle trajectories.

New color-based tracking algorithm for joints of the upper extremities

NASA Astrophysics Data System (ADS)

Wu, Xiangping; Chow, Daniel H. K.; Zheng, Xiaoxiang

2007-11-01

To track the joints of the upper limb of stroke sufferers for rehabilitation assessment, a new tracking algorithm which utilizes a developed color-based particle filter and a novel strategy for handling occlusions is proposed in this paper. Objects are represented by their color histogram models and particle filter is introduced to track the objects within a probability framework. Kalman filter, as a local optimizer, is integrated into the sampling stage of the particle filter that steers samples to a region with high likelihood and therefore fewer samples is required. A color clustering method and anatomic constraints are used in dealing with occlusion problem. Compared with the general basic particle filtering method, the experimental results show that the new algorithm has reduced the number of samples and hence the computational consumption, and has achieved better abilities of handling complete occlusion over a few frames.

A novel method for trajectory planning of cooperative mobile manipulators.

PubMed

Bolandi, Hossein; Ehyaei, Amir Farhad

2011-01-01

We have designed a two-stage scheme to consider the trajectory planning problem of two mobile manipulators for cooperative transportation of a rigid body in the presence of static obstacles. In the first stage, with regard to the static obstacles, we develop a method that searches the workspace for the shortest possible path between the start and goal configurations, by constructing a graph on a portion of the configuration space that satisfies the collision and closure constraints. The final stage is to calculate a sequence of time-optimal trajectories to go between the consecutive points of the path, with regard to the nonholonomic constraints and the maximum allowed joint accelerations. This approach allows geometric constraints such as joint limits and closed-chain constraints, along with differential constraints such as nonholonomic velocity constraints and acceleration limits, to be incorporated into the planning scheme. The simulation results illustrate the effectiveness of the proposed method.

A Novel Method for Trajectory Planning of Cooperative Mobile Manipulators

PubMed Central

Bolandi, Hossein; Ehyaei, Amir Farhad

2011-01-01

We have designed a two-stage scheme to consider the trajectory planning problem of two mobile manipulators for cooperative transportation of a rigid body in the presence of static obstacles. In the first stage, with regard to the static obstacles, we develop a method that searches the workspace for the shortest possible path between the start and goal configurations, by constructing a graph on a portion of the configuration space that satisfies the collision and closure constraints. The final stage is to calculate a sequence of time-optimal trajectories to go between the consecutive points of the path, with regard to the nonholonomic constraints and the maximum allowed joint accelerations. This approach allows geometric constraints such as joint limits and closed-chain constraints, along with differential constraints such as nonholonomic velocity constraints and acceleration limits, to be incorporated into the planning scheme. The simulation results illustrate the effectiveness of the proposed method. PMID:22606656

An Investigation of Joint Service Acquisition Logistics Issues/Problems and Automated Joint Program Support.

DTIC Science & Technology

1984-09-01

Management Information System (ALMIS) to address them. Literature was surveyed and problems were summarized and developed into a questionnaire. Structured interviews were then conducted with over 100 different Air Force and civilian upper and middle JSAP managers. Many general and specific problems and issues were identified and validated using statistical and qualitative methods. General use of ALMIS to address certain joint service problem areas was confirmed. Potential use and desirable capabilities for ALMIS were also determined. Recommendations for ALMIS

Optimal Synthesis of the Joint Unitary Evolutions

NASA Astrophysics Data System (ADS)

Wei, Hai-Rui; Alsaedi, Ahmed; Hobiny, Aatef; Deng, Fu-Guo; Hu, Hui; Zhang, Dun

2018-07-01

Joint unitary operations play a central role in quantum communication and computation. We give a quantum circuit for implementing a type of unconstructed useful joint unitary evolutions in terms of controlled-NOT (CNOT) gates and single-qubit rotations. Our synthesis is optimal and possible in experiment. Two CNOT gates and seven R x , R y or R z rotations are required for our synthesis, and the arbitrary parameter contained in the evolutions can be controlled by local Hamiltonian or external fields.

Optimal Synthesis of the Joint Unitary Evolutions

NASA Astrophysics Data System (ADS)

Wei, Hai-Rui; Alsaedi, Ahmed; Hobiny, Aatef; Deng, Fu-Guo; Hu, Hui; Zhang, Dun

2018-03-01

Joint unitary operations play a central role in quantum communication and computation. We give a quantum circuit for implementing a type of unconstructed useful joint unitary evolutions in terms of controlled-NOT (CNOT) gates and single-qubit rotations. Our synthesis is optimal and possible in experiment. Two CNOT gates and seven R x , R y or R z rotations are required for our synthesis, and the arbitrary parameter contained in the evolutions can be controlled by local Hamiltonian or external fields.

Social Trust Prediction Using Heterogeneous Networks

PubMed Central

HUANG, JIN; NIE, FEIPING; HUANG, HENG; TU, YI-CHENG; LEI, YU

2014-01-01

Along with increasing popularity of social websites, online users rely more on the trustworthiness information to make decisions, extract and filter information, and tag and build connections with other users. However, such social network data often suffer from severe data sparsity and are not able to provide users with enough information. Therefore, trust prediction has emerged as an important topic in social network research. Traditional approaches are primarily based on exploring trust graph topology itself. However, research in sociology and our life experience suggest that people who are in the same social circle often exhibit similar behaviors and tastes. To take advantage of the ancillary information for trust prediction, the challenge then becomes what to transfer and how to transfer. In this article, we address this problem by aggregating heterogeneous social networks and propose a novel joint social networks mining (JSNM) method. Our new joint learning model explores the user-group-level similarity between correlated graphs and simultaneously learns the individual graph structure; therefore, the shared structures and patterns from multiple social networks can be utilized to enhance the prediction tasks. As a result, we not only improve the trust prediction in the target graph but also facilitate other information retrieval tasks in the auxiliary graphs. To optimize the proposed objective function, we use the alternative technique to break down the objective function into several manageable subproblems. We further introduce the auxiliary function to solve the optimization problems with rigorously proved convergence. The extensive experiments have been conducted on both synthetic and real- world data. All empirical results demonstrate the effectiveness of our method. PMID:24729776

Social Trust Prediction Using Heterogeneous Networks.

PubMed

Huang, Jin; Nie, Feiping; Huang, Heng; Tu, Yi-Cheng; Lei, Yu

2013-11-01

Along with increasing popularity of social websites, online users rely more on the trustworthiness information to make decisions, extract and filter information, and tag and build connections with other users. However, such social network data often suffer from severe data sparsity and are not able to provide users with enough information. Therefore, trust prediction has emerged as an important topic in social network research. Traditional approaches are primarily based on exploring trust graph topology itself. However, research in sociology and our life experience suggest that people who are in the same social circle often exhibit similar behaviors and tastes. To take advantage of the ancillary information for trust prediction, the challenge then becomes what to transfer and how to transfer. In this article, we address this problem by aggregating heterogeneous social networks and propose a novel joint social networks mining (JSNM) method. Our new joint learning model explores the user-group-level similarity between correlated graphs and simultaneously learns the individual graph structure; therefore, the shared structures and patterns from multiple social networks can be utilized to enhance the prediction tasks. As a result, we not only improve the trust prediction in the target graph but also facilitate other information retrieval tasks in the auxiliary graphs. To optimize the proposed objective function, we use the alternative technique to break down the objective function into several manageable subproblems. We further introduce the auxiliary function to solve the optimization problems with rigorously proved convergence. The extensive experiments have been conducted on both synthetic and real- world data. All empirical results demonstrate the effectiveness of our method.

Parameter optimization of fusion splicing of photonic crystal fibers and conventional fibers to increase strength

NASA Astrophysics Data System (ADS)

Zhang, Chunxi; Zhang, Zuchen; Song, Jingming; Wu, Chunxiao; Song, Ningfang

2015-03-01

A splicing parameter optimization method to increase the tensile strength of splicing joint between photonic crystal fiber (PCF) and conventional fiber is demonstrated. Based on the splicing recipes provided by splicer or fiber manufacturers, the optimal values of some major splicing parameters are obtained in sequence, and a conspicuous improvement in the mechanical strength of splicing joints between PCFs and conventional fibers is validated through experiments.

Laser-based rework in electronics production

NASA Astrophysics Data System (ADS)

Albert, Florian; Mys, Ihor; Schmidt, Michael

2007-02-01

Despite the electronic manufacturing is well-established mass production process for a long time, the problem of reworking, i.a. reject and replace of defect components, still exists. The rework operations (soldering, replacement and desoldering) are performed in most cases manually. However, this practice is characterized by an inconsistent quality of the reworked solder joints and a high degree of physiological stress for the employees. In this paper, we propose a novel full-automated laser based soldering and rework process. Our developed soldering system is a pick-and-place unit with an integrated galvanometer scanner, a fiber coupled diode laser for quasi-simultaneous soldering and a pyrometer-based process control. The developed system provides soldering and reworking processes taking into account a kind of defect, a type of electronic component and quality requirements from the IPC- 610 norm. The paper spends a great deal of efforts to analyze quality of laser reworked solder joints. The quality depends mainly on the type and thickness of intermetallic phases between solder, pads and leads; the wetting angles between pad, solder and lead; and finally, the joint microstructure with its mechanical properties. The influence of the rework soldering on these three factors is discussed and compared to conventional laser soldering results. In order to optimize the quality of reworked joints, the different strategies of energy input are applied.

An efficient approach for inverse kinematics and redundancy resolution scheme of hyper-redundant manipulators

NASA Astrophysics Data System (ADS)

Chembuly, V. V. M. J. Satish; Voruganti, Hari Kumar

2018-04-01

Hyper redundant manipulators have a large number of degrees of freedom (DOF) than the required to perform a given task. Additional DOF of manipulators provide the flexibility to work in highly cluttered environment and in constrained workspaces. Inverse kinematics (IK) of hyper-redundant manipulators is complicated due to large number of DOF and these manipulators have multiple IK solutions. The redundancy gives a choice of selecting best solution out of multiple solutions based on certain criteria such as obstacle avoidance, singularity avoidance, joint limit avoidance and joint torque minimization. This paper focuses on IK solution and redundancy resolution of hyper-redundant manipulator using classical optimization approach. Joint positions are computed by optimizing various criteria for a serial hyper redundant manipulators while traversing different paths in the workspace. Several cases are addressed using this scheme to obtain the inverse kinematic solution while optimizing the criteria like obstacle avoidance, joint limit avoidance.

Multicasting for all-optical multifiber networks

NASA Astrophysics Data System (ADS)

Kã¶Ksal, Fatih; Ersoy, Cem

2007-02-01

All-optical wavelength-routed WDM WANs can support the high bandwidth and the long session duration requirements of the application scenarios such as interactive distance learning or on-line diagnosis of patients simultaneously in different hospitals. However, multifiber and limited sparse light splitting and wavelength conversion capabilities of switches result in a difficult optimization problem. We attack this problem using a layered graph model. The problem is defined as a k-edge-disjoint degree-constrained Steiner tree problem for routing and fiber and wavelength assignment of k multicasts. A mixed integer linear programming formulation for the problem is given, and a solution using CPLEX is provided. However, the complexity of the problem grows quickly with respect to the number of edges in the layered graph, which depends on the number of nodes, fibers, wavelengths, and multicast sessions. Hence, we propose two heuristics layered all-optical multicast algorithm [(LAMA) and conservative fiber and wavelength assignment (C-FWA)] to compare with CPLEX, existing work, and unicasting. Extensive computational experiments show that LAMA's performance is very close to CPLEX, and it is significantly better than existing work and C-FWA for nearly all metrics, since LAMA jointly optimizes routing and fiber-wavelength assignment phases compared with the other candidates, which attack the problem by decomposing two phases. Experiments also show that important metrics (e.g., session and group blocking probability, transmitter wavelength, and fiber conversion resources) are adversely affected by the separation of two phases. Finally, the fiber-wavelength assignment strategy of C-FWA (Ex-Fit) uses wavelength and fiber conversion resources more effectively than the First Fit.

Interim guide for optimum joint performance of concrete pavements.

DOT National Transportation Integrated Search

2011-09-01

The purpose of this guide is to help practitioners understand how to optimize concrete pavement joint performance through the identification, mitigation, and prevention of joint deterioration. It summarizes current knowledge from research and practic...

Sequential bearings-only-tracking initiation with particle filtering method.

PubMed

Liu, Bin; Hao, Chengpeng

2013-01-01

The tracking initiation problem is examined in the context of autonomous bearings-only-tracking (BOT) of a single appearing/disappearing target in the presence of clutter measurements. In general, this problem suffers from a combinatorial explosion in the number of potential tracks resulted from the uncertainty in the linkage between the target and the measurement (a.k.a the data association problem). In addition, the nonlinear measurements lead to a non-Gaussian posterior probability density function (pdf) in the optimal Bayesian sequential estimation framework. The consequence of this nonlinear/non-Gaussian context is the absence of a closed-form solution. This paper models the linkage uncertainty and the nonlinear/non-Gaussian estimation problem jointly with solid Bayesian formalism. A particle filtering (PF) algorithm is derived for estimating the model's parameters in a sequential manner. Numerical results show that the proposed solution provides a significant benefit over the most commonly used methods, IPDA and IMMPDA. The posterior Cramér-Rao bounds are also involved for performance evaluation.

Polarimetric image reconstruction algorithms

NASA Astrophysics Data System (ADS)

Valenzuela, John R.

In the field of imaging polarimetry Stokes parameters are sought and must be inferred from noisy and blurred intensity measurements. Using a penalized-likelihood estimation framework we investigate reconstruction quality when estimating intensity images and then transforming to Stokes parameters (traditional estimator), and when estimating Stokes parameters directly (Stokes estimator). We define our cost function for reconstruction by a weighted least squares data fit term and a regularization penalty. It is shown that under quadratic regularization, the traditional and Stokes estimators can be made equal by appropriate choice of regularization parameters. It is empirically shown that, when using edge preserving regularization, estimating the Stokes parameters directly leads to lower RMS error in reconstruction. Also, the addition of a cross channel regularization term further lowers the RMS error for both methods especially in the case of low SNR. The technique of phase diversity has been used in traditional incoherent imaging systems to jointly estimate an object and optical system aberrations. We extend the technique of phase diversity to polarimetric imaging systems. Specifically, we describe penalized-likelihood methods for jointly estimating Stokes images and optical system aberrations from measurements that contain phase diversity. Jointly estimating Stokes images and optical system aberrations involves a large parameter space. A closed-form expression for the estimate of the Stokes images in terms of the aberration parameters is derived and used in a formulation that reduces the dimensionality of the search space to the number of aberration parameters only. We compare the performance of the joint estimator under both quadratic and edge-preserving regularization. The joint estimator with edge-preserving regularization yields higher fidelity polarization estimates than with quadratic regularization. Under quadratic regularization, using the reduced-parameter search strategy, accurate aberration estimates can be obtained without recourse to regularization "tuning". Phase-diverse wavefront sensing is emerging as a viable candidate wavefront sensor for adaptive-optics systems. In a quadratically penalized weighted least squares estimation framework a closed form expression for the object being imaged in terms of the aberrations in the system is available. This expression offers a dramatic reduction of the dimensionality of the estimation problem and thus is of great interest for practical applications. We have derived an expression for an approximate joint covariance matrix for object and aberrations in the phase diversity context. Our expression for the approximate joint covariance is compared with the "known-object" Cramer-Rao lower bound that is typically used for system parameter optimization. Estimates of the optimal amount of defocus in a phase-diverse wavefront sensor derived from the joint-covariance matrix, the known-object Cramer-Rao bound, and Monte Carlo simulations are compared for an extended scene and a point object. It is found that our variance approximation, that incorporates the uncertainty of the object, leads to an improvement in predicting the optimal amount of defocus to use in a phase-diverse wavefront sensor.

Secure Distributed Detection under Energy Constraint in IoT-Oriented Sensor Networks.

PubMed

Zhang, Guomei; Sun, Hao

2016-12-16

We study the secure distributed detection problems under energy constraint for IoT-oriented sensor networks. The conventional channel-aware encryption (CAE) is an efficient physical-layer secure distributed detection scheme in light of its energy efficiency, good scalability and robustness over diverse eavesdropping scenarios. However, in the CAE scheme, it remains an open problem of how to optimize the key thresholds for the estimated channel gain, which are used to determine the sensor's reporting action. Moreover, the CAE scheme does not jointly consider the accuracy of local detection results in determining whether to stay dormant for a sensor. To solve these problems, we first analyze the error probability and derive the optimal thresholds in the CAE scheme under a specified energy constraint. These results build a convenient mathematic framework for our further innovative design. Under this framework, we propose a hybrid secure distributed detection scheme. Our proposal can satisfy the energy constraint by keeping some sensors inactive according to the local detection confidence level, which is characterized by likelihood ratio. In the meanwhile, the security is guaranteed through randomly flipping the local decisions forwarded to the fusion center based on the channel amplitude. We further optimize the key parameters of our hybrid scheme, including two local decision thresholds and one channel comparison threshold. Performance evaluation results demonstrate that our hybrid scheme outperforms the CAE under stringent energy constraints, especially in the high signal-to-noise ratio scenario, while the security is still assured.

Optimal actuator location within a morphing wing scissor mechanism configuration

NASA Astrophysics Data System (ADS)

Joo, James J.; Sanders, Brian; Johnson, Terrence; Frecker, Mary I.

2006-03-01

In this paper, the optimal location of a distributed network of actuators within a scissor wing mechanism is investigated. The analysis begins by developing a mechanical understanding of a single cell representation of the mechanism. This cell contains four linkages connected by pin joints, a single actuator, two springs to represent the bidirectional behavior of a flexible skin, and an external load. Equilibrium equations are developed using static analysis and the principle of virtual work equations. An objective function is developed to maximize the efficiency of the unit cell model. It is defined as useful work over input work. There are two constraints imposed on this problem. The first is placed on force transferred from the external source to the actuator. It should be less than the blocked actuator force. The other is to require the ratio of output displacement over input displacement, i.e., geometrical advantage (GA), of the cell to be larger than a prescribed value. Sequential quadratic programming is used to solve the optimization problem. This process suggests a systematic approach to identify an optimum location of an actuator and to avoid the selection of location by trial and error. Preliminary results show that optimum locations of an actuator can be selected out of feasible regions according to the requirements of the problem such as a higher GA, a higher efficiency, or a smaller transferred force from external force. Results include analysis of single and multiple cell wing structures and some experimental comparisons.

Secure Distributed Detection under Energy Constraint in IoT-Oriented Sensor Networks

PubMed Central

Zhang, Guomei; Sun, Hao

2016-01-01

We study the secure distributed detection problems under energy constraint for IoT-oriented sensor networks. The conventional channel-aware encryption (CAE) is an efficient physical-layer secure distributed detection scheme in light of its energy efficiency, good scalability and robustness over diverse eavesdropping scenarios. However, in the CAE scheme, it remains an open problem of how to optimize the key thresholds for the estimated channel gain, which are used to determine the sensor’s reporting action. Moreover, the CAE scheme does not jointly consider the accuracy of local detection results in determining whether to stay dormant for a sensor. To solve these problems, we first analyze the error probability and derive the optimal thresholds in the CAE scheme under a specified energy constraint. These results build a convenient mathematic framework for our further innovative design. Under this framework, we propose a hybrid secure distributed detection scheme. Our proposal can satisfy the energy constraint by keeping some sensors inactive according to the local detection confidence level, which is characterized by likelihood ratio. In the meanwhile, the security is guaranteed through randomly flipping the local decisions forwarded to the fusion center based on the channel amplitude. We further optimize the key parameters of our hybrid scheme, including two local decision thresholds and one channel comparison threshold. Performance evaluation results demonstrate that our hybrid scheme outperforms the CAE under stringent energy constraints, especially in the high signal-to-noise ratio scenario, while the security is still assured. PMID:27999282

Impact of mechanism vibration characteristics by joint clearance and optimization design of its multi-objective robustness

NASA Astrophysics Data System (ADS)

Zeng, Baoping; Wang, Chao; Zhang, Yu; Gong, Yajun; Hu, Sanbao

2017-12-01

Joint clearances and friction characteristics significantly influence the mechanism vibration characteristics; for example: as for joint clearances, the shaft and bearing of its clearance joint collide to bring about the dynamic normal contact force and tangential coulomb friction force while the mechanism works; thus, the whole system may vibrate; moreover, the mechanism is under contact-impact with impact force constraint from free movement under action of the above dynamic forces; in addition, the mechanism topology structure also changes. The constraint relationship between joints may be established by a repeated complex nonlinear dynamic process (idle stroke - contact-impact - elastic compression - rebound - impact relief - idle stroke movement - contact-impact). Analysis of vibration characteristics of joint parts is still a challenging open task by far. The dynamic equations for any mechanism with clearance is often a set of strong coupling, high-dimensional and complex time-varying nonlinear differential equations which are solved very difficultly. Moreover, complicated chaotic motions very sensitive to initial values in impact and vibration due to clearance let high-precision simulation and prediction of their dynamic behaviors be more difficult; on the other hand, their subsequent wearing necessarily leads to some certain fluctuation of structure clearance parameters, which acts as one primary factor for vibration of the mechanical system. A dynamic model was established to the device for opening the deepwater robot cabin door with joint clearance by utilizing the finite element method and analysis was carried out to its vibration characteristics in this study. Moreover, its response model was carried out by utilizing the DOE method and then the robust optimization design was performed to sizes of the joint clearance and the friction coefficient change range so that the optimization design results may be regarded as reference data for selecting bearings and controlling manufacturing process parameters for the opening mechanism. Several optimization objectives such as x/y/z accelerations for various measuring points and dynamic reaction forces of mounting brackets, and a few constraints including manufacturing process were taken into account in the optimization models, which were solved by utilizing the multi-objective genetic algorithm (NSGA-II). The vibration characteristics of the optimized opening mechanism are superior to those of the original design. In addition, the numerical forecast results are in good agreement with the test results of the prototype.

A distributed multichannel demand-adaptive P2P VoD system with optimized caching and neighbor-selection

NASA Astrophysics Data System (ADS)

Zhang, Hao; Chen, Minghua; Parekh, Abhay; Ramchandran, Kannan

2011-09-01

We design a distributed multi-channel P2P Video-on-Demand (VoD) system using "plug-and-play" helpers. Helpers are heterogenous "micro-servers" with limited storage, bandwidth and number of users they can serve simultaneously. Our proposed system has the following salient features: (1) it jointly optimizes over helper-user connection topology, video storage distribution and transmission bandwidth allocation; (2) it minimizes server load, and is adaptable to varying supply and demand patterns across multiple video channels irrespective of video popularity; and (3) it is fully distributed and requires little or no maintenance overhead. The combinatorial nature of the problem and the system demand for distributed algorithms makes the problem uniquely challenging. By utilizing Lagrangian decomposition and Markov chain approximation based arguments, we address this challenge by designing two distributed algorithms running in tandem: a primal-dual storage and bandwidth allocation algorithm and a "soft-worst-neighbor-choking" topology-building algorithm. Our scheme provably converges to a near-optimal solution, and is easy to implement in practice. Packet-level simulation results show that the proposed scheme achieves minimum sever load under highly heterogeneous combinations of supply and demand patterns, and is robust to system dynamics of user/helper churn, user/helper asynchrony, and random delays in the network.

Information theory-based decision support system for integrated design of multivariable hydrometric networks

NASA Astrophysics Data System (ADS)

Keum, Jongho; Coulibaly, Paulin

2017-07-01

Adequate and accurate hydrologic information from optimal hydrometric networks is an essential part of effective water resources management. Although the key hydrologic processes in the water cycle are interconnected, hydrometric networks (e.g., streamflow, precipitation, groundwater level) have been routinely designed individually. A decision support framework is proposed for integrated design of multivariable hydrometric networks. The proposed method is applied to design optimal precipitation and streamflow networks simultaneously. The epsilon-dominance hierarchical Bayesian optimization algorithm was combined with Shannon entropy of information theory to design and evaluate hydrometric networks. Specifically, the joint entropy from the combined networks was maximized to provide the most information, and the total correlation was minimized to reduce redundant information. To further optimize the efficiency between the networks, they were designed by maximizing the conditional entropy of the streamflow network given the information of the precipitation network. Compared to the traditional individual variable design approach, the integrated multivariable design method was able to determine more efficient optimal networks by avoiding the redundant stations. Additionally, four quantization cases were compared to evaluate their effects on the entropy calculations and the determination of the optimal networks. The evaluation results indicate that the quantization methods should be selected after careful consideration for each design problem since the station rankings and the optimal networks can change accordingly.

Joint Optimization of Fluence Field Modulation and Regularization in Task-Driven Computed Tomography

PubMed Central

Gang, G. J.; Siewerdsen, J. H.; Stayman, J. W.

2017-01-01

Purpose This work presents a task-driven joint optimization of fluence field modulation (FFM) and regularization in quadratic penalized-likelihood (PL) reconstruction. Conventional FFM strategies proposed for filtered-backprojection (FBP) are evaluated in the context of PL reconstruction for comparison. Methods We present a task-driven framework that leverages prior knowledge of the patient anatomy and imaging task to identify FFM and regularization. We adopted a maxi-min objective that ensures a minimum level of detectability index (d′) across sample locations in the image volume. The FFM designs were parameterized by 2D Gaussian basis functions to reduce dimensionality of the optimization and basis function coefficients were estimated using the covariance matrix adaptation evolutionary strategy (CMA-ES) algorithm. The FFM was jointly optimized with both space-invariant and spatially-varying regularization strength (β) - the former via an exhaustive search through discrete values and the latter using an alternating optimization where β was exhaustively optimized locally and interpolated to form a spatially-varying map. Results The optimal FFM inverts as β increases, demonstrating the importance of a joint optimization. For the task and object investigated, the optimal FFM assigns more fluence through less attenuating views, counter to conventional FFM schemes proposed for FBP. The maxi-min objective homogenizes detectability throughout the image and achieves a higher minimum detectability than conventional FFM strategies. Conclusions The task-driven FFM designs found in this work are counter to conventional patterns for FBP and yield better performance in terms of the maxi-min objective, suggesting opportunities for improved image quality and/or dose reduction when model-based reconstructions are applied in conjunction with FFM. PMID:28626290

Joint optimization of fluence field modulation and regularization in task-driven computed tomography

NASA Astrophysics Data System (ADS)

Gang, G. J.; Siewerdsen, J. H.; Stayman, J. W.

2017-03-01

Purpose: This work presents a task-driven joint optimization of fluence field modulation (FFM) and regularization in quadratic penalized-likelihood (PL) reconstruction. Conventional FFM strategies proposed for filtered-backprojection (FBP) are evaluated in the context of PL reconstruction for comparison. Methods: We present a task-driven framework that leverages prior knowledge of the patient anatomy and imaging task to identify FFM and regularization. We adopted a maxi-min objective that ensures a minimum level of detectability index (d') across sample locations in the image volume. The FFM designs were parameterized by 2D Gaussian basis functions to reduce dimensionality of the optimization and basis function coefficients were estimated using the covariance matrix adaptation evolutionary strategy (CMA-ES) algorithm. The FFM was jointly optimized with both space-invariant and spatially-varying regularization strength (β) - the former via an exhaustive search through discrete values and the latter using an alternating optimization where β was exhaustively optimized locally and interpolated to form a spatially-varying map. Results: The optimal FFM inverts as β increases, demonstrating the importance of a joint optimization. For the task and object investigated, the optimal FFM assigns more fluence through less attenuating views, counter to conventional FFM schemes proposed for FBP. The maxi-min objective homogenizes detectability throughout the image and achieves a higher minimum detectability than conventional FFM strategies. Conclusions: The task-driven FFM designs found in this work are counter to conventional patterns for FBP and yield better performance in terms of the maxi-min objective, suggesting opportunities for improved image quality and/or dose reduction when model-based reconstructions are applied in conjunction with FFM.

Trade-offs and efficiencies in optimal budget-constrained multispecies corridor networks.

PubMed

Dilkina, Bistra; Houtman, Rachel; Gomes, Carla P; Montgomery, Claire A; McKelvey, Kevin S; Kendall, Katherine; Graves, Tabitha A; Bernstein, Richard; Schwartz, Michael K

2017-02-01

Conservation biologists recognize that a system of isolated protected areas will be necessary but insufficient to meet biodiversity objectives. Current approaches to connecting core conservation areas through corridors consider optimal corridor placement based on a single optimization goal: commonly, maximizing the movement for a target species across a network of protected areas. We show that designing corridors for single species based on purely ecological criteria leads to extremely expensive linkages that are suboptimal for multispecies connectivity objectives. Similarly, acquiring the least-expensive linkages leads to ecologically poor solutions. We developed algorithms for optimizing corridors for multispecies use given a specific budget. We applied our approach in western Montana to demonstrate how the solutions may be used to evaluate trade-offs in connectivity for 2 species with different habitat requirements, different core areas, and different conservation values under different budgets. We evaluated corridors that were optimal for each species individually and for both species jointly. Incorporating a budget constraint and jointly optimizing for both species resulted in corridors that were close to the individual species movement-potential optima but with substantial cost savings. Our approach produced corridors that were within 14% and 11% of the best possible corridor connectivity for grizzly bears (Ursus arctos) and wolverines (Gulo gulo), respectively, and saved 75% of the cost. Similarly, joint optimization under a combined budget resulted in improved connectivity for both species relative to splitting the budget in 2 to optimize for each species individually. Our results demonstrate economies of scale and complementarities conservation planners can achieve by optimizing corridor designs for financial costs and for multiple species connectivity jointly. We believe that our approach will facilitate corridor conservation by reducing acquisition costs and by allowing derived corridors to more closely reflect conservation priorities. © 2016 Society for Conservation Biology.

Trade-offs and efficiencies in optimal budget-constrained multispecies corridor networks

USGS Publications Warehouse

Dilkina, Bistra; Houtman, Rachel; Gomes, Carla P.; Montgomery, Claire A.; McKelvey, Kevin; Kendall, Katherine; Graves, Tabitha A.; Bernstein, Richard; Schwartz, Michael K.

2017-01-01

Conservation biologists recognize that a system of isolated protected areas will be necessary but insufficient to meet biodiversity objectives. Current approaches to connecting core conservation areas through corridors consider optimal corridor placement based on a single optimization goal: commonly, maximizing the movement for a target species across a network of protected areas. We show that designing corridors for single species based on purely ecological criteria leads to extremely expensive linkages that are suboptimal for multispecies connectivity objectives. Similarly, acquiring the least-expensive linkages leads to ecologically poor solutions. We developed algorithms for optimizing corridors for multispecies use given a specific budget. We applied our approach in western Montana to demonstrate how the solutions may be used to evaluate trade-offs in connectivity for 2 species with different habitat requirements, different core areas, and different conservation values under different budgets. We evaluated corridors that were optimal for each species individually and for both species jointly. Incorporating a budget constraint and jointly optimizing for both species resulted in corridors that were close to the individual species movement-potential optima but with substantial cost savings. Our approach produced corridors that were within 14% and 11% of the best possible corridor connectivity for grizzly bears (Ursus arctos) and wolverines (Gulo gulo), respectively, and saved 75% of the cost. Similarly, joint optimization under a combined budget resulted in improved connectivity for both species relative to splitting the budget in 2 to optimize for each species individually. Our results demonstrate economies of scale and complementarities conservation planners can achieve by optimizing corridor designs for financial costs and for multiple species connectivity jointly. We believe that our approach will facilitate corridor conservation by reducing acquisition costs and by allowing derived corridors to more closely reflect conservation priorities.

Optimal compliant-surface jumping: a multi-segment model of springboard standing jumps.

PubMed

Cheng, Kuangyou B; Hubbard, Mont

2005-09-01

A multi-segment model is used to investigate optimal compliant-surface jumping strategies and is applied to springboard standing jumps. The human model has four segments representing the feet, shanks, thighs, and trunk-head-arms. A rigid bar with a rotational spring on one end and a point mass on the other end (the tip) models the springboard. Board tip mass, length, and stiffness are functions of the fulcrum setting. Body segments and board tip are connected by frictionless hinge joints and are driven by joint torque actuators at the ankle, knee, and hip. One constant (maximum isometric torque) and three variable functions (of instantaneous joint angle, angular velocity, and activation level) determine each joint torque. Movement from a nearly straight motionless initial posture to jump takeoff is simulated. The objective is to find joint torque activation patterns during board contact so that jump height can be maximized. Minimum and maximum joint angles, rates of change of normalized activation levels, and contact duration are constrained. Optimal springboard jumping simulations can reasonably predict jumper vertical velocity and jump height. Qualitatively similar joint torque activation patterns are found over different fulcrum settings. Different from rigid-surface jumping where maximal activation is maintained until takeoff, joint activation decreases near takeoff in compliant-surface jumping. The fulcrum-height relations in experimental data were predicted by the models. However, lack of practice at non-preferred fulcrum settings might have caused less jump height than the models' prediction. Larger fulcrum numbers are beneficial for taller/heavier jumpers because they need more time to extend joints.

Dual-joint modeling for estimation of total knee replacement contact forces during locomotion.

PubMed

Hast, Michael W; Piazza, Stephen J

2013-02-01

Model-based estimation of in vivo contact forces arising between components of a total knee replacement is challenging because such forces depend upon accurate modeling of muscles, tendons, ligaments, contact, and multibody dynamics. Here we describe an approach to solving this problem with results that are tested by comparison to knee loads measured in vivo for a single subject and made available through the Grand Challenge Competition to Predict in vivo Tibiofemoral Loads. The approach makes use of a "dual-joint" paradigm in which the knee joint is alternately represented by (1) a ball-joint knee for inverse dynamic computation of required muscle controls and (2) a 12 degree-of-freedom (DOF) knee with elastic foundation contact at the tibiofemoral and patellofemoral articulations for forward dynamic integration. Measured external forces and kinematics were applied as a feedback controller and static optimization attempted to track measured knee flexion angles and electromyographic (EMG) activity. The resulting simulations showed excellent tracking of knee flexion (average RMS error of 2.53 deg) and EMG (muscle activations within ±10% envelopes of normalized measured EMG signals). Simulated tibiofemoral contact forces agreed qualitatively with measured contact forces, but their RMS errors were approximately 25% of the peak measured values. These results demonstrate the potential of a dual-joint modeling approach to predict joint contact forces from kinesiological data measured in the motion laboratory. It is anticipated that errors in the estimation of contact force will be reduced as more accurate subject-specific models of muscles and other soft tissues are developed.

Joint Center Estimation Using Single-Frame Optimization: Part 1: Numerical Simulation.

PubMed

Frick, Eric; Rahmatalla, Salam

2018-04-04

The biomechanical models used to refine and stabilize motion capture processes are almost invariably driven by joint center estimates, and any errors in joint center calculation carry over and can be compounded when calculating joint kinematics. Unfortunately, accurate determination of joint centers is a complex task, primarily due to measurements being contaminated by soft-tissue artifact (STA). This paper proposes a novel approach to joint center estimation implemented via sequential application of single-frame optimization (SFO). First, the method minimizes the variance of individual time frames’ joint center estimations via the developed variance minimization method to obtain accurate overall initial conditions. These initial conditions are used to stabilize an optimization-based linearization of human motion that determines a time-varying joint center estimation. In this manner, the complex and nonlinear behavior of human motion contaminated by STA can be captured as a continuous series of unique rigid-body realizations without requiring a complex analytical model to describe the behavior of STA. This article intends to offer proof of concept, and the presented method must be further developed before it can be reasonably applied to human motion. Numerical simulations were introduced to verify and substantiate the efficacy of the proposed methodology. When directly compared with a state-of-the-art inertial method, SFO reduced the error due to soft-tissue artifact in all cases by more than 45%. Instead of producing a single vector value to describe the joint center location during a motion capture trial as existing methods often do, the proposed method produced time-varying solutions that were highly correlated ( r > 0.82) with the true, time-varying joint center solution.

Process modeling and parameter optimization using radial basis function neural network and genetic algorithm for laser welding of dissimilar materials

NASA Astrophysics Data System (ADS)

Ai, Yuewei; Shao, Xinyu; Jiang, Ping; Li, Peigen; Liu, Yang; Yue, Chen

2015-11-01

The welded joints of dissimilar materials have been widely used in automotive, ship and space industries. The joint quality is often evaluated by weld seam geometry, microstructures and mechanical properties. To obtain the desired weld seam geometry and improve the quality of welded joints, this paper proposes a process modeling and parameter optimization method to obtain the weld seam with minimum width and desired depth of penetration for laser butt welding of dissimilar materials. During the process, Taguchi experiments are conducted on the laser welding of the low carbon steel (Q235) and stainless steel (SUS301L-HT). The experimental results are used to develop the radial basis function neural network model, and the process parameters are optimized by genetic algorithm. The proposed method is validated by a confirmation experiment. Simultaneously, the microstructures and mechanical properties of the weld seam generated from optimal process parameters are further studied by optical microscopy and tensile strength test. Compared with the unoptimized weld seam, the welding defects are eliminated in the optimized weld seam and the mechanical properties are improved. The results show that the proposed method is effective and reliable for improving the quality of welded joints in practical production.

Selection of optimal welding condition for GTA pulse welding in root-pass of V-groove butt joint

NASA Astrophysics Data System (ADS)

Yun, Seok-Chul; Kim, Jae-Woong

2010-12-01

In the manufacture of high-quality welds or pipeline, a full-penetration weld has to be made along the weld joint. Therefore, root-pass welding is very important, and its conditions have to be selected carefully. In this study, an experimental method for the selection of optimal welding conditions is proposed for gas tungsten arc (GTA) pulse welding in the root pass which is done along the V-grooved butt-weld joint. This method uses response surface analysis in which the width and height of back bead are chosen as quality variables of the weld. The overall desirability function, which is the combined desirability function for the two quality variables, is used as the objective function to obtain the optimal welding conditions. In our experiments, the target values of back bead width and height are 4 mm and zero, respectively, for a V-grooved butt-weld joint of a 7-mm-thick steel plate. The optimal welding conditions could determine the back bead profile (bead width and height) as 4.012 mm and 0.02 mm. From a series of welding tests, it was revealed that a uniform and full-penetration weld bead can be obtained by adopting the optimal welding conditions determined according to the proposed method.

Multibody Kinematics Optimization for the Estimation of Upper and Lower Limb Human Joint Kinematics: A Systematized Methodological Review.

PubMed

Begon, Mickaël; Andersen, Michael Skipper; Dumas, Raphaël

2018-03-01

Multibody kinematics optimization (MKO) aims to reduce soft tissue artefact (STA) and is a key step in musculoskeletal modeling. The objective of this review was to identify the numerical methods, their validation and performance for the estimation of the human joint kinematics using MKO. Seventy-four papers were extracted from a systematized search in five databases and cross-referencing. Model-derived kinematics were obtained using either constrained optimization or Kalman filtering to minimize the difference between measured (i.e., by skin markers, electromagnetic or inertial sensors) and model-derived positions and/or orientations. While hinge, universal, and spherical joints prevail, advanced models (e.g., parallel and four-bar mechanisms, elastic joint) have been introduced, mainly for the knee and shoulder joints. Models and methods were evaluated using: (i) simulated data based, however, on oversimplified STA and joint models; (ii) reconstruction residual errors, ranging from 4 mm to 40 mm; (iii) sensitivity analyses which highlighted the effect (up to 36 deg and 12 mm) of model geometrical parameters, joint models, and computational methods; (iv) comparison with other approaches (i.e., single body kinematics optimization and nonoptimized kinematics); (v) repeatability studies that showed low intra- and inter-observer variability; and (vi) validation against ground-truth bone kinematics (with errors between 1 deg and 22 deg for tibiofemoral rotations and between 3 deg and 10 deg for glenohumeral rotations). Moreover, MKO was applied to various movements (e.g., walking, running, arm elevation). Additional validations, especially for the upper limb, should be undertaken and we recommend a more systematic approach for the evaluation of MKO. In addition, further model development, scaling, and personalization methods are required to better estimate the secondary degrees-of-freedom (DoF).

Optimized resolved rate control of seven-degree-of-freedom Laboratory Telerobotic Manipulator (LTM) with application to three-dimensional graphics simulation

NASA Technical Reports Server (NTRS)

Barker, L. Keith; Mckinney, William S., Jr.

1989-01-01

The Laboratory Telerobotic Manipulator (LTM) is a seven-degree-of-freedom robot arm. Two of the arms were delivered to Langley Research Center for ground-based research to assess the use of redundant degree-of-freedom robot arms in space operations. Resolved-rate control equations for the LTM are derived. The equations are based on a scheme developed at the Oak Ridge National Laboratory for computing optimized joint angle rates in real time. The optimized joint angle rates actually represent a trade-off, as the hand moves, between small rates (least-squares solution) and those rates which work toward satisfying a specified performance criterion of joint angles. In singularities where the optimization scheme cannot be applied, alternate control equations are devised. The equations developed were evaluated using a real-time computer simulation to control a 3-D graphics model of the LTM.

Performance evaluation of matrix gradient coils.

PubMed

Jia, Feng; Schultz, Gerrit; Testud, Frederik; Welz, Anna Masako; Weber, Hans; Littin, Sebastian; Yu, Huijun; Hennig, Jürgen; Zaitsev, Maxim

2016-02-01

In this paper, we present a new performance measure of a matrix coil (also known as multi-coil) from the perspective of efficient, local, non-linear encoding without explicitly considering target encoding fields. An optimization problem based on a joint optimization for the non-linear encoding fields is formulated. Based on the derived objective function, a figure of merit of a matrix coil is defined, which is a generalization of a previously known resistive figure of merit for traditional gradient coils. A cylindrical matrix coil design with a high number of elements is used to illustrate the proposed performance measure. The results are analyzed to reveal novel features of matrix coil designs, which allowed us to optimize coil parameters, such as number of coil elements. A comparison to a scaled, existing multi-coil is also provided to demonstrate the use of the proposed performance parameter. The assessment of a matrix gradient coil profits from using a single performance parameter that takes the local encoding performance of the coil into account in relation to the dissipated power.

Field homogeneity improvement of maglev NdFeB magnetic rails from joints.

PubMed

Li, Y J; Dai, Q; Deng, C Y; Sun, R X; Zheng, J; Chen, Z; Sun, Y; Wang, H; Yuan, Z D; Fang, C; Deng, Z G

2016-01-01

An ideal magnetic rail should provide a homogeneous magnetic field along the longitudinal direction to guarantee the reliable friction-free operation of high temperature superconducting (HTS) maglev vehicles. But in reality, magnetic field inhomogeneity may occur due to lots of reasons; the joint gap is the most direct one. Joint gaps inevitably exist between adjacent segments and influence the longitudinal magnetic field homogeneity above the rail since any magnetic rails are consisting of many permanent magnet segments. To improve the running performance of maglev systems, two new rail joints are proposed based on the normal rail joint, which are named as mitered rail joint and overlapped rail joint. It is found that the overlapped rail joint has a better effect to provide a competitive homogeneous magnetic field. And the further structure optimization has been done to ensure maglev vehicle operation as stable as possible when passing through those joint gaps. The results show that the overlapped rail joint with optimal parameters can significantly reduce the magnetic field inhomogeneity comparing with the other two rail joints. In addition, an appropriate gap was suggested when balancing the thermal expansion of magnets and homogenous magnetic field, which is considered valuable references for the future design of the magnetic rails.

Joint optimization: Merging a new culture with a new physical environment.

PubMed

Stichler, Jaynelle F; Ecoff, Laurie

2009-04-01

Nearly $200 billion of healthcare construction is expected by the year 2015, and nurse leaders must expand their knowledge and capabilities in healthcare design. This bimonthly department prepares nurse leaders to use the evidence-based design process to ensure that new, expanded, and renovated hospitals facilitate optimal patient outcomes, enhance the work environment for healthcare providers, and improve organizational performance. In this article, the authors discuss the concept of joint optimization of merging organizational culture with a new hospital facility.

The Efficacy of Using Diagrams When Solving Probability Word Problems in College

ERIC Educational Resources Information Center

Beitzel, Brian D.; Staley, Richard K.

2015-01-01

Previous experiments have shown a deleterious effect of visual representations on college students' ability to solve total- and joint-probability word problems. The present experiments used conditional-probability problems, known to be more difficult than total- and joint-probability problems. The diagram group was instructed in how to use tree…

Uncontrolled Manifold Reference Feedback Control of Multi-Joint Robot Arms

PubMed Central

Togo, Shunta; Kagawa, Takahiro; Uno, Yoji

2016-01-01

The brain must coordinate with redundant bodies to perform motion tasks. The aim of the present study is to propose a novel control model that predicts the characteristics of human joint coordination at a behavioral level. To evaluate the joint coordination, an uncontrolled manifold (UCM) analysis that focuses on the trial-to-trial variance of joints has been proposed. The UCM is a nonlinear manifold associated with redundant kinematics. In this study, we directly applied the notion of the UCM to our proposed control model called the “UCM reference feedback control.” To simplify the problem, the present study considered how the redundant joints were controlled to regulate a given target hand position. We considered a conventional method that pre-determined a unique target joint trajectory by inverse kinematics or any other optimization method. In contrast, our proposed control method generates a UCM as a control target at each time step. The target UCM is a subspace of joint angles whose variability does not affect the hand position. The joint combination in the target UCM is then selected so as to minimize the cost function, which consisted of the joint torque and torque change. To examine whether the proposed method could reproduce human-like joint coordination, we conducted simulation and measurement experiments. In the simulation experiments, a three-link arm with a shoulder, elbow, and wrist regulates a one-dimensional target of a hand through proposed method. In the measurement experiments, subjects performed a one-dimensional target-tracking task. The kinematics, dynamics, and joint coordination were quantitatively compared with the simulation data of the proposed method. As a result, the UCM reference feedback control could quantitatively reproduce the difference of the mean value for the end hand position between the initial postures, the peaks of the bell-shape tangential hand velocity, the sum of the squared torque, the mean value for the torque change, the variance components, and the index of synergy as well as the human subjects. We concluded that UCM reference feedback control can reproduce human-like joint coordination. The inference for motor control of the human central nervous system based on the proposed method was discussed. PMID:27462215

Prediction of Tensile Strength of Friction Stir Weld Joints with Adaptive Neuro-Fuzzy Inference System (ANFIS) and Neural Network

NASA Technical Reports Server (NTRS)

Dewan, Mohammad W.; Huggett, Daniel J.; Liao, T. Warren; Wahab, Muhammad A.; Okeil, Ayman M.

2015-01-01

Friction-stir-welding (FSW) is a solid-state joining process where joint properties are dependent on welding process parameters. In the current study three critical process parameters including spindle speed (??), plunge force (????), and welding speed (??) are considered key factors in the determination of ultimate tensile strength (UTS) of welded aluminum alloy joints. A total of 73 weld schedules were welded and tensile properties were subsequently obtained experimentally. It is observed that all three process parameters have direct influence on UTS of the welded joints. Utilizing experimental data, an optimized adaptive neuro-fuzzy inference system (ANFIS) model has been developed to predict UTS of FSW joints. A total of 1200 models were developed by varying the number of membership functions (MFs), type of MFs, and combination of four input variables (??,??,????,??????) utilizing a MATLAB platform. Note EFI denotes an empirical force index derived from the three process parameters. For comparison, optimized artificial neural network (ANN) models were also developed to predict UTS from FSW process parameters. By comparing ANFIS and ANN predicted results, it was found that optimized ANFIS models provide better results than ANN. This newly developed best ANFIS model could be utilized for prediction of UTS of FSW joints.

Defense Acquisition and the Case of the Joint Capabilities Technology Demonstration Office: Ad Hoc Problem Solving as a Mechanism for Adaptive Change

DTIC Science & Technology

2013-10-01

pmlkploba=obmloq=pbofbp= Defense Acquisition and the Case of the Joint Capabilities Technology Demonstration Office: Ad Hoc Problem Solving as a...of the Joint Capabilities Technology Demonstration Office: Ad Hoc Problem Solving as a Mechanism for Adaptive Change 5a. CONTRACT NUMBER 5b. GRANT...findings of our study exploring what drives successful organizational adaptation in the context of technology transition and acquisition within the

A method for the automated construction of the joint system of equations to solve the problem of the flow distribution in hydraulic networks

NASA Astrophysics Data System (ADS)

Novikov, A. E.

1993-10-01

There are several methods of solving the problem of the flow distribution in hydraulic networks. But all these methods have no mathematical tools for forming joint systems of equations to solve this problem. This paper suggests a method of constructing joint systems of equations to calculate hydraulic circuits of the arbitrary form. The graph concept, according to Kirchhoff, has been introduced.

Signal processing using sparse derivatives with applications to chromatograms and ECG

NASA Astrophysics Data System (ADS)

Ning, Xiaoran

In this thesis, we investigate the sparsity exist in the derivative domain. Particularly, we focus on the type of signals which posses up to Mth (M > 0) order sparse derivatives. Efforts are put on formulating proper penalty functions and optimization problems to capture properties related to sparse derivatives, searching for fast, computationally efficient solvers. Also the effectiveness of these algorithms are applied to two real world applications. In the first application, we provide an algorithm which jointly addresses the problems of chromatogram baseline correction and noise reduction. The series of chromatogram peaks are modeled as sparse with sparse derivatives, and the baseline is modeled as a low-pass signal. A convex optimization problem is formulated so as to encapsulate these non-parametric models. To account for the positivity of chromatogram peaks, an asymmetric penalty function is also utilized with symmetric penalty functions. A robust, computationally efficient, iterative algorithm is developed that is guaranteed to converge to the unique optimal solution. The approach, termed Baseline Estimation And Denoising with Sparsity (BEADS), is evaluated and compared with two state-of-the-art methods using both simulated and real chromatogram data. Promising result is obtained. In the second application, a novel Electrocardiography (ECG) enhancement algorithm is designed also based on sparse derivatives. In the real medical environment, ECG signals are often contaminated by various kinds of noise or artifacts, for example, morphological changes due to motion artifact, non-stationary noise due to muscular contraction (EMG), etc. Some of these contaminations severely affect the usefulness of ECG signals, especially when computer aided algorithms are utilized. By solving the proposed convex l1 optimization problem, artifacts are reduced by modeling the clean ECG signal as a sum of two signals whose second and third-order derivatives (differences) are sparse respectively. At the end, the algorithm is applied to a QRS detection system and validated using the MIT-BIH Arrhythmia database (109452 anotations), resulting a sensitivity of Se = 99.87%$ and a positive prediction of +P = 99.88%.

Optimizing Placement of Weather Stations: Exploring Objective Functions of Meaningful Combinations of Multiple Weather Variables

NASA Astrophysics Data System (ADS)

Snyder, A.; Dietterich, T.; Selker, J. S.

2017-12-01

Many regions of the world lack ground-based weather data due to inadequate or unreliable weather station networks. For example, most countries in Sub-Saharan Africa have unreliable, sparse networks of weather stations. The absence of these data can have consequences on weather forecasting, prediction of severe weather events, agricultural planning, and climate change monitoring. The Trans-African Hydro-Meteorological Observatory (TAHMO.org) project seeks to address these problems by deploying and operating a large network of weather stations throughout Sub-Saharan Africa. To design the TAHMO network, we must determine where to place weather stations within each country. We should consider how we can create accurate spatio-temporal maps of weather data and how to balance the desired accuracy of each weather variable of interest (precipitation, temperature, relative humidity, etc.). We can express this problem as a joint optimization of multiple weather variables, given a fixed number of weather stations. We use reanalysis data as the best representation of the "true" weather patterns that occur in the region of interest. For each possible combination of sites, we interpolate the reanalysis data between selected locations and calculate the mean average error between the reanalysis ("true") data and the interpolated data. In order to formulate our multi-variate optimization problem, we explore different methods of weighting each weather variable in our objective function. These methods include systematic variation of weights to determine which weather variables have the strongest influence on the network design, as well as combinations targeted for specific purposes. For example, we can use computed evapotranspiration as a metric that combines many weather variables in a way that is meaningful for agricultural and hydrological applications. We compare the errors of the weather station networks produced by each optimization problem formulation. We also compare these errors to those of manually designed weather station networks in West Africa, planned by the respective host-country's meteorological agency.

Joint global optimization of tomographic data based on particle swarm optimization and decision theory

NASA Astrophysics Data System (ADS)

Paasche, H.; Tronicke, J.

2012-04-01

In many near surface geophysical applications multiple tomographic data sets are routinely acquired to explore subsurface structures and parameters. Linking the model generation process of multi-method geophysical data sets can significantly reduce ambiguities in geophysical data analysis and model interpretation. Most geophysical inversion approaches rely on local search optimization methods used to find an optimal model in the vicinity of a user-given starting model. The final solution may critically depend on the initial model. Alternatively, global optimization (GO) methods have been used to invert geophysical data. They explore the solution space in more detail and determine the optimal model independently from the starting model. Additionally, they can be used to find sets of optimal models allowing a further analysis of model parameter uncertainties. Here we employ particle swarm optimization (PSO) to realize the global optimization of tomographic data. PSO is an emergent methods based on swarm intelligence characterized by fast and robust convergence towards optimal solutions. The fundamental principle of PSO is inspired by nature, since the algorithm mimics the behavior of a flock of birds searching food in a search space. In PSO, a number of particles cruise a multi-dimensional solution space striving to find optimal model solutions explaining the acquired data. The particles communicate their positions and success and direct their movement according to the position of the currently most successful particle of the swarm. The success of a particle, i.e. the quality of the currently found model by a particle, must be uniquely quantifiable to identify the swarm leader. When jointly inverting disparate data sets, the optimization solution has to satisfy multiple optimization objectives, at least one for each data set. Unique determination of the most successful particle currently leading the swarm is not possible. Instead, only statements about the Pareto optimality of the found solutions can be made. Identification of the leading particle traditionally requires a costly combination of ranking and niching techniques. In our approach, we use a decision rule under uncertainty to identify the currently leading particle of the swarm. In doing so, we consider the different objectives of our optimization problem as competing agents with partially conflicting interests. Analysis of the maximin fitness function allows for robust and cheap identification of the currently leading particle. The final optimization result comprises a set of possible models spread along the Pareto front. For convex Pareto fronts, solution density is expected to be maximal in the region ideally compromising all objectives, i.e. the region of highest curvature.

The economics of water reuse and implications for joint water quality-quantity management

NASA Astrophysics Data System (ADS)

Kuwayama, Y.

2015-12-01

Traditionally, economists have treated the management of water quality and water quantity as separate problems. However, there are some water management issues for which economic analysis requires the simultaneous consideration of water quality and quantity policies and outcomes. Water reuse, which has expanded significantly over the last several decades, is one of these issues. Analyzing the cost effectiveness and social welfare outcomes of adopting water reuse requires a joint water quality-quantity optimization framework because, at its most basic level, water reuse requires decision makers to consider (a) its potential for alleviating water scarcity, (b) the quality to which the water should be treated prior to reuse, and (c) the benefits of discharging less wastewater into the environment. In this project, we develop a theoretical model of water reuse management to illustrate how the availability of water reuse technologies and practices can lead to a departure from established rules in the water resource economics literature for the optimal allocation of freshwater and water pollution abatement. We also conduct an econometric analysis of a unique dataset of county-level water reuse from the state of Florida over the seventeen-year period between 1996 and 2012 in order to determine whether water quality or scarcity concerns drive greater adoption of water reuse practices.

Feature selection and classification of multiparametric medical images using bagging and SVM

NASA Astrophysics Data System (ADS)

Fan, Yong; Resnick, Susan M.; Davatzikos, Christos

2008-03-01

This paper presents a framework for brain classification based on multi-parametric medical images. This method takes advantage of multi-parametric imaging to provide a set of discriminative features for classifier construction by using a regional feature extraction method which takes into account joint correlations among different image parameters; in the experiments herein, MRI and PET images of the brain are used. Support vector machine classifiers are then trained based on the most discriminative features selected from the feature set. To facilitate robust classification and optimal selection of parameters involved in classification, in view of the well-known "curse of dimensionality", base classifiers are constructed in a bagging (bootstrap aggregating) framework for building an ensemble classifier and the classification parameters of these base classifiers are optimized by means of maximizing the area under the ROC (receiver operating characteristic) curve estimated from their prediction performance on left-out samples of bootstrap sampling. This classification system is tested on a sex classification problem, where it yields over 90% classification rates for unseen subjects. The proposed classification method is also compared with other commonly used classification algorithms, with favorable results. These results illustrate that the methods built upon information jointly extracted from multi-parametric images have the potential to perform individual classification with high sensitivity and specificity.

Optimum design of bolted composite lap joints under mechanical and thermal loading

NASA Astrophysics Data System (ADS)

Kradinov, Vladimir Yurievich

A new approach is developed for the analysis and design of mechanically fastened composite lap joints under mechanical and thermal loading. Based on the combined complex potential and variational formulation, the solution method satisfies the equilibrium equations exactly while the boundary conditions are satisfied by minimizing the total potential. This approach is capable of modeling finite laminate planform dimensions, uniform and variable laminate thickness, laminate lay-up, interaction among bolts, bolt torque, bolt flexibility, bolt size, bolt-hole clearance and interference, insert dimensions and insert material properties. Comparing to the finite element analysis, the robustness of the method does not decrease when modeling the interaction of many bolts; also, the method is more suitable for parametric study and design optimization. The Genetic Algorithm (GA), a powerful optimization technique for multiple extrema functions in multiple dimensions search spaces, is applied in conjunction with the complex potential and variational formulation to achieve optimum designs of bolted composite lap joints. The objective of the optimization is to acquire such a design that ensures the highest strength of the joint. The fitness function for the GA optimization is based on the average stress failure criterion predicting net-section, shear-out, and bearing failure modes in bolted lap joints. The criterion accounts for the stress distribution in the thickness direction at the bolt location by applying an approach utilizing a beam on an elastic foundation formulation.

The Effect of a Complex (3-Week) Therapy on the Hip and Knee Joints in Obese Patients

ERIC Educational Resources Information Center

Tóvári, Anett; Hermann, Mária; Tóvári, Ferenc; Prisztóka, Gyöngyvér; Kránicz, János

2015-01-01

Currently, overweight and obesity are the most widespread problems in life-style having a significant impact on everyday life, and thus, conduct of life. Further contributory problems may develop in patients with weight problems: deformities of the joints and skeleton (coxarthrosis and gonarthrosis), circulatory problems and arrhythmia. Overweight…

Game-theoretic approach to joint transmitter adaptation and power control in wireless systems.

PubMed

Popescu, Dimitrie C; Rawat, Danda B; Popescu, Otilia; Saquib, Mohamad

2010-06-01

Game theory has emerged as a new mathematical tool in the analysis and design of wireless communication systems, being particularly useful in studying the interactions among adaptive transmitters that attempt to achieve specific objectives without cooperation. In this paper, we present a game-theoretic approach to the problem of joint transmitter adaptation and power control in wireless systems, where users' transmissions are subject to quality-of-service requirements specified in terms of target signal-to-interference-plus-noise ratios (SINRs) and nonideal vector channels between transmitters and receivers are explicitly considered. Our approach is based on application of separable games, which are a specific class of noncooperative games where the players' cost is a separable function of their strategic choices. We formally state a joint codeword and power adaptation game, which is separable, and we study its properties in terms of its subgames, namely, the codeword adaptation subgame and the power adaptation subgame. We investigate the necessary conditions for an optimal Nash equilibrium and show that this corresponds to an ensemble of user codewords and powers, which maximizes the sum capacity of the corresponding multiaccess vector channel model, and for which the specified target SINRs are achieved with minimum transmitted power.

From medical data to simple virtual mock-up of scapulo-humeral joint

NASA Astrophysics Data System (ADS)

Atmani, H.; Merienne, F.; Fofi, D.; Trouilloud, P.

2007-01-01

The surgical operations of shoulder joint are guided by various principles: osteosynthesis in the case of fracture, osteotomy in order to correct a deformation or to modify the functioning of the joint, or implementation of articular prosthesis. At the end of the twentieth century, many innovations in the domains of biomechanics and orthopedic surgery have been performed. Nevertheless, theoretical and practical problems may appear during the operation (visual field of surgeon is very limited, quality and shape of the bone is variable depending on the patient). Biomechanical criteria of success are defined for each intervention. For example, the installation with success of prosthetic implant will be estimated according to the degree of mobility of the new articulation, the movements of this articulation being function of the shape of the prosthesis and of its position on its osseous support. It is not always easy to optimize the preparation of the surgical operation for every patient, and a preliminary computer simulation would allow helping the surgeon in its choices and its preparation of the intervention. The techniques of virtual reality allow a high degree of immersion and allow envisaging the development of a navigation device during the operating act.

Hybrid digital-analog coding with bandwidth expansion for correlated Gaussian sources under Rayleigh fading

NASA Astrophysics Data System (ADS)

Yahampath, Pradeepa

2017-12-01

Consider communicating a correlated Gaussian source over a Rayleigh fading channel with no knowledge of the channel signal-to-noise ratio (CSNR) at the transmitter. In this case, a digital system cannot be optimal for a range of CSNRs. Analog transmission however is optimal at all CSNRs, if the source and channel are memoryless and bandwidth matched. This paper presents new hybrid digital-analog (HDA) systems for sources with memory and channels with bandwidth expansion, which outperform both digital-only and analog-only systems over a wide range of CSNRs. The digital part is either a predictive quantizer or a transform code, used to achieve a coding gain. Analog part uses linear encoding to transmit the quantization error which improves the performance under CSNR variations. The hybrid encoder is optimized to achieve the minimum AMMSE (average minimum mean square error) over the CSNR distribution. To this end, analytical expressions are derived for the AMMSE of asymptotically optimal systems. It is shown that the outage CSNR of the channel code and the analog-digital power allocation must be jointly optimized to achieve the minimum AMMSE. In the case of HDA predictive quantization, a simple algorithm is presented to solve the optimization problem. Experimental results are presented for both Gauss-Markov sources and speech signals.

Optimized Vertex Method and Hybrid Reliability

NASA Technical Reports Server (NTRS)

Smith, Steven A.; Krishnamurthy, T.; Mason, B. H.

2002-01-01

A method of calculating the fuzzy response of a system is presented. This method, called the Optimized Vertex Method (OVM), is based upon the vertex method but requires considerably fewer function evaluations. The method is demonstrated by calculating the response membership function of strain-energy release rate for a bonded joint with a crack. The possibility of failure of the bonded joint was determined over a range of loads. After completing the possibilistic analysis, the possibilistic (fuzzy) membership functions were transformed to probability density functions and the probability of failure of the bonded joint was calculated. This approach is called a possibility-based hybrid reliability assessment. The possibility and probability of failure are presented and compared to a Monte Carlo Simulation (MCS) of the bonded joint.

Analyzing multicomponent receptive fields from neural responses to natural stimuli

PubMed Central

Rowekamp, Ryan; Sharpee, Tatyana O

2011-01-01

The challenge of building increasingly better models of neural responses to natural stimuli is to accurately estimate the multiple stimulus features that may jointly affect the neural spike probability. The selectivity for combinations of features is thought to be crucial for achieving classical properties of neural responses such as contrast invariance. The joint search for these multiple stimulus features is difficult because estimating spike probability as a multidimensional function of stimulus projections onto candidate relevant dimensions is subject to the curse of dimensionality. An attractive alternative is to search for relevant dimensions sequentially, as in projection pursuit regression. Here we demonstrate using analytic arguments and simulations of model cells that different types of sequential search strategies exhibit systematic biases when used with natural stimuli. Simulations show that joint optimization is feasible for up to three dimensions with current algorithms. When applied to the responses of V1 neurons to natural scenes, models based on three jointly optimized dimensions had better predictive power in a majority of cases compared to dimensions optimized sequentially, with different sequential methods yielding comparable results. Thus, although the curse of dimensionality remains, at least several relevant dimensions can be estimated by joint information maximization. PMID:21780916

Steroid injections - tendon, bursa, joint

MedlinePlus

... a small amount of corticosteroid and a local anesthetic into the bursa. JOINT Any joint problem, such ... A small amount of corticosteroid and a local anesthetic will be injected into the joint. TENDON A ...

Strength Variation of Parachute Joints

NASA Technical Reports Server (NTRS)

Mollmann, Catherine

2017-01-01

A parachute joint is defined as a location where a component is sewn or connected to another component. During the design and developmental phase of a parachute system, the joints for each structural component are isolated and tested through a process called seam and joint testing. The objective of seam and joint testing is to determine the degradation on a single component due to interaction with other components; this data is then used when calculating the margin of safety for that component. During the engineering developmental phase of CPAS (Capsule Parachute Assembly System), the parachute system for the NASA Orion Crew Module, testing was completed for every joint of the six subsystems: the four parachutes (main, drogue, pilot, and FBCP [forward bay cover parachute]), the retention release bridle, and the retention panels. The number of joint tests for these subsystems totaled 92, which provides a plethora of data and results for further analysis. In this paper, the data and results of these seam and joint tests are examined to determine the effects, if any, of different operators and sewing machines on the strength of parachute joints. Other variables are also studied to determine their effect on joint strength, such as joint complexity, joint strength magnitude, material type, and material construction. Findings reveal that an optimally-run seam and joint test program could result in an increased understanding of the structure of the parachute; this should lead to a parachute built with optimal components, potentially saving system weight and volume.

Information basis for developing comprehensive waste management system-US-Japan joint nuclear energy action plan waste management working group phase I report.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Nutt, M.; Nuclear Engineering Division

2010-05-25

The activity of Phase I of the Waste Management Working Group under the United States - Japan Joint Nuclear Energy Action Plan started in 2007. The US-Japan JNEAP is a bilateral collaborative framework to support the global implementation of safe, secure, and sustainable, nuclear fuel cycles (referred to in this document as fuel cycles). The Waste Management Working Group was established by strong interest of both parties, which arise from the recognition that development and optimization of waste management and disposal system(s) are central issues of the present and future nuclear fuel cycles. This report summarizes the activity of themore » Waste Management Working Group that focused on consolidation of the existing technical basis between the U.S. and Japan and the joint development of a plan for future collaborative activities. Firstly, the political/regulatory frameworks related to nuclear fuel cycles in both countries were reviewed. The various advanced fuel cycle scenarios that have been considered in both countries were then surveyed and summarized. The working group established the working reference scenario for the future cooperative activity that corresponds to a fuel cycle scenario being considered both in Japan and the U.S. This working scenario involves transitioning from a once-through fuel cycle utilizing light water reactors to a one-pass uranium-plutonium fuel recycle in light water reactors to a combination of light water reactors and fast reactors with plutonium, uranium, and minor actinide recycle, ultimately concluding with multiple recycle passes primarily using fast reactors. Considering the scenario, current and future expected waste streams, treatment and inventory were discussed, and the relevant information was summarized. Second, the waste management/disposal system optimization was discussed. Repository system concepts were reviewed, repository design concepts for the various classifications of nuclear waste were summarized, and the factors to consider in repository design and optimization were then discussed. Japan is considering various alternatives and options for the geologic disposal facility and the framework for future analysis of repository concepts was discussed. Regarding the advanced waste and storage form development, waste form technologies developed in both countries were surveyed and compared. Potential collaboration areas and activities were next identified. Disposal system optimization processes and techniques were reviewed, and factors to consider in future repository design optimization activities were also discussed. Then the potential collaboration areas and activities related to the optimization problem were extracted.« less

Comparison of kinematic and dynamic leg trajectory optimization techniques for biped robot locomotion

NASA Astrophysics Data System (ADS)

Khusainov, R.; Klimchik, A.; Magid, E.

2017-01-01

The paper presents comparison analysis of two approaches in defining leg trajectories for biped locomotion. The first one operates only with kinematic limitations of leg joints and finds the maximum possible locomotion speed for given limits. The second approach defines leg trajectories from the dynamic stability point of view and utilizes ZMP criteria. We show that two methods give different trajectories and demonstrate that trajectories based on pure dynamic optimization cannot be realized due to joint limits. Kinematic optimization provides unstable solution which can be balanced by upper body movement.

Joint Problems

MedlinePlus

... Help Related Topics Arthritis Join our e-newsletter! Aging & Health A to Z Joint Problems Basic Facts & ... April 2017 Posted: March 2012 © 2018 Health in Aging. All rights reserved. Feedback • Site Map • Privacy Policy • ...

Constrained trajectory optimization for kinematically redundant arms

NASA Technical Reports Server (NTRS)

Carignan, Craig R.; Tarrant, Janice M.

1990-01-01

Two velocity optimization schemes for resolving redundant joint configurations are compared. The Extended Moore-Penrose Technique minimizes the joint velocities and avoids obstacles indirectly by adjoining a cost gradient to the solution. A new method can incorporate inequality constraints directly to avoid obstacles and singularities in the workspace. A four-link arm example is used to illustrate singularity avoidance while tracking desired end-effector paths.

A Constrained Least Squares Approach to Mobile Positioning: Algorithms and Optimality

NASA Astrophysics Data System (ADS)

Cheung, KW; So, HC; Ma, W.-K.; Chan, YT

2006-12-01

The problem of locating a mobile terminal has received significant attention in the field of wireless communications. Time-of-arrival (TOA), received signal strength (RSS), time-difference-of-arrival (TDOA), and angle-of-arrival (AOA) are commonly used measurements for estimating the position of the mobile station. In this paper, we present a constrained weighted least squares (CWLS) mobile positioning approach that encompasses all the above described measurement cases. The advantages of CWLS include performance optimality and capability of extension to hybrid measurement cases (e.g., mobile positioning using TDOA and AOA measurements jointly). Assuming zero-mean uncorrelated measurement errors, we show by mean and variance analysis that all the developed CWLS location estimators achieve zero bias and the Cramér-Rao lower bound approximately when measurement error variances are small. The asymptotic optimum performance is also confirmed by simulation results.

JacksonBot - Design, Simulation and Optimal Control of an Action Painting Robot

NASA Astrophysics Data System (ADS)

Raschke, Michael; Mombaur, Katja; Schubert, Alexander

We present the robotics platform JacksonBot which is capable to produce paintings inspired by the Action Painting style of Jackson Pollock. A dynamically moving robot arm splashes color from a container at the end effector on the canvas. The paintings produced by this platform rely on a combination of the algorithmic generation of robot arm motions with random effects of the splashing color. The robot can be considered as a complex and powerful tool to generate art works programmed by a user. Desired end effector motions can be prescribed either by mathematical functions, by point sequences or by data glove motions. We have evaluated the effect of different shapes of input motions on the resulting painting. In order to compute the robot joint trajectories necessary to move along a desired end effector path, we use an optimal control based approach to solve the inverse kinematics problem.

An Efficient Offloading Scheme For MEC System Considering Delay and Energy Consumption

NASA Astrophysics Data System (ADS)

Sun, Yanhua; Hao, Zhe; Zhang, Yanhua

2018-01-01

With the increasing numbers of mobile devices, mobile edge computing (MEC) which provides cloud computing capabilities proximate to mobile devices in 5G networks has been envisioned as a promising paradigm to enhance users experience. In this paper, we investigate a joint consideration of delay and energy consumption offloading scheme (JCDE) for MEC system in 5G heterogeneous networks. An optimization is formulated to minimize the delay as well as energy consumption of the offloading system, which the delay and energy consumption of transmitting and calculating tasks are taken into account. We adopt an iterative greedy algorithm to solve the optimization problem. Furthermore, simulations were carried out to validate the utility and effectiveness of our proposed scheme. The effect of parameter variations on the system is analysed as well. Numerical results demonstrate delay and energy efficiency promotion of our proposed scheme compared with another paper’s scheme.

Channel Simulation in Quantum Metrology

NASA Astrophysics Data System (ADS)

Laurenza, Riccardo; Lupo, Cosmo; Spedalieri, Gaetana; Braunstein, Samuel L.; Pirandola, Stefano

2018-04-01

In this review we discuss how channel simulation can be used to simplify the most general protocols of quantum parameter estimation, where unlimited entanglement and adaptive joint operations may be employed. Whenever the unknown parameter encoded in a quantum channel is completely transferred in an environmental program state simulating the channel, the optimal adaptive estimation cannot beat the standard quantum limit. In this setting, we elucidate the crucial role of quantum teleportation as a primitive operation which allows one to completely reduce adaptive protocols over suitable teleportation-covariant channels and derive matching upper and lower bounds for parameter estimation. For these channels,wemay express the quantum Cramér Rao bound directly in terms of their Choi matrices. Our review considers both discrete- and continuous-variable systems, also presenting some new results for bosonic Gaussian channels using an alternative sub-optimal simulation. It is an open problem to design simulations for quantum channels that achieve the Heisenberg limit.

Spatio-Temporal Video Segmentation with Shape Growth or Shrinkage Constraint

NASA Technical Reports Server (NTRS)

Tarabalka, Yuliya; Charpiat, Guillaume; Brucker, Ludovic; Menze, Bjoern H.

2014-01-01

We propose a new method for joint segmentation of monotonously growing or shrinking shapes in a time sequence of noisy images. The task of segmenting the image time series is expressed as an optimization problem using the spatio-temporal graph of pixels, in which we are able to impose the constraint of shape growth or of shrinkage by introducing monodirectional infinite links connecting pixels at the same spatial locations in successive image frames. The globally optimal solution is computed with a graph cut. The performance of the proposed method is validated on three applications: segmentation of melting sea ice floes and of growing burned areas from time series of 2D satellite images, and segmentation of a growing brain tumor from sequences of 3D medical scans. In the latter application, we impose an additional intersequences inclusion constraint by adding directed infinite links between pixels of dependent image structures.

Application of improved wavelet total variation denoising for rolling bearing incipient fault diagnosis

NASA Astrophysics Data System (ADS)

Zhang, W.; Jia, M. P.

2018-06-01

When incipient fault appear in the rolling bearing, the fault feature is too small and easily submerged in the strong background noise. In this paper, wavelet total variation denoising based on kurtosis (Kurt-WATV) is studied, which can extract the incipient fault feature of the rolling bearing more effectively. The proposed algorithm contains main steps: a) establish a sparse diagnosis model, b) represent periodic impulses based on the redundant wavelet dictionary, c) solve the joint optimization problem by alternating direction method of multipliers (ADMM), d) obtain the reconstructed signal using kurtosis value as criterion and then select optimal wavelet subbands. This paper uses overcomplete rational-dilation wavelet transform (ORDWT) as a dictionary, and adjusts the control parameters to achieve the concentration in the time-frequency plane. Incipient fault of rolling bearing is used as an example, and the result shows that the effectiveness and superiority of the proposed Kurt- WATV bearing fault diagnosis algorithm.

Designing an Optimized Novel Femoral Stem

PubMed Central

Babaniamansour, Parto; Ebrahimian-Hosseinabadi, Mehdi; Zargar-Kharazi, Anousheh

2017-01-01

Background: After total hip arthroplasty, there would be some problems for the patients. Implant loosening is one of the significant problems which results in thigh pain and even revision surgery. Difference between Young's modulus of bone-metal is the cause of stress shielding, atrophy, and subsequent implant loosening. Materials and Methods: In this paper, femoral stem stiffness is reduced by novel biomechanical and biomaterial design which includes using proper design parameters, coating it with porous surface, and modeling the sketch by the software. Parametric design of femoral stem is done on the basis of clinical reports. Results: Optimized model for femoral stem is proposed. Curved tapered stem with trapezoidal cross-section and particular neck and offset is designed. Fully porous surface is suggested. Moreover, Designed femoral stem analysis showed the Ti6Al4V stem which is covered with layer of 1.5 mm in thickness and 50% of porosity is as stiff as 77 GPa that is 30% less than the stem without any porosity. Porous surface of designed stem makes it fix biologically; thus, prosthesis loosening probability decreases. Conclusion: By optimizing femoral stem geometry (size and shape) and also making a porous surface, which had an intermediate stiffness of bone and implant, a more efficient hip joint prosthesis with more durability fixation was achieved due to better stress transmission from implant to the bone. PMID:28840118

Multiobjective hedging rules for flood water conservation

NASA Astrophysics Data System (ADS)

Ding, Wei; Zhang, Chi; Cai, Ximing; Li, Yu; Zhou, Huicheng

2017-03-01

Flood water conservation can be beneficial for water uses especially in areas with water stress but also can pose additional flood risk. The potential of flood water conservation is affected by many factors, especially decision makers' preference for water conservation and reservoir inflow forecast uncertainty. This paper discusses the individual and joint effects of these two factors on the trade-off between flood control and water conservation, using a multiobjective, two-stage reservoir optimal operation model. It is shown that hedging between current water conservation and future flood control exists only when forecast uncertainty or decision makers' preference is within a certain range, beyond which, hedging is trivial and the multiobjective optimization problem is reduced to a single objective problem with either flood control or water conservation. Different types of hedging rules are identified with different levels of flood water conservation preference, forecast uncertainties, acceptable flood risk, and reservoir storage capacity. Critical values of decision preference (represented by a weight) and inflow forecast uncertainty (represented by standard deviation) are identified. These inform reservoir managers with a feasible range of their preference to water conservation and thresholds of forecast uncertainty, specifying possible water conservation within the thresholds. The analysis also provides inputs for setting up an optimization model by providing the range of objective weights and the choice of hedging rule types. A case study is conducted to illustrate the concepts and analyses.

Acoustic design criteria in a general system for structural optimization

NASA Technical Reports Server (NTRS)

Brama, Torsten

1990-01-01

Passenger comfort is of great importance in most transport vehicles. For instance, in the new generation of regional turboprop aircraft, a low noise level is vital to be competitive on the market. The possibilities to predict noise levels analytically has improved rapidly in recent years. This will make it possible to take acoustic design criteria into account in early project stages. The development of the ASKA FE-system to include also acoustic analysis has been carried out at Saab Aircraft Division and the Aeronautical Research Institute of Sweden in a joint project. New finite elements have been developed to model the free fluid, porous damping materials, and the interaction between the fluid and structural degrees of freedom. The FE approach to the acoustic analysis is best suited for lower frequencies up to a few hundred Hz. For accurate analysis of interior cabin noise, large 3-D FE-models are built, but 2-D models are also considered to be useful for parametric studies and optimization. The interest is here focused on the introduction of an acoustic design criteria in the general structural optimization system OPTSYS available at the Saab Aircraft Division. The first implementation addresses a somewhat limited class of problems. The problems solved are formulated: Minimize the structural weight by modifying the dimensions of the structure while keeping the noise level in the cavity and other structural design criteria within specified limits.

Efficient Wideband Spectrum Sensing with Maximal Spectral Efficiency for LEO Mobile Satellite Systems

PubMed Central

Li, Feilong; Li, Zhiqiang; Li, Guangxia; Dong, Feihong; Zhang, Wei

2017-01-01

The usable satellite spectrum is becoming scarce due to static spectrum allocation policies. Cognitive radio approaches have already demonstrated their potential towards spectral efficiency for providing more spectrum access opportunities to secondary user (SU) with sufficient protection to licensed primary user (PU). Hence, recent scientific literature has been focused on the tradeoff between spectrum reuse and PU protection within narrowband spectrum sensing (SS) in terrestrial wireless sensing networks. However, those narrowband SS techniques investigated in the context of terrestrial CR may not be applicable for detecting wideband satellite signals. In this paper, we mainly investigate the problem of joint designing sensing time and hard fusion scheme to maximize SU spectral efficiency in the scenario of low earth orbit (LEO) mobile satellite services based on wideband spectrum sensing. Compressed detection model is established to prove that there indeed exists one optimal sensing time achieving maximal spectral efficiency. Moreover, we propose novel wideband cooperative spectrum sensing (CSS) framework where each SU reporting duration can be utilized for its following SU sensing. The sensing performance benefits from the novel CSS framework because the equivalent sensing time is extended by making full use of reporting slot. Furthermore, in respect of time-varying channel, the spatiotemporal CSS (ST-CSS) is presented to attain space and time diversity gain simultaneously under hard decision fusion rule. Computer simulations show that the optimal sensing settings algorithm of joint optimization of sensing time, hard fusion rule and scheduling strategy achieves significant improvement in spectral efficiency. Additionally, the novel ST-CSS scheme performs much higher spectral efficiency than that of general CSS framework. PMID:28117712

An interactive computer approach to performing resource analysis for a multi-resource/multi-project problem. [Spacelab inventory procurement planning

NASA Technical Reports Server (NTRS)

Schlagheck, R. A.

1977-01-01

New planning techniques and supporting computer tools are needed for the optimization of resources and costs for space transportation and payload systems. Heavy emphasis on cost effective utilization of resources has caused NASA program planners to look at the impact of various independent variables that affect procurement buying. A description is presented of a category of resource planning which deals with Spacelab inventory procurement analysis. Spacelab is a joint payload project between NASA and the European Space Agency and will be flown aboard the Space Shuttle starting in 1980. In order to respond rapidly to the various procurement planning exercises, a system was built that could perform resource analysis in a quick and efficient manner. This system is known as the Interactive Resource Utilization Program (IRUP). Attention is given to aspects of problem definition, an IRUP system description, questions of data base entry, the approach used for project scheduling, and problems of resource allocation.

Orofacial pain management: current perspectives.

PubMed

Romero-Reyes, Marcela; Uyanik, James M

2014-01-01

Some of the most prevalent and debilitating pain conditions arise from the structures innervated by the trigeminal system (head, face, masticatory musculature, temporomandibular joint and associated structures). Orofacial pain (OFP) can arise from different regions and etiologies. Temporomandibular disorders (TMD) are the most prevalent orofacial pain conditions for which patients seek treatment. Temporomandibular disorders include a number of clinical problems that involve the masticatory musculature, the temporomandibular joint (TMJ) or both. Trigeminal neuropathic pain conditions can arise from injury secondary to dental procedures, infection, neoplasias, or disease or dysfunction of the peripheral and/or central nervous system. Neurovascular disorders, such as primary headaches, can present as chronic orofacial pain, such as in the case of facial migraine, where the pain is localized in the second and third division of the trigeminal nerve. Together, these disorders of the trigeminal system impact the quality of life of the sufferer dramatically. A multidisciplinary pain management approach should be considered for the optimal treatment of orofacial pain disorders including both non-pharmacological and pharmacological modalities.

Orofacial pain management: current perspectives

PubMed Central

Romero-Reyes, Marcela; Uyanik, James M

2014-01-01

Some of the most prevalent and debilitating pain conditions arise from the structures innervated by the trigeminal system (head, face, masticatory musculature, temporomandibular joint and associated structures). Orofacial pain (OFP) can arise from different regions and etiologies. Temporomandibular disorders (TMD) are the most prevalent orofacial pain conditions for which patients seek treatment. Temporomandibular disorders include a number of clinical problems that involve the masticatory musculature, the temporomandibular joint (TMJ) or both. Trigeminal neuropathic pain conditions can arise from injury secondary to dental procedures, infection, neoplasias, or disease or dysfunction of the peripheral and/or central nervous system. Neurovascular disorders, such as primary headaches, can present as chronic orofacial pain, such as in the case of facial migraine, where the pain is localized in the second and third division of the trigeminal nerve. Together, these disorders of the trigeminal system impact the quality of life of the sufferer dramatically. A multidisciplinary pain management approach should be considered for the optimal treatment of orofacial pain disorders including both non-pharmacological and pharmacological modalities. PMID:24591846

Neural-Dynamic-Method-Based Dual-Arm CMG Scheme With Time-Varying Constraints Applied to Humanoid Robots.

PubMed

Zhang, Zhijun; Li, Zhijun; Zhang, Yunong; Luo, Yamei; Li, Yuanqing

2015-12-01

We propose a dual-arm cyclic-motion-generation (DACMG) scheme by a neural-dynamic method, which can remedy the joint-angle-drift phenomenon of a humanoid robot. In particular, according to a neural-dynamic design method, first, a cyclic-motion performance index is exploited and applied. This cyclic-motion performance index is then integrated into a quadratic programming (QP)-type scheme with time-varying constraints, called the time-varying-constrained DACMG (TVC-DACMG) scheme. The scheme includes the kinematic motion equations of two arms and the time-varying joint limits. The scheme can not only generate the cyclic motion of two arms for a humanoid robot but also control the arms to move to the desired position. In addition, the scheme considers the physical limit avoidance. To solve the QP problem, a recurrent neural network is presented and used to obtain the optimal solutions. Computer simulations and physical experiments demonstrate the effectiveness and the accuracy of such a TVC-DACMG scheme and the neural network solver.

[Inferior hemiarthroplasty of the temporo-mandibular joint with articulated condylar prosthesis type Stryker].

PubMed

Bucur, A; Dincă, O; Totan, C; Ghită, V

2007-01-01

The optimal reconstruction of the mandible and of the temporo-mandibular joint after mandibular hemi-resection with disarticulation is still controversial in literature. This paperwork presents our experience on four cases in the reconstruction of the mandible together with the inferior arthroplasty of the temporo-mandibular joint, after the resection of extended benign tumors of the mandible, based on fibular free vascularized grafts having attached a Stryker titanium condylar prosthesis reconstructing the inferior segment of the temporo-mandibular joint. Our results for the this technique were excellent, with a functional rehabilitation very close to normal. After reviewing the various techniques and their arguments in literature, with accent on the TMJ reconstruction, we consider this method to be optimal for the reconstruction of mandibular defects in patients with neoplastic conditions.

Smoothed low rank and sparse matrix recovery by iteratively reweighted least squares minimization.

PubMed

Lu, Canyi; Lin, Zhouchen; Yan, Shuicheng

2015-02-01

This paper presents a general framework for solving the low-rank and/or sparse matrix minimization problems, which may involve multiple nonsmooth terms. The iteratively reweighted least squares (IRLSs) method is a fast solver, which smooths the objective function and minimizes it by alternately updating the variables and their weights. However, the traditional IRLS can only solve a sparse only or low rank only minimization problem with squared loss or an affine constraint. This paper generalizes IRLS to solve joint/mixed low-rank and sparse minimization problems, which are essential formulations for many tasks. As a concrete example, we solve the Schatten-p norm and l2,q-norm regularized low-rank representation problem by IRLS, and theoretically prove that the derived solution is a stationary point (globally optimal if p,q ≥ 1). Our convergence proof of IRLS is more general than previous one that depends on the special properties of the Schatten-p norm and l2,q-norm. Extensive experiments on both synthetic and real data sets demonstrate that our IRLS is much more efficient.

Optimal joint detection and estimation that maximizes ROC-type curves

PubMed Central

Wunderlich, Adam; Goossens, Bart; Abbey, Craig K.

2017-01-01

Combined detection-estimation tasks are frequently encountered in medical imaging. Optimal methods for joint detection and estimation are of interest because they provide upper bounds on observer performance, and can potentially be utilized for imaging system optimization, evaluation of observer efficiency, and development of image formation algorithms. We present a unified Bayesian framework for decision rules that maximize receiver operating characteristic (ROC)-type summary curves, including ROC, localization ROC (LROC), estimation ROC (EROC), free-response ROC (FROC), alternative free-response ROC (AFROC), and exponentially-transformed FROC (EFROC) curves, succinctly summarizing previous results. The approach relies on an interpretation of ROC-type summary curves as plots of an expected utility versus an expected disutility (or penalty) for signal-present decisions. We propose a general utility structure that is flexible enough to encompass many ROC variants and yet sufficiently constrained to allow derivation of a linear expected utility equation that is similar to that for simple binary detection. We illustrate our theory with an example comparing decision strategies for joint detection-estimation of a known signal with unknown amplitude. In addition, building on insights from our utility framework, we propose new ROC-type summary curves and associated optimal decision rules for joint detection-estimation tasks with an unknown, potentially-multiple, number of signals in each observation. PMID:27093544

Optimal Joint Detection and Estimation That Maximizes ROC-Type Curves.

PubMed

Wunderlich, Adam; Goossens, Bart; Abbey, Craig K

2016-09-01

Combined detection-estimation tasks are frequently encountered in medical imaging. Optimal methods for joint detection and estimation are of interest because they provide upper bounds on observer performance, and can potentially be utilized for imaging system optimization, evaluation of observer efficiency, and development of image formation algorithms. We present a unified Bayesian framework for decision rules that maximize receiver operating characteristic (ROC)-type summary curves, including ROC, localization ROC (LROC), estimation ROC (EROC), free-response ROC (FROC), alternative free-response ROC (AFROC), and exponentially-transformed FROC (EFROC) curves, succinctly summarizing previous results. The approach relies on an interpretation of ROC-type summary curves as plots of an expected utility versus an expected disutility (or penalty) for signal-present decisions. We propose a general utility structure that is flexible enough to encompass many ROC variants and yet sufficiently constrained to allow derivation of a linear expected utility equation that is similar to that for simple binary detection. We illustrate our theory with an example comparing decision strategies for joint detection-estimation of a known signal with unknown amplitude. In addition, building on insights from our utility framework, we propose new ROC-type summary curves and associated optimal decision rules for joint detection-estimation tasks with an unknown, potentially-multiple, number of signals in each observation.

Optimal trajectory planning of free-floating space manipulator using differential evolution algorithm

NASA Astrophysics Data System (ADS)

Wang, Mingming; Luo, Jianjun; Fang, Jing; Yuan, Jianping

2018-03-01

The existence of the path dependent dynamic singularities limits the volume of available workspace of free-floating space robot and induces enormous joint velocities when such singularities are met. In order to overcome this demerit, this paper presents an optimal joint trajectory planning method using forward kinematics equations of free-floating space robot, while joint motion laws are delineated with application of the concept of reaction null-space. Bézier curve, in conjunction with the null-space column vectors, are applied to describe the joint trajectories. Considering the forward kinematics equations of the free-floating space robot, the trajectory planning issue is consequently transferred to an optimization issue while the control points to construct the Bézier curve are the design variables. A constrained differential evolution (DE) scheme with premature handling strategy is implemented to find the optimal solution of the design variables while specific objectives and imposed constraints are satisfied. Differ from traditional methods, we synthesize null-space and specialized curve to provide a novel viewpoint for trajectory planning of free-floating space robot. Simulation results are presented for trajectory planning of 7 degree-of-freedom (DOF) kinematically redundant manipulator mounted on a free-floating spacecraft and demonstrate the feasibility and effectiveness of the proposed method.

Knee Injuries and Disorders

MedlinePlus

Your knee joint is made up of bone, cartilage, ligaments and fluid. Muscles and tendons help the knee joint move. When any of these structures is hurt or diseased, you have knee problems. Knee problems can cause pain and difficulty ...

Redundant drive current imbalance problem of the Automatic Radiator Inspection Device (ARID)

NASA Technical Reports Server (NTRS)

Latino, Carl D.

1992-01-01

The Automatic Radiator Inspection Device (ARID) is a 4 Degree of Freedom (DOF) robot with redundant drive motors at each joint. The device is intended to automate the labor intensive task of space shuttle radiator inspection. For safety and redundancy, each joint is driven by two independent motor systems. Motors driving the same joint, however, draw vastly different currents. The concern was that the robot joints could be subjected to undue stress. It was the objective of this summer's project to determine the cause of this current imbalance. In addition it was to determine, in a quantitative manner, what was the cause, how serious the problem was in terms of damage or undue wear to the robot and find solutions if possible. It was concluded that most problems could be resolved with a better motor control design. This document discusses problems encountered and possible solutions.

Vision-based Detection of Acoustic Timed Events: a Case Study on Clarinet Note Onsets

NASA Astrophysics Data System (ADS)

Bazzica, A.; van Gemert, J. C.; Liem, C. C. S.; Hanjalic, A.

2017-05-01

Acoustic events often have a visual counterpart. Knowledge of visual information can aid the understanding of complex auditory scenes, even when only a stereo mixdown is available in the audio domain, \\eg identifying which musicians are playing in large musical ensembles. In this paper, we consider a vision-based approach to note onset detection. As a case study we focus on challenging, real-world clarinetist videos and carry out preliminary experiments on a 3D convolutional neural network based on multiple streams and purposely avoiding temporal pooling. We release an audiovisual dataset with 4.5 hours of clarinetist videos together with cleaned annotations which include about 36,000 onsets and the coordinates for a number of salient points and regions of interest. By performing several training trials on our dataset, we learned that the problem is challenging. We found that the CNN model is highly sensitive to the optimization algorithm and hyper-parameters, and that treating the problem as binary classification may prevent the joint optimization of precision and recall. To encourage further research, we publicly share our dataset, annotations and all models and detail which issues we came across during our preliminary experiments.

Reaching Agreement in Quantum Hybrid Networks.

PubMed

Shi, Guodong; Li, Bo; Miao, Zibo; Dower, Peter M; James, Matthew R

2017-07-20

We consider a basic quantum hybrid network model consisting of a number of nodes each holding a qubit, for which the aim is to drive the network to a consensus in the sense that all qubits reach a common state. Projective measurements are applied serving as control means, and the measurement results are exchanged among the nodes via classical communication channels. In this way the quantum-opeartion/classical-communication nature of hybrid quantum networks is captured, although coherent states and joint operations are not taken into consideration in order to facilitate a clear and explicit analysis. We show how to carry out centralized optimal path planning for this network with all-to-all classical communications, in which case the problem becomes a stochastic optimal control problem with a continuous action space. To overcome the computation and communication obstacles facing the centralized solutions, we also develop a distributed Pairwise Qubit Projection (PQP) algorithm, where pairs of nodes meet at a given time and respectively perform measurements at their geometric average. We show that the qubit states are driven to a consensus almost surely along the proposed PQP algorithm, and that the expected qubit density operators converge to the average of the network's initial values.

Stochastic search, optimization and regression with energy applications

NASA Astrophysics Data System (ADS)

Hannah, Lauren A.

Designing clean energy systems will be an important task over the next few decades. One of the major roadblocks is a lack of mathematical tools to economically evaluate those energy systems. However, solutions to these mathematical problems are also of interest to the operations research and statistical communities in general. This thesis studies three problems that are of interest to the energy community itself or provide support for solution methods: R&D portfolio optimization, nonparametric regression and stochastic search with an observable state variable. First, we consider the one stage R&D portfolio optimization problem to avoid the sequential decision process associated with the multi-stage. The one stage problem is still difficult because of a non-convex, combinatorial decision space and a non-convex objective function. We propose a heuristic solution method that uses marginal project values---which depend on the selected portfolio---to create a linear objective function. In conjunction with the 0-1 decision space, this new problem can be solved as a knapsack linear program. This method scales well to large decision spaces. We also propose an alternate, provably convergent algorithm that does not exploit problem structure. These methods are compared on a solid oxide fuel cell R&D portfolio problem. Next, we propose Dirichlet Process mixtures of Generalized Linear Models (DPGLM), a new method of nonparametric regression that accommodates continuous and categorical inputs, and responses that can be modeled by a generalized linear model. We prove conditions for the asymptotic unbiasedness of the DP-GLM regression mean function estimate. We also give examples for when those conditions hold, including models for compactly supported continuous distributions and a model with continuous covariates and categorical response. We empirically analyze the properties of the DP-GLM and why it provides better results than existing Dirichlet process mixture regression models. We evaluate DP-GLM on several data sets, comparing it to modern methods of nonparametric regression like CART, Bayesian trees and Gaussian processes. Compared to existing techniques, the DP-GLM provides a single model (and corresponding inference algorithms) that performs well in many regression settings. Finally, we study convex stochastic search problems where a noisy objective function value is observed after a decision is made. There are many stochastic search problems whose behavior depends on an exogenous state variable which affects the shape of the objective function. Currently, there is no general purpose algorithm to solve this class of problems. We use nonparametric density estimation to take observations from the joint state-outcome distribution and use them to infer the optimal decision for a given query state. We propose two solution methods that depend on the problem characteristics: function-based and gradient-based optimization. We examine two weighting schemes, kernel-based weights and Dirichlet process-based weights, for use with the solution methods. The weights and solution methods are tested on a synthetic multi-product newsvendor problem and the hour-ahead wind commitment problem. Our results show that in some cases Dirichlet process weights offer substantial benefits over kernel based weights and more generally that nonparametric estimation methods provide good solutions to otherwise intractable problems.

Design and optimization of color lookup tables on a simplex topology.

PubMed

Monga, Vishal; Bala, Raja; Mo, Xuan

2012-04-01

An important computational problem in color imaging is the design of color transforms that map color between devices or from a device-dependent space (e.g., RGB/CMYK) to a device-independent space (e.g., CIELAB) and vice versa. Real-time processing constraints entail that such nonlinear color transforms be implemented using multidimensional lookup tables (LUTs). Furthermore, relatively sparse LUTs (with efficient interpolation) are employed in practice because of storage and memory constraints. This paper presents a principled design methodology rooted in constrained convex optimization to design color LUTs on a simplex topology. The use of n simplexes, i.e., simplexes in n dimensions, as opposed to traditional lattices, recently has been of great interest in color LUT design for simplex topologies that allow both more analytically tractable formulations and greater efficiency in the LUT. In this framework of n-simplex interpolation, our central contribution is to develop an elegant iterative algorithm that jointly optimizes the placement of nodes of the color LUT and the output values at those nodes to minimize interpolation error in an expected sense. This is in contrast to existing work, which exclusively designs either node locations or the output values. We also develop new analytical results for the problem of node location optimization, which reduces to constrained optimization of a large but sparse interpolation matrix in our framework. We evaluate our n -simplex color LUTs against the state-of-the-art lattice (e.g., International Color Consortium profiles) and simplex-based techniques for approximating two representative multidimensional color transforms that characterize a CMYK xerographic printer and an RGB scanner, respectively. The results show that color LUTs designed on simplexes offer very significant benefits over traditional lattice-based alternatives in improving color transform accuracy even with a much smaller number of nodes.

Can physical joint simulators be used to anticipate clinical wear problems of new joint replacement implants prior to market release?

PubMed

Medley, John B

2016-05-01

One of the most important mandates of physical joint simulators is to provide test results that allow the implant manufacturer to anticipate and perhaps avoid clinical wear problems with their new products. This is best done before market release. This study gives four steps to follow in conducting such wear simulator testing. Two major examples involving hip wear simulators are discussed in which attempts had been made to predict clinical wear performance prior to market release. The second one, involving the DePuy ASR implant systems, is chosen for more extensive treatment by making it an illustrative example to explore whether wear simulator testing can anticipate clinical wear problems. It is concluded that hip wear simulator testing did provide data in the academic literature that indicated some risk of clinical wear problems prior to market release of the ASR implant systems. This supports the idea that physical joint simulators have an important role in the pre-market testing of new joint replacement implants. © IMechE 2016.

Direct Methods for Predicting Movement Biomechanics Based Upon Optimal Control Theory with Implementation in OpenSim.

PubMed

Porsa, Sina; Lin, Yi-Chung; Pandy, Marcus G

2016-08-01

The aim of this study was to compare the computational performances of two direct methods for solving large-scale, nonlinear, optimal control problems in human movement. Direct shooting and direct collocation were implemented on an 8-segment, 48-muscle model of the body (24 muscles on each side) to compute the optimal control solution for maximum-height jumping. Both algorithms were executed on a freely-available musculoskeletal modeling platform called OpenSim. Direct collocation converged to essentially the same optimal solution up to 249 times faster than direct shooting when the same initial guess was assumed (3.4 h of CPU time for direct collocation vs. 35.3 days for direct shooting). The model predictions were in good agreement with the time histories of joint angles, ground reaction forces and muscle activation patterns measured for subjects jumping to their maximum achievable heights. Both methods converged to essentially the same solution when started from the same initial guess, but computation time was sensitive to the initial guess assumed. Direct collocation demonstrates exceptional computational performance and is well suited to performing predictive simulations of movement using large-scale musculoskeletal models.

An optimization method of VON mapping for energy efficiency and routing in elastic optical networks

NASA Astrophysics Data System (ADS)

Liu, Huanlin; Xiong, Cuilian; Chen, Yong; Li, Changping; Chen, Derun

2018-03-01

To improve resources utilization efficiency, network virtualization in elastic optical networks has been developed by sharing the same physical network for difference users and applications. In the process of virtual nodes mapping, longer paths between physical nodes will consume more spectrum resources and energy. To address the problem, we propose a virtual optical network mapping algorithm called genetic multi-objective optimize virtual optical network mapping algorithm (GM-OVONM-AL), which jointly optimizes the energy consumption and spectrum resources consumption in the process of virtual optical network mapping. Firstly, a vector function is proposed to balance the energy consumption and spectrum resources by optimizing population classification and crowding distance sorting. Then, an adaptive crossover operator based on hierarchical comparison is proposed to improve search ability and convergence speed. In addition, the principle of the survival of the fittest is introduced to select better individual according to the relationship of domination rank. Compared with the spectrum consecutiveness-opaque virtual optical network mapping-algorithm and baseline-opaque virtual optical network mapping algorithm, simulation results show the proposed GM-OVONM-AL can achieve the lowest bandwidth blocking probability and save the energy consumption.

Particle swarm optimization of ascent trajectories of multistage launch vehicles

NASA Astrophysics Data System (ADS)

Pontani, Mauro

2014-02-01

Multistage launch vehicles are commonly employed to place spacecraft and satellites in their operational orbits. If the rocket characteristics are specified, the optimization of its ascending trajectory consists of determining the optimal control law that leads to maximizing the final mass at orbit injection. The numerical solution of a similar problem is not trivial and has been pursued with different methods, for decades. This paper is concerned with an original approach based on the joint use of swarming theory and the necessary conditions for optimality. The particle swarm optimization technique represents a heuristic population-based optimization method inspired by the natural motion of bird flocks. Each individual (or particle) that composes the swarm corresponds to a solution of the problem and is associated with a position and a velocity vector. The formula for velocity updating is the core of the method and is composed of three terms with stochastic weights. As a result, the population migrates toward different regions of the search space taking advantage of the mechanism of information sharing that affects the overall swarm dynamics. At the end of the process the best particle is selected and corresponds to the optimal solution to the problem of interest. In this work the three-dimensional trajectory of the multistage rocket is assumed to be composed of four arcs: (i) first stage propulsion, (ii) second stage propulsion, (iii) coast arc (after release of the second stage), and (iv) third stage propulsion. The Euler-Lagrange equations and the Pontryagin minimum principle, in conjunction with the Weierstrass-Erdmann corner conditions, are employed to express the thrust angles as functions of the adjoint variables conjugate to the dynamics equations. The use of these analytical conditions coming from the calculus of variations leads to obtaining the overall rocket dynamics as a function of seven parameters only, namely the unknown values of the initial state and costate components, the coast duration, and the upper stage thrust duration. In addition, a simple approach is introduced and successfully applied with the purpose of satisfying exactly the path constraint related to the maximum dynamical pressure in the atmospheric phase. The basic version of the swarming technique, which is used in this research, is extremely simple and easy to program. Nevertheless, the algorithm proves to be capable of yielding the optimal rocket trajectory with a very satisfactory numerical accuracy.

Optimal Joint Remote State Preparation of Arbitrary Equatorial Multi-qudit States

NASA Astrophysics Data System (ADS)

Cai, Tao; Jiang, Min

2017-03-01

As an important communication technology, quantum information transmission plays an important role in the future network communication. It involves two kinds of transmission ways: quantum teleportation and remote state preparation. In this paper, we put forward a new scheme for optimal joint remote state preparation (JRSP) of an arbitrary equatorial two-qudit state with hybrid dimensions. Moreover, the receiver can reconstruct the target state with 100 % success probability in a deterministic manner via two spatially separated senders. Based on it, we can extend it to joint remote preparation of arbitrary equatorial multi-qudit states with hybrid dimensions using the same strategy.

Evaluation of joint sealant materials : interim report No. 1.

DOT National Transportation Integrated Search

1972-03-01

This report illustrates some of the problems caused by ineffectively sealed joints and points to the great need for properly sealing joints in both concrete pavements and structures. : The principles of design including slab lengths, joint dimensions...

Multi-optimization Criteria-based Robot Behavioral Adaptability and Motion Planning

DOE Office of Scientific and Technical Information (OSTI.GOV)

Pin, Francois G.

2002-06-01

Robotic tasks are typically defined in Task Space (e.g., the 3-D World), whereas robots are controlled in Joint Space (motors). The transformation from Task Space to Joint Space must consider the task objectives (e.g., high precision, strength optimization, torque optimization), the task constraints (e.g., obstacles, joint limits, non-holonomic constraints, contact or tool task constraints), and the robot kinematics configuration (e.g., tools, type of joints, mobile platform, manipulator, modular additions, locked joints). Commercially available robots are optimized for a specific set of tasks, objectives and constraints and, therefore, their control codes are extremely specific to a particular set of conditions. Thus,more » there exist a multiplicity of codes, each handling a particular set of conditions, but none suitable for use on robots with widely varying tasks, objectives, constraints, or environments. On the other hand, most DOE missions and tasks are typically ''batches of one''. Attempting to use commercial codes for such work requires significant personnel and schedule costs for re-programming or adding code to the robots whenever a change in task objective, robot configuration, number and type of constraint, etc. occurs. The objective of our project is to develop a ''generic code'' to implement this Task-space to Joint-Space transformation that would allow robot behavior adaptation, in real time (at loop rate), to changes in task objectives, number and type of constraints, modes of controls, kinematics configuration (e.g., new tools, added module). Our specific goal is to develop a single code for the general solution of under-specified systems of algebraic equations that is suitable for solving the inverse kinematics of robots, is useable for all types of robots (mobile robots, manipulators, mobile manipulators, etc.) with no limitation on the number of joints and the number of controlled Task-Space variables, can adapt to real time changes in number and type of constraints and in task objectives, and can adapt to changes in kinematics configurations (change of module, change of tool, joint failure adaptation, etc.).« less

Optimal Design of Cable-Driven Manipulators Using Particle Swarm Optimization.

PubMed

Bryson, Joshua T; Jin, Xin; Agrawal, Sunil K

2016-08-01

The design of cable-driven manipulators is complicated by the unidirectional nature of the cables, which results in extra actuators and limited workspaces. Furthermore, the particular arrangement of the cables and the geometry of the robot pose have a significant effect on the cable tension required to effect a desired joint torque. For a sufficiently complex robot, the identification of a satisfactory cable architecture can be difficult and can result in multiply redundant actuators and performance limitations based on workspace size and cable tensions. This work leverages previous research into the workspace analysis of cable systems combined with stochastic optimization to develop a generalized methodology for designing optimized cable routings for a given robot and desired task. A cable-driven robot leg performing a walking-gait motion is used as a motivating example to illustrate the methodology application. The components of the methodology are described, and the process is applied to the example problem. An optimal cable routing is identified, which provides the necessary controllable workspace to perform the desired task and enables the robot to perform that task with minimal cable tensions. A robot leg is constructed according to this routing and used to validate the theoretical model and to demonstrate the effectiveness of the resulting cable architecture.

A Poisson nonnegative matrix factorization method with parameter subspace clustering constraint for endmember extraction in hyperspectral imagery

NASA Astrophysics Data System (ADS)

Sun, Weiwei; Ma, Jun; Yang, Gang; Du, Bo; Zhang, Liangpei

2017-06-01

A new Bayesian method named Poisson Nonnegative Matrix Factorization with Parameter Subspace Clustering Constraint (PNMF-PSCC) has been presented to extract endmembers from Hyperspectral Imagery (HSI). First, the method integrates the liner spectral mixture model with the Bayesian framework and it formulates endmember extraction into a Bayesian inference problem. Second, the Parameter Subspace Clustering Constraint (PSCC) is incorporated into the statistical program to consider the clustering of all pixels in the parameter subspace. The PSCC could enlarge differences among ground objects and helps finding endmembers with smaller spectrum divergences. Meanwhile, the PNMF-PSCC method utilizes the Poisson distribution as the prior knowledge of spectral signals to better explain the quantum nature of light in imaging spectrometer. Third, the optimization problem of PNMF-PSCC is formulated into maximizing the joint density via the Maximum A Posterior (MAP) estimator. The program is finally solved by iteratively optimizing two sub-problems via the Alternating Direction Method of Multipliers (ADMM) framework and the FURTHESTSUM initialization scheme. Five state-of-the art methods are implemented to make comparisons with the performance of PNMF-PSCC on both the synthetic and real HSI datasets. Experimental results show that the PNMF-PSCC outperforms all the five methods in Spectral Angle Distance (SAD) and Root-Mean-Square-Error (RMSE), and especially it could identify good endmembers for ground objects with smaller spectrum divergences.

Fast approximation for joint optimization of segmentation, shape, and location priors, and its application in gallbladder segmentation.

PubMed

Saito, Atsushi; Nawano, Shigeru; Shimizu, Akinobu

2017-05-01

This paper addresses joint optimization for segmentation and shape priors, including translation, to overcome inter-subject variability in the location of an organ. Because a simple extension of the previous exact optimization method is too computationally complex, we propose a fast approximation for optimization. The effectiveness of the proposed approximation is validated in the context of gallbladder segmentation from a non-contrast computed tomography (CT) volume. After spatial standardization and estimation of the posterior probability of the target organ, simultaneous optimization of the segmentation, shape, and location priors is performed using a branch-and-bound method. Fast approximation is achieved by combining sampling in the eigenshape space to reduce the number of shape priors and an efficient computational technique for evaluating the lower bound. Performance was evaluated using threefold cross-validation of 27 CT volumes. Optimization in terms of translation of the shape prior significantly improved segmentation performance. The proposed method achieved a result of 0.623 on the Jaccard index in gallbladder segmentation, which is comparable to that of state-of-the-art methods. The computational efficiency of the algorithm is confirmed to be good enough to allow execution on a personal computer. Joint optimization of the segmentation, shape, and location priors was proposed, and it proved to be effective in gallbladder segmentation with high computational efficiency.

Optimal power allocation and joint source-channel coding for wireless DS-CDMA visual sensor networks

NASA Astrophysics Data System (ADS)

Pandremmenou, Katerina; Kondi, Lisimachos P.; Parsopoulos, Konstantinos E.

2011-01-01

In this paper, we propose a scheme for the optimal allocation of power, source coding rate, and channel coding rate for each of the nodes of a wireless Direct Sequence Code Division Multiple Access (DS-CDMA) visual sensor network. The optimization is quality-driven, i.e. the received quality of the video that is transmitted by the nodes is optimized. The scheme takes into account the fact that the sensor nodes may be imaging scenes with varying levels of motion. Nodes that image low-motion scenes will require a lower source coding rate, so they will be able to allocate a greater portion of the total available bit rate to channel coding. Stronger channel coding will mean that such nodes will be able to transmit at lower power. This will both increase battery life and reduce interference to other nodes. Two optimization criteria are considered. One that minimizes the average video distortion of the nodes and one that minimizes the maximum distortion among the nodes. The transmission powers are allowed to take continuous values, whereas the source and channel coding rates can assume only discrete values. Thus, the resulting optimization problem lies in the field of mixed-integer optimization tasks and is solved using Particle Swarm Optimization. Our experimental results show the importance of considering the characteristics of the video sequences when determining the transmission power, source coding rate and channel coding rate for the nodes of the visual sensor network.

The influence of the free space environment on the superlight-weight thermal protection system: conception, methods, and risk analysis

NASA Astrophysics Data System (ADS)

Yatsenko, Vitaliy; Falchenko, Iurii; Fedorchuk, Viktor; Petrushynets, Lidiia

2016-07-01

This report focuses on the results of the EU project "Superlight-weight thermal protection system for space application (LIGHT-TPS)". The bottom line is an analysis of influence of the free space environment on the superlight-weight thermal protection system (TPS). This report focuses on new methods that based on the following models: synergetic, physical, and computational. This report concentrates on four approaches. The first concerns the synergetic approach. The synergetic approach to the solution of problems of self-controlled synthesis of structures and creation of self-organizing technologies is considered in connection with the super-problem of creation of materials with new functional properties. Synergetics methods and mathematical design are considered according to actual problems of material science. The second approach describes how the optimization methods can be used to determine material microstructures with optimized or targeted properties. This technique enables one to find unexpected microstructures with exotic behavior (e.g., negative thermal expansion coefficients). The third approach concerns the dynamic probabilistic risk analysis of TPS l elements with complex characterizations for damages using a physical model of TPS system and a predictable level of ionizing radiation and space weather. Focusing is given mainly on the TPS model, mathematical models for dynamic probabilistic risk assessment and software for the modeling and prediction of the influence of the free space environment. The probabilistic risk assessment method for TPS is presented considering some deterministic and stochastic factors. The last approach concerns results of experimental research of the temperature distribution on the surface of the honeycomb sandwich panel size 150 x 150 x 20 mm at the diffusion welding in vacuum are considered. An equipment, which provides alignment of temperature fields in a product for the formation of equal strength of welded joints is considered. Many tasks in computational materials science can be posed as optimization problems. This technique enables one to find unexpected microstructures with exotic behavior (e.g., negative thermal expansion coefficients). The last approach is concerned with the generation of realizations of materials with specified but limited microstructural information: an intriguing inverse problem of both fundamental and practical importance. Computational models based upon the theories of molecular dynamics or quantum mechanics would enable the prediction and modification of fundamental materials properties. This problem is solved using deterministic and stochastic optimization techniques. The main optimization approaches in the frame of the EU project "Superlight-weight thermal protection system for space application" are discussed. Optimization approach to the alloys for obtaining materials with required properties using modeling techniques and experimental data will be also considered. This report is supported by the EU project "Superlight-weight thermal protection system for space application (LIGHT-TPS)"

Multi-objective optimization on laser solder jet bonding process in head gimbal assembly using the response surface methodology

NASA Astrophysics Data System (ADS)

Deeying, J.; Asawarungsaengkul, K.; Chutima, P.

2018-01-01

This paper aims to investigate the effect of laser solder jet bonding parameters to the solder joints in Head Gimbal Assembly. Laser solder jet bonding utilizes the fiber laser to melt solder ball in capillary. The molten solder is transferred to two bonding pads by nitrogen gas. The response surface methodology have been used to investigate the effects of laser energy, wait time, nitrogen gas pressure, and focal position on the shear strength of solder joints and the change of pitch static attitude (PSA). The response surface methodology is employed to establish the reliable mathematical relationships between the laser soldering parameters and desired responses. Then, multi-objective optimization is conducted to determine the optimal process parameters that can enhance the joint shear strength and minimize the change of PSA. The validation test confirms that the predicted value has good agreement with the actual value.

Optimization and Prediction of Angular Distortion and Weldment Characteristics of TIG Square Butt Joints

NASA Astrophysics Data System (ADS)

Narang, H. K.; Mahapatra, M. M.; Jha, P. K.; Biswas, P.

2014-05-01

Autogenous arc welds with minimum upper weld bead depression and lower weld bead bulging are desired as such welds do not require a second welding pass for filling up the upper bead depressions (UBDs) and characterized with minimum angular distortion. The present paper describes optimization and prediction of angular distortion and weldment characteristics such as upper weld bead depression and lower weld bead bulging of TIG-welded structural steel square butt joints. Full factorial design of experiment was utilized for selecting the combinations of welding process parameter to produce the square butts. A mathematical model was developed to establish the relationship between TIG welding process parameters and responses such as upper bead width, lower bead width, UBD, lower bead height (bulging), weld cross-sectional area, and angular distortions. The optimal welding condition to minimize UBD and lower bead bulging of the TIG butt joints was identified.

Organisation of biotechnological information into knowledge.

PubMed

Boh, B

1996-09-01

The success of biotechnological research, development and marketing depends to a large extent on the international transfer of information and on the ability to organise biotechnology information into knowledge. To increase the efficiency of information-based approaches, an information strategy has been developed and consists of the following stages: definition of the problem, its structure and sub-problems; acquisition of data by targeted processing of computer-supported bibliographic, numeric, textual and graphic databases; analysis of data and building of specialized in-house information systems; information processing for structuring data into systems, recognition of trends and patterns of knowledge, particularly by information synthesis using the concept of information density; design of research hypotheses; testing hypotheses in the laboratory and/or pilot plant; repeated evaluation and optimization of hypotheses by information methods and testing them by further laboratory work. The information approaches are illustrated by examples from the university-industry joint projects in biotechnology, biochemistry and agriculture.

Final Report on DOE Project entitled Dynamic Optimized Advanced Scheduling of Bandwidth Demands for Large-Scale Science Applications

DOE Office of Scientific and Technical Information (OSTI.GOV)

Ramamurthy, Byravamurthy

2014-05-05

In this project, developed scheduling frameworks for dynamic bandwidth demands for large-scale science applications. In particular, we developed scheduling algorithms for dynamic bandwidth demands in this project. Apart from theoretical approaches such as Integer Linear Programming, Tabu Search and Genetic Algorithm heuristics, we have utilized practical data from ESnet OSCARS project (from our DOE lab partners) to conduct realistic simulations of our approaches. We have disseminated our work through conference paper presentations and journal papers and a book chapter. In this project we addressed the problem of scheduling of lightpaths over optical wavelength division multiplexed (WDM) networks. We published severalmore » conference papers and journal papers on this topic. We also addressed the problems of joint allocation of computing, storage and networking resources in Grid/Cloud networks and proposed energy-efficient mechanisms for operatin optical WDM networks.« less

Marker-based reconstruction of the kinematics of a chain of segments: a new method that incorporates joint kinematic constraints.

PubMed

Klous, Miriam; Klous, Sander

2010-07-01

The aim of skin-marker-based motion analysis is to reconstruct the motion of a kinematical model from noisy measured motion of skin markers. Existing kinematic models for reconstruction of chains of segments can be divided into two categories: analytical methods that do not take joint constraints into account and numerical global optimization methods that do take joint constraints into account but require numerical optimization of a large number of degrees of freedom, especially when the number of segments increases. In this study, a new and largely analytical method for a chain of rigid bodies is presented, interconnected in spherical joints (chain-method). In this method, the number of generalized coordinates to be determined through numerical optimization is three, irrespective of the number of segments. This new method is compared with the analytical method of Veldpaus et al. [1988, "A Least-Squares Algorithm for the Equiform Transformation From Spatial Marker Co-Ordinates," J. Biomech., 21, pp. 45-54] (Veldpaus-method, a method of the first category) and the numerical global optimization method of Lu and O'Connor [1999, "Bone Position Estimation From Skin-Marker Co-Ordinates Using Global Optimization With Joint Constraints," J. Biomech., 32, pp. 129-134] (Lu-method, a method of the second category) regarding the effects of continuous noise simulating skin movement artifacts and regarding systematic errors in joint constraints. The study is based on simulated data to allow a comparison of the results of the different algorithms with true (noise- and error-free) marker locations. Results indicate a clear trend that accuracy for the chain-method is higher than the Veldpaus-method and similar to the Lu-method. Because large parts of the equations in the chain-method can be solved analytically, the speed of convergence in this method is substantially higher than in the Lu-method. With only three segments, the average number of required iterations with the chain-method is 3.0+/-0.2 times lower than with the Lu-method when skin movement artifacts are simulated by applying a continuous noise model. When simulating systematic errors in joint constraints, the number of iterations for the chain-method was almost a factor 5 lower than the number of iterations for the Lu-method. However, the Lu-method performs slightly better than the chain-method. The RMSD value between the reconstructed and actual marker positions is approximately 57% of the systematic error on the joint center positions for the Lu-method compared with 59% for the chain-method.

Developing the fuzzy c-means clustering algorithm based on maximum entropy for multitarget tracking in a cluttered environment

NASA Astrophysics Data System (ADS)

Chen, Xiao; Li, Yaan; Yu, Jing; Li, Yuxing

2018-01-01

For fast and more effective implementation of tracking multiple targets in a cluttered environment, we propose a multiple targets tracking (MTT) algorithm called maximum entropy fuzzy c-means clustering joint probabilistic data association that combines fuzzy c-means clustering and the joint probabilistic data association (PDA) algorithm. The algorithm uses the membership value to express the probability of the target originating from measurement. The membership value is obtained through fuzzy c-means clustering objective function optimized by the maximum entropy principle. When considering the effect of the public measurement, we use a correction factor to adjust the association probability matrix to estimate the state of the target. As this algorithm avoids confirmation matrix splitting, it can solve the high computational load problem of the joint PDA algorithm. The results of simulations and analysis conducted for tracking neighbor parallel targets and cross targets in a different density cluttered environment show that the proposed algorithm can realize MTT quickly and efficiently in a cluttered environment. Further, the performance of the proposed algorithm remains constant with increasing process noise variance. The proposed algorithm has the advantages of efficiency and low computational load, which can ensure optimum performance when tracking multiple targets in a dense cluttered environment.

A New Powered Lower Limb Prosthesis Control Framework Based on Adaptive Dynamic Programming.

PubMed

Wen, Yue; Si, Jennie; Gao, Xiang; Huang, Stephanie; Huang, He Helen

2017-09-01

This brief presents a novel application of adaptive dynamic programming (ADP) for optimal adaptive control of powered lower limb prostheses, a type of wearable robots to assist the motor function of the limb amputees. Current control of these robotic devices typically relies on finite state impedance control (FS-IC), which lacks adaptability to the user's physical condition. As a result, joint impedance settings are often customized manually and heuristically in clinics, which greatly hinder the wide use of these advanced medical devices. This simulation study aimed at demonstrating the feasibility of ADP for automatic tuning of the twelve knee joint impedance parameters during a complete gait cycle to achieve balanced walking. Given that the accurate models of human walking dynamics are difficult to obtain, the model-free ADP control algorithms were considered. First, direct heuristic dynamic programming (dHDP) was applied to the control problem, and its performance was evaluated on OpenSim, an often-used dynamic walking simulator. For the comparison purposes, we selected another established ADP algorithm, the neural fitted Q with continuous action (NFQCA). In both cases, the ADP controllers learned to control the right knee joint and achieved balanced walking, but dHDP outperformed NFQCA in this application during a 200 gait cycle-based testing.

Reliability Study of Solder Paste Alloy for the Improvement of Solder Joint at Surface Mount Fine-Pitch Components.

PubMed

Rahman, Mohd Nizam Ab; Zubir, Noor Suhana Mohd; Leuveano, Raden Achmad Chairdino; Ghani, Jaharah A; Mahmood, Wan Mohd Faizal Wan

2014-12-02

The significant increase in metal costs has forced the electronics industry to provide new materials and methods to reduce costs, while maintaining customers' high-quality expectations. This paper considers the problem of most electronic industries in reducing costly materials, by introducing a solder paste with alloy composition tin 98.3%, silver 0.3%, and copper 0.7%, used for the construction of the surface mount fine-pitch component on a Printing Wiring Board (PWB). The reliability of the solder joint between electronic components and PWB is evaluated through the dynamic characteristic test, thermal shock test, and Taguchi method after the printing process. After experimenting with the dynamic characteristic test and thermal shock test with 20 boards, the solder paste was still able to provide a high-quality solder joint. In particular, the Taguchi method is used to determine the optimal control parameters and noise factors of the Solder Printer (SP) machine, that affects solder volume and solder height. The control parameters include table separation distance, squeegee speed, squeegee pressure, and table speed of the SP machine. The result shows that the most significant parameter for the solder volume is squeegee pressure (2.0 mm), and the solder height is the table speed of the SP machine (2.5 mm/s).

Reliability Study of Solder Paste Alloy for the Improvement of Solder Joint at Surface Mount Fine-Pitch Components

PubMed Central

Rahman, Mohd Nizam Ab.; Zubir, Noor Suhana Mohd; Leuveano, Raden Achmad Chairdino; Ghani, Jaharah A.; Mahmood, Wan Mohd Faizal Wan

2014-01-01

The significant increase in metal costs has forced the electronics industry to provide new materials and methods to reduce costs, while maintaining customers’ high-quality expectations. This paper considers the problem of most electronic industries in reducing costly materials, by introducing a solder paste with alloy composition tin 98.3%, silver 0.3%, and copper 0.7%, used for the construction of the surface mount fine-pitch component on a Printing Wiring Board (PWB). The reliability of the solder joint between electronic components and PWB is evaluated through the dynamic characteristic test, thermal shock test, and Taguchi method after the printing process. After experimenting with the dynamic characteristic test and thermal shock test with 20 boards, the solder paste was still able to provide a high-quality solder joint. In particular, the Taguchi method is used to determine the optimal control parameters and noise factors of the Solder Printer (SP) machine, that affects solder volume and solder height. The control parameters include table separation distance, squeegee speed, squeegee pressure, and table speed of the SP machine. The result shows that the most significant parameter for the solder volume is squeegee pressure (2.0 mm), and the solder height is the table speed of the SP machine (2.5 mm/s). PMID:28788270

JOINT MOBILIZATION IN THE MANAGEMENT OF PERSISTENT INSERTIONAL ACHILLES TENDINOPATHY: A CASE REPORT.

PubMed

Jayaseelan, Dhinu J; Post, Andrew A; Mischke, John J; Sault, Josiah D

2017-02-01

Insertional Achilles tendinopathy (IAT) can be a challenging condition to manage conservatively. Eccentric exercise is commonly used in the management of chronic tendinopathy; however, it may not be as helpful for insertional tendon problems as compared to mid-portion dysfunction. While current evidence describing the physical therapy management of IAT is developing, gaps still exist in descriptions of best practice. The purpose of this case report is to describe the management of a patient with persistent IAT utilizing impairment-based joint mobilization, self-mobilization, and exercise. A 51-year-old male was seen in physical therapy for complaints of posterior heel pain and reduced running capacity. He was seen by multiple physical therapists previously, but reported continued impairment, and functional restriction. Joint-based non-thrust mobilization and self-mobilization exercise were performed to enhance his ability to run and reduce symptoms. The subject was seen for four visits over the course of two months. He made clinically significant improvements on the Foot and Ankle Activity Measure and Victorian Institute of Sport Assessment-Achilles tendon outcomes, was asymptomatic, and participated in numerous marathons. Improvements were maintained at one-year follow-up. Mobility deficits can contribute to the development of tendinopathy, and without addressing movement restrictions, symptoms and functional decline related to tendinopathy may persist. Joint-directed manual therapy may be a beneficial intervention in a comprehensive plan of care in allowing patients with chronic tendon changes to optimize function. Therapy, Level 4.

Joint Source-Channel Decoding of Variable-Length Codes with Soft Information: A Survey

NASA Astrophysics Data System (ADS)

Guillemot, Christine; Siohan, Pierre

2005-12-01

Multimedia transmission over time-varying wireless channels presents a number of challenges beyond existing capabilities conceived so far for third-generation networks. Efficient quality-of-service (QoS) provisioning for multimedia on these channels may in particular require a loosening and a rethinking of the layer separation principle. In that context, joint source-channel decoding (JSCD) strategies have gained attention as viable alternatives to separate decoding of source and channel codes. A statistical framework based on hidden Markov models (HMM) capturing dependencies between the source and channel coding components sets the foundation for optimal design of techniques of joint decoding of source and channel codes. The problem has been largely addressed in the research community, by considering both fixed-length codes (FLC) and variable-length source codes (VLC) widely used in compression standards. Joint source-channel decoding of VLC raises specific difficulties due to the fact that the segmentation of the received bitstream into source symbols is random. This paper makes a survey of recent theoretical and practical advances in the area of JSCD with soft information of VLC-encoded sources. It first describes the main paths followed for designing efficient estimators for VLC-encoded sources, the key component of the JSCD iterative structure. It then presents the main issues involved in the application of the turbo principle to JSCD of VLC-encoded sources as well as the main approaches to source-controlled channel decoding. This survey terminates by performance illustrations with real image and video decoding systems.

Soft tissue artifact compensation in knee kinematics by multi-body optimization: Performance of subject-specific knee joint models.

PubMed

Clément, Julien; Dumas, Raphaël; Hagemeister, Nicola; de Guise, Jaques A

2015-11-05

Soft tissue artifact (STA) distort marker-based knee kinematics measures and make them difficult to use in clinical practice. None of the current methods designed to compensate for STA is suitable, but multi-body optimization (MBO) has demonstrated encouraging results and can be improved. The goal of this study was to develop and validate the performance of knee joint models, with anatomical and subject-specific kinematic constraints, used in MBO to reduce STA errors. Twenty subjects were recruited: 10 healthy and 10 osteoarthritis (OA) subjects. Subject-specific knee joint models were evaluated by comparing dynamic knee kinematics recorded by a motion capture system (KneeKG™) and optimized with MBO to quasi-static knee kinematics measured by a low-dose, upright, biplanar radiographic imaging system (EOS(®)). Errors due to STA ranged from 1.6° to 22.4° for knee rotations and from 0.8 mm to 14.9 mm for knee displacements in healthy and OA subjects. Subject-specific knee joint models were most effective in compensating for STA in terms of abduction-adduction, inter-external rotation and antero-posterior displacement. Root mean square errors with subject-specific knee joint models ranged from 2.2±1.2° to 6.0±3.9° for knee rotations and from 2.4±1.1 mm to 4.3±2.4 mm for knee displacements in healthy and OA subjects, respectively. Our study shows that MBO can be improved with subject-specific knee joint models, and that the quality of the motion capture calibration is critical. Future investigations should focus on more refined knee joint models to reproduce specific OA knee geometry and physiology. Copyright © 2015 Elsevier Ltd. All rights reserved.

One-degree-of-freedom spherical model for the passive motion of the human ankle joint.

PubMed

Sancisi, Nicola; Baldisserri, Benedetta; Parenti-Castelli, Vincenzo; Belvedere, Claudio; Leardini, Alberto

2014-04-01

Mathematical modelling of mobility at the human ankle joint is essential for prosthetics and orthotic design. The scope of this study is to show that the ankle joint passive motion can be represented by a one-degree-of-freedom spherical motion. Moreover, this motion is modelled by a one-degree-of-freedom spherical parallel mechanism model, and the optimal pivot-point position is determined. Passive motion and anatomical data were taken from in vitro experiments in nine lower limb specimens. For each of these, a spherical mechanism, including the tibiofibular and talocalcaneal segments connected by a spherical pair and by the calcaneofibular and tibiocalcaneal ligament links, was defined from the corresponding experimental kinematics and geometry. An iterative procedure was used to optimize the geometry of the model, able to predict original experimental motion. The results of the simulations showed a good replication of the original natural motion, despite the numerous model assumptions and simplifications, with mean differences between experiments and predictions smaller than 1.3 mm (average 0.33 mm) for the three joint position components and smaller than 0.7° (average 0.32°) for the two out-of-sagittal plane rotations, once plotted versus the full flexion arc. The relevant pivot-point position after model optimization was found within the tibial mortise, but not exactly in a central location. The present combined experimental and modelling analysis of passive motion at the human ankle joint shows that a one degree-of-freedom spherical mechanism predicts well what is observed in real joints, although its computational complexity is comparable to the standard hinge joint model.

Approaches to enhancing the quality of drug therapy. A joint statement by the CMA and the Canadian Pharmaceutical Association. Canadian Medical Association.

PubMed Central

1996-01-01

This joint statement was developed by the CMA and the Canadian Pharmaceutical Association, a national association of pharmacists, and includes the goal of drug therapy, strategies for collaboration to optimize drug therapy and physicians' and pharmacists' responsibilities in drug therapy. The statement recognizes the importance of patients, physicians and pharmacists working in close collaboration and partnership to achieve optimal outcomes from drug therapy. PMID:8823225

Increasing Crop Yields in Water Stressed Countries by Combining Operations of Freshwater Reservoir and Wastewater Reclamation Plant

NASA Astrophysics Data System (ADS)

Bhushan, R.; Ng, T. L.

2015-12-01

Freshwater resources around the world are increasing in scarcity due to population growth, industrialization and climate change. This is a serious concern for water stressed countries, including those in Asia and North Africa where future food production is expected to be negatively affected by this. To address this problem, we investigate the potential of combining freshwater reservoir and wastewater reclamation operations. Reservoir water is the cheaper source of irrigation, but is often limited and climate sensitive. Treated wastewater is a more reliable alternative for irrigation, but often requires extensive further treatment which can be expensive. We propose combining the operations of a reservoir and a wastewater reclamation plant (WWRP) to augment the supply from the reservoir with reclaimed water for increasing crop yields in water stressed regions. The joint system of reservoir and WWRP is modeled as a multi-objective optimization problem with the double objective of maximizing the crop yield and minimizing total cost, subject to constraints on reservoir storage, spill and release, and capacity of the WWRP. We use the crop growth model Aquacrop, supported by The Food and Agriculture Organization of the United Nations (FAO), to model crop growth in response to water use. Aquacrop considers the effects of water deficit on crop growth stages, and from there estimates crop yield. We generate results comparing total crop yield under irrigation with water from just the reservoir (which is limited and often interrupted), and yield with water from the joint system (which has the potential of higher supply and greater reliability). We will present results for locations in India and Africa to evaluate the potential of the joint operations for improving food security in those areas for different budgets.

Longitudinal joint study.

DOT National Transportation Integrated Search

2001-09-01

In previous years there has been a problem with longitudinal joint : deterioration, due in part to poor construction techniques. : The degradation of the longitudinal joints has increased the cost of : maintaining these projects and caused unnecessar...

Arthritis

MedlinePlus

... or have trouble moving around, you might have arthritis. Most kinds of arthritis cause pain and swelling in your joints. Joints ... joint can become severely damaged. Some kinds of arthritis can also cause problems in your organs, such ...

A New Combinatorial Optimization Approach for Integrated Feature Selection Using Different Datasets: A Prostate Cancer Transcriptomic Study

PubMed Central

Puthiyedth, Nisha; Riveros, Carlos; Berretta, Regina; Moscato, Pablo

2015-01-01

Background The joint study of multiple datasets has become a common technique for increasing statistical power in detecting biomarkers obtained from smaller studies. The approach generally followed is based on the fact that as the total number of samples increases, we expect to have greater power to detect associations of interest. This methodology has been applied to genome-wide association and transcriptomic studies due to the availability of datasets in the public domain. While this approach is well established in biostatistics, the introduction of new combinatorial optimization models to address this issue has not been explored in depth. In this study, we introduce a new model for the integration of multiple datasets and we show its application in transcriptomics. Methods We propose a new combinatorial optimization problem that addresses the core issue of biomarker detection in integrated datasets. Optimal solutions for this model deliver a feature selection from a panel of prospective biomarkers. The model we propose is a generalised version of the (α,β)-k-Feature Set problem. We illustrate the performance of this new methodology via a challenging meta-analysis task involving six prostate cancer microarray datasets. The results are then compared to the popular RankProd meta-analysis tool and to what can be obtained by analysing the individual datasets by statistical and combinatorial methods alone. Results Application of the integrated method resulted in a more informative signature than the rank-based meta-analysis or individual dataset results, and overcomes problems arising from real world datasets. The set of genes identified is highly significant in the context of prostate cancer. The method used does not rely on homogenisation or transformation of values to a common scale, and at the same time is able to capture markers associated with subgroups of the disease. PMID:26106884

A Computational approach in optimizing process parameters of GTAW for SA 106 Grade B steel pipes using Response surface methodology

NASA Astrophysics Data System (ADS)

Sumesh, A.; Sai Ramnadh, L. V.; Manish, P.; Harnath, V.; Lakshman, V.

2016-09-01

Welding is one of the most common metal joining techniques used in industry for decades. As in the global manufacturing scenario the products should be more cost effective. Therefore the selection of right process with optimal parameters will help the industry in minimizing their cost of production. SA 106 Grade B steel has a wide application in Automobile chassis structure, Boiler tubes and pressure vessels industries. Employing central composite design the process parameters for Gas Tungsten Arc Welding was optimized. The input parameters chosen were weld current, peak current and frequency. The joint tensile strength was the response considered in this study. Analysis of variance was performed to determine the statistical significance of the parameters and a Regression analysis was performed to determine the effect of input parameters over the response. From the experiment the maximum tensile strength obtained was 95 KN reported for a weld current of 95 Amp, frequency of 50 Hz and peak current of 100 Amp. With an aim of maximizing the joint strength using Response optimizer a target value of 100 KN is selected and regression models were optimized. The output results are achievable with a Weld current of 62.6148 Amp, Frequency of 23.1821 Hz, and Peak current of 65.9104 Amp. Using Die penetration test the weld joints were also classified in to 2 categories as good weld and weld with defect. This will also help in getting a defect free joint when welding is performed using GTAW process.

Optimal joint measurements of complementary observables by a single trapped ion

NASA Astrophysics Data System (ADS)

Xiong, T. P.; Yan, L. L.; Ma, Z. H.; Zhou, F.; Chen, L.; Yang, W. L.; Feng, M.; Busch, P.

2017-06-01

The uncertainty relations, pioneered by Werner Heisenberg nearly 90 years ago, set a fundamental limitation on the joint measurability of complementary observables. This limitation has long been a subject of debate, which has been reignited recently due to new proposed forms of measurement uncertainty relations. The present work is associated with a new error trade-off relation for compatible observables approximating two incompatible observables, in keeping with the spirit of Heisenberg’s original ideas of 1927. We report the first direct test and confirmation of the tight bounds prescribed by such an error trade-off relation, based on an experimental realisation of optimal joint measurements of complementary observables using a single ultracold {}40{{{Ca}}}+ ion trapped in a harmonic potential. Our work provides a prototypical determination of ultimate joint measurement error bounds with potential applications in quantum information science for high-precision measurement and information security.

Optimizing Muscle Parameters in Musculoskeletal Modeling Using Monte Carlo Simulations

NASA Technical Reports Server (NTRS)

Hanson, Andrea; Reed, Erik; Cavanagh, Peter

2011-01-01

Astronauts assigned to long-duration missions experience bone and muscle atrophy in the lower limbs. The use of musculoskeletal simulation software has become a useful tool for modeling joint and muscle forces during human activity in reduced gravity as access to direct experimentation is limited. Knowledge of muscle and joint loads can better inform the design of exercise protocols and exercise countermeasure equipment. In this study, the LifeModeler(TM) (San Clemente, CA) biomechanics simulation software was used to model a squat exercise. The initial model using default parameters yielded physiologically reasonable hip-joint forces. However, no activation was predicted in some large muscles such as rectus femoris, which have been shown to be active in 1-g performance of the activity. Parametric testing was conducted using Monte Carlo methods and combinatorial reduction to find a muscle parameter set that more closely matched physiologically observed activation patterns during the squat exercise. Peak hip joint force using the default parameters was 2.96 times body weight (BW) and increased to 3.21 BW in an optimized, feature-selected test case. The rectus femoris was predicted to peak at 60.1% activation following muscle recruitment optimization, compared to 19.2% activation with default parameters. These results indicate the critical role that muscle parameters play in joint force estimation and the need for exploration of the solution space to achieve physiologically realistic muscle activation.

A linear programming model for protein inference problem in shotgun proteomics.

PubMed

Huang, Ting; He, Zengyou

2012-11-15

Assembling peptides identified from tandem mass spectra into a list of proteins, referred to as protein inference, is an important issue in shotgun proteomics. The objective of protein inference is to find a subset of proteins that are truly present in the sample. Although many methods have been proposed for protein inference, several issues such as peptide degeneracy still remain unsolved. In this article, we present a linear programming model for protein inference. In this model, we use a transformation of the joint probability that each peptide/protein pair is present in the sample as the variable. Then, both the peptide probability and protein probability can be expressed as a formula in terms of the linear combination of these variables. Based on this simple fact, the protein inference problem is formulated as an optimization problem: minimize the number of proteins with non-zero probabilities under the constraint that the difference between the calculated peptide probability and the peptide probability generated from peptide identification algorithms should be less than some threshold. This model addresses the peptide degeneracy issue by forcing some joint probability variables involving degenerate peptides to be zero in a rigorous manner. The corresponding inference algorithm is named as ProteinLP. We test the performance of ProteinLP on six datasets. Experimental results show that our method is competitive with the state-of-the-art protein inference algorithms. The source code of our algorithm is available at: https://sourceforge.net/projects/prolp/. zyhe@dlut.edu.cn. Supplementary data are available at Bioinformatics Online.

Joint Labor-Management Decision Making: Choices, Outcomes, and Problems.

ERIC Educational Resources Information Center

Cooke, William N.

1991-01-01

Reviews the literature and analyses of the joint problem-solving strategies that have emerged during the 1980s and are used by management and labor to improve company performance, employee welfare, and labor-management relations. Includes a 58-item bibliography and 32 additional references. (JOW)

Enhancement of Sn-Bi-Ag Solder Joints with ENEPIG Surface Finish for Low-Temperature Interconnection

NASA Astrophysics Data System (ADS)

Pun, Kelvin P. L.; Islam, M. N.; Rotanson, Jason; Cheung, Chee-wah; Chan, Alan H. S.

2018-05-01

Low-temperature soldering constitutes a promising solution in interconnect technology with the increasing trend of heat-sensitive materials in integrated circuit packaging. Experimental work was carried out to investigate the effect of electroless Ni/electroless Pd/immersion gold (ENEPIG) layer thicknesses on Sn-Bi-Ag solder joint integrity during extended reflow at peak temperatures as low as 175°C. Optimizations are proposed to obtain reliable solder joints through analysis of interfacial microstructure with the resulting joint integrity under extended reflow time. A thin Ni(P) layer with thin Pd led to diffusion of Cu onto the interface resulting in Ni3Sn4 intermetallic compound (IMC) spalling with the formation of thin interfacial (Ni,Cu)3Sn4 IMCs which enhance the robustness of the solder after extended reflow, while thick Ni(P) with thin Pd resulted in weakened solder joints with reflow time due to thick interfacial Ni3Sn4 IMCs with the entrapped brittle Bi-phase. With a suitable thin Ni(P), the Pd thickness has to be optimized to prevent excessive Ni-P consumption and early Cu outward diffusion to enhance the solder joint during extended reflow. Based on these findings, suitable Ni(P) and Pd thicknesses of ENEPIG are recommended for the formation of robust low-temperature solder joints.

Common Bolted Joint Analysis Tool

NASA Technical Reports Server (NTRS)

Imtiaz, Kauser

2011-01-01

Common Bolted Joint Analysis Tool (comBAT) is an Excel/VB-based bolted joint analysis/optimization program that lays out a systematic foundation for an inexperienced or seasoned analyst to determine fastener size, material, and assembly torque for a given design. Analysts are able to perform numerous what-if scenarios within minutes to arrive at an optimal solution. The program evaluates input design parameters, performs joint assembly checks, and steps through numerous calculations to arrive at several key margins of safety for each member in a joint. It also checks for joint gapping, provides fatigue calculations, and generates joint diagrams for a visual reference. Optimum fastener size and material, as well as correct torque, can then be provided. Analysis methodology, equations, and guidelines are provided throughout the solution sequence so that this program does not become a "black box:" for the analyst. There are built-in databases that reduce the legwork required by the analyst. Each step is clearly identified and results are provided in number format, as well as color-coded spelled-out words to draw user attention. The three key features of the software are robust technical content, innovative and user friendly I/O, and a large database. The program addresses every aspect of bolted joint analysis and proves to be an instructional tool at the same time. It saves analysis time, has intelligent messaging features, and catches operator errors in real time.

Evaluating Suit Fit Using Performance Degradation

NASA Technical Reports Server (NTRS)

Margerum, Sarah E.; Cowley, Matthew; Harvill, Lauren; Benson, Elizabeth; Rajulu, Sudhakar

2012-01-01

The Mark III planetary technology demonstrator space suit can be tailored to an individual by swapping the modular components of the suit, such as the arms, legs, and gloves, as well as adding or removing sizing inserts in key areas. A method was sought to identify the transition from an ideal suit fit to a bad fit and how to quantify this breakdown using a metric of mobility-based human performance data. To this end, the degradation of the range of motion of the elbow and wrist of the suit as a function of suit sizing modifications was investigated to attempt to improve suit fit. The sizing range tested spanned optimal and poor fit and was adjusted incrementally in order to compare each joint angle across five different sizing configurations. Suited range of motion data were collected using a motion capture system for nine isolated and functional tasks utilizing the elbow and wrist joints. A total of four subjects were tested with motions involving both arms simultaneously as well as the right arm by itself. Findings indicated that no single joint drives the performance of the arm as a function of suit size; instead it is based on the interaction of multiple joints along a limb. To determine a size adjustment range where an individual can operate the suit at an acceptable level, a performance detriment limit was set. This user-selected limit reveals the task-dependent tolerance of the suit fit around optimal size. For example, the isolated joint motion indicated that the suit can deviate from optimal by as little as -0.6 in to -2.6 in before experiencing a 10% performance drop in the wrist or elbow joint. The study identified a preliminary method to quantify the impact of size on performance and developed a new way to gauge tolerances around optimal size.

An Approach to Designing Passive Self-Leveling Landing Gear with Application to the Lunar Lander

NASA Technical Reports Server (NTRS)

Rippere, Troy B.; Wiens, Gloria J.

2010-01-01

Once the lunar lander has touched down on the moon problems can occur if the crew module is not level. To mitigate, compliant landing gear provide a solution that would allow the module to be leveled once it has landed on some ground slope. The work presented here uses compliant joints, or flexures, for each leg of the module and optimizes the mechanics of these flexures such that the module can be passively leveled over a range of landing slopes. Preliminary results suggest that for landing on a slope of up to 12 deg the effective slope of the module can be reduced to a maximum of 2.5 deg.

Quantum communication complexity of establishing a shared reference frame.

PubMed

Rudolph, Terry; Grover, Lov

2003-11-21

We discuss the aligning of spatial reference frames from a quantum communication complexity perspective. This enables us to analyze multiple rounds of communication and give several simple examples demonstrating tradeoffs between the number of rounds and the type of communication. Using a distributed variant of a quantum computational algorithm, we give an explicit protocol for aligning spatial axes via the exchange of spin-1/2 particles which makes no use of either exchanged entangled states, or of joint measurements. This protocol achieves a worst-case fidelity for the problem of "direction finding" that is asymptotically equivalent to the optimal average case fidelity achievable via a single forward communication of entangled states.

Optimization of TiNP/Ti Content for Si3N4/42CrMo Joints Brazed With Ag-Cu-Ti+TiNP Composite Filler

NASA Astrophysics Data System (ADS)

Wang, Tianpeng; Zhang, Jie; Liu, Chunfeng

The Si3N4 ceramic was brazed to 42CrMo steel by using TiN particles modified braze, and the proportion of TiNp reinforcement and active element Ti was optimized to improve the joint strength. The brazed joints were examined by means of SEM. and EDS investigations. Microstructural examination showed that TiN+Ti5Si3 reaction layer was adjacent to Si3N4, whereas TiC was formed in 42CrMo/filler reaction layer. The Ag-Cu-Ti brazing alloy showed intimate bonding with TiNp and Cu-Ti intermetallics precipitated in the joint. The strength tests demonstrated that the mechanical properties of joints increased and then decreased by increasing the TiNp content when a low Ti content (6wt.%) was supplied. When the Ti content (>6wt.%) was offered sufficiently, the joint strength decreased firstly and then stayed stable with increasing the TiNp content. The maximum four-point bending strength (221 MPa) was obtained when the contents of TiNp and Ti were 10vol.% and 6wt.%, respectively.

Sodium inversion recovery MRI on the knee joint at 7 T with an optimal control pulse.

PubMed

Lee, Jae-Seung; Xia, Ding; Madelin, Guillaume; Regatte, Ravinder R

2016-01-01

In the field of sodium magnetic resonance imaging (MRI), inversion recovery (IR) is a convenient and popular method to select sodium in different environments. For the knee joint, IR has been used to suppress the signal from synovial fluids, which improves the correlation between the sodium signal and the concentration of glycosaminoglycans (GAGs) in cartilage tissues. For the better inversion of the magnetization vector under the spatial variations of the B0 and B1 fields, the IR sequence usually employ adiabatic pulses as the inversion pulse. On the other hand, it has been shown that RF shapes robust against the variations of the B0 and B1 fields can be generated by numerical optimization based on optimal control theory. In this work, we compare the performance of fluid-suppressed sodium MRI on the knee joint in vivo, between one implemented with an adiabatic pulse in the IR sequence and the other with the adiabatic pulse replaced by an optimal-control shaped pulse. While the optimal-control pulse reduces the RF power deposited to the body by 58%, the quality of fluid suppression and the signal level of sodium within cartilage are similar between two implementations. Copyright © 2015 Elsevier Inc. All rights reserved.

Partial differential equations constrained combinatorial optimization on an adiabatic quantum computer

NASA Astrophysics Data System (ADS)

Chandra, Rishabh

Partial differential equation-constrained combinatorial optimization (PDECCO) problems are a mixture of continuous and discrete optimization problems. PDECCO problems have discrete controls, but since the partial differential equations (PDE) are continuous, the optimization space is continuous as well. Such problems have several applications, such as gas/water network optimization, traffic optimization, micro-chip cooling optimization, etc. Currently, no efficient classical algorithm which guarantees a global minimum for PDECCO problems exists. A new mapping has been developed that transforms PDECCO problem, which only have linear PDEs as constraints, into quadratic unconstrained binary optimization (QUBO) problems that can be solved using an adiabatic quantum optimizer (AQO). The mapping is efficient, it scales polynomially with the size of the PDECCO problem, requires only one PDE solve to form the QUBO problem, and if the QUBO problem is solved correctly and efficiently on an AQO, guarantees a global optimal solution for the original PDECCO problem.

Control of joint motion simulators for biomechanical research

NASA Technical Reports Server (NTRS)

Colbaugh, R.; Glass, K.

1992-01-01

The authors present a hierarchical adaptive algorithm for controlling upper extremity human joint motion simulators. A joint motion simulator is a computer-controlled, electromechanical system which permits the application of forces to the tendons of a human cadaver specimen in such a way that the cadaver joint under study achieves a desired motion in a physiologic manner. The proposed control scheme does not require knowledge of the cadaver specimen dynamic model, and solves on-line the indeterminate problem which arises because human joints typically possess more actuators than degrees of freedom. Computer simulation results are given for an elbow/forearm system and wrist/hand system under hierarchical control. The results demonstrate that any desired normal joint motion can be accurately tracked with the proposed algorithm. These simulation results indicate that the controller resolved the indeterminate problem redundancy in a physiologic manner, and show that the control scheme was robust to parameter uncertainty and to sensor noise.

Determination of representative dimension parameter values of Korean knee joints for knee joint implant design.

PubMed

Kwak, Dai Soon; Tao, Quang Bang; Todo, Mitsugu; Jeon, Insu

2012-05-01

Knee joint implants developed by western companies have been imported to Korea and used for Korean patients. However, many clinical problems occur in knee joints of Korean patients after total knee joint replacement owing to the geometric mismatch between the western implants and Korean knee joint structures. To solve these problems, a method to determine the representative dimension parameter values of Korean knee joints is introduced to aid in the design of knee joint implants appropriate for Korean patients. Measurements of the dimension parameters of 88 male Korean knee joint subjects were carried out. The distribution of the subjects versus each measured parameter value was investigated. The measured dimension parameter values of each parameter were grouped by suitable intervals called the "size group," and average values of the size groups were calculated. The knee joint subjects were grouped as the "patient group" based on "size group numbers" of each parameter. From the iterative calculations to decrease the errors between the average dimension parameter values of each "patient group" and the dimension parameter values of the subjects, the average dimension parameter values that give less than the error criterion were determined to be the representative dimension parameter values for designing knee joint implants for Korean patients.

Statistical Investigation of the Effect of Process Parameters on the Shear Strength of Metal Adhesive Joints

NASA Astrophysics Data System (ADS)

Rajkumar, Goribidanur Rangappa; Krishna, Munishamaih; Narasimhamurthy, Hebbale Narayanrao; Keshavamurthy, Yalanabhalli Channegowda

2017-06-01

The objective of the work was to optimize sheet metal joining parameters such as adhesive material, adhesive thickness, adhesive overlap length and surface roughness for single lap joint of aluminium sheet shear strength using robust design. An orthogonal array, main effect plot, signal-to-noise ratio and analysis of variance were employed to investigate the shear strength of the joints. The statistical result shows vinyl ester is best candidate among other two polymers viz. epoxy and polyester due to its low viscosity value compared to other two polymers. The experiment results shows that the adhesive thickness 0.6 mm, overlap length 50 mm and surface roughness 2.12 µm for obtained maximum shear strength of Al sheet joints. The ANOVA result shows one of the most significant factors is overlap length which affect joint strength in addition to adhesive thickness, adhesive material, and surface roughness. A confirmation test was carried out as the optimal combination of parameters will not match with the any of the experiments in the orthogonal array.

Trajectory planning of free-floating space robot using Particle Swarm Optimization (PSO)

NASA Astrophysics Data System (ADS)

Wang, Mingming; Luo, Jianjun; Walter, Ulrich

2015-07-01

This paper investigates the application of Particle Swarm Optimization (PSO) strategy to trajectory planning of the kinematically redundant space robot in free-floating mode. Due to the path dependent dynamic singularities, the volume of available workspace of the space robot is limited and enormous joint velocities are required when such singularities are met. In order to overcome this effect, the direct kinematics equations in conjunction with PSO are employed for trajectory planning of free-floating space robot. The joint trajectories are parametrized with the Bézier curve to simplify the calculation. Constrained PSO scheme with adaptive inertia weight is implemented to find the optimal solution of joint trajectories while specific objectives and imposed constraints are satisfied. The proposed method is not sensitive to the singularity issue due to the application of forward kinematic equations. Simulation results are presented for trajectory planning of 7 degree-of-freedom (DOF) redundant manipulator mounted on a free-floating spacecraft and demonstrate the effectiveness of the proposed method.

Joint Resource Optimization for Cognitive Sensor Networks with SWIPT-Enabled Relay.

PubMed

Lu, Weidang; Lin, Yuanrong; Peng, Hong; Nan, Tian; Liu, Xin

2017-09-13

Energy-constrained wireless networks, such as wireless sensor networks (WSNs), are usually powered by fixed energy supplies (e.g., batteries), which limits the operation time of networks. Simultaneous wireless information and power transfer (SWIPT) is a promising technique to prolong the lifetime of energy-constrained wireless networks. This paper investigates the performance of an underlay cognitive sensor network (CSN) with SWIPT-enabled relay node. In the CSN, the amplify-and-forward (AF) relay sensor node harvests energy from the ambient radio-frequency (RF) signals using power splitting-based relaying (PSR) protocol. Then, it helps forward the signal of source sensor node (SSN) to the destination sensor node (DSN) by using the harvested energy. We study the joint resource optimization including the transmit power and power splitting ratio to maximize CSN's achievable rate with the constraint that the interference caused by the CSN to the primary users (PUs) is within the permissible threshold. Simulation results show that the performance of our proposed joint resource optimization can be significantly improved.

Kinematically redundant robot manipulators

NASA Technical Reports Server (NTRS)

Baillieul, J.; Hollerbach, J.; Brockett, R.; Martin, D.; Percy, R.; Thomas, R.

1987-01-01

Research on control, design and programming of kinematically redundant robot manipulators (KRRM) is discussed. These are devices in which there are more joint space degrees of freedom than are required to achieve every position and orientation of the end-effector necessary for a given task in a given workspace. The technological developments described here deal with: kinematic programming techniques for automatically generating joint-space trajectories to execute prescribed tasks; control of redundant manipulators to optimize dynamic criteria (e.g., applications of forces and moments at the end-effector that optimally distribute the loading of actuators); and design of KRRMs to optimize functionality in congested work environments or to achieve other goals unattainable with non-redundant manipulators. Kinematic programming techniques are discussed, which show that some pseudo-inverse techniques that have been proposed for redundant manipulator control fail to achieve the goals of avoiding kinematic singularities and also generating closed joint-space paths corresponding to close paths of the end effector in the workspace. The extended Jacobian is proposed as an alternative to pseudo-inverse techniques.

Exploring equivalence domain in nonlinear inverse problems using Covariance Matrix Adaption Evolution Strategy (CMAES) and random sampling

NASA Astrophysics Data System (ADS)

Grayver, Alexander V.; Kuvshinov, Alexey V.

2016-05-01

This paper presents a methodology to sample equivalence domain (ED) in nonlinear partial differential equation (PDE)-constrained inverse problems. For this purpose, we first applied state-of-the-art stochastic optimization algorithm called Covariance Matrix Adaptation Evolution Strategy (CMAES) to identify low-misfit regions of the model space. These regions were then randomly sampled to create an ensemble of equivalent models and quantify uncertainty. CMAES is aimed at exploring model space globally and is robust on very ill-conditioned problems. We show that the number of iterations required to converge grows at a moderate rate with respect to number of unknowns and the algorithm is embarrassingly parallel. We formulated the problem by using the generalized Gaussian distribution. This enabled us to seamlessly use arbitrary norms for residual and regularization terms. We show that various regularization norms facilitate studying different classes of equivalent solutions. We further show how performance of the standard Metropolis-Hastings Markov chain Monte Carlo algorithm can be substantially improved by using information CMAES provides. This methodology was tested by using individual and joint inversions of magneotelluric, controlled-source electromagnetic (EM) and global EM induction data.

Evaluation of load flow and grid expansion in a unit-commitment and expansion optimization model SciGRID International Conference on Power Grid Modelling

NASA Astrophysics Data System (ADS)

Senkpiel, Charlotte; Biener, Wolfgang; Shammugam, Shivenes; Längle, Sven

2018-02-01

Energy system models serve as a basis for long term system planning. Joint optimization of electricity generating technologies, storage systems and the electricity grid leads to lower total system cost compared to an approach in which the grid expansion follows a given technology portfolio and their distribution. Modelers often face the problem of finding a good tradeoff between computational time and the level of detail that can be modeled. This paper analyses the differences between a transport model and a DC load flow model to evaluate the validity of using a simple but faster transport model within the system optimization model in terms of system reliability. The main findings in this paper are that a higher regional resolution of a system leads to better results compared to an approach in which regions are clustered as more overloads can be detected. An aggregation of lines between two model regions compared to a line sharp representation has little influence on grid expansion within a system optimizer. In a DC load flow model overloads can be detected in a line sharp case, which is therefore preferred. Overall the regions that need to reinforce the grid are identified within the system optimizer. Finally the paper recommends the usage of a load-flow model to test the validity of the model results.

Optimal Policy of Cross-Layer Design for Channel Access and Transmission Rate Adaptation in Cognitive Radio Networks

NASA Astrophysics Data System (ADS)

He, Hao; Wang, Jun; Zhu, Jiang; Li, Shaoqian

2010-12-01

In this paper, we investigate the cross-layer design of joint channel access and transmission rate adaptation in CR networks with multiple channels for both centralized and decentralized cases. Our target is to maximize the throughput of CR network under transmission power constraint by taking spectrum sensing errors into account. In centralized case, this problem is formulated as a special constrained Markov decision process (CMDP), which can be solved by standard linear programming (LP) method. As the complexity of finding the optimal policy by LP increases exponentially with the size of action space and state space, we further apply action set reduction and state aggregation to reduce the complexity without loss of optimality. Meanwhile, for the convenience of implementation, we also consider the pure policy design and analyze the corresponding characteristics. In decentralized case, where only local information is available and there is no coordination among the CR users, we prove the existence of the constrained Nash equilibrium and obtain the optimal decentralized policy. Finally, in the case that the traffic load parameters of the licensed users are unknown for the CR users, we propose two methods to estimate the parameters for two different cases. Numerical results validate the theoretic analysis.

Explicit Content Caching at Mobile Edge Networks with Cross-Layer Sensing

PubMed Central

Chen, Lingyu; Su, Youxing; Luo, Wenbin; Hong, Xuemin; Shi, Jianghong

2018-01-01

The deployment density and computational power of small base stations (BSs) are expected to increase significantly in the next generation mobile communication networks. These BSs form the mobile edge network, which is a pervasive and distributed infrastructure that can empower a variety of edge/fog computing applications. This paper proposes a novel edge-computing application called explicit caching, which stores selective contents at BSs and exposes such contents to local users for interactive browsing and download. We formulate the explicit caching problem as a joint content recommendation, caching, and delivery problem, which aims to maximize the expected user quality-of-experience (QoE) with varying degrees of cross-layer sensing capability. Optimal and effective heuristic algorithms are presented to solve the problem. The theoretical performance bounds of the explicit caching system are derived in simplified scenarios. The impacts of cache storage space, BS backhaul capacity, cross-layer information, and user mobility on the system performance are simulated and discussed in realistic scenarios. Results suggest that, compared with conventional implicit caching schemes, explicit caching can better exploit the mobile edge network infrastructure for personalized content dissemination. PMID:29565313

Explicit Content Caching at Mobile Edge Networks with Cross-Layer Sensing.

PubMed

Chen, Lingyu; Su, Youxing; Luo, Wenbin; Hong, Xuemin; Shi, Jianghong

2018-03-22

The deployment density and computational power of small base stations (BSs) are expected to increase significantly in the next generation mobile communication networks. These BSs form the mobile edge network, which is a pervasive and distributed infrastructure that can empower a variety of edge/fog computing applications. This paper proposes a novel edge-computing application called explicit caching, which stores selective contents at BSs and exposes such contents to local users for interactive browsing and download. We formulate the explicit caching problem as a joint content recommendation, caching, and delivery problem, which aims to maximize the expected user quality-of-experience (QoE) with varying degrees of cross-layer sensing capability. Optimal and effective heuristic algorithms are presented to solve the problem. The theoretical performance bounds of the explicit caching system are derived in simplified scenarios. The impacts of cache storage space, BS backhaul capacity, cross-layer information, and user mobility on the system performance are simulated and discussed in realistic scenarios. Results suggest that, compared with conventional implicit caching schemes, explicit caching can better exploit the mobile edge network infrastructure for personalized content dissemination.

Reconstruction From Multiple Particles for 3D Isotropic Resolution in Fluorescence Microscopy.

PubMed

Fortun, Denis; Guichard, Paul; Hamel, Virginie; Sorzano, Carlos Oscar S; Banterle, Niccolo; Gonczy, Pierre; Unser, Michael

2018-05-01

The imaging of proteins within macromolecular complexes has been limited by the low axial resolution of optical microscopes. To overcome this problem, we propose a novel computational reconstruction method that yields isotropic resolution in fluorescence imaging. The guiding principle is to reconstruct a single volume from the observations of multiple rotated particles. Our new operational framework detects particles, estimates their orientation, and reconstructs the final volume. The main challenge comes from the absence of initial template and a priori knowledge about the orientations. We formulate the estimation as a blind inverse problem, and propose a block-coordinate stochastic approach to solve the associated non-convex optimization problem. The reconstruction is performed jointly in multiple channels. We demonstrate that our method is able to reconstruct volumes with 3D isotropic resolution on simulated data. We also perform isotropic reconstructions from real experimental data of doubly labeled purified human centrioles. Our approach revealed the precise localization of the centriolar protein Cep63 around the centriole microtubule barrel. Overall, our method offers new perspectives for applications in biology that require the isotropic mapping of proteins within macromolecular assemblies.

Multi-object segmentation using coupled nonparametric shape and relative pose priors

NASA Astrophysics Data System (ADS)

Uzunbas, Mustafa Gökhan; Soldea, Octavian; Çetin, Müjdat; Ünal, Gözde; Erçil, Aytül; Unay, Devrim; Ekin, Ahmet; Firat, Zeynep

2009-02-01

We present a new method for multi-object segmentation in a maximum a posteriori estimation framework. Our method is motivated by the observation that neighboring or coupling objects in images generate configurations and co-dependencies which could potentially aid in segmentation if properly exploited. Our approach employs coupled shape and inter-shape pose priors that are computed using training images in a nonparametric multi-variate kernel density estimation framework. The coupled shape prior is obtained by estimating the joint shape distribution of multiple objects and the inter-shape pose priors are modeled via standard moments. Based on such statistical models, we formulate an optimization problem for segmentation, which we solve by an algorithm based on active contours. Our technique provides significant improvements in the segmentation of weakly contrasted objects in a number of applications. In particular for medical image analysis, we use our method to extract brain Basal Ganglia structures, which are members of a complex multi-object system posing a challenging segmentation problem. We also apply our technique to the problem of handwritten character segmentation. Finally, we use our method to segment cars in urban scenes.

The random energy model in a magnetic field and joint source channel coding

NASA Astrophysics Data System (ADS)

Merhav, Neri

2008-09-01

We demonstrate that there is an intimate relationship between the magnetic properties of Derrida’s random energy model (REM) of spin glasses and the problem of joint source-channel coding in Information Theory. In particular, typical patterns of erroneously decoded messages in the coding problem have “magnetization” properties that are analogous to those of the REM in certain phases, where the non-uniformity of the distribution of the source in the coding problem plays the role of an external magnetic field applied to the REM. We also relate the ensemble performance (random coding exponents) of joint source-channel codes to the free energy of the REM in its different phases.

[The Throwing Shoulder].

PubMed

Wieser, Karl; Gerber, Christian; Meyer, Dominik C

2016-02-03

Repetitive top-performance of overhead athletes induces a tremendous stress for the throwing shoulder. Throwers reach rotational speed of their arm of more than 7000°/s with joint compression and distraction forces of more than 1000 N. This performance is tributary to adaption of the shoulder muscles and the joint itself. These adaptions may, however lead to two specific problems of the throwing shoulder: 1. The posterosuperior internal impingement of the rotator cuff and labrum between glenoid and humeral head during late cooking phase; 2. A decreased internal rotation of the glenohumeral joint (GIRD) with compensatory problems of the scapula-stabilizing muscles. Precise analysis of kinematics and pathomechanics aims to improve understanding and treatment of those specific problems of the throwing shoulder.

Manycast routing, modulation level and spectrum assignment over elastic optical networks

NASA Astrophysics Data System (ADS)

Luo, Xiao; Zhao, Yang; Chen, Xue; Wang, Lei; Zhang, Min; Zhang, Jie; Ji, Yuefeng; Wang, Huitao; Wang, Taili

2017-07-01

Manycast is a point to multi-point transmission framework that requires a subset of destination nodes successfully reached. It is particularly applicable for dealing with large amounts of data simultaneously in bandwidth-hungry, dynamic and cloud-based applications. As rapid increasing of traffics in these applications, the elastic optical networks (EONs) may be relied on to achieve high throughput manycast. In terms of finer spectrum granularity, the EONs could reach flexible accessing to network spectrum and efficient providing exact spectrum resource to demands. In this paper, we focus on the manycast routing, modulation level and spectrum assignment (MA-RMLSA) problem in EONs. Both EONs planning with static manycast traffic and EONs provisioning with dynamic manycast traffic are investigated. An integer linear programming (ILP) model is formulated to derive MA-RMLSA problem in static manycast scenario. Then corresponding heuristic algorithm called manycast routing, modulation level and spectrum assignment genetic algorithm (MA-RMLSA-GA) is proposed to adapt for both static and dynamic manycast scenarios. The MA-RMLSA-GA optimizes MA-RMLSA problem in destination nodes selection, routing light-tree constitution, modulation level allocation and spectrum resource assignment jointly, to achieve an effective improvement in network performance. Simulation results reveal that MA-RMLSA strategies offered by MA-RMLSA-GA have slightly disparity from the optimal solutions provided by ILP model in static scenario. Moreover, the results demonstrate that MA-RMLSA-GA realizes a highly efficient MA-RMLSA strategy with the lowest blocking probability in dynamic scenario compared with benchmark algorithms.

Optimizing the Energy and Throughput of a Water-Quality Monitoring System.

PubMed

Olatinwo, Segun O; Joubert, Trudi-H

2018-04-13

This work presents a new approach to the maximization of energy and throughput in a wireless sensor network (WSN), with the intention of applying the approach to water-quality monitoring. Water-quality monitoring using WSN technology has become an interesting research area. Energy scarcity is a critical issue that plagues the widespread deployment of WSN systems. Different power supplies, harvesting energy from sustainable sources, have been explored. However, when energy-efficient models are not put in place, energy harvesting based WSN systems may experience an unstable energy supply, resulting in an interruption in communication, and low system throughput. To alleviate these problems, this paper presents the joint maximization of the energy harvested by sensor nodes and their information-transmission rate using a sum-throughput technique. A wireless information and power transfer (WIPT) method is considered by harvesting energy from dedicated radio frequency sources. Due to the doubly near-far condition that confronts WIPT systems, a new WIPT system is proposed to improve the fairness of resource utilization in the network. Numerical simulation results are presented to validate the mathematical formulations for the optimization problem, which maximize the energy harvested and the overall throughput rate. Defining the performance metrics of achievable throughput and fairness in resource sharing, the proposed WIPT system outperforms an existing state-of-the-art WIPT system, with the comparison based on numerical simulations of both systems. The improved energy efficiency of the proposed WIPT system contributes to addressing the problem of energy scarcity.

Optimizing the Energy and Throughput of a Water-Quality Monitoring System

PubMed Central

Olatinwo, Segun O.

2018-01-01

This work presents a new approach to the maximization of energy and throughput in a wireless sensor network (WSN), with the intention of applying the approach to water-quality monitoring. Water-quality monitoring using WSN technology has become an interesting research area. Energy scarcity is a critical issue that plagues the widespread deployment of WSN systems. Different power supplies, harvesting energy from sustainable sources, have been explored. However, when energy-efficient models are not put in place, energy harvesting based WSN systems may experience an unstable energy supply, resulting in an interruption in communication, and low system throughput. To alleviate these problems, this paper presents the joint maximization of the energy harvested by sensor nodes and their information-transmission rate using a sum-throughput technique. A wireless information and power transfer (WIPT) method is considered by harvesting energy from dedicated radio frequency sources. Due to the doubly near–far condition that confronts WIPT systems, a new WIPT system is proposed to improve the fairness of resource utilization in the network. Numerical simulation results are presented to validate the mathematical formulations for the optimization problem, which maximize the energy harvested and the overall throughput rate. Defining the performance metrics of achievable throughput and fairness in resource sharing, the proposed WIPT system outperforms an existing state-of-the-art WIPT system, with the comparison based on numerical simulations of both systems. The improved energy efficiency of the proposed WIPT system contributes to addressing the problem of energy scarcity. PMID:29652866

Planning Paths Through Singularities in the Center of Mass Space

NASA Technical Reports Server (NTRS)

Doggett, William R.; Messner, William C.; Juang, Jer-Nan

1998-01-01

The center of mass space is a convenient space for planning motions that minimize reaction forces at the robot's base or optimize the stability of a mechanism. A unique problem associated with path planning in the center of mass space is the potential existence of multiple center of mass images for a single Cartesian obstacle, since a single center of mass location can correspond to multiple robot joint configurations. The existence of multiple images results in a need to either maintain multiple center of mass obstacle maps or to update obstacle locations when the robot passes through a singularity, such as when it moves from an elbow-up to an elbow-down configuration. To illustrate the concepts presented in this paper, a path is planned for an example task requiring motion through multiple center of mass space maps. The object of the path planning algorithm is to locate the bang- bang acceleration profile that minimizes the robot's base reactions in the presence of a single Cartesian obstacle. To simplify the presentation, only non-redundant robots are considered and joint non-linearities are neglected.

Joint brain connectivity estimation from diffusion and functional MRI data

NASA Astrophysics Data System (ADS)

Chu, Shu-Hsien; Lenglet, Christophe; Parhi, Keshab K.

2015-03-01

Estimating brain wiring patterns is critical to better understand the brain organization and function. Anatomical brain connectivity models axonal pathways, while the functional brain connectivity characterizes the statistical dependencies and correlation between the activities of various brain regions. The synchronization of brain activity can be inferred through the variation of blood-oxygen-level dependent (BOLD) signal from functional MRI (fMRI) and the neural connections can be estimated using tractography from diffusion MRI (dMRI). Functional connections between brain regions are supported by anatomical connections, and the synchronization of brain activities arises through sharing of information in the form of electro-chemical signals on axon pathways. Jointly modeling fMRI and dMRI data may improve the accuracy in constructing anatomical connectivity as well as functional connectivity. Such an approach may lead to novel multimodal biomarkers potentially able to better capture functional and anatomical connectivity variations. We present a novel brain network model which jointly models the dMRI and fMRI data to improve the anatomical connectivity estimation and extract the anatomical subnetworks associated with specific functional modes by constraining the anatomical connections as structural supports to the functional connections. The key idea is similar to a multi-commodity flow optimization problem that minimizes the cost or maximizes the efficiency for flow configuration and simultaneously fulfills the supply-demand constraint for each commodity. In the proposed network, the nodes represent the grey matter (GM) regions providing brain functionality, and the links represent white matter (WM) fiber bundles connecting those regions and delivering information. The commodities can be thought of as the information corresponding to brain activity patterns as obtained for instance by independent component analysis (ICA) of fMRI data. The concept of information flow is introduced and used to model the propagation of information between GM areas through WM fiber bundles. The link capacity, i.e., ability to transfer information, is characterized by the relative strength of fiber bundles, e.g., fiber count gathered from the tractography of dMRI data. The node information demand is considered to be proportional to the correlation between neural activity at various cortical areas involved in a particular functional mode (e.g. visual, motor, etc.). These two properties lead to the link capacity and node demand constraints in the proposed model. Moreover, the information flow of a link cannot exceed the demand from either end node. This is captured by the feasibility constraints. Two different cost functions are considered in the optimization formulation in this paper. The first cost function, the reciprocal of fiber strength represents the unit cost for information passing through the link. In the second cost function, a min-max (minimizing the maximal link load) approach is used to balance the usage of each link. Optimizing the first cost function selects the pathway with strongest fiber strength for information propagation. In the second case, the optimization procedure finds all the possible propagation pathways and allocates the flow proportionally to their strength. Additionally, a penalty term is incorporated with both the cost functions to capture the possible missing and weak anatomical connections. With this set of constraints and the proposed cost functions, solving the network optimization problem recovers missing and weak anatomical connections supported by the functional information and provides the functional-associated anatomical subnetworks. Feasibility is demonstrated using realistic diffusion and functional MRI phantom data. It is shown that the proposed model recovers the maximum number of true connections, with fewest number of false connections when compared with the connectivity derived from a joint probabilistic model using the expectation-maximization (EM) algorithm presented in a prior work. We also apply the proposed method to data provided by the Human Connectome Project (HCP).

Design considerations for bridge deck joint-sealing systems : summary report.

DOT National Transportation Integrated Search

1992-07-01

This is a report summary which summarizes a three year research effort related to the study of bridge deck expansion joint movements. Bridge deck expansion joint systems often develop serious problems requiring extensive and expensive maintenance. Th...

Prosthetic Joint Infections

PubMed Central

Aslam, Saima; Darouiche, Rabih O.

2012-01-01

Prosthetic joint infections represent a major therapeutic challenge for both healthcare providers and patients. This paper reviews the predisposing factors, pathogenesis, microbiology, diagnosis, treatment and prophylaxis of prosthetic joint infection. The most optimal management strategy should be identified based on a number of considerations including type and duration of infection, antimicrobial susceptibility of the infecting pathogen, condition of infected tissues and bone stock, patient wishes and functional status. PMID:22847032

ON THE PROBLEM OF THE OPTIMAL DOSE IN THE RADIOTHERAPY OF NONMALIGNANT DISEASES

DOE Office of Scientific and Technical Information (OSTI.GOV)

Pape, R.

1961-01-01

Dosage for the treatment of benign conditions is considered from the viewpoint of 15 yr experience with 2514 patients. It was judged that doses of 1 to 20 r are optimal for treatment of inflammatory and degenerative joint diseases, although many authors call for 30- to 50-r single doses for these conditions. Equally good subjective results were obtained in arthritis and spondylitis cases with the lower doses, but suggestion plays a large role in improvement following radiotherapy. For juvenile mastitis, surface doses of 10 to 12 r, giving depth doses of approximates 1 r at 5 cm, are recommended. Somemore » estimates were made of gonadal doses encountered in various types of nonabdominal radiotherapy. For example, 10-r doses of 90-kv x rays given in the axillary region result in ovarian doses of 0.2 mr. The effect of radiation on the brain and other neural structures is discussed. (H.H.D.)« less

Pricing and inventory policies for Hi-tech products under replacement warranty

NASA Astrophysics Data System (ADS)

Tsao, Yu-Chung; Teng, Wei-Guang; Chen, Ruey-Shii; Chou, Wang-Ying

2014-06-01

Companies, especially in the Hi-tech (high-technology) industry (such as computer, communication and consumer electronic products), often provide a replacement warranty period for purchased items. In reality, simultaneously determining the price and inventory decisions under warranty policy is an important issue. The objective of this paper is to develop a joint pricing and inventory model for Hi-tech products under replacement warranty policy. In the first model, we consider a Hi-tech product feature in which the selling price is declining in a trend. We determine the optimal inventory level for each period and retail price for the first period while maximising the total profit. In the second model, we further determine the optimal retail price and inventory level for each period in the dynamic demand market. This study develops solution approaches to solve the problems described above. Numerical analysis discusses the influence of system parameters on the company's decisions and behaviours. The results of this study could serve as a reference for business managers or administrators.

Closed Loop System Identification with Genetic Algorithms

NASA Technical Reports Server (NTRS)

Whorton, Mark S.

2004-01-01

High performance control design for a flexible space structure is challenging since high fidelity plant models are di.cult to obtain a priori. Uncertainty in the control design models typically require a very robust, low performance control design which must be tuned on-orbit to achieve the required performance. Closed loop system identi.cation is often required to obtain a multivariable open loop plant model based on closed-loop response data. In order to provide an accurate initial plant model to guarantee convergence for standard local optimization methods, this paper presents a global parameter optimization method using genetic algorithms. A minimal representation of the state space dynamics is employed to mitigate the non-uniqueness and over-parameterization of general state space realizations. This control-relevant system identi.cation procedure stresses the joint nature of the system identi.cation and control design problem by seeking to obtain a model that minimizes the di.erence between the predicted and actual closed-loop performance.

An integrated production-inventory model for the singlevendor two-buyer problem with partial backorder, stochastic demand, and service level constraints

NASA Astrophysics Data System (ADS)

Arfawi Kurdhi, Nughthoh; Adi Diwiryo, Toray; Sutanto

2016-02-01

This paper presents an integrated single-vendor two-buyer production-inventory model with stochastic demand and service level constraints. Shortage is permitted in the model, and partial backordered partial lost sale. The lead time demand is assumed follows a normal distribution and the lead time can be reduced by adding crashing cost. The lead time and ordering cost reductions are interdependent with logaritmic function relationship. A service level constraint policy corresponding to each buyer is considered in the model in order to limit the level of inventory shortages. The purpose of this research is to minimize joint total cost inventory model by finding the optimal order quantity, safety stock, lead time, and the number of lots delivered in one production run. The optimal production-inventory policy gained by the Lagrange method is shaped to account for the service level restrictions. Finally, a numerical example and effects of the key parameters are performed to illustrate the results of the proposed model.

Research Review: Social motivation and oxytocin in autism – implications for joint attention development and intervention

PubMed Central

Stavropoulos, Katherine K. M.; Carver, Leslie J.

2013-01-01

Background and Scope The social motivation hypothesis (SMH) suggests that individuals with autism spectrum disorders (ASD) are less intrinsically rewarded by social stimuli than their neurotypical peers. This difference in social motivation has been posited as a factor contributing to social deficits in ASD. Social motivation is thought to involve the neuropeptide oxytocin. Here, we review the evidence for oxytocin effects in ASD, and discuss its potential role in one important social cognitive behavior. Methods Systematic searches were conducted using the PsychINFO and MEDLINE databases and the search terms “oxytocin”, and “autism”; the same databases were used for separate searches for “joint attention”, “intervention”, and “autism”, using the same inclusion criteria as an earlier 2011 review but updating it for the period 2010 to October 2012. Findings Several studies suggest that giving oxytocin to both individuals with ASD and typically developing individuals can enhance performance on social cognitive tasks. Studies that have attempted to intervene in joint attention in ASD suggest that social motivation may be a particular obstacle to lasting effects. Conclusions The review of the evidence for the SMH suggests a potential role for oxytocin in social motivation deficits in ASD. Because of its importance for later communicative and social development, the focus here is on implications of oxytocin and social motivation in the development of and interventions in joint attention. Joint attention is a central impairment in ASD, and as a result is the focus of several behavioral interventions. In describing this previous research on joint attention interventions in ASD, we pay particular attention to problems encountered in such studies, and propose ways that oxytocin may facilitate behavioral intervention in this area. For future research, integrating behavioral and pharmacological interventions (oxytocin administration) would be a worthwhile experimental direction to improve understanding of the role of oxytocin in ASD and help optimize outcomes for children with ASD. PMID:23451765

Research review: Social motivation and oxytocin in autism--implications for joint attention development and intervention.

PubMed

Stavropoulos, Katherine K M; Carver, Leslie J

2013-06-01

The social motivation hypothesis (SMH) suggests that individuals with autism spectrum disorders (ASD) are less intrinsically rewarded by social stimuli than their neurotypical peers. This difference in social motivation has been posited as a factor contributing to social deficits in ASD. Social motivation is thought to involve the neuropeptide oxytocin. Here, we review the evidence for oxytocin effects in ASD, and discuss its potential role in one important social cognitive behavior. Systematic searches were conducted using the PsychINFO and MEDLINE databases and the search terms 'oxytocin' and 'autism'; the same databases were used for separate searches for 'joint attention', 'intervention', and 'autism', using the same inclusion criteria as an earlier 2011 review but updating it for the period 2010 to October 2012. Several studies suggest that giving oxytocin to both individuals with ASD and neurotypical individuals can enhance performance on social cognitive tasks. Studies that have attempted to intervene in joint attention in ASD suggest that social motivation may be a particular obstacle to lasting effects. The review of the evidence for the SMH suggests a potential role for oxytocin in social motivation deficits in ASD. Because of its importance for later communicative and social development, the focus here is on implications of oxytocin and social motivation in the development of and interventions in joint attention. Joint attention is a central impairment in ASD, and as a result is the focus of several behavioral interventions. In describing this previous research on joint attention interventions in ASD, we pay particular attention to problems encountered in such studies, and propose ways that oxytocin may facilitate behavioral intervention in this area. For future research, integrating behavioral and pharmacological interventions (oxytocin administration) would be a worthwhile experimental direction to improve understanding of the role of oxytocin in ASD and help optimize outcomes for children with ASD. © 2013 The Authors. Journal of Child Psychology and Psychiatry © 2013 Association for Child and Adolescent Mental Health.

Determining Metacarpophalangeal Flexion Angle Tolerance for Reliable Volumetric Joint Space Measurements by High-resolution Peripheral Quantitative Computed Tomography.

PubMed

Tom, Stephanie; Frayne, Mark; Manske, Sarah L; Burghardt, Andrew J; Stok, Kathryn S; Boyd, Steven K; Barnabe, Cheryl

2016-10-01

The position-dependence of a method to measure the joint space of metacarpophalangeal (MCP) joints using high-resolution peripheral quantitative computed tomography (HR-pQCT) was studied. Cadaveric MCP were imaged at 7 flexion angles between 0 and 30 degrees. The variability in reproducibility for mean, minimum, and maximum joint space widths and volume measurements was calculated for increasing degrees of flexion. Root mean square coefficient of variance values were < 5% under 20 degrees of flexion for mean, maximum, and volumetric joint spaces. Values for minimum joint space width were optimized under 10 degrees of flexion. MCP joint space measurements should be acquired at < 10 degrees of flexion in longitudinal studies.

The effects of welded joint characteristics on its properties in HDPE thermal fusion welding

NASA Astrophysics Data System (ADS)

Dai, Hongbin; Peng, Jun

2017-05-01

In this paper, PE100 pipes with the diameter of 200 mm and the thickness of 11.9 mm were used as material. The welded joints were obtained in different welding pressures with the optimal welding temperature of 220∘C. Reheating process on the welded joints with the temperature of 130∘C was carried out. The joints exhibited X-type, and the cause of X-type joints was discussed. The temperature field in the forming process of welded joints was measured, and tensile and bending tests on welded joints were carried out. The fracture surface of welded joints was observed by scanning electron microscopy (SEM), and crystallinity calculation was taken by X-ray diffraction (XRD). The mechanism of X-type weld profile effects on welded joints properties was analyzed. It was concluded that the mechanical properties of welded joints decrease with the reduced X distance between lines.

Optimization of T2-weighted imaging for shoulder magnetic resonance arthrography by synthetic magnetic resonance imaging.

PubMed

Lee, Seung Hyun; Lee, Young Han; Hahn, Seok; Yang, Jaemoon; Song, Ho-Taek; Suh, Jin-Suck

2017-01-01

Background Synthetic magnetic resonance imaging (MRI) allows reformatting of various synthetic images by adjustment of scanning parameters such as repetition time (TR) and echo time (TE). Optimized MR images can be reformatted from T1, T2, and proton density (PD) values to achieve maximum tissue contrast between joint fluid and adjacent soft tissue. Purpose To demonstrate the method for optimization of TR and TE by synthetic MRI and to validate the optimized images by comparison with conventional shoulder MR arthrography (MRA) images. Material and Methods Thirty-seven shoulder MRA images acquired by synthetic MRI were retrospectively evaluated for PD, T1, and T2 values at the joint fluid and glenoid labrum. Differences in signal intensity between the fluid and labrum were observed between TR of 500-6000 ms and TE of 80-300 ms in T2-weighted (T2W) images. Conventional T2W and synthetic images were analyzed for diagnostic agreement of supraspinatus tendon abnormalities (kappa statistics) and image quality scores (one-way analysis of variance with post-hoc analysis). Results Optimized mean values of TR and TE were 2724.7 ± 1634.7 and 80.1 ± 0.4, respectively. Diagnostic agreement for supraspinatus tendon abnormalities between conventional and synthetic MR images was excellent (κ = 0.882). The mean image quality score of the joint space in optimized synthetic images was significantly higher compared with those in conventional and synthetic images (2.861 ± 0.351 vs. 2.556 ± 0.607 vs. 2.750 ± 0.439; P < 0.05). Conclusion Synthetic MRI with optimized TR and TE for shoulder MRA enables optimization of soft-tissue contrast.

MR Imaging with Metal-suppression Sequences for Evaluation of Total Joint Arthroplasty.

PubMed

Talbot, Brett S; Weinberg, Eric P

2016-01-01

Metallic artifact at orthopedic magnetic resonance (MR) imaging continues to be an important problem, particularly in the realm of total joint arthroplasty. Complications often follow total joint arthroplasty and can be expected for a small percentage of all implanted devices. Postoperative complications involve not only osseous structures but also adjacent soft tissues-a highly problematic area at MR imaging because of artifacts from metallic prostheses. Without special considerations, susceptibility artifacts from ferromagnetic implants can unacceptably degrade image quality. Common artifacts include in-plane distortions (signal loss and signal pileup), poor or absent fat suppression, geometric distortion, and through-section distortion. Basic methods to reduce metallic artifacts include use of spin-echo or fast spin-echo sequences with long echo train lengths, short inversion time inversion-recovery (STIR) sequences for fat suppression, a high bandwidth, thin section selection, and an increased matrix. With care and attention to the alloy type (eg, titanium, cobalt-chromium, stainless steel), orientation of the implant, and magnetic field strength, as well as use of proprietary and nonproprietary metal-suppression techniques, previously nondiagnostic studies can yield key diagnostic information. Specifically, sequences such as the metal artifact reduction sequence (MARS), WARP (Siemens Healthcare, Munich, Germany), slice encoding for metal artifact correction (SEMAC), and multiacquisition with variable-resonance image combination (MAVRIC) can be optimized to reveal pathologic conditions previously hidden by periprosthetic artifacts. Complications of total joint arthroplasty that can be evaluated by using MR imaging with metal-suppression sequences include pseudotumoral conditions such as metallosis and particle disease, infection, aseptic prosthesis loosening, tendon injury, and muscle injury. ©RSNA, 2015.

Optimization of a double inversion recovery sequence for noninvasive synovium imaging of joint effusion in the knee.

PubMed

Jahng, Geon-Ho; Jin, Wook; Yang, Dal Mo; Ryu, Kyung Nam

2011-05-01

We wanted to optimize a double inversion recovery (DIR) sequence to image joint effusion regions of the knee, especially intracapsular or intrasynovial imaging in the suprapatellar bursa and patellofemoral joint space. Computer simulations were performed to determine the optimum inversion times (TI) for suppressing both fat and water signals, and a DIR sequence was optimized based on the simulations for distinguishing synovitis from fluid. In vivo studies were also performed on individuals who showed joint effusion on routine knee MR images to demonstrate the feasibility of using the DIR sequence with a 3T whole-body MR scanner. To compare intracapsular or intrasynovial signals on the DIR images, intermediate density-weighted images and/or post-enhanced T1-weighted images were acquired. The timings to enhance the synovial contrast from the fluid components were TI1 = 2830 ms and TI2 = 254 ms for suppressing the water and fat signals, respectively. Improved contrast for the intrasynovial area in the knees was observed with the DIR turbo spin-echo pulse sequence compared to the intermediate density-weighted sequence. Imaging contrast obtained noninvasively with the DIR sequence was similar to that of the post-enhanced T1-weighted sequence. The DIR sequence may be useful for delineating synovium without using contrast materials.

Mechanics and pathomechanics in the overhead athlete.

PubMed

Kibler, W Ben; Wilkes, Trevor; Sciascia, Aaron

2013-10-01

Optimal performance of the overhead throwing task requires precise mechanics that involve coordinated kinetic and kinematic chains to develop, transfer, and regulate the forces the body needs to withstand the inherent demands of the task and to allow optimal performance. These chains have been evaluated and the basic components, called nodes, have been identified. Impaired performance and/or injury, the DTS, is associated with alterations in the mechanics that are called pathomechanics. They can occur at multiple locations throughout the kinetic chain. They must be evaluated and treated as part of the overall problem. Observational analysis of the mechanics and pathomechanics using the node analysis method can be useful in highlighting areas of alteration that can be evaluated for anatomic injury or altered physiology. The comprehensive kinetic chain examination can evaluate sites of kinetic chain breakage, and a detailed shoulder examination can assess joint internal derangement of altered physiology that may contribute to the pathomechanics. Treatment of the DTS should be comprehensive, directed toward restoring physiology and mechanics and optimizing anatomy. This maximizes the body’s ability to develop normal mechanics to accomplish the overhead throwing task. Copyright © 2013 Elsevier Inc. All rights reserved.

Optimized SIFTFlow for registration of whole-mount histology to reference optical images

PubMed Central

Shojaii, Rushin; Martel, Anne L.

2016-01-01

Abstract. The registration of two-dimensional histology images to reference images from other modalities is an important preprocessing step in the reconstruction of three-dimensional histology volumes. This is a challenging problem because of the differences in the appearances of histology images and other modalities, and the presence of large nonrigid deformations which occur during slide preparation. This paper shows the feasibility of using densely sampled scale-invariant feature transform (SIFT) features and a SIFTFlow deformable registration algorithm for coregistering whole-mount histology images with blockface optical images. We present a method for jointly optimizing the regularization parameters used by the SIFTFlow objective function and use it to determine the most appropriate values for the registration of breast lumpectomy specimens. We demonstrate that tuning the regularization parameters results in significant improvements in accuracy and we also show that SIFTFlow outperforms a previously described edge-based registration method. The accuracy of the histology images to blockface images registration using the optimized SIFTFlow method was assessed using an independent test set of images from five different lumpectomy specimens and the mean registration error was 0.32±0.22  mm. PMID:27774494

Kalai-Smorodinsky bargaining solution for optimal resource allocation over wireless DS-CDMA visual sensor networks

NASA Astrophysics Data System (ADS)

Pandremmenou, Katerina; Kondi, Lisimachos P.; Parsopoulos, Konstantinos E.

2012-01-01

Surveillance applications usually require high levels of video quality, resulting in high power consumption. The existence of a well-behaved scheme to balance video quality and power consumption is crucial for the system's performance. In the present work, we adopt the game-theoretic approach of Kalai-Smorodinsky Bargaining Solution (KSBS) to deal with the problem of optimal resource allocation in a multi-node wireless visual sensor network (VSN). In our setting, the Direct Sequence Code Division Multiple Access (DS-CDMA) method is used for channel access, while a cross-layer optimization design, which employs a central processing server, accounts for the overall system efficacy through all network layers. The task assigned to the central server is the communication with the nodes and the joint determination of their transmission parameters. The KSBS is applied to non-convex utility spaces, efficiently distributing the source coding rate, channel coding rate and transmission powers among the nodes. In the underlying model, the transmission powers assume continuous values, whereas the source and channel coding rates can take only discrete values. Experimental results are reported and discussed to demonstrate the merits of KSBS over competing policies.

Novel Integration of Frame Rate Up Conversion and HEVC Coding Based on Rate-Distortion Optimization.

PubMed

Guo Lu; Xiaoyun Zhang; Li Chen; Zhiyong Gao

2018-02-01

Frame rate up conversion (FRUC) can improve the visual quality by interpolating new intermediate frames. However, high frame rate videos by FRUC are confronted with more bitrate consumption or annoying artifacts of interpolated frames. In this paper, a novel integration framework of FRUC and high efficiency video coding (HEVC) is proposed based on rate-distortion optimization, and the interpolated frames can be reconstructed at encoder side with low bitrate cost and high visual quality. First, joint motion estimation (JME) algorithm is proposed to obtain robust motion vectors, which are shared between FRUC and video coding. What's more, JME is embedded into the coding loop and employs the original motion search strategy in HEVC coding. Then, the frame interpolation is formulated as a rate-distortion optimization problem, where both the coding bitrate consumption and visual quality are taken into account. Due to the absence of original frames, the distortion model for interpolated frames is established according to the motion vector reliability and coding quantization error. Experimental results demonstrate that the proposed framework can achieve 21% ~ 42% reduction in BDBR, when compared with the traditional methods of FRUC cascaded with coding.

Cable compliance

NASA Technical Reports Server (NTRS)

Kerley, J.; Eklund, W.; Burkhardt, R.; Rossoni, P.

1992-01-01

The object of the investigation was to solve mechanical problems using cable-in-bending and cable-in-torsion. These problems included robotic contacts, targets, and controls using cable compliance. Studies continued in the use of cable compliance for the handicapped and the elderly. These included work stations, walkers, prosthetic knee joints, elbow joints, and wrist joints. More than half of these objects were met, and models were made and studies completed on most of the others. It was concluded that the many different and versatile solutions obtained only opened the door to many future challenges.

Joint Command Support Through Workspace Analysis, Design and Optimization (Soutien du Commandement Interarmees au Moyen de L’Analyse, de la Conception et de L’Optimisation de L’Espace de Travail)

DTIC Science & Technology

2009-10-01

WACC ); and • Joint Task Force (Games) Joint Operations Centre (GJOC). In May 2008, DRDC Toronto initiated two studies to support the workspace...Voice-over-IP WACC Whistler Area Command Centre DRDC Toronto TR 2009-100 39 Distribution list Document No.: DRDC CR 2009-028 LIST

Increase in Leg Stiffness Reduces Joint Work During Backpack Carriage Running at Slow Velocities.

PubMed

Liew, Bernard; Netto, Kevin; Morris, Susan

2017-10-01

Optimal tuning of leg stiffness has been associated with better running economy. Running with a load is energetically expensive, which could have a significant impact on athletic performance where backpack carriage is involved. The purpose of this study was to investigate the impact of load magnitude and velocity on leg stiffness. We also explored the relationship between leg stiffness and running joint work. Thirty-one healthy participants ran overground at 3 velocities (3.0, 4.0, 5.0 m·s -1 ), whilst carrying 3 load magnitudes (0%, 10%, 20% weight). Leg stiffness was derived using the direct kinetic-kinematic method. Joint work data was previously reported in a separate study. Linear models were used to establish relationships between leg stiffness and load magnitude, velocity, and joint work. Our results found that leg stiffness did not increase with load magnitude. Increased leg stiffness was associated with reduced total joint work at 3.0 m·s -1 , but not at faster velocities. The association between leg stiffness and joint work at slower velocities could be due to an optimal covariation between skeletal and muscular components of leg stiffness, and limb attack angle. When running at a relatively comfortable velocity, greater leg stiffness may reflect a more energy efficient running pattern.

Defense Acquisition and the Case of the Joint Capabilities Technology Demonstration Office: Ad Hoc Problem Solving as a Mechanism for Adaptive Change

DTIC Science & Technology

2013-04-01

Capabilities Technology Demonstration Office: Ad Hoc Problem Solving as a Mechanism for Adaptive Change Kathryn Aten and John T. Dillard Naval...Defense Acquisition and the Case of the Joint Capabilities Technology Demonstration Office: Ad Hoc Problem Solving as a Mechanism for Adaptive Change...describes the preliminary analysis and findings of our study exploring what drives successful organizational adaptation in the context of technology

Local performance optimization for a class of redundant eight-degree-of-freedom manipulators

NASA Technical Reports Server (NTRS)

Williams, Robert L., II

1994-01-01

Local performance optimization for joint limit avoidance and manipulability maximization (singularity avoidance) is obtained by using the Jacobian matrix pseudoinverse and by projecting the gradient of an objective function into the Jacobian null space. Real-time redundancy optimization control is achieved for an eight-joint redundant manipulator having a three-axis spherical shoulder, a single elbow joint, and a four-axis spherical wrist. Symbolic solutions are used for both full-Jacobian and wrist-partitioned pseudoinverses, partitioned null-space projection matrices, and all objective function gradients. A kinematic limitation of this class of manipulators and the limitation's effect on redundancy resolution are discussed. Results obtained with graphical simulation are presented to demonstrate the effectiveness of local redundant manipulator performance optimization. Actual hardware experiments performed to verify the simulated results are also discussed. A major result is that the partitioned solution is desirable because of low computation requirements. The partitioned solution is suboptimal compared with the full solution because translational and rotational terms are optimized separately; however, the results show that the difference is not significant. Singularity analysis reveals that no algorithmic singularities exist for the partitioned solution. The partitioned and full solutions share the same physical manipulator singular conditions. When compared with the full solution, the partitioned solution is shown to be ill-conditioned in smaller neighborhoods of the shared singularities.

Optimization and Characterization of the Friction Stir Welded Sheets of AA 5754-H111: Monitoring of the Quality of Joints with Thermographic Techniques.

PubMed

De Filippis, Luigi Alberto Ciro; Serio, Livia Maria; Palumbo, Davide; De Finis, Rosa; Galietti, Umberto

2017-10-11

Friction Stir Welding (FSW) is a solid-state welding process, based on frictional and stirring phenomena, that offers many advantages with respect to the traditional welding methods. However, several parameters can affect the quality of the produced joints. In this work, an experimental approach has been used for studying and optimizing the FSW process, applied on 5754-H111 aluminum plates. In particular, the thermal behavior of the material during the process has been investigated and two thermal indexes, the maximum temperature and the heating rate of the material, correlated to the frictional power input, were investigated for different process parameters (the travel and rotation tool speeds) configurations. Moreover, other techniques (micrographs, macrographs and destructive tensile tests) were carried out for supporting in a quantitative way the analysis of the quality of welded joints. The potential of thermographic technique has been demonstrated both for monitoring the FSW process and for predicting the quality of joints in terms of tensile strength.

Joint design of large-tip-angle parallel RF pulses and blipped gradient trajectories.

PubMed

Cao, Zhipeng; Donahue, Manus J; Ma, Jun; Grissom, William A

2016-03-01

To design multichannel large-tip-angle kT-points and spokes radiofrequency (RF) pulses and gradient waveforms for transmit field inhomogeneity compensation in high field magnetic resonance imaging. An algorithm to design RF subpulse weights and gradient blip areas is proposed to minimize a magnitude least-squares cost function that measures the difference between realized and desired state parameters in the spin domain, and penalizes integrated RF power. The minimization problem is solved iteratively with interleaved target phase updates, RF subpulse weights updates using the conjugate gradient method with optimal control-based derivatives, and gradient blip area updates using the conjugate gradient method. Two-channel parallel transmit simulations and experiments were conducted in phantoms and human subjects at 7 T to demonstrate the method and compare it to small-tip-angle-designed pulses and circularly polarized excitations. The proposed algorithm designed more homogeneous and accurate 180° inversion and refocusing pulses than other methods. It also designed large-tip-angle pulses on multiple frequency bands with independent and joint phase relaxation. Pulses designed by the method improved specificity and contrast-to-noise ratio in a finger-tapping spin echo blood oxygen level dependent functional magnetic resonance imaging study, compared with circularly polarized mode refocusing. A joint RF and gradient waveform design algorithm was proposed and validated to improve large-tip-angle inversion and refocusing at ultrahigh field. © 2015 Wiley Periodicals, Inc.

An Improved WiFi Indoor Positioning Algorithm by Weighted Fusion

PubMed Central

Ma, Rui; Guo, Qiang; Hu, Changzhen; Xue, Jingfeng

2015-01-01

The rapid development of mobile Internet has offered the opportunity for WiFi indoor positioning to come under the spotlight due to its low cost. However, nowadays the accuracy of WiFi indoor positioning cannot meet the demands of practical applications. To solve this problem, this paper proposes an improved WiFi indoor positioning algorithm by weighted fusion. The proposed algorithm is based on traditional location fingerprinting algorithms and consists of two stages: the offline acquisition and the online positioning. The offline acquisition process selects optimal parameters to complete the signal acquisition, and it forms a database of fingerprints by error classification and handling. To further improve the accuracy of positioning, the online positioning process first uses a pre-match method to select the candidate fingerprints to shorten the positioning time. After that, it uses the improved Euclidean distance and the improved joint probability to calculate two intermediate results, and further calculates the final result from these two intermediate results by weighted fusion. The improved Euclidean distance introduces the standard deviation of WiFi signal strength to smooth the WiFi signal fluctuation and the improved joint probability introduces the logarithmic calculation to reduce the difference between probability values. Comparing the proposed algorithm, the Euclidean distance based WKNN algorithm and the joint probability algorithm, the experimental results indicate that the proposed algorithm has higher positioning accuracy. PMID:26334278

An Improved WiFi Indoor Positioning Algorithm by Weighted Fusion.

PubMed

Ma, Rui; Guo, Qiang; Hu, Changzhen; Xue, Jingfeng

2015-08-31

The rapid development of mobile Internet has offered the opportunity for WiFi indoor positioning to come under the spotlight due to its low cost. However, nowadays the accuracy of WiFi indoor positioning cannot meet the demands of practical applications. To solve this problem, this paper proposes an improved WiFi indoor positioning algorithm by weighted fusion. The proposed algorithm is based on traditional location fingerprinting algorithms and consists of two stages: the offline acquisition and the online positioning. The offline acquisition process selects optimal parameters to complete the signal acquisition, and it forms a database of fingerprints by error classification and handling. To further improve the accuracy of positioning, the online positioning process first uses a pre-match method to select the candidate fingerprints to shorten the positioning time. After that, it uses the improved Euclidean distance and the improved joint probability to calculate two intermediate results, and further calculates the final result from these two intermediate results by weighted fusion. The improved Euclidean distance introduces the standard deviation of WiFi signal strength to smooth the WiFi signal fluctuation and the improved joint probability introduces the logarithmic calculation to reduce the difference between probability values. Comparing the proposed algorithm, the Euclidean distance based WKNN algorithm and the joint probability algorithm, the experimental results indicate that the proposed algorithm has higher positioning accuracy.

Periodic Application of Stochastic Cost Optimization Methodology to Achieve Remediation Objectives with Minimized Life Cycle Cost

NASA Astrophysics Data System (ADS)

Kim, U.; Parker, J.

2016-12-01

Many dense non-aqueous phase liquid (DNAPL) contaminated sites in the U.S. are reported as "remediation in progress" (RIP). However, the cost to complete (CTC) remediation at these sites is highly uncertain and in many cases, the current remediation plan may need to be modified or replaced to achieve remediation objectives. This study evaluates the effectiveness of iterative stochastic cost optimization that incorporates new field data for periodic parameter recalibration to incrementally reduce prediction uncertainty and implement remediation design modifications as needed to minimize the life cycle cost (i.e., CTC). This systematic approach, using the Stochastic Cost Optimization Toolkit (SCOToolkit), enables early identification and correction of problems to stay on track for completion while minimizing the expected (i.e., probability-weighted average) CTC. This study considers a hypothetical site involving multiple DNAPL sources in an unconfined aquifer using thermal treatment for source reduction and electron donor injection for dissolved plume control. The initial design is based on stochastic optimization using model parameters and their joint uncertainty based on calibration to site characterization data. The model is periodically recalibrated using new monitoring data and performance data for the operating remediation systems. Projected future performance using the current remediation plan is assessed and reoptimization of operational variables for the current system or consideration of alternative designs are considered depending on the assessment results. We compare remediation duration and cost for the stepwise re-optimization approach with single stage optimization as well as with a non-optimized design based on typical engineering practice.

The "Dual Usage Problem" in the Explanations of "Joint Attention" and Children's Socioemotional Development: A Reconceptualization

ERIC Educational Resources Information Center

Tasker, Susan L.; Schmidt, Louis A.

2008-01-01

The term "joint attention", which first gained currency in the early 1960s in studies of the development of language and symbolic thought, remains significant in the developmental literature. However, its meaning is unclear. A definitional problem exists similar to what Patterson [Patterson, M. L. (1982). "A sequential functional model of…

Intelligent Control of Flexible-Joint Robotic Manipulators

NASA Technical Reports Server (NTRS)

Colbaugh, R.; Gallegos, G.

1997-01-01

This paper considers the trajectory tracking problem for uncertain rigid-link. flexible.joint manipulators, and presents a new intelligent controller as a solution to this problem. The proposed control strategy is simple and computationally efficient, requires little information concerning either the manipulator or actuator/transmission models and ensures uniform boundedness of all signals and arbitrarily accurate task-space trajectory tracking.

Parental Guidance and Children's Executive Function: Working Memory and Planning as Moderators during Joint Problem-Solving

ERIC Educational Resources Information Center

Eason, Sarah H.; Ramani, Geetha B.

2017-01-01

Cognitive aspects of children's executive function (EF) were examined as moderators of the effectiveness of parental guidance on children's learning. Thirty-two 5-year-old children and their parents were observed during joint problem-solving. Forms of guidance geared towards cognitive assistance were coded as directive or elaborative, and…

Exploration of Objective Functions for Optimal Placement of Weather Stations

NASA Astrophysics Data System (ADS)

Snyder, A.; Dietterich, T.; Selker, J. S.

2016-12-01

Many regions of Earth lack ground-based sensing of weather variables. For example, most countries in Sub-Saharan Africa do not have reliable weather station networks. This absence of sensor data has many consequences ranging from public safety (poor prediction and detection of severe weather events), to agriculture (lack of crop insurance), to science (reduced quality of world-wide weather forecasts, climate change measurement, etc.). The Trans-African Hydro-Meteorological Observatory (TAHMO.org) project seeks to address these problems by deploying and operating a large network of weather stations throughout Sub-Saharan Africa. To design the TAHMO network, we must determine where to locate each weather station. We can formulate this as the following optimization problem: Determine a set of N sites that jointly optimize the value of an objective function. The purpose of this poster is to propose and assess several objective functions. In addition to standard objectives (e.g., minimizing the summed squared error of interpolated values over the entire region), we consider objectives that minimize the maximum error over the region and objectives that optimize the detection of extreme events. An additional issue is that each station measures more than 10 variables—how should we balance the accuracy of our interpolated maps for each variable? Weather sensors inevitably drift out of calibration or fail altogether. How can we incorporate robustness to failed sensors into our network design? Another important requirement is that the network should make it possible to detect failed sensors by comparing their readings with those of other stations. How can this requirement be met? Finally, we provide an initial assessment of the computational cost of optimizing these various objective functions. We invite everyone to join the discussion at our poster by proposing additional objectives, identifying additional issues to consider, and expanding our bibliography of relevant papers. A prize (derived from grapes grown in Oregon) will be awarded for the most insightful contribution to the discussion!

Flight set 360T004 (STS-30) field joint protection system, volume 7

NASA Technical Reports Server (NTRS)

Hale, Elgie

1989-01-01

The Redesigned Solid Rocket Motors (RSRM) of the Space Transportation System have three field joints that are protected by the Joint Protection Systems (JPS). The igniter heater was mounted on the igniter flange. This report documents the performance of the JPS and igniter heaters on the pad and the post-flight condition of the JPS components. All observations that were written up as Squawks and/or Problem Reports are also discussed. The primary heaters performed satisfactorily and maintained the field joint temperatures within the required temperature range. A secondary heater failed Dielectric Withstanding Voltage (DWV) test during the joint closeout prior to launch. This heater was not used, however, since the primary heater functioned properly. Post-test inspection revealed that pin A of the heater power cable was shorted to the connector shell. Design changes have been implemented to resolve the heater power cable problem. All field joint assemblies met all of the performance requirements.

Using three dimensional silicone ``boots`` to solve complex remedial design problems in curtain walls

DOE Office of Scientific and Technical Information (OSTI.GOV)

Chen, Y.J.

1998-12-31

Stick system curtain wall leak problems are frequently caused by water entry at the splice joints of the curtain wall frame and failure of the internal metal joinery seals. Remedial solutions involving occupied buildings inevitably face the multiple constraints of existing construction and business operations not present during the original curtain wall construction. In most cases, even partial disassembly of the curtain wall for internal seal repairs is not feasible. Remedial solutions which must be executed from the exterior of the curtain wall often involve wet-applied or preformed sealant tape bridge joints. However, some of the more complex joints cannotmore » be repaired effectively or economically with the conventional bridge joint. Fortunately, custom fabricated three-dimensional preformed sealant boots are becoming available to address these situations. This paper discusses the design considerations and the selective use of three-dimensional preformed boots in sealing complex joint geometry that would not be effective with the conventional two-dimensional bridge joint.« less

Flex-gear electrical power transmission

NASA Technical Reports Server (NTRS)

Vranish, John; Peritt, Jonathan

1993-01-01

This study was conducted to develop an alternative way of transferring electricity across a continuously rotating joint, with little wear and the potential for low electrical noise. The problems with wires, slip rings, electromagnetic couplings, and recently invented roll-rings are discussed. Flex-gears, an improvement of roll-rings, are described. An entire class of flexgear devices is developed. Finally, the preferred flex-gear device is optimized for maximum electrical contact and analyzed for average mechanical power loss and maximum stress. For a device diameter of six inches, the preferred device is predicted to have a total electrical contact area of 0.066 square inches. In the preferred device, a small amount of internal sliding produces a 0.003 inch-pound torque that resists the motion of the device.

Model based approach to UXO imaging using the time domain electromagnetic method

DOE Office of Scientific and Technical Information (OSTI.GOV)

Lavely, E.M.

1999-04-01

Time domain electromagnetic (TDEM) sensors have emerged as a field-worthy technology for UXO detection in a variety of geological and environmental settings. This success has been achieved with commercial equipment that was not optimized for UXO detection and discrimination. The TDEM response displays a rich spatial and temporal behavior which is not currently utilized. Therefore, in this paper the author describes a research program for enhancing the effectiveness of the TDEM method for UXO detection and imaging. Fundamental research is required in at least three major areas: (a) model based imaging capability i.e. the forward and inverse problem, (b) detectormore » modeling and instrument design, and (c) target recognition and discrimination algorithms. These research problems are coupled and demand a unified treatment. For example: (1) the inverse solution depends on solution of the forward problem and knowledge of the instrument response; (2) instrument design with improved diagnostic power requires forward and inverse modeling capability; and (3) improved target recognition algorithms (such as neural nets) must be trained with data collected from the new instrument and with synthetic data computed using the forward model. Further, the design of the appropriate input and output layers of the net will be informed by the results of the forward and inverse modeling. A more fully developed model of the TDEM response would enable the joint inversion of data collected from multiple sensors (e.g., TDEM sensors and magnetometers). Finally, the author suggests that a complementary approach to joint inversions is the statistical recombination of data using principal component analysis. The decomposition into principal components is useful since the first principal component contains those features that are most strongly correlated from image to image.« less

DOE Office of Scientific and Technical Information (OSTI.GOV)

Gaitsgory, Vladimir, E-mail: vladimir.gaitsgory@mq.edu.au; Rossomakhine, Sergey, E-mail: serguei.rossomakhine@flinders.edu.au

The paper aims at the development of an apparatus for analysis and construction of near optimal solutions of singularly perturbed (SP) optimal controls problems (that is, problems of optimal control of SP systems) considered on the infinite time horizon. We mostly focus on problems with time discounting criteria but a possibility of the extension of results to periodic optimization problems is discussed as well. Our consideration is based on earlier results on averaging of SP control systems and on linear programming formulations of optimal control problems. The idea that we exploit is to first asymptotically approximate a given problem ofmore » optimal control of the SP system by a certain averaged optimal control problem, then reformulate this averaged problem as an infinite-dimensional linear programming (LP) problem, and then approximate the latter by semi-infinite LP problems. We show that the optimal solution of these semi-infinite LP problems and their duals (that can be found with the help of a modification of an available LP software) allow one to construct near optimal controls of the SP system. We demonstrate the construction with two numerical examples.« less

Optimal Control Method of Robot End Position and Orientation Based on Dynamic Tracking Measurement

NASA Astrophysics Data System (ADS)

Liu, Dalong; Xu, Lijuan

2018-01-01

In order to improve the accuracy of robot pose positioning and control, this paper proposed a dynamic tracking measurement robot pose optimization control method based on the actual measurement of D-H parameters of the robot, the parameters is taken with feedback compensation of the robot, according to the geometrical parameters obtained by robot pose tracking measurement, improved multi sensor information fusion the extended Kalan filter method, with continuous self-optimal regression, using the geometric relationship between joint axes for kinematic parameters in the model, link model parameters obtained can timely feedback to the robot, the implementation of parameter correction and compensation, finally we can get the optimal attitude angle, realize the robot pose optimization control experiments were performed. 6R dynamic tracking control of robot joint robot with independent research and development is taken as experimental subject, the simulation results show that the control method improves robot positioning accuracy, and it has the advantages of versatility, simplicity, ease of operation and so on.

The Joint Commission calls for comprehensive action on poor health literacy.

PubMed

2007-03-01

A new call to action on poor health literacy. Maintaining that the problem is costing the country dearly in dollars as well as quality of life, The Joint Commission has put out a new policy white paper calling on all key players to take steps to deal with the problem of poor health literacy. Although changes at the top are sorely needed, policy makers maintain that there is much that individual providers can do to alleviate the problem.

Inverse kinematics problem in robotics using neural networks

NASA Technical Reports Server (NTRS)

Choi, Benjamin B.; Lawrence, Charles

1992-01-01

In this paper, Multilayer Feedforward Networks are applied to the robot inverse kinematic problem. The networks are trained with endeffector position and joint angles. After training, performance is measured by having the network generate joint angles for arbitrary endeffector trajectories. A 3-degree-of-freedom (DOF) spatial manipulator is used for the study. It is found that neural networks provide a simple and effective way to both model the manipulator inverse kinematics and circumvent the problems associated with algorithmic solution methods.

Fundamental Principles of Tremor Propagation in the Upper Limb.

PubMed

Davidson, Andrew D; Charles, Steven K

2017-04-01

Although tremor is the most common movement disorder, there exist few effective tremor-suppressing devices, in part because the characteristics of tremor throughout the upper limb are unknown. To clarify, optimally suppressing tremor requires a knowledge of the mechanical origin, propagation, and distribution of tremor throughout the upper limb. Here we present the first systematic investigation of how tremor propagates between the shoulder, elbow, forearm, and wrist. We simulated tremor propagation using a linear, time-invariant, lumped-parameter model relating joint torques and the resulting joint displacements. The model focused on the seven main degrees of freedom from the shoulder to the wrist and included coupled joint inertia, damping, and stiffness. We deliberately implemented a simple model to focus first on the most basic effects. Simulating tremorogenic joint torque as a sinusoidal input, we used the model to establish fundamental principles describing how input parameters (torque location and frequency) and joint impedance (inertia, damping, and stiffness) affect tremor propagation. We expect that the methods and principles presented here will serve as the groundwork for future refining studies to understand the origin, propagation, and distribution of tremor throughout the upper limb in order to enable the future development of optimal tremor-suppressing devices.

Fundamental Principles of Tremor Propagation in the Upper Limb

PubMed Central

Davidson, Andrew D.; Charles, Steven K.

2017-01-01

Although tremor is the most common movement disorder, there exist few effective tremor-suppressing devices, in part because the characteristics of tremor throughout the upper limb are unknown. To clarify, optimally suppressing tremor requires a knowledge of the mechanical origin, propagation, and distribution of tremor throughout the upper limb. Here we present the first systematic investigation of how tremor propagates between the shoulder, elbow, forearm, and wrist. We simulated tremor propagation using a linear, time-invariant, lumped-parameter model relating joint torques and the resulting joint displacements. The model focused on the seven main degrees of freedom from the shoulder to the wrist and included coupled joint inertia, damping, and stiffness. We deliberately implemented a simple model to focus first on the most basic effects. Simulating tremorogenic joint torque as a sinusoidal input, we used the model to establish fundamental principles describing how input parameters (torque location and frequency) and joint impedance (inertia, damping, and stiffness) affect tremor propagation. We expect that the methods and principles presented here will serve as the groundwork for future refining studies to understand the origin, propagation, and distribution of tremor throughout the upper limb in order to enable the future development of optimal tremor-suppressing devices. PMID:27957608

DOE Office of Scientific and Technical Information (OSTI.GOV)

Unseren, M.A.

This report proposes a method for resolving the kinematic redundancy of a serial link manipulator moving in a three-dimensional workspace. The underspecified problem of solving for the joint velocities based on the classical kinematic velocity model is transformed into a well-specified problem. This is accomplished by augmenting the original model with additional equations which relate a new vector variable quantifying the redundant degrees of freedom (DOF) to the joint velocities. The resulting augmented system yields a well specified solution for the joint velocities. Methods for selecting the redundant DOF quantifying variable and the transformation matrix relating it to the jointmore » velocities are presented so as to obtain a minimum Euclidean norm solution for the joint velocities. The approach is also applied to the problem of resolving the kinematic redundancy at the acceleration level. Upon resolving the kinematic redundancy, a rigid body dynamical model governing the gross motion of the manipulator is derived. A control architecture is suggested which according to the model, decouples the Cartesian space DOF and the redundant DOF.« less

Research on the Optimization Method of Arm Movement in the Assembly Workshop Based on Ergonomics

NASA Astrophysics Data System (ADS)

Hu, X. M.; Qu, H. W.; Xu, H. J.; Yang, L.; Yu, C. C.

2017-12-01

In order to improve the work efficiency and comfortability, Ergonomics is used to research the work of the operator in the assembly workshop. An optimization algorithm of arm movement in the assembly workshop is proposed. In the algorithm, a mathematical model of arm movement is established based on multi rigid body movement model and D-H method. The solution of inverse kinematics equation on arm movement is solved through kinematics theory. The evaluation functions of each joint movement and the whole arm movement are given based on the comfortability of human body joint. The solution method of the optimal arm movement posture based on the evaluation functions is described. The software CATIA is used to verify that the optimal arm movement posture is valid in an example and the experimental result show the effectiveness of the algorithm.

Performance of Grey Wolf Optimizer on large scale problems

NASA Astrophysics Data System (ADS)

Gupta, Shubham; Deep, Kusum

2017-01-01

For solving nonlinear continuous problems of optimization numerous nature inspired optimization techniques are being proposed in literature which can be implemented to solve real life problems wherein the conventional techniques cannot be applied. Grey Wolf Optimizer is one of such technique which is gaining popularity since the last two years. The objective of this paper is to investigate the performance of Grey Wolf Optimization Algorithm on large scale optimization problems. The Algorithm is implemented on 5 common scalable problems appearing in literature namely Sphere, Rosenbrock, Rastrigin, Ackley and Griewank Functions. The dimensions of these problems are varied from 50 to 1000. The results indicate that Grey Wolf Optimizer is a powerful nature inspired Optimization Algorithm for large scale problems, except Rosenbrock which is a unimodal function.

Management and Rehabilitation of Joint Disease in Sport Horses.

PubMed

Contino, Erin K

2018-05-21

Joint disease is one of the most common issues effecting sport horses. Because there is no cure for joint disease, treatment goals surround slowing progression of the disease, minimizing pain, increasing function, and optimizing performance. Accomplishing these goals often requires a multimodal approach that combines systemic medications or supplements; intra-articular therapies, such as corticosteroids or biologics; management considerations; and physical therapy exercises. Copyright © 2018 Elsevier Inc. All rights reserved.

Decentralized control of large flexible structures by joint decoupling

NASA Technical Reports Server (NTRS)

Su, Tzu-Jeng; Juang, Jer-Nan

1994-01-01

This paper presents a novel method to design decentralized controllers for large complex flexible structures by using the idea of joint decoupling. Decoupling of joint degrees of freedom from the interior degrees of freedom is achieved by setting the joint actuator commands to cancel the internal forces exerting on the joint degrees of freedom. By doing so, the interactions between substructures are eliminated. The global structure control design problem is then decomposed into several substructure control design problems. Control commands for interior actuators are set to be localized state feedback using decentralized observers for state estimation. The proposed decentralized controllers can operate successfully at the individual substructure level as well as at the global structure level. Not only control design but also control implementation is decentralized. A two-component mass-spring-damper system is used as an example to demonstrate the proposed method.

Joint Group on Pollution Prevention: Partnering for Progress

NASA Technical Reports Server (NTRS)

Hill, R.

2001-01-01

This viewgraph presentation outlines the Joint Group on Pollution Prevention (JG-PP) partnership. Details are given on what groups comprise JG-PP, the proven methodology for what JG-PP can accomplish, the common problems, joint solutions, and shared efforts, and some of the JG-PP projects.

Feed Forward Neural Network and Optimal Control Problem with Control and State Constraints

NASA Astrophysics Data System (ADS)

Kmet', Tibor; Kmet'ová, Mária

2009-09-01

A feed forward neural network based optimal control synthesis is presented for solving optimal control problems with control and state constraints. The paper extends adaptive critic neural network architecture proposed by [5] to the optimal control problems with control and state constraints. The optimal control problem is transcribed into a nonlinear programming problem which is implemented with adaptive critic neural network. The proposed simulation method is illustrated by the optimal control problem of nitrogen transformation cycle model. Results show that adaptive critic based systematic approach holds promise for obtaining the optimal control with control and state constraints.

Derivation of optimal joint operating rules for multi-purpose multi-reservoir water-supply system

NASA Astrophysics Data System (ADS)

Tan, Qiao-feng; Wang, Xu; Wang, Hao; Wang, Chao; Lei, Xiao-hui; Xiong, Yi-song; Zhang, Wei

2017-08-01

The derivation of joint operating policy is a challenging task for a multi-purpose multi-reservoir system. This study proposed an aggregation-decomposition model to guide the joint operation of multi-purpose multi-reservoir system, including: (1) an aggregated model based on the improved hedging rule to ensure the long-term water-supply operating benefit; (2) a decomposed model to allocate the limited release to individual reservoirs for the purpose of maximizing the total profit of the facing period; and (3) a double-layer simulation-based optimization model to obtain the optimal time-varying hedging rules using the non-dominated sorting genetic algorithm II, whose objectives were to minimize maximum water deficit and maximize water supply reliability. The water-supply system of Li River in Guangxi Province, China, was selected for the case study. The results show that the operating policy proposed in this study is better than conventional operating rules and aggregated standard operating policy for both water supply and hydropower generation due to the use of hedging mechanism and effective coordination among multiple objectives.

Use of vitamin B12 in joint lavage for determination of dilution factors of canine synovial fluid.

PubMed

de Bruin, Tanya; de Rooster, Hilde; van Bree, Henri; Cox, Eric

2005-11-01

To test a modified saline (0.9% NaCl) solution joint washing (lavage) technique that includes the use of vitamin B12 as an internal marker for the evaluation of synovial fluid dilution in lavage samples from canine joints. 9 plasma samples obtained from blood samples of 9 healthy dogs and 9 synovial fluid samples aspirated from stifle joints of 9 cadaveric dogs. Photometric absorbances of 25% vitamin B12 solution, canine synovial fluid, and canine plasma were measured in a spectrophotometer to establish an optimal wavelength for analysis. Canine synovial fluid and plasma samples were mixed with the 25% vitamin B12 solution to obtain 1%, 3%, 5%, 10%, 20%, and 50% solutions of synovial fluid or plasma. Diluted synovial fluid and plasma samples were used to simulate joint lavage samples and to examine the possible interference of these substances (synovial fluid or plasma) with the absorbance of the 25% vitamin B12 solution in photometric analysis. The optimal wavelength was found to be at 550 nm. Canine synovial fluid and plasma samples did not interfere with the absorbance measurements of the 25% vitamin B12 solution up to a 50% dilution of plasma or synovial fluid. The modified saline solution joint lavage method with the use of a 25% vitamin B12 solution as an internal standard provides an accurate and reliable technique for the evaluation of synovial fluid dilution in lavage samples from canine joints.

Evaluation of the Hip: History and Physical Examination

PubMed Central

2007-01-01

Examination of a painful hip is fairly concise and reliable at detecting the presence of a hip joint problem. Hip joint disorders often go undetected, leading to the development of secondary disorders. Using a thoughtful approach and methodical examination techniques, most hip joint problems can be detected and a proper treatment strategy can then be implemented based on an accurate diagnosis. The purpose of this clinical commentary is to present a systematic examination process that outlines important components in each of the evaluation areas of history and physical examination (including inspection, measurements, symptom localization, muscle strength, and special tests). PMID:21509142

Adhesive-bonded scarf and stepped-lap joints

NASA Technical Reports Server (NTRS)

Hart-Smith, L. J.

1973-01-01

Continuum mechanics solutions are derived for the static load-carrying capacity of scarf and stepped-lap adhesive-bonded joints. The analyses account for adhesive plasticity and adherend stiffness imbalance and thermal mismatch. The scarf joint solutions include a simple algebraic formula which serves as a close lower bound, within a small fraction of a per cent of the true answer for most practical geometries and materials. Digital computer programs were developed and, for the stepped-lap joints, the critical adherend and adhesive stresses are computed for each step. The scarf joint solutions exhibit grossly different behavior from that for double-lap joints for long overlaps inasmuch as that the potential bond shear strength continues to increase with indefinitely long overlaps on the scarf joints. The stepped-lap joint solutions exhibit some characteristics of both the scarf and double-lap joints. The stepped-lap computer program handles arbitrary (different) step lengths and thickness and the solutions obtained have clarified potentially weak design details and the remedies. The program has been used effectively to optimize the joint proportions.

Why Do Staff of Joint-Use Libraries Sometimes Fail to Integrate? Investigating Cultures and Ethics in a Public-Tertiary Joint-Use Library

ERIC Educational Resources Information Center

Calvert, Philip James

2010-01-01

Joint-use libraries have identified staff integration as a problem. Using focus groups, this project investigated the culture, professional ethics, and attitudes of staff in a public-tertiary joint-use library in Auckland, New Zealand. Findings show some difference in organizational cultures, but more variation at the lower level of roles and…

See What I See, Do as I Do: Promoting Joint Attention and Imitation in Preschoolers with Autism Spectrum Disorder

ERIC Educational Resources Information Center

Warreyn, Petra; Roeyers, Herbert

2014-01-01

Since imitation and joint attention are both important abilities for young children and since children with autism spectrum disorder show a range of problems in these domains, imitation and joint attention are important targets for intervention. In this study, we examined the possibility of promoting imitation and joint attention by means of a…

Prevention of the Post-traumatic Fibrotic Response in Joints

DTIC Science & Technology

2014-10-01

The American journal of forensic medicine and pathology . 1988; 9(4):310-2. 14 APPENDICES: An abstract submitted for the ORS conference...clinical problem of posttraumatic joint stiffness, a pathology that reduces the range of motion (ROM) of injured joints and contributes to the...development of osteoarthritis. The fundamental hypothesis that drives the current study is that pathological fibrotic response of injured joint tissues

Optimal joint remote state preparation in the presence of various types of noises

NASA Astrophysics Data System (ADS)

Hop Nguyen, Van; Bich Cao, Thi; Nguyen, Ba An

2017-03-01

A main obstacle faced by any quantum information processing protocol is the noise that degrades the desired coherence/entanglement. In this work we study by means of Kraus operators the effect of four typical types of noises on the quality of joint remote state preparation of a single-qubit state using a three-qubit Greenberger-Horne-Zeilinger-type state as the initial quantum channel. Assuming that two of the three involved qubits independently suffer a type of noise, we derive analytical expressions not only for the optimal averaged fidelities but also for the boundaries in phase space of the domains in which the joint remote state preparation protocol outperforms the classical one. Detailed discussion is given for each of the total 16 noisy scenarios. We also provide physical interpretation for the obtained results and outline possible future topics.

Effect of Activated Flux on the Microstructure, Mechanical Properties, and Residual Stresses of Modified 9Cr-1Mo Steel Weld Joints

NASA Astrophysics Data System (ADS)

Maduraimuthu, V.; Vasudevan, M.; Muthupandi, V.; Bhaduri, A. K.; Jayakumar, T.

2012-02-01

A novel variant of tungsten inert gas (TIG) welding called activated-TIG (A-TIG) welding, which uses a thin layer of activated flux coating applied on the joint area prior to welding, is known to enhance the depth of penetration during autogenous TIG welding and overcomes the limitation associated with TIG welding of modified 9Cr-1Mo steels. Therefore, it is necessary to develop a specific activated flux for enhancing the depth of penetration during autogeneous TIG welding of modified 9Cr-1Mo steel. In the current work, activated flux composition is optimized to achieve 6 mm depth of penetration in single-pass TIG welding at minimum heat input possible. Then square butt weld joints are made for 6-mm-thick and 10-mm-thick plates using the optimized flux. The effect of flux on the microstructure, mechanical properties, and residual stresses of the A-TIG weld joint is studied by comparing it with that of the weld joints made by conventional multipass TIG welding process using matching filler wire. Welded microstructure in the A-TIG weld joint is coarser because of the higher peak temperature in A-TIG welding process compared with that of multipass TIG weld joint made by a conventional TIG welding process. Transverse strength properties of the modified 9Cr-1Mo steel weld produced by A-TIG welding exceeded the minimum specified strength values of the base materials. The average toughness values of A-TIG weld joints are lower compared with that of the base metal and multipass weld joints due to the presence of δ-ferrite and inclusions in the weld metal caused by the flux. Compressive residual stresses are observed in the fusion zone of A-TIG weld joint, whereas tensile residual stresses are observed in the multipass TIG weld joint.

Biomechanical design of escalading lower limb exoskeleton with novel linkage joints.

PubMed

Zhang, Guoan; Liu, Gangfeng; Ma, Sun; Wang, Tianshuo; Zhao, Jie; Zhu, Yanhe

2017-07-20

In this paper, an obstacle-surmounting-enabled lower limb exoskeleton with novel linkage joints that perfectly mimicked human motions was proposed. Currently, most lower exoskeletons that use linear actuators have a direct connection between the wearer and the controlled part. Compared to the existing joints, the novel linkage joint not only fitted better into compact chasis, but also provided greater torque when the joint was at a large bend angle. As a result, it extended the angle range of joint peak torque output. With any given power, torque was prioritized over rotational speed, because instead of rotational speed, sufficiency of torque is the premise for most joint actions. With insufficient torque, the exoskeleton will be a burden instead of enhancement to its wearer. With optimized distribution of torque among the joints, the novel linkage method may contribute to easier exoskeleton movements.

COPS: Large-scale nonlinearly constrained optimization problems

DOE Office of Scientific and Technical Information (OSTI.GOV)

Bondarenko, A.S.; Bortz, D.M.; More, J.J.

2000-02-10

The authors have started the development of COPS, a collection of large-scale nonlinearly Constrained Optimization Problems. The primary purpose of this collection is to provide difficult test cases for optimization software. Problems in the current version of the collection come from fluid dynamics, population dynamics, optimal design, and optimal control. For each problem they provide a short description of the problem, notes on the formulation of the problem, and results of computational experiments with general optimization solvers. They currently have results for DONLP2, LANCELOT, MINOS, SNOPT, and LOQO.

Multi-objective Optimization of Pulsed Gas Metal Arc Welding Process Using Neuro NSGA-II

NASA Astrophysics Data System (ADS)

Pal, Kamal; Pal, Surjya K.

2018-05-01

Weld quality is a critical issue in fabrication industries where products are custom-designed. Multi-objective optimization results number of solutions in the pareto-optimal front. Mathematical regression model based optimization methods are often found to be inadequate for highly non-linear arc welding processes. Thus, various global evolutionary approaches like artificial neural network, genetic algorithm (GA) have been developed. The present work attempts with elitist non-dominated sorting GA (NSGA-II) for optimization of pulsed gas metal arc welding process using back propagation neural network (BPNN) based weld quality feature models. The primary objective to maintain butt joint weld quality is the maximization of tensile strength with minimum plate distortion. BPNN has been used to compute the fitness of each solution after adequate training, whereas NSGA-II algorithm generates the optimum solutions for two conflicting objectives. Welding experiments have been conducted on low carbon steel using response surface methodology. The pareto-optimal front with three ranked solutions after 20th generations was considered as the best without further improvement. The joint strength as well as transverse shrinkage was found to be drastically improved over the design of experimental results as per validated pareto-optimal solutions obtained.

Co-development of Problem Gambling and Depression Symptoms in Emerging Adults: A Parallel-Process Latent Class Growth Model.

PubMed

Edgerton, Jason D; Keough, Matthew T; Roberts, Lance W

2018-02-21

This study examines whether there are multiple joint trajectories of depression and problem gambling co-development in a sample of emerging adults. Data were from the Manitoba Longitudinal Study of Young Adults (n = 679), which was collected in 4 waves across 5 years (age 18-20 at baseline). Parallel process latent class growth modeling was used to identified 5 joint trajectory classes: low decreasing gambling, low increasing depression (81%); low stable gambling, moderate decreasing depression (9%); low stable gambling, high decreasing depression (5%); low stable gambling, moderate stable depression (3%); moderate stable problem gambling, no depression (2%). There was no evidence of reciprocal growth in problem gambling and depression in any of the joint classes. Multinomial logistic regression analyses of baseline risk and protective factors found that only neuroticism, escape-avoidance coping, and perceived level of family social support were significant predictors of joint trajectory class membership. Consistent with the pathways model framework, we observed that individuals in the problem gambling only class were more likely using gambling as a stable way to cope with negative emotions. Similarly, high levels of neuroticism and low levels of family support were associated with increased odds of being in a class with moderate to high levels of depressive symptoms (but low gambling problems). The results suggest that interventions for problem gambling and/or depression need to focus on promoting more adaptive coping skills among more "at-risk" young adults, and such interventions should be tailored in relation to specific subtypes of comorbid mental illness.

Joint CPT and N resonance in compact atomic time standards

NASA Astrophysics Data System (ADS)

Crescimanno, Michael; Hohensee, Michael; Xiao, Yanhong; Phillips, David; Walsworth, Ron

2008-05-01

Currently development efforts towards small, low power atomic time standards use current-modulated VCSELs to generate phase-coherent optical sidebands that interrogate the hyperfine structure of alkali atoms such as rubidium. We describe and use a modified four-level quantum optics model to study the optimal operating regime of the joint CPT- and N-resonance clock. Resonant and non-resonant light shifts as well as modulation comb detuning effects play a key role in determining the optimal operating point of such clocks. We further show that our model is in good agreement with experimental tests performed using Rb-87 vapor cells.

Generalized bipartite quantum state discrimination problems with sequential measurements

NASA Astrophysics Data System (ADS)

Nakahira, Kenji; Kato, Kentaro; Usuda, Tsuyoshi Sasaki

2018-02-01

We investigate an optimization problem of finding quantum sequential measurements, which forms a wide class of state discrimination problems with the restriction that only local operations and one-way classical communication are allowed. Sequential measurements from Alice to Bob on a bipartite system are considered. Using the fact that the optimization problem can be formulated as a problem with only Alice's measurement and is convex programming, we derive its dual problem and necessary and sufficient conditions for an optimal solution. Our results are applicable to various practical optimization criteria, including the Bayes criterion, the Neyman-Pearson criterion, and the minimax criterion. In the setting of the problem of finding an optimal global measurement, its dual problem and necessary and sufficient conditions for an optimal solution have been widely used to obtain analytical and numerical expressions for optimal solutions. Similarly, our results are useful to obtain analytical and numerical expressions for optimal sequential measurements. Examples in which our results can be used to obtain an analytical expression for an optimal sequential measurement are provided.

Fifty moves a year: is there an association between joint physical custody and psychosomatic problems in children?

PubMed

Bergström, Malin; Fransson, Emma; Modin, Bitte; Berlin, Marie; Gustafsson, Per A; Hjern, Anders

2015-08-01

In many Western countries, an increasing number of children with separated parents have joint physical custody, that is, live equally much in their parent's respective homes. In Sweden, joint physical custody is particularly common and concerns between 30% and 40% of the children with separated parents. It has been hypothesised that the frequent moves and lack of stability in parenting may be stressful for these children. We used data from a national classroom survey of all sixth and ninth grade students in Sweden (N=147839) to investigate the association between children's psychosomatic problems and living arrangements. Children in joint physical custody were compared with those living only or mostly with one parent and in nuclear families. We conducted sex-specific linear regression analyses for z-transformed sum scores of psychosomatic problems and adjusted for age, country of origin as well as children's satisfaction with material resources and relationships to parents. Clustering by school was accounted for by using a two-level random intercept model. Children in joint physical custody suffered from less psychosomatic problems than those living mostly or only with one parent but reported more symptoms than those in nuclear families. Satisfaction with their material resources and parent-child relationships was associated with children's psychosomatic health but could not explain the differences between children in the different living arrangements. Children with non-cohabitant parents experience more psychosomatic problems than those in nuclear families. Those in joint physical custody do however report better psychosomatic health than children living mostly or only with one parent. Longitudinal studies with information on family factors before and after the separation are needed to inform policy of children's postseparation living arrangements. Published by the BMJ Publishing Group Limited. For permission to use (where not already granted under a licence) please go to http://group.bmj.com/group/rights-licensing/permissions.

Exploration of joint working practices on anti-social behaviour between criminal justice, mental health and social care agencies: A qualitative study.

PubMed

Krayer, Anne; Robinson, Catherine A; Poole, Rob

2018-05-01

Although the police play an important role for people with mental health problems in the community, little is known about joint working practices between mental health, social care and police services. There is potential for tensions and negative outcomes for people with mental health problems, in particular when the focus is on behaviours that could be interpreted as anti-social. This study explores perceptions about joint working between mental health, social care and police services with regard to anti-social behaviour. We conducted a multi-method sequential qualitative study in the UK collecting data between April 2014 and August 2016. Data were collected from two study sites: 60 narrative police logs of routinely gathered information, and semi-structured interviews and focus groups with professionals from a range of statutory and third sector organisations (N = 55). Data sets were analysed individually, using thematic iterative coding before integrating the findings. We also looked at sequencing and turning points in the police logs. Findings mapped on a continuum of joint working practices, with examples more likely to be away from the policy ideal of partnership working as being central to mainstream activities. Joint working was driven by legal obligations and concerns about risk rather than a focus on the needs of a person with mental health problems. This was complicated by different perceptions of the police role in mental health. Adding anti-social behaviour to this mix intensified challenges as conceptualisation of the nature of the problem and agreeing on best practice and care is open to interpretations and judgements. Of concern is an evident lack of awareness of these issues. There is a need to reflect on joint working practices, including processes and goals, keeping in mind the health and welfare needs of people with mental health problems. © 2018 John Wiley & Sons Ltd.

Mechanical Behaviour of Bolted Joints Under Impact Rates of Loading

DTIC Science & Technology

2012-01-01

Joints in Glass Fibre / Epoxy Laminates. Composites, Volume 16. No 2. Kolsky, H. (1949). An Investigation of the Mechanical Properties of Materials at...and equations 2.1 and 2, Figures 2.3, 2.4, and 2.5 were constructed to determine optimal specimen properties for later testing of bolted joints of...9.5 l/d=11.5 UNCLASSIFIED UNCLASSIFIED 2.5 Discussion Ideal specimen properties are high total equilibrium times, low equilibrium start times and

GWM-VI: groundwater management with parallel processing for multiple MODFLOW versions

USGS Publications Warehouse

Banta, Edward R.; Ahlfeld, David P.

2013-01-01

Groundwater Management–Version Independent (GWM–VI) is a new version of the Groundwater Management Process of MODFLOW. The Groundwater Management Process couples groundwater-flow simulation with a capability to optimize stresses on the simulated aquifer based on an objective function and constraints imposed on stresses and aquifer state. GWM–VI extends prior versions of Groundwater Management in two significant ways—(1) it can be used with any version of MODFLOW that meets certain requirements on input and output, and (2) it is structured to allow parallel processing of the repeated runs of the MODFLOW model that are required to solve the optimization problem. GWM–VI uses the same input structure for files that describe the management problem as that used by prior versions of Groundwater Management. GWM–VI requires only minor changes to the input files used by the MODFLOW model. GWM–VI uses the Joint Universal Parameter IdenTification and Evaluation of Reliability Application Programming Interface (JUPITER-API) to implement both version independence and parallel processing. GWM–VI communicates with the MODFLOW model by manipulating certain input files and interpreting results from the MODFLOW listing file and binary output files. Nearly all capabilities of prior versions of Groundwater Management are available in GWM–VI. GWM–VI has been tested with MODFLOW-2005, MODFLOW-NWT (a Newton formulation for MODFLOW-2005), MF2005-FMP2 (the Farm Process for MODFLOW-2005), SEAWAT, and CFP (Conduit Flow Process for MODFLOW-2005). This report provides sample problems that demonstrate a range of applications of GWM–VI and the directory structure and input information required to use the parallel-processing capability.

Rheumatoid pseudocyst (geode) of the femoral neck without apparent joint involvement.

PubMed

Morrey, B F

1987-05-01

Typically, rheumatoid cysts are associated with obvious joint involvement and are located in the subchondral portion of the adjacent joint. Giant pseudocysts (geodes) are uncommon and are characteristically associated with extensive joint destruction. The patient described in this report had a giant pseudocyst of the femoral neck but no joint involvement. To the best of my knowledge, this is the first report of such a manifestation of a giant pseudocyst. As such, it posed a somewhat difficult diagnostic problem.

Joining by plating: optimization of occluded angle

DOE Office of Scientific and Technical Information (OSTI.GOV)

Dini, J.W.; Johnson, H.R.; Kan, Y.R.

1978-11-01

An empirical method has been developed for predicting the minimum angle required for maximum joint strength for materials joined by plating. This is done through a proposed power law failure function, whose coefficients are taken from ring shear and conical head tensile data for plating/substrate combinations and whose exponent is determined from one set of plated-joint data. Experimental results are presented for Al-Ni-Al (7075-T6) and AM363-Ni-AM363 joints, and the failure function is used to predict joint strengths for Al-Ni-Al (2024-T6), UTi-Ni-UTi, and Be-Ti-Be.

A Cascade Optimization Strategy for Solution of Difficult Multidisciplinary Design Problems

NASA Technical Reports Server (NTRS)

Patnaik, Surya N.; Coroneos, Rula M.; Hopkins, Dale A.; Berke, Laszlo

1996-01-01

A research project to comparatively evaluate 10 nonlinear optimization algorithms was recently completed. A conclusion was that no single optimizer could successfully solve all 40 problems in the test bed, even though most optimizers successfully solved at least one-third of the problems. We realized that improved search directions and step lengths, available in the 10 optimizers compared, were not likely to alleviate the convergence difficulties. For the solution of those difficult problems we have devised an alternative approach called cascade optimization strategy. The cascade strategy uses several optimizers, one followed by another in a specified sequence, to solve a problem. A pseudorandom scheme perturbs design variables between the optimizers. The cascade strategy has been tested successfully in the design of supersonic and subsonic aircraft configurations and air-breathing engines for high-speed civil transport applications. These problems could not be successfully solved by an individual optimizer. The cascade optimization strategy, however, generated feasible optimum solutions for both aircraft and engine problems. This paper presents the cascade strategy and solutions to a number of these problems.

Proceedings of the Conference on Joint Problem Solving and Microcomputers (San Diego, California, March 31 - April 2, 1983). Technical Report No. 1.

ERIC Educational Resources Information Center

Cole, Michael; And Others

A group of American and Japanese psychologists, anthropologists, linguists, and computer scientists gathered at the University of California, San Diego, to exchange ideas on models of joint problem solving and their special relevance to the design and implementation of computer-based systems of instruction. Much of the discussion focused on…

The novel high-performance 3-D MT inverse solver

NASA Astrophysics Data System (ADS)

Kruglyakov, Mikhail; Geraskin, Alexey; Kuvshinov, Alexey

2016-04-01

We present novel, robust, scalable, and fast 3-D magnetotelluric (MT) inverse solver. The solver is written in multi-language paradigm to make it as efficient, readable and maintainable as possible. Separation of concerns and single responsibility concepts go through implementation of the solver. As a forward modelling engine a modern scalable solver extrEMe, based on contracting integral equation approach, is used. Iterative gradient-type (quasi-Newton) optimization scheme is invoked to search for (regularized) inverse problem solution, and adjoint source approach is used to calculate efficiently the gradient of the misfit. The inverse solver is able to deal with highly detailed and contrasting models, allows for working (separately or jointly) with any type of MT responses, and supports massive parallelization. Moreover, different parallelization strategies implemented in the code allow optimal usage of available computational resources for a given problem statement. To parameterize an inverse domain the so-called mask parameterization is implemented, which means that one can merge any subset of forward modelling cells in order to account for (usually) irregular distribution of observation sites. We report results of 3-D numerical experiments aimed at analysing the robustness, performance and scalability of the code. In particular, our computational experiments carried out at different platforms ranging from modern laptops to HPC Piz Daint (6th supercomputer in the world) demonstrate practically linear scalability of the code up to thousands of nodes.

Metal-Organic Frameworks for Cultural Heritage Preservation: The Case of Acetic Acid Removal.

PubMed

Dedecker, Kevin; Pillai, Renjith S; Nouar, Farid; Pires, João; Steunou, Nathalie; Dumas, Eddy; Maurin, Guillaume; Serre, Christian; Pinto, Moisés L

2018-04-25

The removal of low concentrations of acetic acid from indoor air at museums poses serious preservation problems that the current adsorbents cannot easily address owing to their poor affinity for acetic acid and/or their low adsorption selectivity versus water. In this context, a series of topical water-stable metal-organic frameworks (MOFs) with different pore sizes, topologies, hydrophobic characters, and functional groups was explored through a joint experimental-computational exploration. We demonstrate how a subtle combination of sufficient hydrophobicity and optimized host-guest interactions allows one to overcome the challenge of capturing traces of this very polar volatile organic compound in the presence of humidity. The optimal capture of acetic acid was accomplished with MOFs that do not show polar groups in the inorganic node or have lipophilic but polar (e.g., perfluoro) groups functionalized to the organic linkers, that is, the best candidates from the list of explored MOFs are MIL-140B and UiO-66-2CF 3 . These two MOFs present the appropriate pore size to favor a high degree of confinement, together with organic spacers that allow an enhancement of the van der Waals interactions with the acetic acid. We establish in this work that MOFs can be a viable solution to this highly challenging problem in cultural heritage protection, which is a new field of application for this type of hybrid materials.

Experiences in the development of rotary joints for robotic manipulators in space applications

NASA Technical Reports Server (NTRS)

Priesett, Klaus

1992-01-01

European developments in robotics for space applications have resulted in human arm-like manipulators with six or more rotational degrees of freedom. The rotary joints including their own electromechanical actuator and feedback sensors must be very compact units. The specific joint concept is presented as evolved so far. The problems encountered during the first hardware development phases are covered on both component and joint level.

Human joint motion estimation for electromyography (EMG)-based dynamic motion control.

PubMed

Zhang, Qin; Hosoda, Ryo; Venture, Gentiane

2013-01-01

This study aims to investigate a joint motion estimation method from Electromyography (EMG) signals during dynamic movement. In most EMG-based humanoid or prosthetics control systems, EMG features were directly or indirectly used to trigger intended motions. However, both physiological and nonphysiological factors can influence EMG characteristics during dynamic movements, resulting in subject-specific, non-stationary and crosstalk problems. Particularly, when motion velocity and/or joint torque are not constrained, joint motion estimation from EMG signals are more challenging. In this paper, we propose a joint motion estimation method based on muscle activation recorded from a pair of agonist and antagonist muscles of the joint. A linear state-space model with multi input single output is proposed to map the muscle activity to joint motion. An adaptive estimation method is proposed to train the model. The estimation performance is evaluated in performing a single elbow flexion-extension movement in two subjects. All the results in two subjects at two load levels indicate the feasibility and suitability of the proposed method in joint motion estimation. The estimation root-mean-square error is within 8.3% ∼ 10.6%, which is lower than that being reported in several previous studies. Moreover, this method is able to overcome subject-specific problem and compensate non-stationary EMG properties.

Real-Time Load-Side Control of Electric Power Systems

NASA Astrophysics Data System (ADS)

Zhao, Changhong

Two trends are emerging from modern electric power systems: the growth of renewable (e.g., solar and wind) generation, and the integration of information technologies and advanced power electronics. The former introduces large, rapid, and random fluctuations in power supply, demand, frequency, and voltage, which become a major challenge for real-time operation of power systems. The latter creates a tremendous number of controllable intelligent endpoints such as smart buildings and appliances, electric vehicles, energy storage devices, and power electronic devices that can sense, compute, communicate, and actuate. Most of these endpoints are distributed on the load side of power systems, in contrast to traditional control resources such as centralized bulk generators. This thesis focuses on controlling power systems in real time, using these load side resources. Specifically, it studies two problems. (1) Distributed load-side frequency control: We establish a mathematical framework to design distributed frequency control algorithms for flexible electric loads. In this framework, we formulate a category of optimization problems, called optimal load control (OLC), to incorporate the goals of frequency control, such as balancing power supply and demand, restoring frequency to its nominal value, restoring inter-area power flows, etc., in a way that minimizes total disutility for the loads to participate in frequency control by deviating from their nominal power usage. By exploiting distributed algorithms to solve OLC and analyzing convergence of these algorithms, we design distributed load-side controllers and prove stability of closed-loop power systems governed by these controllers. This general framework is adapted and applied to different types of power systems described by different models, or to achieve different levels of control goals under different operation scenarios. We first consider a dynamically coherent power system which can be equivalently modeled with a single synchronous machine. We then extend our framework to a multi-machine power network, where we consider primary and secondary frequency controls, linear and nonlinear power flow models, and the interactions between generator dynamics and load control. (2) Two-timescale voltage control: The voltage of a power distribution system must be maintained closely around its nominal value in real time, even in the presence of highly volatile power supply or demand. For this purpose, we jointly control two types of reactive power sources: a capacitor operating at a slow timescale, and a power electronic device, such as a smart inverter or a D-STATCOM, operating at a fast timescale. Their control actions are solved from optimal power flow problems at two timescales. Specifically, the slow-timescale problem is a chance-constrained optimization, which minimizes power loss and regulates the voltage at the current time instant while limiting the probability of future voltage violations due to stochastic changes in power supply or demand. This control framework forms the basis of an optimal sizing problem, which determines the installation capacities of the control devices by minimizing the sum of power loss and capital cost. We develop computationally efficient heuristics to solve the optimal sizing problem and implement real-time control. Numerical experiments show that the proposed sizing and control schemes significantly improve the reliability of voltage control with a moderate increase in cost.

Online sparse Gaussian process based human motion intent learning for an electrically actuated lower extremity exoskeleton.

PubMed

Long, Yi; Du, Zhi-Jiang; Chen, Chao-Feng; Dong, Wei; Wang, Wei-Dong

2017-07-01

The most important step for lower extremity exoskeleton is to infer human motion intent (HMI), which contributes to achieve human exoskeleton collaboration. Since the user is in the control loop, the relationship between human robot interaction (HRI) information and HMI is nonlinear and complicated, which is difficult to be modeled by using mathematical approaches. The nonlinear approximation can be learned by using machine learning approaches. Gaussian Process (GP) regression is suitable for high-dimensional and small-sample nonlinear regression problems. GP regression is restrictive for large data sets due to its computation complexity. In this paper, an online sparse GP algorithm is constructed to learn the HMI. The original training dataset is collected when the user wears the exoskeleton system with friction compensation to perform unconstrained movement as far as possible. The dataset has two kinds of data, i.e., (1) physical HRI, which is collected by torque sensors placed at the interaction cuffs for the active joints, i.e., knee joints; (2) joint angular position, which is measured by optical position sensors. To reduce the computation complexity of GP, grey relational analysis (GRA) is utilized to specify the original dataset and provide the final training dataset. Those hyper-parameters are optimized offline by maximizing marginal likelihood and will be applied into online GP regression algorithm. The HMI, i.e., angular position of human joints, will be regarded as the reference trajectory for the mechanical legs. To verify the effectiveness of the proposed algorithm, experiments are performed on a subject at a natural speed. The experimental results show the HMI can be obtained in real time, which can be extended and employed in the similar exoskeleton systems.

Design and Evaluation of a Prosthetic Knee Joint Using the Geared Five-Bar Mechanism.

PubMed

Sun, Yuanxi; Ge, Wenjie; Zheng, Jia; Dong, Dianbiao

2015-11-01

This paper presents the mechanical design, dynamics analysis and ankle trajectory analysis of a prosthetic knee joint using the geared five-bar mechanism. Compared with traditional four-bar or six-bar mechanisms, the geared five-bar mechanism is better at performing diverse movements and is easy to control. This prosthetic knee joint with the geared five-bar mechanism is capable of fine-tuning its relative instantaneous center of rotation and ankle trajectory. The centrode of this prosthetic knee joint, which is mechanically optimized according to the centrode of human knee joint, is better in the bionic performance than that of a prosthetic knee joint using the four-bar mechanism. Additionally, the stability control of this prosthetic knee joint during the swing and stance phase is achieved by a motor. By adjusting the gear ratio of this prosthetic knee joint, the ankle trajectories of both unilateral and bilateral amputees show less deviations from expected than that of the four-bar knee joint.

An optimal ultrasonographic diagnostic test for early gout: A prospective controlled study

PubMed Central

Petraitis, Mykolas; Apanaviciene, Indre; Virviciute, Dalia; Baranauskaite, Asta

2017-01-01

Objective To identify the optimal sites for classification of early gout by ultrasonography. Methods Sixty patients with monosodium urate crystal-proven gout (25 with early gout [≤2-year symptom duration], 35 with late gout [>2-year symptom duration], and 36 normouricemic healthy controls) from one centre were prospectively evaluated. Standardized blinded ultrasound examination of 36 joints and the triceps and patellar tendons was performed to identify tophi and the double contour (DC) sign. Results Ultrasonographic sensitivity was lower in early than late gout. Binary logistic regression analysis showed that two ultrasonographic signs (tophi in the first metatarsophalangeal joint [odds ratio, 16.46] and the DC sign in the ankle [odds ratio, 25.18]) significantly contributed to the final model for early gout diagnosis (sensitivity and specificity of 84% and 81%, respectively). The inter-reader reliability kappa value for the DC sign and tophi was 0.712. Conclusions Four-joint investigation (both first metatarsophalangeal joints for tophi and both ankles for the DC sign) is feasible and reliable and could be proposed as a screening test for early ultrasonographic gout classification in daily practice. PMID:28617199

An optimal ultrasonographic diagnostic test for early gout: A prospective controlled study.

PubMed

Norkuviene, Eleonora; Petraitis, Mykolas; Apanaviciene, Indre; Virviciute, Dalia; Baranauskaite, Asta

2017-08-01

Objective To identify the optimal sites for classification of early gout by ultrasonography. Methods Sixty patients with monosodium urate crystal-proven gout (25 with early gout [≤2-year symptom duration], 35 with late gout [>2-year symptom duration], and 36 normouricemic healthy controls) from one centre were prospectively evaluated. Standardized blinded ultrasound examination of 36 joints and the triceps and patellar tendons was performed to identify tophi and the double contour (DC) sign. Results Ultrasonographic sensitivity was lower in early than late gout. Binary logistic regression analysis showed that two ultrasonographic signs (tophi in the first metatarsophalangeal joint [odds ratio, 16.46] and the DC sign in the ankle [odds ratio, 25.18]) significantly contributed to the final model for early gout diagnosis (sensitivity and specificity of 84% and 81%, respectively). The inter-reader reliability kappa value for the DC sign and tophi was 0.712. Conclusions Four-joint investigation (both first metatarsophalangeal joints for tophi and both ankles for the DC sign) is feasible and reliable and could be proposed as a screening test for early ultrasonographic gout classification in daily practice.

Optimization and Characterization of the Friction Stir Welded Sheets of AA 5754-H111: Monitoring of the Quality of Joints with Thermographic Techniques

PubMed Central

De Filippis, Luigi Alberto Ciro; Serio, Livia Maria; Galietti, Umberto

2017-01-01

Friction Stir Welding (FSW) is a solid-state welding process, based on frictional and stirring phenomena, that offers many advantages with respect to the traditional welding methods. However, several parameters can affect the quality of the produced joints. In this work, an experimental approach has been used for studying and optimizing the FSW process, applied on 5754-H111 aluminum plates. In particular, the thermal behavior of the material during the process has been investigated and two thermal indexes, the maximum temperature and the heating rate of the material, correlated to the frictional power input, were investigated for different process parameters (the travel and rotation tool speeds) configurations. Moreover, other techniques (micrographs, macrographs and destructive tensile tests) were carried out for supporting in a quantitative way the analysis of the quality of welded joints. The potential of thermographic technique has been demonstrated both for monitoring the FSW process and for predicting the quality of joints in terms of tensile strength. PMID:29019948

Challenges of CAC in Heterogeneous Wireless Cognitive Networks

NASA Astrophysics Data System (ADS)

Wang, Jiazheng; Fu, Xiuhua

Call admission control (CAC) is known as an effective functionality in ensuring the QoS of wireless networks. The vision of next generation wireless networks has led to the development of new call admission control (CAC) algorithms specifically designed for heterogeneous wireless Cognitive networks. However, there will be a number of challenges created by dynamic spectrum access and scheduling techniques associated with the cognitive systems. In this paper for the first time, we recommend that the CAC policies should be distinguished between primary users and secondary users. The classification of different methods of cac policies in cognitive networks contexts is proposed. Although there have been some researches within the umbrella of Joint CAC and cross-layer optimization for wireless networks, the advent of the cognitive networks adds some additional problems. We present the conceptual models for joint CAC and cross-layer optimization respectively. Also, the benefit of Cognition can only be realized fully if application requirements and traffic flow contexts are determined or inferred in order to know what modes of operation and spectrum bands to use at each point in time. The process model of Cognition involved per-flow-based CAC is presented. Because there may be a number of parameters on different levels affecting a CAC decision and the conditions for accepting or rejecting a call must be computed quickly and frequently, simplicity and practicability are particularly important for designing a feasible CAC algorithm. In a word, a more thorough understanding of CAC in heterogeneous wireless cognitive networks may help one to design better CAC algorithms.

Biomimetic shoulder complex based on 3-PSS/S spherical parallel mechanism

NASA Astrophysics Data System (ADS)

Hou, Yulei; Hu, Xinzhe; Zeng, Daxing; Zhou, Yulin

2015-01-01

The application of the parallel mechanism is still limited in the humanoid robot fields, and the existing parallel humanoid robot joint has not yet been reflected the characteristics of the parallel mechanism completely, also failed to solve the problem, such as small workspace, effectively. From the structural and functional bionic point of view, a three degrees of freedom(DOFs) spherical parallel mechanism for the shoulder complex of the humanoid robot is presented. According to the structure and kinetic characteristics analysis of the human shoulder complex, 3-PSS/S(P for prismatic pair, S for spherical pair) is chosen as the original configuration for the shouder complex. Using genetic algorithm, the optimization of the 3-PSS/S spherical parallel mechanism is performed, and the orientation workspace of the prototype mechanism is enlarged obviously. Combining the practical structure characteristics of the human shouder complex, an offset output mode, which means the output rod of the mechanism turn to any direction at the point a certain distance from the rotation center of the mechanism, is put forward, which provide possibility for the consistent of the workspace of the mechanism and the actual motion space of the human body shoulder joint. The relationship of the attitude angles between different coordinate system is derived, which establishs the foundation for the motion descriptions under different conditions and control development. The 3-PSS/S spherical parallel mechanism is proposed for the shoulder complex, and the consistence of the workspace of the mechanism and the human shoulder complex is realized by the stuctural parameter optimization and the offset output design.

Evaluation of Weldability for MAG and LASER with Galvannealed Steel.

PubMed

Kim, Jong-Hee; Bang, Han-Sur; Bang, Hee-Seon

2018-03-01

Lower-arm, one of the components in automotive suspension module, has been fabricated by MAG welding in general which is lap jointed with 2 mm thick galvannealed steel sheet (SGAPH440). This welding process produces some problems such as significantly much spatters and weld defects of porosity in welded joint, which degrades productivity and weldability. Therefore, in order to solve these problems, this study has been tried to apply two types of solid wires with different chemical composition rate of Si and Mn, in MAG welding process. Moreover, the laser welding process has been adopted to fabricate the low-arm and compared with those of MAG welding, in terms of mechanical and metallurgical characteristics. It was observed that in MAG welded joints, much more spatters were occurred in using solid wire with higher Si and Mn contains. The maximum tensile-shear strength in laser welded joints was approximately 16.7 kN, which was almost equal to that of in MAG welded joints. The microstructure showed ferrite and martensite in weld metal in MAG and laser welded joints indicating no significantly grain size change.

Applications of hybrid genetic algorithms in seismic tomography

NASA Astrophysics Data System (ADS)

Soupios, Pantelis; Akca, Irfan; Mpogiatzis, Petros; Basokur, Ahmet T.; Papazachos, Constantinos

2011-11-01

Almost all earth sciences inverse problems are nonlinear and involve a large number of unknown parameters, making the application of analytical inversion methods quite restrictive. In practice, most analytical methods are local in nature and rely on a linearized form of the problem equations, adopting an iterative procedure which typically employs partial derivatives in order to optimize the starting (initial) model by minimizing a misfit (penalty) function. Unfortunately, especially for highly non-linear cases, the final model strongly depends on the initial model, hence it is prone to solution-entrapment in local minima of the misfit function, while the derivative calculation is often computationally inefficient and creates instabilities when numerical approximations are used. An alternative is to employ global techniques which do not rely on partial derivatives, are independent of the misfit form and are computationally robust. Such methods employ pseudo-randomly generated models (sampling an appropriately selected section of the model space) which are assessed in terms of their data-fit. A typical example is the class of methods known as genetic algorithms (GA), which achieves the aforementioned approximation through model representation and manipulations, and has attracted the attention of the earth sciences community during the last decade, with several applications already presented for several geophysical problems. In this paper, we examine the efficiency of the combination of the typical regularized least-squares and genetic methods for a typical seismic tomography problem. The proposed approach combines a local (LOM) and a global (GOM) optimization method, in an attempt to overcome the limitations of each individual approach, such as local minima and slow convergence, respectively. The potential of both optimization methods is tested and compared, both independently and jointly, using the several test models and synthetic refraction travel-time date sets that employ the same experimental geometry, wavelength and geometrical characteristics of the model anomalies. Moreover, real data from a crosswell tomographic project for the subsurface mapping of an ancient wall foundation are used for testing the efficiency of the proposed algorithm. The results show that the combined use of both methods can exploit the benefits of each approach, leading to improved final models and producing realistic velocity models, without significantly increasing the required computation time.

Exploiting node mobility for energy optimization in wireless sensor networks

NASA Astrophysics Data System (ADS)

El-Moukaddem, Fatme Mohammad

Wireless Sensor Networks (WSNs) have become increasingly available for data-intensive applications such as micro-climate monitoring, precision agriculture, and audio/video surveillance. A key challenge faced by data-intensive WSNs is to transmit the sheer amount of data generated within an application's lifetime to the base station despite the fact that sensor nodes have limited power supplies such as batteries or small solar panels. The availability of numerous low-cost robotic units (e.g. Robomote and Khepera) has made it possible to construct sensor networks consisting of mobile sensor nodes. It has been shown that the controlled mobility offered by mobile sensors can be exploited to improve the energy efficiency of a network. In this thesis, we propose schemes that use mobile sensor nodes to reduce the energy consumption of data-intensive WSNs. Our approaches differ from previous work in two main aspects. First, our approaches do not require complex motion planning of mobile nodes, and hence can be implemented on a number of low-cost mobile sensor platforms. Second, we integrate the energy consumption due to both mobility and wireless communications into a holistic optimization framework. We consider three problems arising from the limited energy in the sensor nodes. In the first problem, the network consists of mostly static nodes and contains only a few mobile nodes. In the second and third problems, we assume essentially that all nodes in the WSN are mobile. We first study a new problem called max-data mobile relay configuration (MMRC ) that finds the positions of a set of mobile sensors, referred to as relays, that maximize the total amount of data gathered by the network during its lifetime. We show that the MMRC problem is surprisingly complex even for a trivial network topology due to the joint consideration of the energy consumption of both wireless communication and mechanical locomotion. We present optimal MMRC algorithms and practical distributed implementations for several important network topologies and applications. Second, we consider the problem of minimizing the total energy consumption of a network. We design an iterative algorithm that improves a given configuration by relocating nodes to new positions. We show that this algorithm converges to the optimal configuration for the given transmission routes. Moreover, we propose an efficient distributed implementation that does not require explicit synchronization. Finally, we consider the problem of maximizing the lifetime of the network. We propose an approach that exploits the mobility of the nodes to balance the energy consumption throughout the network. We develop efficient algorithms for single and multiple round approaches. For all three problems, we evaluate the efficiency of our algorithms through simulations. Our simulation results based on realistic energy models obtained from existing mobile and static sensor platforms show that our approaches significantly improve the network's performance and outperform existing approaches.

Worst-Case Energy Efficiency Maximization in a 5G Massive MIMO-NOMA System.

PubMed

Chinnadurai, Sunil; Selvaprabhu, Poongundran; Jeong, Yongchae; Jiang, Xueqin; Lee, Moon Ho

2017-09-18

In this paper, we examine the robust beamforming design to tackle the energy efficiency (EE) maximization problem in a 5G massive multiple-input multiple-output (MIMO)-non-orthogonal multiple access (NOMA) downlink system with imperfect channel state information (CSI) at the base station. A novel joint user pairing and dynamic power allocation (JUPDPA) algorithm is proposed to minimize the inter user interference and also to enhance the fairness between the users. This work assumes imperfect CSI by adding uncertainties to channel matrices with worst-case model, i.e., ellipsoidal uncertainty model (EUM). A fractional non-convex optimization problem is formulated to maximize the EE subject to the transmit power constraints and the minimum rate requirement for the cell edge user. The designed problem is difficult to solve due to its nonlinear fractional objective function. We firstly employ the properties of fractional programming to transform the non-convex problem into its equivalent parametric form. Then, an efficient iterative algorithm is proposed established on the constrained concave-convex procedure (CCCP) that solves and achieves convergence to a stationary point of the above problem. Finally, Dinkelbach's algorithm is employed to determine the maximum energy efficiency. Comprehensive numerical results illustrate that the proposed scheme attains higher worst-case energy efficiency as compared with the existing NOMA schemes and the conventional orthogonal multiple access (OMA) scheme.

Worst-Case Energy Efficiency Maximization in a 5G Massive MIMO-NOMA System

PubMed Central

Jeong, Yongchae; Jiang, Xueqin; Lee, Moon Ho

2017-01-01

In this paper, we examine the robust beamforming design to tackle the energy efficiency (EE) maximization problem in a 5G massive multiple-input multiple-output (MIMO)-non-orthogonal multiple access (NOMA) downlink system with imperfect channel state information (CSI) at the base station. A novel joint user pairing and dynamic power allocation (JUPDPA) algorithm is proposed to minimize the inter user interference and also to enhance the fairness between the users. This work assumes imperfect CSI by adding uncertainties to channel matrices with worst-case model, i.e., ellipsoidal uncertainty model (EUM). A fractional non-convex optimization problem is formulated to maximize the EE subject to the transmit power constraints and the minimum rate requirement for the cell edge user. The designed problem is difficult to solve due to its nonlinear fractional objective function. We firstly employ the properties of fractional programming to transform the non-convex problem into its equivalent parametric form. Then, an efficient iterative algorithm is proposed established on the constrained concave-convex procedure (CCCP) that solves and achieves convergence to a stationary point of the above problem. Finally, Dinkelbach’s algorithm is employed to determine the maximum energy efficiency. Comprehensive numerical results illustrate that the proposed scheme attains higher worst-case energy efficiency as compared with the existing NOMA schemes and the conventional orthogonal multiple access (OMA) scheme. PMID:28927019

Recursive inverse kinematics for robot arms via Kalman filtering and Bryson-Frazier smoothing

NASA Technical Reports Server (NTRS)

Rodriguez, G.; Scheid, R. E., Jr.

1987-01-01

This paper applies linear filtering and smoothing theory to solve recursively the inverse kinematics problem for serial multilink manipulators. This problem is to find a set of joint angles that achieve a prescribed tip position and/or orientation. A widely applicable numerical search solution is presented. The approach finds the minimum of a generalized distance between the desired and the actual manipulator tip position and/or orientation. Both a first-order steepest-descent gradient search and a second-order Newton-Raphson search are developed. The optimal relaxation factor required for the steepest descent method is computed recursively using an outward/inward procedure similar to those used typically for recursive inverse dynamics calculations. The second-order search requires evaluation of a gradient and an approximate Hessian. A Gauss-Markov approach is used to approximate the Hessian matrix in terms of products of first-order derivatives. This matrix is inverted recursively using a two-stage process of inward Kalman filtering followed by outward smoothing. This two-stage process is analogous to that recently developed by the author to solve by means of spatial filtering and smoothing the forward dynamics problem for serial manipulators.

Semantic Image Segmentation with Contextual Hierarchical Models.

PubMed

Seyedhosseini, Mojtaba; Tasdizen, Tolga

2016-05-01

Semantic segmentation is the problem of assigning an object label to each pixel. It unifies the image segmentation and object recognition problems. The importance of using contextual information in semantic segmentation frameworks has been widely realized in the field. We propose a contextual framework, called contextual hierarchical model (CHM), which learns contextual information in a hierarchical framework for semantic segmentation. At each level of the hierarchy, a classifier is trained based on downsampled input images and outputs of previous levels. Our model then incorporates the resulting multi-resolution contextual information into a classifier to segment the input image at original resolution. This training strategy allows for optimization of a joint posterior probability at multiple resolutions through the hierarchy. Contextual hierarchical model is purely based on the input image patches and does not make use of any fragments or shape examples. Hence, it is applicable to a variety of problems such as object segmentation and edge detection. We demonstrate that CHM performs at par with state-of-the-art on Stanford background and Weizmann horse datasets. It also outperforms state-of-the-art edge detection methods on NYU depth dataset and achieves state-of-the-art on Berkeley segmentation dataset (BSDS 500).

Task constraints and minimization of muscle effort result in a small number of muscle synergies during gait.

PubMed

De Groote, Friedl; Jonkers, Ilse; Duysens, Jacques

2014-01-01

Finding muscle activity generating a given motion is a redundant problem, since there are many more muscles than degrees of freedom. The control strategies determining muscle recruitment from a redundant set are still poorly understood. One theory of motor control suggests that motion is produced through activating a small number of muscle synergies, i.e., muscle groups that are activated in a fixed ratio by a single input signal. Because of the reduced number of input signals, synergy-based control is low dimensional. But a major criticism on the theory of synergy-based control of muscles is that muscle synergies might reflect task constraints rather than a neural control strategy. Another theory of motor control suggests that muscles are recruited by optimizing performance. Optimization of performance has been widely used to calculate muscle recruitment underlying a given motion while assuming independent recruitment of muscles. If synergies indeed determine muscle recruitment underlying a given motion, optimization approaches that do not model synergy-based control could result in muscle activations that do not show the synergistic muscle action observed through electromyography (EMG). If, however, synergistic muscle action results from performance optimization and task constraints (joint kinematics and external forces), such optimization approaches are expected to result in low-dimensional synergistic muscle activations that are similar to EMG-based synergies. We calculated muscle recruitment underlying experimentally measured gait patterns by optimizing performance assuming independent recruitment of muscles. We found that the muscle activations calculated without any reference to synergies can be accurately explained by on average four synergies. These synergies are similar to EMG-based synergies. We therefore conclude that task constraints and performance optimization explain synergistic muscle recruitment from a redundant set of muscles.

Computer guided restoration of joint line and femoral offset in cruciate substituting total knee arthroplasty.

PubMed

Shetty, Gautam M; Mullaji, Arun; Bhayde, Sagar

2012-10-01

This prospective study aimed to evaluate radiographically, change in joint line and femoral condylar offset with the optimized gap balancing technique in computer-assisted, primary, cruciate-substituting total knee arthroplasties (TKAs). One hundred and twenty-nine consecutive computer-assisted TKAs were evaluated radiographically using pre- and postoperative full-length standing hip-to-ankle, antero-posterior and lateral radiographs to assess change in knee deformity, joint line height and posterior condylar offset. In 49% of knees, there was a net decrease (mean 2.2mm, range 0.2-8.4mm) in joint line height postoperatively whereas 46.5% of knees had a net increase in joint line height (mean 2.5mm, range 0.2-11.2mm). In 93% of the knees, joint line was restored to within ± 5 mm of preoperative values. In 53% of knees, there was a net increase (mean 2.9 mm, range 0.2-12 mm) in posterior offset postoperatively whereas 40% of knees had a net decrease in posterior offset (mean 4.2mm, range 0.6-20mm). In 82% of knees, the posterior offset was restored within ± 5 mm of preoperative values. Based on radiographic evaluation in extension and at 30° flexion, the current study clearly demonstrates that joint line and posterior femoral condylar offset can be restored in the majority of computer-assisted, cruciate-substituting TKAs to within 5mm of their preoperative value. The optimized gap balancing feature of the computer software allows the surgeon to simulate the effect of simultaneously adjusting femoral component size, position and distal femoral resection level on joint line and posterior femoral offset. Copyright © 2011 Elsevier B.V. All rights reserved.

Confidence level estimation in multi-target classification problems

NASA Astrophysics Data System (ADS)

Chang, Shi; Isaacs, Jason; Fu, Bo; Shin, Jaejeong; Zhu, Pingping; Ferrari, Silvia

2018-04-01

This paper presents an approach for estimating the confidence level in automatic multi-target classification performed by an imaging sensor on an unmanned vehicle. An automatic target recognition algorithm comprised of a deep convolutional neural network in series with a support vector machine classifier detects and classifies targets based on the image matrix. The joint posterior probability mass function of target class, features, and classification estimates is learned from labeled data, and recursively updated as additional images become available. Based on the learned joint probability mass function, the approach presented in this paper predicts the expected confidence level of future target classifications, prior to obtaining new images. The proposed approach is tested with a set of simulated sonar image data. The numerical results show that the estimated confidence level provides a close approximation to the actual confidence level value determined a posteriori, i.e. after the new image is obtained by the on-board sensor. Therefore, the expected confidence level function presented in this paper can be used to adaptively plan the path of the unmanned vehicle so as to optimize the expected confidence levels and ensure that all targets are classified with satisfactory confidence after the path is executed.

Joint Transmit Power Allocation and Splitting for SWIPT Aided OFDM-IDMA in Wireless Sensor Networks

PubMed Central

Li, Shanshan; Zhou, Xiaotian; Wang, Cheng-Xiang; Yuan, Dongfeng; Zhang, Wensheng

2017-01-01

In this paper, we propose to combine Orthogonal Frequency Division Multiplexing-Interleave Division Multiple Access (OFDM-IDMA) with Simultaneous Wireless Information and Power Transfer (SWIPT), resulting in SWIPT aided OFDM-IDMA scheme for power-limited sensor networks. In the proposed system, the Receive Node (RN) applies Power Splitting (PS) to coordinate the Energy Harvesting (EH) and Information Decoding (ID) process, where the harvested energy is utilized to guarantee the iterative Multi-User Detection (MUD) of IDMA to work under sufficient number of iterations. Our objective is to minimize the total transmit power of Source Node (SN), while satisfying the requirements of both minimum harvested energy and Bit Error Rate (BER) performance from individual receive nodes. We formulate such a problem as a joint power allocation and splitting one, where the iteration number of MUD is also taken into consideration as the key parameter to affect both EH and ID constraints. To solve it, a sub-optimal algorithm is proposed to determine the power profile, PS ratio and iteration number of MUD in an iterative manner. Simulation results verify that the proposed algorithm can provide significant performance improvement. PMID:28677636

Joint Transmit Power Allocation and Splitting for SWIPT Aided OFDM-IDMA in Wireless Sensor Networks.

PubMed

Li, Shanshan; Zhou, Xiaotian; Wang, Cheng-Xiang; Yuan, Dongfeng; Zhang, Wensheng

2017-07-04

In this paper, we propose to combine Orthogonal Frequency Division Multiplexing-Interleave Division Multiple Access (OFDM-IDMA) with Simultaneous Wireless Information and Power Transfer (SWIPT), resulting in SWIPT aided OFDM-IDMA scheme for power-limited sensor networks. In the proposed system, the Receive Node (RN) applies Power Splitting (PS) to coordinate the Energy Harvesting (EH) and Information Decoding (ID) process, where the harvested energy is utilized to guarantee the iterative Multi-User Detection (MUD) of IDMA to work under sufficient number of iterations. Our objective is to minimize the total transmit power of Source Node (SN), while satisfying the requirements of both minimum harvested energy and Bit Error Rate (BER) performance from individual receive nodes. We formulate such a problem as a joint power allocation and splitting one, where the iteration number of MUD is also taken into consideration as the key parameter to affect both EH and ID constraints. To solve it, a sub-optimal algorithm is proposed to determine the power profile, PS ratio and iteration number of MUD in an iterative manner. Simulation results verify that the proposed algorithm can provide significant performance improvement.

Compressive hyperspectral and multispectral imaging fusion

NASA Astrophysics Data System (ADS)

Espitia, Óscar; Castillo, Sergio; Arguello, Henry

2016-05-01

Image fusion is a valuable framework which combines two or more images of the same scene from one or multiple sensors, allowing to improve the resolution of the images and increase the interpretable content. In remote sensing a common fusion problem consists of merging hyperspectral (HS) and multispectral (MS) images that involve large amount of redundant data, which ignores the highly correlated structure of the datacube along the spatial and spectral dimensions. Compressive HS and MS systems compress the spectral data in the acquisition step allowing to reduce the data redundancy by using different sampling patterns. This work presents a compressed HS and MS image fusion approach, which uses a high dimensional joint sparse model. The joint sparse model is formulated by combining HS and MS compressive acquisition models. The high spectral and spatial resolution image is reconstructed by using sparse optimization algorithms. Different fusion spectral image scenarios are used to explore the performance of the proposed scheme. Several simulations with synthetic and real datacubes show promising results as the reliable reconstruction of a high spectral and spatial resolution image can be achieved by using as few as just the 50% of the datacube.

Hybrid clustering based fuzzy structure for vibration control - Part 1: A novel algorithm for building neuro-fuzzy system

NASA Astrophysics Data System (ADS)

Nguyen, Sy Dzung; Nguyen, Quoc Hung; Choi, Seung-Bok

2015-01-01

This paper presents a new algorithm for building an adaptive neuro-fuzzy inference system (ANFIS) from a training data set called B-ANFIS. In order to increase accuracy of the model, the following issues are executed. Firstly, a data merging rule is proposed to build and perform a data-clustering strategy. Subsequently, a combination of clustering processes in the input data space and in the joint input-output data space is presented. Crucial reason of this task is to overcome problems related to initialization and contradictory fuzzy rules, which usually happen when building ANFIS. The clustering process in the input data space is accomplished based on a proposed merging-possibilistic clustering (MPC) algorithm. The effectiveness of this process is evaluated to resume a clustering process in the joint input-output data space. The optimal parameters obtained after completion of the clustering process are used to build ANFIS. Simulations based on a numerical data, 'Daily Data of Stock A', and measured data sets of a smart damper are performed to analyze and estimate accuracy. In addition, convergence and robustness of the proposed algorithm are investigated based on both theoretical and testing approaches.

Joint penalized-likelihood reconstruction of time-activity curves and regions-of-interest from projection data in brain PET

NASA Astrophysics Data System (ADS)

Krestyannikov, E.; Tohka, J.; Ruotsalainen, U.

2008-06-01

This paper presents a novel statistical approach for joint estimation of regions-of-interest (ROIs) and the corresponding time-activity curves (TACs) from dynamic positron emission tomography (PET) brain projection data. It is based on optimizing the joint objective function that consists of a data log-likelihood term and two penalty terms reflecting the available a priori information about the human brain anatomy. The developed local optimization strategy iteratively updates both the ROI and TAC parameters and is guaranteed to monotonically increase the objective function. The quantitative evaluation of the algorithm is performed with numerically and Monte Carlo-simulated dynamic PET brain data of the 11C-Raclopride and 18F-FDG tracers. The results demonstrate that the method outperforms the existing sequential ROI quantification approaches in terms of accuracy, and can noticeably reduce the errors in TACs arising due to the finite spatial resolution and ROI delineation.

Outcomes of a Joint Replacement Surgical Home Model Clinical Pathway

PubMed Central

Chaurasia, Avinash; Garson, Leslie; Kain, Zeev L.; Schwarzkopf, Ran

2014-01-01

Optimizing perioperative care to provide maximum benefit at minimum cost may be best achieved using a perioperative clinical pathway (PCP). Using our joint replacement surgical home (JSH) model PCP, we examined length of stay (LOS) following total joint arthroplasty (TJA) to evaluate patient care optimization. We reviewed a spectrum of clinical measurements in 190 consecutive patients who underwent TJA. Patients who had surgery earlier in the week and who were earlier cases of the day had a significantly lower LOS than patients whose cases started both later in the week and later in the day. Patients discharged home had significantly lower LOS than those discharged to a secondary care facility. Patients who received regional versus general anesthesia had a significantly lower LOS. Scheduling patients discharged to home and who will likely receive regional anesthesia for the earliest morning slot and earlier in the week may help decrease overall LOS. PMID:25025045

Research regarding stiffness optimization of wires used for joints actuation from an elephant's trunk robotic arm

NASA Astrophysics Data System (ADS)

Ciofu, C.; Stan, G.

2016-11-01

Elephant's trunk robotic arms driven by wires and pulley mechanisms have issues with wires stiffness because of the entailed elastic deformations that is causing errors of positioning. Static and dynamic loads from each joint of the robotic arm affect the stiffness of driving wires and precision positioning. The influence of wires elastic deformation on precision positioning decreases with the increasing of wires stiffness by using different pre-tensioning devices. In this paper, we analyze the variation of driving wires stiffness particularly to each wire driven joint. We obtain optimum wires stiffness variation by using an analytical method that highlights the efficiency of pre-tensioning mechanism. The analysis of driving wires stiffness is necessary for taking appropriate optimization measures of robotic arm dynamic behavior and, thus, for decreasing positioning errors of the elephant's trunk robotic arm with inner actuation through wires/cables.

[Rehabilitation of the patients following the endoprosthetic replacement of the joints of the lower extremities].

PubMed

Rud, I M; Melnikova, E A; Rassulova, M A; Razumov, A N; Gorelikov, A E

2017-12-28

The present article is the analytical review of the literature pertaining to the problem of rehabilitation of the patients following the endoprosthetic replacement of joints of the lower extremities. The relevance of the problem of interest for medical rehabilitation is beyond any doubt. The traditional methods for the rehabilitation of the patients do not always lead to the desired results. The authors discuss in detail the need for and the contemporary approaches to the rehabilitation of the patients who had undergone reconstructive surgery and arthroplasty of the joints of the lower extremities. The pathogenetically-based three-stage algorithm for medical rehabilitation is proposed.

Human Leg Model Predicts Muscle Forces, States, and Energetics during Walking.

PubMed

Markowitz, Jared; Herr, Hugh

2016-05-01

Humans employ a high degree of redundancy in joint actuation, with different combinations of muscle and tendon action providing the same net joint torque. Both the resolution of these redundancies and the energetics of such systems depend on the dynamic properties of muscles and tendons, particularly their force-length relations. Current walking models that use stock parameters when simulating muscle-tendon dynamics tend to significantly overestimate metabolic consumption, perhaps because they do not adequately consider the role of elasticity. As an alternative, we posit that the muscle-tendon morphology of the human leg has evolved to maximize the metabolic efficiency of walking at self-selected speed. We use a data-driven approach to evaluate this hypothesis, utilizing kinematic, kinetic, electromyographic (EMG), and metabolic data taken from five participants walking at self-selected speed. The kinematic and kinetic data are used to estimate muscle-tendon lengths, muscle moment arms, and joint moments while the EMG data are used to estimate muscle activations. For each subject we perform an optimization using prescribed skeletal kinematics, varying the parameters that govern the force-length curve of each tendon as well as the strength and optimal fiber length of each muscle while seeking to simultaneously minimize metabolic cost and maximize agreement with the estimated joint moments. We find that the metabolic cost of transport (MCOT) values of our participants may be correctly matched (on average 0.36±0.02 predicted, 0.35±0.02 measured) with acceptable joint torque fidelity through application of a single constraint to the muscle metabolic budget. The associated optimal muscle-tendon parameter sets allow us to estimate the forces and states of individual muscles, resolving redundancies in joint actuation and lending insight into the potential roles and control objectives of the muscles of the leg throughout the gait cycle.

On-spot rheumatology consultations in a multilevel geriatric hospital.

PubMed

Lubart, Emily; Leibovitz, Arthur; Shapir, Vadim; Segal, Refael

2014-01-01

Musculoskeletal and joint disorders are extremely common in the elderly. They directly affect mobility, gait stability, quality of life, and independence. To assess the nature of joint problems encountered in a geriatric inpatient population and evaluate the contribution of a rheumatologist. We reviewed the rheumatology consultation records that were conducted in a geriatric medical center over a 10 year period. A total of 474 consultations were held; most of these patients (86%) were hospitalized in the acute geriatric departments, 10% in the rehabilitation ward and 4% in the long-term care wards. Some patients were seen more than once. A rheumatologic joint problem was the main reason for hospitalization in 53% of these patients. Monoarthritis was the most frequent complaint (50%), followed by pauciarticular arthritis (two to five joints) in 30% of patients. Arthrocentesis, diagnostic and therapeutic, was performed in 225 patients, most of them in knee joints (81%). The most frequent diagnosis was osteoarthritis with acute exacerbation (28%), followed by gout (18%), pseudo-gout (9%) and rheumatoid arthritis (9%). In 86 cases (18%) the diagnosis was a non-specific rheumatologic problem: arthralgia, nonspecific generalized pain, or fibromyalgia. Prompt and appropriate evaluation, as well as arthrocentesis and treatment initiation, including local injections, were made possible by the presence of an in-house rheumatologist.

Arthroscopy

MedlinePlus

Arthroscopy Overview Arthroscopy (ahr-THROS-skuh-pee) is a procedure for diagnosing and treating joint problems. A surgeon inserts a narrow ... is transmitted to a high-definition video monitor. Arthroscopy allows the surgeon to see inside your joint ...

The technology and welding joint properties of hybrid laser-tig welding on thick plate

NASA Astrophysics Data System (ADS)

Shenghai, Zhang; Yifu, Shen; Huijuan, Qiu

2013-06-01

The technologies of autogenous laser welding and hybrid laser-TIG welding are used on thick plate of high strength lower alloy structural steel 10CrNiMnMoV in this article. The unique advantages of hybrid laser-TIG welding is summarized by comparing and analyzing the process parameters and welding joints of autogenous laser welding laser welding and hybrid laser-TIG welding. With the optimal process parameters of hybrid welding, the good welding joint without visible flaws can be obtained and its mechanical properties are tested according to industry standards. The results show that the hybrid welding technology has certain advantages and possibility in welding thick plates. It can reduce the demands of laser power, and it is significant for lowering the aspect ratio of weld during hybrid welding, so the gas in the molten pool can rise and escape easily while welding thick plates. Therefore, the pores forming tendency decreases. At the same time, hybrid welding enhances welding speed, and optimizes the energy input. The transition and grain size of the microstructure of hybrid welding joint is better and its hardness is higher than base material. Furthermore, its tensile strength and impact toughness is as good as base material. Consequently, the hybrid welding joint can meet the industry needs completely.