便携式移动机器人姿态解算方法

本文根据便携式移动机器人的特点,采用四元数法解算机器人导航系统的姿态,避免了在机器人运动角度较大时出现奇异点的问题。文中应用改进的四阶龙格-库塔算法解算四元数微分方程,经仿真实验,精度完全能够达到要求。给出了合理的变换公式,在机器人运动范围内,满足了四元数与欧拉角之间转换的一一对应。

Analysis of multirate behavior in electronic systems

Esta tese insere-se na área da simulação de circuitos de RF e microondas, e visa o estudo de ferramentas computacionais inovadoras que consigam simular, de forma eficiente, circuitos não lineares e muito heterogéneos, contendo uma estrutura combinada de blocos analógicos de RF e de banda base e blocos digitais, a operar em múltiplas escalas de tempo. Os métodos numéricos propostos nesta tese baseiam-se em estratégias multi-dimensionais, as quais usam múltiplas variáveis temporais definidas em domínios de tempo deformados e não deformados, para lidar, de forma eficaz, com as disparidades existentes entre as diversas escalas de tempo. De modo a poder tirar proveito dos diferentes ritmos de evolução temporal existentes entre correntes e tensões com variação muito rápida (variáveis de estado activas) e correntes e tensões com variação lenta (variáveis de estado latentes), são utilizadas algumas técnicas numéricas avançadas para operar dentro dos espaços multi-dimensionais, como, por exemplo, os algoritmos multi-ritmo de Runge-Kutta, ou o método das linhas. São também apresentadas algumas estratégias de partição dos circuitos, as quais permitem dividir um circuito em sub-circuitos de uma forma completamente automática, em função dos ritmos de evolução das suas variáveis de estado. Para problemas acentuadamente não lineares, são propostos vários métodos inovadores de simulação a operar estritamente no domínio do tempo. Para problemas com não linearidades moderadas é proposto um novo método híbrido frequência-tempo, baseado numa combinação entre a integração passo a passo unidimensional e o método seguidor de envolvente com balanço harmónico. O desempenho dos métodos é testado na simulação de alguns exemplos ilustrativos, com resultados bastante promissores. Uma análise comparativa entre os métodos agora propostos e os métodos actualmente existentes para simulação RF, revela ganhos consideráveis em termos de rapidez de computação.

Lagrangian transport of particles in Ria de Aveiro lagoon, Portugal

A two-dimensional vertically integrated hydrodynamic model coupled to a particle tracking model is applied to study the dispersion processes and residence time in Ria de Aveiro lagoon (Portugal). The only dispersion process that is considered in this study is the advection, according to the main characteristics of the local hydrodynamic. The particle tracking model computes the particles position at each time step, using a fourth-order Runge-Kutta integration method. The dispersion of passive particles released along the lagoon and in critical areas are studied in this work. The residence time is also determined for the entire lagoon. The results show that the mixture between particles coming from different channels of the lagoon is negligible in a time scale higher than 2 tidal cycles. The residence time for the lagoon central area is about 2 days, revealing a strong marine influence in this area. At the upper reaches of the channels were found values higher than 2 weeks.

Évaluation in silico des pompes d’assistance ventriculaire de type écoulement mixte

L'insuffisance cardiaque est une maladie à grande incidence dont le traitement définitif est difficile. Les pompes d'assistance ventriculaire ont été proposées comme thérapie alternative à long terme, mais la technologie est relativement jeune et selon son design, axial ou centrifuge, le dispositif favorise soit l'hémolyse, soit la stagnation de l'écoulement sanguin. Les pompes à écoulement mixte, combinant certaines propriétés des deux types, ont été proposées comme solution intermédiaire. Pour évaluer leurs performances, nous avons effectué des comparaisons numériques entre huit pompes, deux axiales, deux centrifuges, et quatre mixtes, en employant un modèle Windkessel du système cardiovasculaire avec paramètres optimisés pour l'insuffisance cardiaque résolu avec une méthode Radau IIA3, une méthode de résolution de système d'équations différentielles ordinaires L-stable appartenant à la famille des méthodes Runge-Kutta implicites. Nos résultats semblent suggérer que les pompes d'assistance mixtes ne démontrent qu'un léger avantage comparativement aux autres types en terme de performance optimale dans le cas de l'insuffisance cardiaque, mais il faudrait effectuer plus d'essais numériques avec un modèle plus complet, entre autres avec contrôles nerveux implémentés.

Numerical study of the atmospheric flow over a coastal cliff

This work presents a numerical method suitable for the study of the development of internal boundary layers (IBL) and their characteristics for flows over various types of coastal cliffs. The IBL is an important meteorological occurrence for flows with surface roughness and topographical step changes. A two-dimensional flow program was used for this study. The governing equations were written using the vorticity-velocity formulation. The spatial derivatives were discretized by high-order compact finite differences schemes. The time integration was performed with a low storage fourth-order Runge-Kutta scheme. The coastal cliff (step) was specified through an immersed boundary method. The validation of the code was done by comparison of the results with experimental and observational data. The numerical simulations were carried out for different coastal cliff heights and inclinations. The results show that the predominant factors for the height of the IBL and its characteristics are the upstream velocity, and the height and form (inclination) of the coastal cliff. Copyright (C) 2010 John Wiley & Sons, Ltd.

Application of radial return mapping algorithm for finite strain elastoplasticity in a hybrid finite element and particle-in-cell model

The radial return mapping algorithm within the computational context of a hybrid Finite Element and Particle-In-Cell (FE/PIC) method is constructed to allow a fluid flow FE/PIC code to be applied solid mechanic problems with large displacements and large deformations. The FE/PIC method retains the robustness of an Eulerian mesh and enables tracking of material deformation by a set of Lagrangian particles or material points. In the FE/PIC approach the particle velocities are interpolated from nodal velocities and then the particle position is updated using a suitable integration scheme, such as the 4th order Runge-Kutta scheme[1]. The strain increments are obtained from gradients of the nodal velocities at the material point positions, which are then used to evaluate the stress increment and update history variables. To obtain the stress increment from the strain increment, the nonlinear constitutive equations are solved in an incremental iterative integration scheme based on a radial return mapping algorithm[2]. A plane stress extension of a rectangular shape J2 elastoplastic material with isotropic, kinematic and combined hardening is performed as an example and for validation of the enhanced FE/PIC method. It is shown that the method is suitable for analysis of problems in crystal plasticity and metal forming. The method is specifically suitable for simulation of neighbouring microstructural phases with different constitutive equations in a multiscale material modelling framework.

Modeling of light propagation through biological tissues : a novel approach

An efficient numerical technique for modeling biological tissues using the radiative transfer equation is presented. Time dependence of the transient radiative transfer equation is approximated using Laguerre expansion. Azimuthal angle is discretized using the discrete ordinates method and the resulting set of ordinary differential equations is solved using the Runge-Kutta-Felhberg method.

Estimativa do comportamento de máquinas assíncronas sujeitas a afundamentos de tensão

Os afundamentos de tensão são reduções de curta duração entre o 10% a 90% da magnitude de tensão eficaz. Usualmente, estes afundamentos são associados com falhas no sistema de energia elétrica, mas podem ser causados pela elevada corrente de partida de motores de indução ou energização de transformadores. Apesar de sua curta duração, tais eventos podem causar sérios problemas para alguns equipamentos. As conseqüências dos afundamentos de tensão sobre a máquina assíncrona são: perda de velocidade durante o afundamento e picos de corrente e de conjugado que aparecem na queda de tensão e no instante de restabelecimento. Este estudo visa analisar o comportamento da máquina assíncrona diante de afundamentos de tensão e as características destes, devido à influência do motor assíncrono como carga. Enfocando-se neste ponto, é que foram considerados diferentes tipos de afundamentos devido a diferentes falhas, que produziram quedas de tensão nos terminais da máquina assíncrona com variações na magnitude e no argumento de tensão. As simulações foram realizadas aplicando um método numérico tradicional e um método simplificado, o método simplificado lineariza as equações diferenciais elétricas da máquina assíncrona considerando a velocidade mecânica constante, para o cálculo dos transitórios elétricos no início da queda de tensão e no restabelecimento da mesma. Os transitórios obtidos pelo método numérico tradicional (Runge Kutta quarta ordem) e o método simplificado foram comparados, para verificar a precisão deste método com respeito ao numérico tradicional, concluindo-se, que o método simplificado poderá aplicar-se em máquinas de baixo escorregamento e elevada constante de inércia. Além disso, foram realizados experimentos, submetendo o sistema a diferentes quedas de tensão, considerando diferentes magnitudes e durações no afundamento.

Métodos numéricos para resolução de equações diferenciais ordinárias lineares baseados em interpolação por spline

In this work we have elaborated a spline-based method of solution of inicial value problems involving ordinary differential equations, with emphasis on linear equations. The method can be seen as an alternative for the traditional solvers such as Runge-Kutta, and avoids root calculations in the linear time invariant case. The method is then applied on a central problem of control theory, namely, the step response problem for linear EDOs with possibly varying coefficients, where root calculations do not apply. We have implemented an efficient algorithm which uses exclusively matrix-vector operations. The working interval (till the settling time) was determined through a calculation of the least stable mode using a modified power method. Several variants of the method have been compared by simulation. For general linear problems with fine grid, the proposed method compares favorably with the Euler method. In the time invariant case, where the alternative is root calculation, we have indications that the proposed method is competitive for equations of sifficiently high order.

Tm and Tm-Tb-doped germanate glasses for S-band amplifiers

The mechanism involved in the Tm(3+)((3)F(4)) -> Tb(3+)((7)F(0,1,2)) energy transfer as a function of the Tb concentration was investigated in Tm:Tb-doped germanate (GLKZ) glass. The experimental transfer rate was determined from the best fit of the (3)F(4) luminescence decay due to the Tm -> Tb energy transfer using the Burshtein model. The result showed that the 1700 nm emission from (3)F(4) can be completely quenched by 0.8 mol% of Tb(3+). As a consequence, the (7)F(3) state of Tb(3+) interacts with the (3)H(4) upper excited state of TM(3+) slighting decreasing its population. The effective amplification coefficient beta(cm(-1)) that depends on the population density difference Delta n = n((3)H(4))-n((3)F(4)) involved in the optical transition of Tm(3+) (S-band) was calculated by solving the rate equations of the system for continuous pumping with laser at 792 nm, using the Runge-Kutta numerical method including terms of fourth order. The population density inversion An as a function of Tb(3+) concentration was calculated by computational simulation for three pumping intensities, 0.2, 2.2 and 4.4 kWcm(-2). These calculations were performed using the experimental Tm -> Tb transfer rates and the optical constants of the Tm (0.1 mol%) system. It was demonstrated that 0.2 mol% of Tb(3+) propitiates best population density inversion of Tin(3+) maximizing the amplification coefficient of Tm-doped (0.1 mol%) GLKZ glass when operating as laser intensity amplification at 1.47 mu m. (C) 2007 Elsevier B.V. All rights reserved.

Integration Methods Used in Numerical Simulations of Electromagnetic Transients

This paper made an analysis of some numerical integration methods that can be used in electromagnetic transient simulations. Among the existing methods, we analyzed the trapezoidal integration method (or Heun formula), Simpson's Rule and Runge-Kutta. These methods were used in simulations of electromagnetic transients in power systems, resulting from switching operations and maneuvers that occur in transmission lines. Analyzed the characteristics such as accuracy, computation time and robustness of the methods of integration.

Improved numerical approach for the time-independent Gross-Pitaevskii nonlinear Schrödinger equation

In the present work, we improve a numerical method, developed to solve the Gross-Pitaevkii nonlinear Schrödinger equation. A particular scaling is used in the equation, which permits us to evaluate the wave-function normalization after the numerical solution. We have a two-point boundary value problem, where the second point is taken at infinity. The differential equation is solved using the shooting method and Runge-Kutta integration method, requiring that the asymptotic constants, for the function and its derivative, be equal for large distances. In order to obtain fast convergence, the secant method is used. © 1999 The American Physical Society.

Three-dimensional transient complex free surface flows: Numerical simulation of XPP fluid

In this paper we present a finite difference MAC-type approach for solving three-dimensional viscoelastic incompressible free surface flows governed by the eXtended Pom-Pom (XPP) model, considering a wide range of parameters. The numerical formulation presented in this work is an extension to three-dimensions of our implicit technique [Journal of Non-Newtonian Fluid Mechanics 166 (2011) 165-179] for solving two-dimensional viscoelastic free surface flows. To enhance the stability of the numerical method, we employ a combination of the projection method with an implicit technique for treating the pressure on the free surfaces. The differential constitutive equation of the fluid is solved using a second-order Runge-Kutta scheme. The numerical technique is validated by performing a mesh refinement study on a pipe flow, and the numerical results presented include the simulation of two complex viscoelastic free surface flows: extrudate-swell problem and jet buckling phenomenon. © 2013 Elsevier B.V.

Análise e demonstração do comportamento do escoamento bifásico gás-sólido

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Numerical solution of the FENE-CR model in complex flows

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)