Adaptive tackling of the swinging problem for a 2 DOF crane – payload system

The control of a crane carrying its payload by an elastic string corresponds to a task in which precise, indirect control of a subsystem dynamically coupled to a directly controllable subsystem is needed. This task is interesting since the coupled degree of freedom has little damping and it is apt to keep swinging accordingly. The traditional approaches apply the input shaping technology to assist the human operator responsible for the manipulation task. In the present paper a novel adaptive approach applying fixed point transformations based iterations having local basin of attraction is proposed to simultaneously tackle the problems originating from the imprecise dynamic model available for the system to be controlled and the swinging problem, too. The most important phenomenological properties of this approach are also discussed. The control considers the 4th time-derivative of the trajectory of the payload. The operation of the proposed control is illustrated via simulation results.

Cantor exchange systems and renormalization

We prove a one-to-one correspondence between (i) C1+ conjugacy classes of C1+H Cantor exchange systems that are C1+H fixed points of renormalization and (ii) C1+ conjugacy classes of C1+H diffeomorphisms f with a codimension 1 hyperbolic attractor Lambda that admit an invariant measure absolutely continuous with respect to the Hausdorff measure on Lambda. However, we prove that there is no C1+alpha Cantor exchange system, with bounded geometry, that is a C1+alpha fixed point of renormalization with regularity alpha greater than the Hausdorff dimension of its invariant Cantor set.

Arc exchange systems and renormalization

We exhibit the construction of stable arc exchange systems from the stable laminations of hyperbolic diffeomorphisms. We prove a one-to-one correspondence between (i) Lipshitz conjugacy classes of C(1+H) stable arc exchange systems that are C(1+H) fixed points of renormalization and (ii) Lipshitz conjugacy classes of C(1+H) diffeomorphisms f with hyperbolic basic sets Lambda that admit an invariant measure absolutely continuous with respect to the Hausdorff measure on Lambda. Let HD(s)(Lambda) and HD(u)(Lambda) be, respectively, the Hausdorff dimension of the stable and unstable leaves intersected with the hyperbolic basic set L. If HD(u)(Lambda) = 1, then the Lipschitz conjugacy is, in fact, a C(1+H) conjugacy in (i) and (ii). We prove that if the stable arc exchange system is a C(1+HDs+alpha) fixed point of renormalization with bounded geometry, then the stable arc exchange system is smooth conjugate to an affine stable arc exchange system.

Ruin Theory with Excess of Loss Reinsurance and Reinstatements

The present paper studies the probability of ruin of an insurer, if excess of loss reinsurance with reinstatements is applied. In the setting of the classical Cramer-Lundberg risk model, piecewise deterministic Markov processes are used to describe the free surplus process in this more general situation. It is shown that the finite-time ruin probability is both the solution of a partial integro-differential equation and the fixed point of a contractive integral operator. We exploit the latter representation to develop and implement a recursive algorithm for numerical approximation of the ruin probability that involves high-dimensional integration. Furthermore we study the behavior of the finite-time ruin probability under various levels of initial surplus and security loadings and compare the efficiency of the numerical algorithm with the computational alternative of stochastic simulation of the risk process. (C) 2011 Elsevier Inc. All rights reserved.

Surfaces de Riemann compactes et formule de trace d'Eichler

Dans ce mémoire, nous étudierons quelques propriétés algébriques, géométriques et topologiques des surfaces de Riemann compactes. Deux grand sujets seront traités. Tout d'abord, en utilisant le fait que toute surface de Riemann compacte de genre g plus grand ou égal à 2 possède un nombre fini de points de Weierstrass, nous allons pouvoir conclure que ces surfaces possèdent un nombre fini d'automorphismes. Ensuite, nous allons étudier de plus près la formule de trace d'Eichler. Ce théorème nous permet de trouver le caractère d'un automorphisme agissant sur l'espace des q-différentielles holomorphes. Nous commencerons notre étude en utilisant la quartique de Klein. Nous effectuerons un exemple de calcul utilisant le théorème d'Eichler, ce qui nous permettra de nous familiariser avec l'énoncé du théorème. Finalement, nous allons démontrer la formule de trace d'Eichler, en prenant soin de traiter le cas où l'automorphisme agit sans point fixe séparément du cas où l'automorphisme possède des points fixes.

Design and synthesis of efficient mac architectures for high speed decimal processor

Most of the commercial and financial data are stored in decimal fonn. Recently, support for decimal arithmetic has received increased attention due to the growing importance in financial analysis, banking, tax calculation, currency conversion, insurance, telephone billing and accounting. Performing decimal arithmetic with systems that do not support decimal computations may give a result with representation error, conversion error, and/or rounding error. In this world of precision, such errors are no more tolerable. The errors can be eliminated and better accuracy can be achieved if decimal computations are done using Decimal Floating Point (DFP) units. But the floating-point arithmetic units in today's general-purpose microprocessors are based on the binary number system, and the decimal computations are done using binary arithmetic. Only few common decimal numbers can be exactly represented in Binary Floating Point (BF P). ln many; cases, the law requires that results generated from financial calculations performed on a computer should exactly match with manual calculations. Currently many applications involving fractional decimal data perform decimal computations either in software or with a combination of software and hardware. The performance can be dramatically improved by complete hardware DFP units and this leads to the design of processors that include DF P hardware.VLSI implementations using same modular building blocks can decrease system design and manufacturing cost. A multiplexer realization is a natural choice from the viewpoint of cost and speed.This thesis focuses on the design and synthesis of efficient decimal MAC (Multiply ACeumulate) architecture for high speed decimal processors based on IEEE Standard for Floating-point Arithmetic (IEEE 754-2008). The research goal is to design and synthesize deeimal'MAC architectures to achieve higher performance.Efficient design methods and architectures are developed for a high performance DFP MAC unit as part of this research.

Studies in the geometry of the discrete plane

This thesis is an attempt to initiate the development of a discrete geometry of the discrete plane H = {(qmxo,qnyo); m,n e Z - the set of integers}, where q s (0,1) is fixed and (xO,yO) is a fixed point in the first quadrant of the complex plane, xo,y0 ¢ 0. The discrete plane was first considered by Harman in 1972, to evolve a discrete analytic function theory for geometric difference functions. We shall mention briefly, through various sections, the principle of discretization, an outline of discrete a alytic function theory, the concept of geometry of space and also summary of work done in this thesis

High performance, low latency double digit decimal multiplier on ASIC and FPGA

Decimal multiplication is an integral part of financial, commercial, and internet-based computations. This paper presents a novel double digit decimal multiplication (DDDM) technique that offers low latency and high throughput. This design performs two digit multiplications simultaneously in one clock cycle. Double digit fixed point decimal multipliers for 7digit, 16 digit and 34 digit are simulated using Leonardo Spectrum from Mentor Graphics Corporation using ASIC Library. The paper also presents area and delay comparisons for these fixed point multipliers on Xilinx, Altera, Actel and Quick logic FPGAs. This multiplier design can be extended to support decimal floating point multiplication for IEEE 754- 2008 standard.

Aspekte der linearen Minimax-Schätzung

Es werde das lineare Regressionsmodell y = X b + e mit den ueblichen Bedingungen betrachtet. Weiter werde angenommen, dass der Parametervektor aus einem Ellipsoid stammt. Ein optimaler Schaetzer fuer den Parametervektor ist durch den Minimax-Schaetzer gegeben. Nach der entscheidungstheoretischen Formulierung des Minimax-Schaetzproblems werden mit dem Bayesschen Ansatz, Spektralen Methoden und der Darstellung von Hoffmann und Laeuter Wege zur Bestimmung des Minimax- Schaetzers dargestellt und in Beziehung gebracht. Eine Betrachtung von Modellen mit drei Einflussgroeßen und gemeinsamen Eigenvektor fuehrt zu einer Strukturierung des Problems nach der Vielfachheit des maximalen Eigenwerts. Die Bestimmung des Minimax-Schaetzers in einem noch nicht geloesten Fall kann auf die Bestimmung einer Nullstelle einer nichtlinearen reellwertigen Funktion gefuehrt werden. Es wird ein Beispiel gefunden, in dem die Nullstelle nicht durch Radikale angegeben werden kann. Durch das Intervallschachtelungs-Prinzip oder Newton-Verfahren ist die numerische Bestimmung der Nullstelle moeglich. Durch Entwicklung einer Fixpunktgleichung aus der Darstellung von Hoffmann und Laeuter war es in einer Simulation moeglich die angestrebten Loesungen zu finden.

Bit-Width Analysis for General Applications

It has been widely known that a significant part of the bits are useless or even unused during the program execution. Bit-width analysis targets at finding the minimum bits needed for each variable in the program, which ensures the execution correctness and resources saving. In this paper, we proposed a static analysis method for bit-widths in general applications, which approximates conservatively at compile time and is independent of runtime conditions. While most related work focus on integer applications, our method is also tailored and applicable to floating point variables, which could be extended to transform floating point number into fixed point numbers together with precision analysis. We used more precise representations for data value ranges of both scalar and array variables. Element level analysis is carried out for arrays. We also suggested an alternative for the standard fixed-point iterations in bi-directional range analysis. These techniques are implemented on the Trimaran compiler structure and tested on a set of benchmarks to show the results.

A comparative evaluation of functions for partitioning nitrogen and amino acid intake between maintenance and growth in broilers

The results from three types of study with broilers, namely nitrogen (N) balance, bioassays and growth experiments, provided the data used herein. Sets of data on N balance and protein accretion (bioassay studies) were used to assess the ability of the monomolecular equation to describe the relationship between (i) N balance and amino acid (AA) intake and (ii) protein accretion and AA intake. The model estimated the levels of isoleucine, lysine, valine, threonine, methionine, total sulphur AAs and tryptophan resulting in zero balance to be 58, 59, 80, 96, 23, 85 and 32 mg/kg live weight (LW)/day, respectively. These estimates show good agreement with those obtained in previous studies. For the growth experiments, four models, specifically re-parameterized for analysing energy balance data, were evaluated for their ability to determine crude protein (CP) intake at maintenance and efficiency of utilization of CP intake for producing gain. They were: a straight line, two equations representing diminishing returns behaviour (monomolecular and rectangular hyperbola) and one equation describing smooth sigmoidal behaviour with a fixed point of inflexion (Gompertz). The estimates of CP requirement for maintenance and efficiency of utilization of CP intake for producing gain varied from 5.4 to 5.9 g/kg LW/day and 0.60 to 0.76, respectively, depending on the models.

An evaluation of different growth functions for describing the profile of live weight with time (age) in meat and egg strains of chicken

A total of 86 profiles from meat and egg strains of chickens (male and female) were used in this study. Different flexible growth functions were evaluated with regard to their ability to describe the relationship between live weight and age and were compared with the Gompertz and logistic equations, which have a fixed point of inflection. Six growth functions were used: Gompertz, logistic, Lopez, Richards, France, and von Bertalanffy. A comparative analysis was carried out based on model behavior and statistical performance. The results of this study confirmed the initial concern about the limitation of a fixed point of inflection, such as in the Gompertz equation. Therefore, consideration of flexible growth functions as an alternatives to the simpler equations (with a fixed point of inflection) for describing the relationship between live weight and age are recommended for the following reasons: they are easy to fit, they very often give a closer fit to data points because of their flexibility and therefore a smaller RSS value, than the simpler models, and they encompasses simpler models for the addition of an extra parameter, which is especially important when the behavior of a particular data set is not defined previously.

A comparative evaluation of functions for the analysis of growth in male broilers

Data from six studies with male broilers fed diets covering a wide range of energy and protein were used in the current two analyses. In the first analysis, five models, specifically re-parameterized for analysing energy balance data, were evaluated for their ability to determine metabolizable energy intake at maintenance and efficiency of utilization of metabolizable energy intake for producing gain. In addition to the straight line, two types of functional form were used. They were forms describing (i) diminishing returns behaviour (monomolecular and rectangular hyperbola) and (ii) sigmoidal behaviour with a fixed point of inflection (Gompertz and logistic). These models determined metabolizable energy requirement for maintenance to be in the range 437-573 kJ/kg of body weight/day depending on the model. The values determined for average net energy requirement for body weight gain varied from 7(.)9 to 11(.)2 kJ/g of body weight. These values show good agreement with previous studies. In the second analysis, three types of function were assessed as candidates for describing the relationship between body weight and cumulative metabolizable energy intake. The functions used were: (a) monomolecular (diminishing returns behaviour), (b) Gompertz (smooth sigmoidal behaviour with a fixed point of inflection) and (c) Lopez, France and Richards (diminishing returns and sigmoidal behaviour with a variable point of inflection). The results of this analysis demonstrated that equations capable of mimicking the law of diminishing returns describe accurately the relationship between body weight and cumulative metabolizable energy intake in broilers.

A comparative evaluation of functions for describing the relationship between live-weight gain and metabolizable energy intake in turkeys

The suitability of models specifically re-parameterized for analyzing energy balance data relating metabolizable energy intake to growth rate has recently been investigated in male broilers. In this study, the more adequate of those models was applied to growing turkeys to provide estimates of their energy needs for maintenance and growth. Three functional forms were used. They were: two equations representing diminishing returns behaviour (monomolecular and rectangular hyperbola); and one equation describing smooth sigmoidal behaviour with a fixed point of inflexion (Gompertz). The models estimated the metabolizable energy requirement for maintenance in turkeys to be 359-415 kJ/kg of live-weight/day. The predicted values of average net energy requirement for producing 1 g of gain in live-weight, between 1 and 4 times maintenance, varied from 8.7 to 10.9 kJ. These results and those previously reported for broilers are a basis for accepting the general validity of these models.