Modelagem linear e identificação do modelo dinâmico de um robô móvel com acionamento diferencial

This work presents a modelling and identification method for a wheeled mobile robot, including the actuator dynamics. Instead of the classic modelling approach, where the robot position coordinates (x,y) are utilized as state variables (resulting in a non linear model), the proposed discrete model is based on the travelled distance increment Delta_l. Thus, the resulting model is linear and time invariant and it can be identified through classical methods such as Recursive Least Mean Squares. This approach has a problem: Delta_l can not be directly measured. In this paper, this problem is solved using an estimate of Delta_l based on a second order polynomial approximation. Experimental data were colected and the proposed method was used to identify the model of a real robot

Radial basis function networks with quantized parameters

A RBFN implemented with quantized parameters is proposed and the relative or limited approximation property is presented. Simulation results for sinusoidal function approximation with various quantization levels are shown. The results indicate that the network presents good approximation capability even with severe quantization. The parameter quantization decreases the memory size and circuit complexity required to store the network parameters leading to compact mixed-signal circuits proper for low-power applications. ©2008 IEEE.

A comparative study on multiscale fractal dimension descriptors

Fractal theory presents a large number of applications to image and signal analysis. Although the fractal dimension can be used as an image object descriptor, a multiscale approach, such as multiscale fractal dimension (MFD), increases the amount of information extracted from an object. MFD provides a curve which describes object complexity along the scale. However, this curve presents much redundant information, which could be discarded without loss in performance. Thus, it is necessary the use of a descriptor technique to analyze this curve and also to reduce the dimensionality of these data by selecting its meaningful descriptors. This paper shows a comparative study among different techniques for MFD descriptors generation. It compares the use of well-known and state-of-the-art descriptors, such as Fourier, Wavelet, Polynomial Approximation (PA), Functional Data Analysis (FDA), Principal Component Analysis (PCA), Symbolic Aggregate Approximation (SAX), kernel PCA, Independent Component Analysis (ICA), geometrical and statistical features. The descriptors are evaluated in a classification experiment using Linear Discriminant Analysis over the descriptors computed from MFD curves from two data sets: generic shapes and rotated fish contours. Results indicate that PCA, FDA, PA and Wavelet Approximation provide the best MFD descriptors for recognition and classification tasks. (C) 2012 Elsevier B.V. All rights reserved.

Estudio de la aplicabilidad de las aproximaciones uniformes al análisis de series históricas : aplicación al caso de los precios del cobre

El objetivo de este proyecto de investigación es comparar dos técnicas matemáticas de aproximación polinómica, las aproximaciones según el criterio de mínimos cuadrados y las aproximaciones uniformes (“minimax”). Se describen tanto el mercado actual del cobre, con sus fluctuaciones a lo largo del tiempo, como los distintos modelos matemáticos y programas informáticos disponibles. Como herramienta informática se ha seleccionado Matlab®, cuya biblioteca matemática es muy amplia y de uso muy extendido y cuyo lenguaje de programación es suficientemente potente para desarrollar los programas que se necesiten. Se han obtenido diferentes polinomios de aproximación sobre una muestra (serie histórica) que recoge la variación del precio del cobre en los últimos años. Se ha analizado la serie histórica completa y dos tramos significativos de ella. Los resultados obtenidos incluyen valores de interés para otros proyectos. Abstract The aim of this research project is to compare two mathematical models for estimating polynomial approximation, the approximations according to the criterion of least squares approximations uniform (“Minimax”). Describes both the copper current market, fluctuating over time as different computer programs and mathematical models available. As a modeling tool is selected main Matlab® which math library is the largest and most widely used programming language and which is powerful enough to allow you to develop programs that are needed. We have obtained different approximating polynomials, applying mathematical methods chosen, a sample (historical series) which indicates the fluctuation in copper prices in last years. We analyzed the complete historical series and two significant sections of it. The results include values that we consider relevant to other projects

Estimating parameters in stochastic systems:a variational Bayesian approach

This work is concerned with approximate inference in dynamical systems, from a variational Bayesian perspective. When modelling real world dynamical systems, stochastic differential equations appear as a natural choice, mainly because of their ability to model the noise of the system by adding a variation of some stochastic process to the deterministic dynamics. Hence, inference in such processes has drawn much attention. Here a new extended framework is derived that is based on a local polynomial approximation of a recently proposed variational Bayesian algorithm. The paper begins by showing that the new extension of this variational algorithm can be used for state estimation (smoothing) and converges to the original algorithm. However, the main focus is on estimating the (hyper-) parameters of these systems (i.e. drift parameters and diffusion coefficients). The new approach is validated on a range of different systems which vary in dimensionality and non-linearity. These are the Ornstein–Uhlenbeck process, the exact likelihood of which can be computed analytically, the univariate and highly non-linear, stochastic double well and the multivariate chaotic stochastic Lorenz ’63 (3D model). As a special case the algorithm is also applied to the 40 dimensional stochastic Lorenz ’96 system. In our investigation we compare this new approach with a variety of other well known methods, such as the hybrid Monte Carlo, dual unscented Kalman filter, full weak-constraint 4D-Var algorithm and analyse empirically their asymptotic behaviour as a function of observation density or length of time window increases. In particular we show that we are able to estimate parameters in both the drift (deterministic) and the diffusion (stochastic) part of the model evolution equations using our new methods.

Estratificação de solos em camadas horizontais utilizando evolução diferencial

This work's objective is the development of a methodology to represent an unknown soil through a stratified horizontal multilayer soil model, from which the engineer may carry out eletrical grounding projects with high precision. The methodology uses the experimental electrical apparent resistivity curve, obtained through measurements on the ground, using a 4-wire earth ground resistance tester kit, along with calculations involving the measured resistance. This curve is then compared with the theoretical electrical apparent resistivity curve, obtained through calculations over a horizontally strati ed soil, whose parameters are conjectured. This soil model parameters, such as the number of layers, in addition to the resistivity and the thickness of each layer, are optimized by Differential Evolution method, with enhanced performance through parallel computing, in order to both apparent resistivity curves get close enough, and it is possible to represent the unknown soil through the multilayer horizontal soil model fitted with optimized parameters. In order to assist the Differential Evolution method, in case of a stagnation during an arbitrary amount of generations, an optimization process unstuck methodology is proposed, to expand the search space and test new combinations, allowing the algorithm to nd a better solution and/or leave the local minima. It is further proposed an error improvement methodology, in order to smooth the error peaks between the apparent resistivity curves, by giving opportunities for other more uniform solutions to excel, in order to improve the whole algorithm precision, minimizing the maximum error. Methodologies to verify the polynomial approximation of the soil characteristic function and the theoretical apparent resistivity calculations are also proposed by including middle points among the approximated ones in the verification. Finally, a statistical evaluation prodecure is presented, in order to enable the classication of soil samples. The soil stratification methodology is used in a control group, formed by horizontally stratified soils. By using statistical inference, one may calculate the amount of soils that, within an error margin, does not follow the horizontal multilayer model.

ARL1 of the Attribute c Control Chart with Estimated Parameter

International audience

Polynomial time and parameterized approximation algorithms for boxicity

The boxicity (cubicity) of a graph G, denoted by box(G) (respectively cub(G)), is the minimum integer k such that G can be represented as the intersection graph of axis parallel boxes (cubes) in ℝ k . The problem of computing boxicity (cubicity) is known to be inapproximable in polynomial time even for graph classes like bipartite, co-bipartite and split graphs, within an O(n 0.5 − ε ) factor for any ε > 0, unless NP = ZPP. We prove that if a graph G on n vertices has a clique on n − k vertices, then box(G) can be computed in time n22O(k2logk) . Using this fact, various FPT approximation algorithms for boxicity are derived. The parameter used is the vertex (or edge) edit distance of the input graph from certain graph families of bounded boxicity - like interval graphs and planar graphs. Using the same fact, we also derive an O(nloglogn√logn√) factor approximation algorithm for computing boxicity, which, to our knowledge, is the first o(n) factor approximation algorithm for the problem. We also present an FPT approximation algorithm for computing the cubicity of graphs, with vertex cover number as the parameter.

On the Performance of Polynomial-time CLIQUE Approximation Algorithms on Very Large Graphs

The performance of a randomized version of the subgraph-exclusion algorithm (called Ramsey) for CLIQUE by Boppana and Halldorsson is studied on very large graphs. We compare the performance of this algorithm with the performance of two common heuristic algorithms, the greedy heuristic and a version of simulated annealing. These algorithms are tested on graphs with up to 10,000 vertices on a workstation and graphs as large as 70,000 vertices on a Connection Machine. Our implementations establish the ability to run clique approximation algorithms on very large graphs. We test our implementations on a variety of different graphs. Our conclusions indicate that on randomly generated graphs minor changes to the distribution can cause dramatic changes in the performance of the heuristic algorithms. The Ramsey algorithm, while not as good as the others for the most common distributions, seems more robust and provides a more even overall performance. In general, and especially on deterministically generated graphs, a combination of simulated annealing with either the Ramsey algorithm or the greedy heuristic seems to perform best. This combined algorithm works particularly well on large Keller and Hamming graphs and has a competitive overall performance on the DIMACS benchmark graphs.

Approximation by harmonic polynomials in star-shaped domains and exponential convergence of Trefftz hp-dGFEM

We study the approximation of harmonic functions by means of harmonic polynomials in two-dimensional, bounded, star-shaped domains. Assuming that the functions possess analytic extensions to a delta-neighbourhood of the domain, we prove exponential convergence of the approximation error with respect to the degree of the approximating harmonic polynomial. All the constants appearing in the bounds are explicit and depend only on the shape-regularity of the domain and on delta. We apply the obtained estimates to show exponential convergence with rate O(exp(−b square root N)), N being the number of degrees of freedom and b>0, of a hp-dGFEM discretisation of the Laplace equation based on piecewise harmonic polynomials. This result is an improvement over the classical rate O(exp(−b cubic root N )), and is due to the use of harmonic polynomial spaces, as opposed to complete polynomial spaces.

Slow-fast systems on algebraic varieties bordering piecewise-smooth dynamical systems

This article extends results contained in Buzzi et al. (2006) [4], Llibre et al. (2007, 2008) [12,13] concerning the dynamics of non-smooth systems. In those papers a piecewise C-k discontinuous vector field Z on R-n is considered when the discontinuities are concentrated on a codimension one submanifold. In this paper our aim is to study the dynamics of a discontinuous system when its discontinuity set belongs to a general class of algebraic sets. In order to do this we first consider F :U -> R a polynomial function defined on the open subset U subset of R-n. The set F-1 (0) divides U into subdomains U-1, U-2,...,U-k, with border F-1(0). These subdomains provide a Whitney stratification on U. We consider Z(i) :U-i -> R-n smooth vector fields and we get Z = (Z(1),...., Z(k)) a discontinuous vector field with discontinuities in F-1(0). Our approach combines several techniques such as epsilon-regularization process, blowing-up method and singular perturbation theory. Recall that an approximation of a discontinuous vector field Z by a one parameter family of continuous vector fields is called an epsilon-regularization of Z (see Sotomayor and Teixeira, 1996 [18]; Llibre and Teixeira, 1997 [15]). Systems as discussed in this paper turn out to be relevant for problems in control theory (Minorsky, 1969 [16]), in systems with hysteresis (Seidman, 2006 [17]) and in mechanical systems with impacts (di Bernardo et al., 2008 [5]). (C) 2011 Elsevier Masson SAS. All rights reserved.

Approximation algorithm for maximum independent set in planar traingle-free graphs

The maximum independent set problem is NP-complete even when restricted to planar graphs, cubic planar graphs or triangle free graphs. The problem of finding an absolute approximation still remains NP-complete. Various polynomial time approximation algorithms, that guarantee a fixed worst case ratio between the independent set size obtained to the maximum independent set size, in planar graphs have been proposed. We present in this paper a simple and efficient, O(|V|) algorithm that guarantees a ratio 1/2, for planar triangle free graphs. The algorithm differs completely from other approaches, in that, it collects groups of independent vertices at a time. Certain bounds we obtain in this paper relate to some interesting questions in the theory of extremal graphs.