Optimal location of centre of gravity for swashplateless helicopter UAV and MAV

To investigate the use of centre of gravity location on reducing cyclic pitch control for helicopter UAV's (unmanned air vehicles) and MAV's (micro air vehicles). Low cyclic pitch is a necessity to implement the swashplateless rotor concept using trailing edge flaps or active twist using current generation low authority piezoceramic actuators. Design/methodology/approach – An aeroelastic analysis of the helicopter rotor with elastic blades is used to perform parametric and sensitivity studies of the effects of longitudinal and lateral center of gravity (cg) movements on the main rotor cyclic pitch. An optimization approach is then used to find cg locations which reduce the cyclic pitch at a given forward speed. Findings – It is found that the longitudinal cyclic pitch and lateral cyclic pitch can be driven to zero at a given forward speed by shifting the cg forward and to the port side, respectively. There also exist pairs of numbers for the longitudinal and lateral cg locations which drive both the cyclic pitch components to zero at a given forward speed. Based on these results, a compromise optimal cg location is obtained such that the cyclic pitch is bounded within ±5° for a BO105 helicopter rotor. Originality/value – The reduction in the cyclic pitch due to helicopter cg location is found to significantly reduce the maximum magnitudes of the control angles in flight, facilitating the swashplateless rotor concept. In addition, the existence of cg locations which drive the cyclic pitches to zero allows for the use of active cg movement as a way to replace the cyclic pitch control for helicopter MAV's.

Seismic stability of a long unsupported circular tunnel

The stability of a long unsupported circular tunnel (opening) in a cohesive frictional soil has been assessed with the inclusion of pseudo-static horizontal earthquake body forces. The analysis has been performed under plane strain conditions by using upper bound finite element limit analysis in combination with a linear optimization procedure. The results have been presented in the form of a non-dimensional stability number (gamma H-max/c); where H = tunnel cover, c refers to soil cohesion and gamma(max) is the maximum unit weight of soil mass which the tunnel can support without collapse. The results have been obtained for various values of H/D (D = diameter of the tunnel), internal friction angle (phi) of soil, and the horizontal earthquake acceleration coefficient (alpha(h)). The computations reveal that the values of the stability numbers (i) decrease quite significantly with an increase in alpha(h), and (ii) become continuously higher for greater values of H/D and phi. As expected, the failure zones around the periphery of the tunnel becomes always asymmetrical with an inclusion of horizontal seismic body forces. (c) 2012 Elsevier Ltd. All rights reserved.

General-sum stochastic games: Verifiability conditions for Nash equilibria

Unlike zero-sum stochastic games, a difficult problem in general-sum stochastic games is to obtain verifiable conditions for Nash equilibria. We show in this paper that by splitting an associated non-linear optimization problem into several sub-problems, characterization of Nash equilibria in a general-sum discounted stochastic games is possible. Using the aforementioned sub-problems, we in fact derive a set of necessary and sufficient verifiable conditions (termed KKT-SP conditions) for a strategy-pair to result in Nash equilibrium. Also, we show that any algorithm which tracks the zero of the gradient of the Lagrangian of every sub-problem provides a Nash strategy-pair. (c) 2012 Elsevier Ltd. All rights reserved.

Time variant reliability model updating in instrumented dynamical systems based on Girsanov's transformation

The problem of updating the reliability of instrumented structures based on measured response under random dynamic loading is considered. A solution strategy within the framework of Monte Carlo simulation based dynamic state estimation method and Girsanov's transformation for variance reduction is developed. For linear Gaussian state space models, the solution is developed based on continuous version of the Kalman filter, while, for non-linear and (or) non-Gaussian state space models, bootstrap particle filters are adopted. The controls to implement the Girsanov transformation are developed by solving a constrained non-linear optimization problem. Numerical illustrations include studies on a multi degree of freedom linear system and non-linear systems with geometric and (or) hereditary non-linearities and non-stationary random excitations.

Linearization of Drucker-Prager yield criterion for axisymmetric problems: implementation in lower-bound limit analysis

The linearization of the Drucker-Prager yield criterion associated with an axisymmetric problem has been achieved by simulating a sphere with the truncated icosahedron with 32 faces and 60 vertices. On this basis, a numerical formulation has been proposed for solving an axisymmetric stability problem with the usage of the lower-bound limit analysis, finite elements, and linear optimization. To compare the results, the linearization of the Mohr-Coulomb yield criterion, by replacing the three cones with interior polyhedron, as proposed earlier by Pastor and Turgeman for an axisymmetric problem, has also been implemented. The two formulations have been applied for determining the collapse loads for a circular footing resting on a cohesive-friction material with nonzero unit weight. The computational results are found to be quite convincing. (C) 2013 American Society of Civil Engineers.

Time variant reliability model updating in instrumented dynamical systems based on Girsanov’s transformation

The problem of updating the reliability of instrumented structures based on measured response under random dynamic loading is considered. A solution strategy within the framework of Monte Carlo simulation based dynamic state estimation method and Girsanov’s transformation for variance reduction is developed. For linear Gaussian state space models, the solution is developed based on continuous version of the Kalman filter, while, for non-linear and (or) non-Gaussian state space models, bootstrap particle filters are adopted. The controls to implement the Girsanov transformation are developed by solving a constrained non-linear optimization problem. Numerical illustrations include studies on a multi degree of freedom linear system and non-linear systems with geometric and (or) hereditary non-linearities and non-stationary random excitations.

Vertical uplift resistance of two closely spaced horizontal strip anchors embedded in cohesive-frictional weightless medium

The vertical uplift resistance of two closely spaced horizontal strip plate anchors has been investigated by using lower and upper bound theorems of the limit analysis in combination with finite elements and linear optimization. The interference effect on uplift resistance of the two anchors is evaluated in terms of a nondimensional efficiency factor (eta(c)). The variation of eta(c) with changes in the clear spacing (S) between the two anchors has been established for different combinations of embedment ratio (H/B) and angle of internal friction of the soil (phi). An interference of the anchors leads to a continuous reduction in uplift resistance with a decrease in spacing between the anchors. The uplift resistance becomes a minimum when the two anchors are placed next to each other without any gap. The critical spacing (S-cr) between the two anchors required to eliminate the interference effect increases with an increase in the values of both H/B and phi. The value of S-cr was found to lie approximately in the range 0.65B-1.5B with H/B = 1 and 11B-14B with H/B = 7 for phi varying from 0 degrees to 30 degrees.

Vertical Uplift Resistance of Two Interfering Horizontal Anchors in Clay

The vertical uplift resistance of two interfering rigid strip plate anchors embedded horizontally at the same level in clay has been examined. The lower and upper bound theorems of the limit analysis in combination with finite-elements and linear optimization have been employed to compute the failure load in a bound form. The analysis is meant for an undrained condition and it incorporates the increase of cohesion with depth. For different clear spacing (S) between the anchors, the magnitude of the efficiency factor (eta c gamma) resulting from the combined components of soil cohesion (c) and soil unit weight (gamma), has been computed for different values of embedment ratio (H/B), the rate of linear increase of cohesion with depth (m) and normalized unit weight (gamma H/c). The magnitude of eta c gamma has been found to reduce continuously with a decrease in the spacing between the anchors, and the uplift resistance becomes minimum for S/B=0. It has been noted that the critical spacing between the anchors required to eliminate the interference effect increases continuously with (1) an increase in H/B, and (2) a decrease in m.

PolyGLoT: A Polyhedral Loop Transformation Framework for a Graphical Dataflow Language

Polyhedral techniques for program transformation are now used in several proprietary and open source compilers. However, most of the research on polyhedral compilation has focused on imperative languages such as C, where the computation is specified in terms of statements with zero or more nested loops and other control structures around them. Graphical dataflow languages, where there is no notion of statements or a schedule specifying their relative execution order, have so far not been studied using a powerful transformation or optimization approach. The execution semantics and referential transparency of dataflow languages impose a different set of challenges. In this paper, we attempt to bridge this gap by presenting techniques that can be used to extract polyhedral representation from dataflow programs and to synthesize them from their equivalent polyhedral representation. We then describe PolyGLoT, a framework for automatic transformation of dataflow programs which we built using our techniques and other popular research tools such as Clan and Pluto. For the purpose of experimental evaluation, we used our tools to compile LabVIEW, one of the most widely used dataflow programming languages. Results show that dataflow programs transformed using our framework are able to outperform those compiled otherwise by up to a factor of seventeen, with a mean speed-up of 2.30x while running on an 8-core Intel system.

Pullout capacity of inclined plate anchors embedded in sand

The pullout capacity of an inclined strip plate anchor embedded in sand has been determined by using the lower bound theorem of the limit analysis in combination with finite elements and linear optimization. The numerical results in the form of pullout factors have been presented by changing gradually the inclination of the plate from horizontal to vertical. The pullout resistance increases significantly with an increase in the horizontal inclination (theta) of the plate especially for theta > 30 degrees. The effect of the anchor plate-soil interface friction angle (delta) on the pullout resistance becomes extensive for a vertical anchor but remains insignificant for a horizontal anchor. The development of the failure zone around the anchor plates was also studied by varying theta and delta. The results from the analysis match well with the theoretical and experimental results reported in literature.

Bearing capacity of circular foundations reinforced with geogrid sheets

The ultimate bearing capacity of a circular footing, placed over a soil mass which is reinforced with horizontal layers of circular reinforcement sheets, has been determined by using the upper bound theorem of the limit analysis in conjunction with finite elements and linear optimization. For performing the analysis, three different soil media have been separately considered, namely, (i) fully granular, (ii) cohesive frictional, and (iii) fully cohesive with an additional provision to account for an increase of cohesion with depth. The reinforcement sheets are assumed to be structurally strong to resist axial tension but without having any resistance to bending; such an approximation usually holds good for geogrid sheets. The shear failure between the reinforcement sheet and adjoining soil mass has been considered. The increase in the magnitudes of the bearing capacity factors (N-c and N-gamma) with an inclusion of the reinforcement has been computed in terms of the efficiency factors eta(c) and eta(gamma). The results have been obtained (i) for different values of phi in case of fully granular (c=0) and c-phi soils, and (ii) for different rates (m) at which the cohesion increases with depth for a purely cohesive soil (phi=0 degrees). The critical positions and corresponding optimum diameter of the reinforcement sheets, for achieving the maximum bearing capacity, have also been established. The increase in the bearing capacity with an employment of the reinforcement increases continuously with an increase in phi. The improvement in the bearing capacity becomes quite extensive for two layers of the reinforcements as compared to the single layer of the reinforcement. The results obtained from the study are found to compare well with the available theoretical and experimental data reported in literature. (C) 2014 The Japanese Geotechnical Society. Production and hosting by Elsevier B.V. All rights reserved.

Bearing Capacity of Circular Footings on Reinforced Soils

A method is presented for determining the ultimate bearing capacity of a circular footing reinforced with a horizontal circular sheet of reinforcement placed over granular and cohesive-frictional soils. It was assumed that the reinforcement sheet could bear axial tension but not the bending moment. The analysis was performed based on the lower-bound theorem of the limit analysis in combination with finite elements and linear optimization. The present research is an extension of recent work with strip foundations reinforced with different layers of reinforcement. To incorporate the effect of the reinforcement, the efficiency factors eta(gamma) and eta(c), which need to be multiplied by the bearing capacity factors N-gamma and N-c, were established. Results were obtained for different values of the soil internal friction angle (phi). The optimal positions of the reinforcements, which would lead to a maximum improvement in the bearing capacity, were also determined. The variations of the axial tensile force in the reinforcement sheet at different radial distances from the center were also studied. The results of the analysis were compared with those available from literature. (C) 2014 American Society of Civil Engineers.

A Simple Label Switching Algorithm for Semisupervised Structural SVMs

In structured output learning, obtaining labeled data for real-world applications is usually costly, while unlabeled examples are available in abundance. Semisupervised structured classification deals with a small number of labeled examples and a large number of unlabeled structured data. In this work, we consider semisupervised structural support vector machines with domain constraints. The optimization problem, which in general is not convex, contains the loss terms associated with the labeled and unlabeled examples, along with the domain constraints. We propose a simple optimization approach that alternates between solving a supervised learning problem and a constraint matching problem. Solving the constraint matching problem is difficult for structured prediction, and we propose an efficient and effective label switching method to solve it. The alternating optimization is carried out within a deterministic annealing framework, which helps in effective constraint matching and avoiding poor local minima, which are not very useful. The algorithm is simple and easy to implement. Further, it is suitable for any structured output learning problem where exact inference is available. Experiments on benchmark sequence labeling data sets and a natural language parsing data set show that the proposed approach, though simple, achieves comparable generalization performance.

Bearing Capacity Factors for Ring Foundations

Bearing capacity factors because of the components of cohesion, surcharge, and unit weight, respectively, have been computed for smooth and rough ring footings for different combinations of r(i)= r(o) and. by using lower and upper bound theorems of the limit analysis in conjunction with finite elements and linear optimization, where r(i) and r(o) refer to the inner and outer radii of the ring, respectively. It is observed that for a smooth footing with a given value of r(o), the magnitude of the collapse load decreases continuously with an increase in r(i). Conversely, for a rough base, for a given value of r(o), hardly any reduction occurs in the magnitude of the collapse load up to r(i)= r(o) approximate to 0.2, whereas for r(i)= r(o) > 0.2, the magnitude of the collapse load, similar to that of a smooth footing, decreases continuously with an increase in r(i)= r(o). The results from the analysis compare reasonably well with available theoretical and experimental data from the literature. (C) 2015 American Society of Civil Engineers.

Bearing capacity of a circular foundation on layered sand-clay media

The bearing capacity of a circular footing lying over fully cohesive strata, with an overlaying sand layer, is computed using the axisymmetric lower bound limit analysis with finite elements and linear optimization. The effects of the thickness and the internal friction angle of the sand are examined for different combinations of c(u)/(gamma b) and q, where c(u)=the undrained shear strength of the cohesive strata, gamma=the unit weight of either layer, b=the footing radius, and q=the surcharge pressure. The results are given in the form of a ratio (eta) of the bearing capacity with an overlaying sand layer to that for a footing lying directly over clayey strata. An overlaying medium dense to dense sand layer considerably improves the bearing capacity. The improvement continuously increases with decreases in c(u)/(gamma b) and increases in phi and q/(gamma b). A certain optimum thickness of the sand layer exists beyond which no further improvement occurs. This optimum thickness increases with an increase in 0 and q and with a decrease in c(u)/(gamma b). Failure patterns are also drawn to examine the inclusion of the sand layer. (C) 2015 The Japanese Geotechnical Society. Production and hosting by Elsevier B.V. All rights reserved.