Non-Linear Unsteady Aerodynamic Response Approximation Using Multi-Layer Functionals

Non-linear functional representation of the aerodynamic response provides a convenient mathematical model for motion-induced unsteady transonic aerodynamic loads response, that accounts for both complex non-linearities and time-history effects. A recent development, based on functional approximation theory, has established a novel functional form; namely, the multi-layer functional. For a large class of non-linear dynamic systems, such multi-layer functional representations can be realised via finite impulse response (FIR) neural networks. Identification of an appropriate FIR neural network model is facilitated by means of a supervised training process in which a limited sample of system input-output data sets is presented to the temporal neural network. The present work describes a procedure for the systematic identification of parameterised neural network models of motion-induced unsteady transonic aerodynamic loads response. The training process is based on a conventional genetic algorithm to optimise the network architecture, combined with a simplified random search algorithm to update weight and bias values. Application of the scheme to representative transonic aerodynamic loads response data for a bidimensional airfoil executing finite-amplitude motion in transonic flow is used to demonstrate the feasibility of the approach. The approach is shown to furnish a satisfactory generalisation property to different motion histories over a range of Mach numbers in the transonic regime.

Stiffness based trajectory planning and feedforward based vibration suppression control of parallel robot machines

The dissertation proposes two control strategies, which include the trajectory planning and vibration suppression, for a kinematic redundant serial-parallel robot machine, with the aim of attaining the satisfactory machining performance. For a given prescribed trajectory of the robot's end-effector in the Cartesian space, a set of trajectories in the robot's joint space are generated based on the best stiffness performance of the robot along the prescribed trajectory. To construct the required system-wide analytical stiffness model for the serial-parallel robot machine, a variant of the virtual joint method (VJM) is proposed in the dissertation. The modified method is an evolution of Gosselin's lumped model that can account for the deformations of a flexible link in more directions. The effectiveness of this VJM variant is validated by comparing the computed stiffness results of a flexible link with the those of a matrix structural analysis (MSA) method. The comparison shows that the numerical results from both methods on an individual flexible beam are almost identical, which, in some sense, provides mutual validation. The most prominent advantage of the presented VJM variant compared with the MSA method is that it can be applied in a flexible structure system with complicated kinematics formed in terms of flexible serial links and joints. Moreover, by combining the VJM variant and the virtual work principle, a systemwide analytical stiffness model can be easily obtained for mechanisms with both serial kinematics and parallel kinematics. In the dissertation, a system-wide stiffness model of a kinematic redundant serial-parallel robot machine is constructed based on integration of the VJM variant and the virtual work principle. Numerical results of its stiffness performance are reported. For a kinematic redundant robot, to generate a set of feasible joints' trajectories for a prescribed trajectory of its end-effector, its system-wide stiffness performance is taken as the constraint in the joints trajectory planning in the dissertation. For a prescribed location of the end-effector, the robot permits an infinite number of inverse solutions, which consequently yields infinite kinds of stiffness performance. Therefore, a differential evolution (DE) algorithm in which the positions of redundant joints in the kinematics are taken as input variables was employed to search for the best stiffness performance of the robot. Numerical results of the generated joint trajectories are given for a kinematic redundant serial-parallel robot machine, IWR (Intersector Welding/Cutting Robot), when a particular trajectory of its end-effector has been prescribed. The numerical results show that the joint trajectories generated based on the stiffness optimization are feasible for realization in the control system since they are acceptably smooth. The results imply that the stiffness performance of the robot machine deviates smoothly with respect to the kinematic configuration in the adjacent domain of its best stiffness performance. To suppress the vibration of the robot machine due to varying cutting force during the machining process, this dissertation proposed a feedforward control strategy, which is constructed based on the derived inverse dynamics model of target system. The effectiveness of applying such a feedforward control in the vibration suppression has been validated in a parallel manipulator in the software environment. The experimental study of such a feedforward control has also been included in the dissertation. The difficulties of modelling the actual system due to the unknown components in its dynamics is noticed. As a solution, a back propagation (BP) neural network is proposed for identification of the unknown components of the dynamics model of the target system. To train such a BP neural network, a modified Levenberg-Marquardt algorithm that can utilize an experimental input-output data set of the entire dynamic system is introduced in the dissertation. Validation of the BP neural network and the modified Levenberg- Marquardt algorithm is done, respectively, by a sinusoidal output approximation, a second order system parameters estimation, and a friction model estimation of a parallel manipulator, which represent three different application aspects of this method.

Uncertainty of Efficiency Measurements in Electric Drives

The two central goals of this master's thesis are to serve as a guidebook on the determination of uncertainty in efficiency measurements and to investigate sources of uncertainty in efficiency measurements in the field of electric drives by a literature review, mathematical modeling and experimental means. The influence of individual sources of uncertainty on the total instrumental uncertainty is investigated with the help of mathematical models derived for a balance and a direct air cooled calorimeter. The losses of a frequency converter and an induction motor are measured with the input-output method and a balance calorimeter at 50 and 100 % loads. A software linking features of Matlab and Excel is created to process measurement data, calculate uncertainties and to calculate and visualize results. The uncertainties are combined with both the worst case and the realistic perturbation method and distributions of uncertainty by source are shown based on experimental results. A comparison of the calculated uncertainties suggests that the balance calorimeter determines losses more accurately than the input-output method with a relative RPM uncertainty of 1.46 % compared to 3.78 - 12.74 % respectively with 95 % level of confidence at the 93 % induction motor efficiency or higher. As some principles in uncertainty analysis are open to interpretation the views and decisions of the analyst can have noticeable influence on the uncertainty in the measurement result.

The Transmission of Monetary Policy in a Multi-Sector Economy

This paper constructs and estimates a sticky-price, Dynamic Stochastic General Equilibrium model with heterogenous production sectors. Sectors differ in price stickiness, capital-adjustment costs and production technology, and use output from each other as material and investment inputs following an Input-Output Matrix and Capital Flow Table that represent the U.S. economy. By relaxing the standard assumption of symmetry, this model allows different sectoral dynamics in response to monetary policy shocks. The model is estimated by Simulated Method of Moments using sectoral and aggregate U.S. time series. Results indicate 1) substantial heterogeneity in price stickiness across sectors, with quantitatively larger differences between services and goods than previously found in micro studies that focus on final goods alone, 2) a strong sensitivity to monetary policy shocks on the part of construction and durable manufacturing, and 3) similar quantitative predictions at the aggregate level by the multi-sector model and a standard model that assumes symmetry across sectors.

How Prescribed Policy Can Mislead when Data Are Defective: a Follow-Up to Srinivasan (1994) Using General Equilibrium.

We highlight an example of considerable bias in officially published input-output data (factor-income shares) by an LDC (Turkey), which many researchers use without question. We make use of an intertemporal general equilibrium model of trade and production to evaluate the dynamic gains for Turkey from currently debated trade policy options and compare the predictions using conservatively adjusted, rather than official, data on factor shares.

Modeling High-Dimensional Audio Sequences with Recurrent Neural Networks

Cette thèse étudie des modèles de séquences de haute dimension basés sur des réseaux de neurones récurrents (RNN) et leur application à la musique et à la parole. Bien qu'en principe les RNN puissent représenter les dépendances à long terme et la dynamique temporelle complexe propres aux séquences d'intérêt comme la vidéo, l'audio et la langue naturelle, ceux-ci n'ont pas été utilisés à leur plein potentiel depuis leur introduction par Rumelhart et al. (1986a) en raison de la difficulté de les entraîner efficacement par descente de gradient. Récemment, l'application fructueuse de l'optimisation Hessian-free et d'autres techniques d'entraînement avancées ont entraîné la recrudescence de leur utilisation dans plusieurs systèmes de l'état de l'art. Le travail de cette thèse prend part à ce développement. L'idée centrale consiste à exploiter la flexibilité des RNN pour apprendre une description probabiliste de séquences de symboles, c'est-à-dire une information de haut niveau associée aux signaux observés, qui en retour pourra servir d'à priori pour améliorer la précision de la recherche d'information. Par exemple, en modélisant l'évolution de groupes de notes dans la musique polyphonique, d'accords dans une progression harmonique, de phonèmes dans un énoncé oral ou encore de sources individuelles dans un mélange audio, nous pouvons améliorer significativement les méthodes de transcription polyphonique, de reconnaissance d'accords, de reconnaissance de la parole et de séparation de sources audio respectivement. L'application pratique de nos modèles à ces tâches est détaillée dans les quatre derniers articles présentés dans cette thèse. Dans le premier article, nous remplaçons la couche de sortie d'un RNN par des machines de Boltzmann restreintes conditionnelles pour décrire des distributions de sortie multimodales beaucoup plus riches. Dans le deuxième article, nous évaluons et proposons des méthodes avancées pour entraîner les RNN. Dans les quatre derniers articles, nous examinons différentes façons de combiner nos modèles symboliques à des réseaux profonds et à la factorisation matricielle non-négative, notamment par des produits d'experts, des architectures entrée/sortie et des cadres génératifs généralisant les modèles de Markov cachés. Nous proposons et analysons également des méthodes d'inférence efficaces pour ces modèles, telles la recherche vorace chronologique, la recherche en faisceau à haute dimension, la recherche en faisceau élagué et la descente de gradient. Finalement, nous abordons les questions de l'étiquette biaisée, du maître imposant, du lissage temporel, de la régularisation et du pré-entraînement.

Modeling Stock Order Flows and Learning Market-Making from Data

Stock markets employ specialized traders, market-makers, designed to provide liquidity and volume to the market by constantly supplying both supply and demand. In this paper, we demonstrate a novel method for modeling the market as a dynamic system and a reinforcement learning algorithm that learns profitable market-making strategies when run on this model. The sequence of buys and sells for a particular stock, the order flow, we model as an Input-Output Hidden Markov Model fit to historical data. When combined with the dynamics of the order book, this creates a highly non-linear and difficult dynamic system. Our reinforcement learning algorithm, based on likelihood ratios, is run on this partially-observable environment. We demonstrate learning results for two separate real stocks.

Exact Search Directions for Optimization of Linear and Nonlinear Models Based on Generalized Orthonormal Functions

A novel technique for selecting the poles of orthonormal basis functions (OBF) in Volterra models of any order is presented. It is well-known that the usual large number of parameters required to describe the Volterra kernels can be significantly reduced by representing each kernel using an appropriate basis of orthonormal functions. Such a representation results in the so-called OBF Volterra model, which has a Wiener structure consisting of a linear dynamic generated by the orthonormal basis followed by a nonlinear static mapping given by the Volterra polynomial series. Aiming at optimizing the poles that fully parameterize the orthonormal bases, the exact gradients of the outputs of the orthonormal filters with respect to their poles are computed analytically by using a back-propagation-through-time technique. The expressions relative to the Kautz basis and to generalized orthonormal bases of functions (GOBF) are addressed; the ones related to the Laguerre basis follow straightforwardly as a particular case. The main innovation here is that the dynamic nature of the OBF filters is fully considered in the gradient computations. These gradients provide exact search directions for optimizing the poles of a given orthonormal basis. Such search directions can, in turn, be used as part of an optimization procedure to locate the minimum of a cost-function that takes into account the error of estimation of the system output. The Levenberg-Marquardt algorithm is adopted here as the optimization procedure. Unlike previous related work, the proposed approach relies solely on input-output data measured from the system to be modeled, i.e., no information about the Volterra kernels is required. Examples are presented to illustrate the application of this approach to the modeling of dynamic systems, including a real magnetic levitation system with nonlinear oscillatory behavior.

RWater – A Cyber Enabled Tool For Hydrologic Modeling And Analysis

Existing distributed hydrologic models are complex and computationally demanding for using as a rapid-forecasting policy-decision tool, or even as a class-room educational tool. In addition, platform dependence, specific input/output data structures and non-dynamic data-interaction with pluggable software components inside the existing proprietary frameworks make these models restrictive only to the specialized user groups. RWater is a web-based hydrologic analysis and modeling framework that utilizes the commonly used R software within the HUBzero cyber infrastructure of Purdue University. RWater is designed as an integrated framework for distributed hydrologic simulation, along with subsequent parameter optimization and visualization schemes. RWater provides platform independent web-based interface, flexible data integration capacity, grid-based simulations, and user-extensibility. RWater uses RStudio to simulate hydrologic processes on raster based data obtained through conventional GIS pre-processing. The program integrates Shuffled Complex Evolution (SCE) algorithm for parameter optimization. Moreover, RWater enables users to produce different descriptive statistics and visualization of the outputs at different temporal resolutions. The applicability of RWater will be demonstrated by application on two watersheds in Indiana for multiple rainfall events.

CONTROL OF UNCERTAIN DYNAMIC-SYSTEMS USING STRICTLY POSITIVE REAL SYSTEMS

This paper presents necessary and sufficient conditions to turn a linear time-invariant system with p outputs, m inputs, p greater-than-or-equal-to m and using only inputs and outputs measurements into a Strictly Positive Real (SPR).Two results are presented. In the first, the system compensation is made by two static compensators, one of which forward feeds the outputs and the second back feeds the outputs of the nominal system.The second result presents conditions for the Walcott and Zak variable structure observer-controller synthesis. In this problem, if the nominal system is given by {A,B,C}, then the compensated system is given by {A+GC,B,FC} where F and G are the constant compensation matrices. These results are useful in the control system with uncertainties.

Corporação e economia local: uma análise usando Contas Sociais Alfa (CSα) do programa de investimentos da CVRD no Sudeste Paraense (2004 a 2010)

O Sudeste Paraense tem sido uma região de extraordinária dinâmica. Lá se alocaram os grandes projetos pecuários financiados pela SUDAM desde meados dos anos sessenta, os quais confrontaram a velha economia dos castanhais e frentes de expansão da agricultura familiar, espontâneas e induzidas, ao lado de grandes projetos minerais e de surtos garimpeiros. Como partes do processo ocorreram transformações estruturais importantes que reforçaram o papel dos centros urbanos e suas bases rurais locais na logística de novos setores econômicos condicionados pela formação da economia mineral resultante da presença da Companhia Vale do Rio Doce (CVRD), que desde 1985 lá opera seu sistema norte de metais ferrosos com base em Carajás. O artigo apresenta resultados de uma análise de insumo-produto com metodologia ascendente que explicita a diversidade estrutural dos setores de base primária – os impactos econômicos da programação de investimento da CVRD de 2004 até 2010.

Políticas de contenção de desmatamento, produção e mercado de terras na Amazônia: um ensaio sobre a economia local do sudeste paraense usando contas sociais alfa (CSα)

A discussão atual sobre a emissão de carbono associada ao uso agropecuário da terra em prejuízo de florestas se ressente de uma visão sistêmica, no que se refere aos fluxos econômicos propriamente, e suas interações, no que tange ao ambiente institucional que os garante. Dado que os esquemas de compensação implicam a entrada e saída de recursos em contextos econômicos amplos e sistêmicos, fundamental é discutir qual o resultado final desses fluxos sobre as condições gerais de reprodução das economias locais. As questões básicas são: a) como tais políticas poderão, a partir dos setores rurais, afetar a demanda final efetiva e, por essa via, o valor da produção e as variáveis de valor adicionado de toda a economia e b) como as variações na economia afetam as formas de uso da base natural e, portanto, o desmatamento. No que se refere às instituições, o artigo dá especial ênfase às que definem o mercado de terras, porque nele encontra o cerne de questões vitais para o que se discute. O artigo utiliza um modelo ascendente de geração de matrizes de insumo-produto para a economia local do Sudeste Paraense, incorpora nela um balanço de carbono dos setores da produção rural, encontra os multiplicadores e simula quatro situações de politica de contenção de desmatamento e redução das emissões de gases poluentes. A conclusão principal do artigo é que se faz necessário pensar políticas de contenção de desmatamento ligadas indissociavelmente a políticas de produção – a serem operadas por mecanismos que façam convergir as decisões dos agentes com perspectivas macro de desenvolvimento: local, endógeno e sustentável.

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Statistical physics approach to dendritic computation: The excitable-wave mean-field approximation

We analytically study the input-output properties of a neuron whose active dendritic tree, modeled as a Cayley tree of excitable elements, is subjected to Poisson stimulus. Both single-site and two-site mean-field approximations incorrectly predict a nonequilibrium phase transition which is not allowed in the model. We propose an excitable-wave mean-field approximation which shows good agreement with previously published simulation results [Gollo et al., PLoS Comput. Biol. 5, e1000402 (2009)] and accounts for finite-size effects. We also discuss the relevance of our results to experiments in neuroscience, emphasizing the role of active dendrites in the enhancement of dynamic range and in gain control modulation.

Tree species and diversity effects on soil water seepage in a tropical plantation

Plant diversity has been shown to influence the water cycle of forest ecosystems by differences in water consumption and the associated effects on groundwater recharge. However, the effects of biodiversity on soil water fluxes remain poorly understood for native tree species plantations in the tropics. Therefore, we estimated soil water fluxes and assessed the effects of tree species and diversity on these fluxes in an experimental native tree species plantation in Sardinilla (Panama). The study was conducted during the wet season 2008 on plots of monocultures and mixtures of three or six tree species. Rainfall and soil water content were measured and evapotranspiration was estimated with the Penman-Monteith equation. Soil water fluxes were estimated using a simple soil water budget model considering water input, output, and soil water and groundwater storage changes and in addition, were simulated using the physically based one-dimensional water flow model Hydrus-1D. In general, the Hydrus simulation did not reflect the observed pressure heads, in that modeled pressure heads were higher compared to measured ones. On the other hand, the results of the water balance equation (WBE) reproduced observed water use patterns well. In monocultures, the downward fluxes through the 200 cm-depth plane were highest below Hura crepitans (6.13 mm day−1) and lowest below Luehea seemannii (5.18 mm day−1). The average seepage rate in monocultures (±SE) was 5.66 ± 0.18 mm day−1, and therefore, significantly higher than below six-species mixtures (5.49 ± 0.04 mm day−1) according to overyielding analyses. The three-species mixtures had an average seepage rate of 5.63 ± 0.12 mm day−1 and their values did not differ significantly from the average values of the corresponding species in monocultures. Seepage rates were driven by the transpiration of the varying biomass among the plots (r = 0.61, p = 0.017). Thus, a mixture of trees with different growth rates resulted in moderate seepage rates compared to monocultures of either fast growing or slow growing tree species. Our results demonstrate that tree-species specific biomass production and tree diversity are important controls of seepage rates in the Sardinilla plantation during the wet season.