The time finite element as a robust general scheme for solving nonlinear dynamic equations including chaotic systems

Schemes that can be proven to be unconditionally stable in the linear context can yield unstable solutions when used to solve nonlinear dynamical problems. Hence, the formulation of numerical strategies for nonlinear dynamical problems can be particularly challenging. In this work, we show that time finite element methods because of their inherent energy momentum conserving property (in the case of linear and nonlinear elastodynamics), provide a robust time-stepping method for nonlinear dynamic equations (including chaotic systems). We also show that most of the existing schemes that are known to be robust for parabolic or hyperbolic problems can be derived within the time finite element framework; thus, the time finite element provides a unification of time-stepping schemes used in diverse disciplines. We demonstrate the robust performance of the time finite element method on several challenging examples from the literature where the solution behavior is known to be chaotic. (C) 2015 Elsevier Inc. All rights reserved.

The time finite element as a robust general scheme for solving nonlinear dynamic equations including chaotic systems

Schemes that can be proven to be unconditionally stable in the linear context can yield unstable solutions when used to solve nonlinear dynamical problems. Hence, the formulation of numerical strategies for nonlinear dynamical problems can be particularly challenging. In this work, we show that time finite element methods because of their inherent energy momentum conserving property (in the case of linear and nonlinear elastodynamics), provide a robust time-stepping method for nonlinear dynamic equations (including chaotic systems). We also show that most of the existing schemes that are known to be robust for parabolic or hyperbolic problems can be derived within the time finite element framework; thus, the time finite element provides a unification of time-stepping schemes used in diverse disciplines. We demonstrate the robust performance of the time finite element method on several challenging examples from the literature where the solution behavior is known to be chaotic. (C) 2015 Elsevier Inc. All rights reserved.

Numerical investigation of dynamic stall of an oscillating aerofoil

The flow structure around an NACA 0012 aerofoil oscillating in pitch around the quarter-chord is numerically investigated by solving the two-dimensional compressible N-S equations using a special matrix-splitting scheme. This scheme is of second-order accuracy in time and space and is computationally more efficient than the conventional flux-splitting scheme. A 'rigid' C-grid with 149 x 51 points is used for the computation of unsteady flow. The freestream Mach number varies from 0.2 to 0.6 and the Reynolds number from 5000 to 20,000. The reduced frequency equals 0.25-0.5. The basic flow structure of dynamic stall is described and the Reynolds number effect on dynamic stall is briefly discussed. The influence of the compressibility on dynamic stall is analysed in detail. Numerical results show that there is a significant influence of the compressibility on the formation and convection of the dynamic stall vortex. There is a certain influence of the Reynolds number on the flow structure. The average convection velocity of the dynamic stall vortex is approximately 0.348 times the freestream velocity.

Formal methods for control synthesis in partially observed environments : application to autonomous robotic manipulation

Modern robots are increasingly expected to function in uncertain and dynamically challenging environments, often in proximity with humans. In addition, wide scale adoption of robots requires on-the-fly adaptability of software for diverse application. These requirements strongly suggest the need to adopt formal representations of high level goals and safety specifications, especially as temporal logic formulas. This approach allows for the use of formal verification techniques for controller synthesis that can give guarantees for safety and performance. Robots operating in unstructured environments also face limited sensing capability. Correctly inferring a robot's progress toward high level goal can be challenging.

This thesis develops new algorithms for synthesizing discrete controllers in partially known environments under specifications represented as linear temporal logic (LTL) formulas. It is inspired by recent developments in finite abstraction techniques for hybrid systems and motion planning problems. The robot and its environment is assumed to have a finite abstraction as a Partially Observable Markov Decision Process (POMDP), which is a powerful model class capable of representing a wide variety of problems. However, synthesizing controllers that satisfy LTL goals over POMDPs is a challenging problem which has received only limited attention.

This thesis proposes tractable, approximate algorithms for the control synthesis problem using Finite State Controllers (FSCs). The use of FSCs to control finite POMDPs allows for the closed system to be analyzed as finite global Markov chain. The thesis explicitly shows how transient and steady state behavior of the global Markov chains can be related to two different criteria with respect to satisfaction of LTL formulas. First, the maximization of the probability of LTL satisfaction is related to an optimization problem over a parametrization of the FSC. Analytic computation of gradients are derived which allows the use of first order optimization techniques.

The second criterion encourages rapid and frequent visits to a restricted set of states over infinite executions. It is formulated as a constrained optimization problem with a discounted long term reward objective by the novel utilization of a fundamental equation for Markov chains - the Poisson equation. A new constrained policy iteration technique is proposed to solve the resulting dynamic program, which also provides a way to escape local maxima.

The algorithms proposed in the thesis are applied to the task planning and execution challenges faced during the DARPA Autonomous Robotic Manipulation - Software challenge.

Dynamic optical coupled system employing even-numbered Dammann gratings

Dammann gratings are well known for their ability to generate arrays of Lmiform-intensity beams from an incoming monochromatic beam. We apply the even-numbered Dammann grating to achieve dynamic optical coupled technology. A 1 x N dynamic optical coupled system is developed by employing two complementary even-numbered Dammann gratings. With this system we can achieve a beam splitter and combiner as a switch between them according to the relative shift between the gratings. Also, this system is a preferable approach in integral packaging. More importantly, this device has the potential to be applied to the splitting of a large array, e.g., 8 x 16 array and 64 x 64 array, which is difficult to be realized with conventional splitting methods. We experimentally demonstrated a 1 x 8 coupler at the wavelength of 1550 nm. Furthermore we analyze the effects of the alignment errors between gratings and the wavelength-dependent error on efficiency and uniformity. The experimental results and the influence of alignment error and wavelength-dependent error are analyzed in detail. (c) 2006 Optical Society of America.

The application of methods of ecosystem analysis to the evaluation of water quality

Guided by experience and the theoretical development of hydrobiology, it can be considered that the main aim of water quality control should be the establishment of the rates of the self-purification process of water bodies which are capable of maintaining communities in a state of dynamic balance without changing the integrity of the ecosystem. Hence, general approaches in the elaboration of methods for hydrobiological control are based on the following principles: a. the balance of matter and energy in water bodies; b. the integrity of the ecosystem structure and of its separate components at all levels. Ecosystem analysis makes possible a revelation of the whole totality of factors which determine the anthropogenic evolution of a water body. This is necessary for the study of long-term changes in water bodies. The principles of ecosystem analysis of water bodies, together with the creation of their mathematical models, are important because, in future, with the transition of water demanding production into closed cycles of water supply, changes in water bodies will arise in the main through the influence of 'diffuse' pollution (from the atmosphere, with utilisation in transport etc.).

DIFFERENTIAL GEOMETRICAL METHODS IN THE STUDY OF OPTICAL-TRANSMISSION (SCALAR THEORY) .1. STATIC TRANSMISSION CASE

Static optical transmission is restudied by postulation of the optical path as the proper element in a three-dimensional Riemannian manifold (no torsion); this postulation can be applied to describe the light-medium interactive system. On the basis of the postulation, the behaviors of light transmitting through the medium with refractive index n are investigated, the investigation covering the realms of both geometrical optics and wave optics. The wave equation of light in static transmission is studied modally, the postulation being employed to derive the exact form of the optical field equation in a medium (in which the light is viewed as a single-component field). Correspondingly, the relationships concerning the conservation of optical fluid and the dynamic properties are given, and some simple applications of the theories mentioned are presented.

THEORETICAL ROAD DAMAGE DUE TO DYNAMIC TYRE FORCES OF HEAVY VEHICLES. PART 1: DYNAMIC ANALYSIS OF VEHICLES AND ROAD SURFACES.

Theory is presented for simulating the dynamic wheel forces generated by heavy road vehicles and the resulting dynamic response of road surfaces to these loads. Sample calculations are provided and the vehicle simulation is validated with data from full-scale tests. The methods are used in the accompanying paper to simulate the road damage done by a tandem-axle vehicle.

THEORETICAL ROAD DAMAGE DUE TO DYNAMIC TYRE FORCES OF HEAVY VEHICLES. PART 2: SIMULATED DAMAGE CAUSED BY A TANDEM-AXLE VEHICLE.

The literature relating to road surface failure and design is briefly reviewed and the conventional methods for assessing the road damaging effects of dynamic tire forces are examined. A new time domain technique for analyzing dynamic tire forces and four associated road damage criteria are presented. The force criteria are used to examine the road damaging characteristics of a simple tandem-axle vehicle model for a range of speed and road roughness conditions. It is concluded that for the proposed criteria, the theoretical service life of road surfaces that are prone to fatigue failure may be reduced significantly by the dynamic component of wheel forces. The damage done to approximately five per cent of the road surface area during the passage of a theoretical model vehicle at typical highway speeds may be increased by as much as four times.

Centrifuge modelling-based verification of response spectra design methods for some vulnerable structures

Residential RC framed structures suffered heavily during the 2001 Bhuj earthquake in Gujarat, India. These types of structures also saw severe damage in other earthquakes such as the 1999 Kocaeli earthquake in Turkey and 921 Ji-Ji earthquake in Taiwan. In this paper the seismic response of residential structures was investigated using physical modelling. Idealised soft storey and top heavy, two degrees of freedom (2DOF) portal frame structures were developed and tested on saturated and dry sand models at 25 g using the Schofield Centre 10-m Beam Centrifuge. It was possible to recreate observed field behaviour using these models. As observed in many of the recent earthquakes, soft storey structures were found to be particularly vulnerable to seismic loads. Elastic response spectra methods are often used in the design of simple portal frame structures. The seismic risk of these structures can be significantly increased due to modifications such as removal of a column or addition of heavy water tanks on the roof. The experimental data from the dynamic centrifuge tests on such soft storey or top-heavy models was used to evaluate the predictions obtained from the response spectra. Response spectra were able to predict seismic response during small to moderate intensity earthquakes, but became inaccurate during strong earthquakes and when soil structure interaction effects became important. Re-evaluation of seismic risk of such modified structures is required and time domain analyses suggested by building codes such as IBC, UBC or NEHRP may be more appropriate. © Springer 2006.

A comparison of methods for the coupled analysis of floating structures

The dynamic analysis of a deepwater floating platform and the associated mooring/riser system should ideally be fully coupled to ensure a reliable response prediction. It is generally held that a time domain analysis is the only means of capturing the various coupling and nonlinear effects accurately. However, in recent work it has been found that for an ultra-deepwater floating system (2000m water depth), the highly efficient frequency domain approach can provide highly accurate response predictions. One reason for this is the accuracy of the drag linearization procedure over both first and second order motions, another reason is the minimal geometric nonlinearity displayed by the mooring lines in deepwater. In this paper, the aim is to develop an efficient analysis method for intermediate water depths, where both mooring/vessel coupling and geometric nonlinearity are of importance. It is found that the standard frequency domain approach is not so accurate for this case and two alternative methods are investigated. In the first, an enhanced frequency domain approach is adopted, in which line nonlinearities are linearized in a systematic way. In the second, a hybrid approach is adopted in which the low frequency motion is solved in the time domain while the high frequency motion is solved in the frequency domain; the two analyses are coupled by the fact that (i) the low frequency motion affects the mooring line geometry for the high frequency motion, and (ii) the high frequency motion affects the drag forces which damp the low frequency motion. The accuracy and efficiency of each of the methods are systematically compared. Copyright © 2007 by ASME.