Abstract splines in Krein spaces

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Implementación de movimientos suaves en robots industriales mediante splines cúbicos: aplicación a un laboratorio remoto de robótica

La solución a los problemas de disponibilidad horaria para la realización de sesiones prácticas por parte de los estudiantes se encuentra en los laboratorios remotos, que permiten a estos interactuar con los elementos instalados en los laboratorios sin necesidad de estar presentes físicamente. Este proyecto pretende crear un laboratorio remoto para la asignatura “Robótica y Automatización Industrial” impartida en la ETSE, UAB, en el cual los estudiantes puedan ejecutar trayectorias de tipo spline cúbico en un brazo robot y observar a través de vídeo en tiempo real los movimientos del robot desde cualquier lugar con conexión a Internet.

Modélisation bayésienne avec des splines du comportement moyen d'un échantillon de courbes

Cette thèse porte sur l'analyse bayésienne de données fonctionnelles dans un contexte hydrologique. L'objectif principal est de modéliser des données d'écoulements d'eau d'une manière parcimonieuse tout en reproduisant adéquatement les caractéristiques statistiques de celles-ci. L'analyse de données fonctionnelles nous amène à considérer les séries chronologiques d'écoulements d'eau comme des fonctions à modéliser avec une méthode non paramétrique. Dans un premier temps, les fonctions sont rendues plus homogènes en les synchronisant. Ensuite, disposant d'un échantillon de courbes homogènes, nous procédons à la modélisation de leurs caractéristiques statistiques en faisant appel aux splines de régression bayésiennes dans un cadre probabiliste assez général. Plus spécifiquement, nous étudions une famille de distributions continues, qui inclut celles de la famille exponentielle, de laquelle les observations peuvent provenir. De plus, afin d'avoir un outil de modélisation non paramétrique flexible, nous traitons les noeuds intérieurs, qui définissent les éléments de la base des splines de régression, comme des quantités aléatoires. Nous utilisons alors le MCMC avec sauts réversibles afin d'explorer la distribution a posteriori des noeuds intérieurs. Afin de simplifier cette procédure dans notre contexte général de modélisation, nous considérons des approximations de la distribution marginale des observations, nommément une approximation basée sur le critère d'information de Schwarz et une autre qui fait appel à l'approximation de Laplace. En plus de modéliser la tendance centrale d'un échantillon de courbes, nous proposons aussi une méthodologie pour modéliser simultanément la tendance centrale et la dispersion de ces courbes, et ce dans notre cadre probabiliste général. Finalement, puisque nous étudions une diversité de distributions statistiques au niveau des observations, nous mettons de l'avant une approche afin de déterminer les distributions les plus adéquates pour un échantillon de courbes donné.

Utilisation de splines monotones afin de condenser des tables de mortalité dans un contexte bayésien

Dans ce mémoire, nous cherchons à modéliser des tables à deux entrées monotones en lignes et/ou en colonnes, pour une éventuelle application sur les tables de mortalité. Nous adoptons une approche bayésienne non paramétrique et représentons la forme fonctionnelle des données par splines bidimensionnelles. L’objectif consiste à condenser une table de mortalité, c’est-à-dire de réduire l’espace d’entreposage de la table en minimisant la perte d’information. De même, nous désirons étudier le temps nécessaire pour reconstituer la table. L’approximation doit conserver les mêmes propriétés que la table de référence, en particulier la monotonie des données. Nous travaillons avec une base de fonctions splines monotones afin d’imposer plus facilement la monotonie au modèle. En effet, la structure flexible des splines et leurs dérivées faciles à manipuler favorisent l’imposition de contraintes sur le modèle désiré. Après un rappel sur la modélisation unidimensionnelle de fonctions monotones, nous généralisons l’approche au cas bidimensionnel. Nous décrivons l’intégration des contraintes de monotonie dans le modèle a priori sous l’approche hiérarchique bayésienne. Ensuite, nous indiquons comment obtenir un estimateur a posteriori à l’aide des méthodes de Monte Carlo par chaînes de Markov. Finalement, nous étudions le comportement de notre estimateur en modélisant une table de la loi normale ainsi qu’une table t de distribution de Student. L’estimation de nos données d’intérêt, soit la table de mortalité, s’ensuit afin d’évaluer l’amélioration de leur accessibilité.

Priors Stabilizers and Basis Functions: From Regularization to Radial, Tensor and Additive Splines

We had previously shown that regularization principles lead to approximation schemes, as Radial Basis Functions, which are equivalent to networks with one layer of hidden units, called Regularization Networks. In this paper we show that regularization networks encompass a much broader range of approximation schemes, including many of the popular general additive models, Breiman's hinge functions and some forms of Projection Pursuit Regression. In the probabilistic interpretation of regularization, the different classes of basis functions correspond to different classes of prior probabilities on the approximating function spaces, and therefore to different types of smoothness assumptions. In the final part of the paper, we also show a relation between activation functions of the Gaussian and sigmoidal type.

Bayesian analysis of random regression models using B-splines to model test-day milk yield of Holstein cattle in Brazil

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Random regression analyses using B-splines functions to model growth from birth to adult age in Canchim cattle

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Otimização de forma aplicando B-splines sob critério integral de tensões

This work proposes a computational methodology to solve problems of optimization in structural design. The application develops, implements and integrates methods for structural analysis, geometric modeling, design sensitivity analysis and optimization. So, the optimum design problem is particularized for plane stress case, with the objective to minimize the structural mass subject to a stress criterion. Notice that, these constraints must be evaluated at a series of discrete points, whose distribution should be dense enough in order to minimize the chance of any significant constraint violation between specified points. Therefore, the local stress constraints are transformed into a global stress measure reducing the computational cost in deriving the optimal shape design. The problem is approximated by Finite Element Method using Lagrangian triangular elements with six nodes, and use a automatic mesh generation with a mesh quality criterion of geometric element. The geometric modeling, i.e., the contour is defined by parametric curves of type B-splines, these curves hold suitable characteristics to implement the Shape Optimization Method, that uses the key points like design variables to determine the solution of minimum problem. A reliable tool for design sensitivity analysis is a prerequisite for performing interactive structural design, synthesis and optimization. General expressions for design sensitivity analysis are derived with respect to key points of B-splines. The method of design sensitivity analysis used is the adjoin approach and the analytical method. The formulation of the optimization problem applies the Augmented Lagrangian Method, which convert an optimization problem constrained problem in an unconstrained. The solution of the Augmented Lagrangian function is achieved by determining the analysis of sensitivity. Therefore, the optimization problem reduces to the solution of a sequence of problems with lateral limits constraints, which is solved by the Memoryless Quasi-Newton Method It is demonstrated by several examples that this new approach of analytical design sensitivity analysis of integrated shape design optimization with a global stress criterion purpose is computationally efficient

Using cubic splines to mitigate systematic errors in GPS relative positioning

Systematic errors can have a significant effect on GPS observable. In medium and long baselines the major systematic error source are the ionosphere and troposphere refraction and the GPS satellites orbit errors. But, in short baselines, the multipath is more relevant. These errors degrade the accuracy of the positioning accomplished by GPS. So, this is a critical problem for high precision GPS positioning applications. Recently, a method has been suggested to mitigate these errors: the semiparametric model and the penalised least squares technique. It uses a natural cubic spline to model the errors as a function which varies smoothly in time. The systematic errors functions, ambiguities and station coordinates, are estimated simultaneously. As a result, the ambiguities and the station coordinates are estimated with better reliability and accuracy than the conventional least square method.

Random regression models using Legendre polynomials or linear splines for test-day milk yield of dairy Gyr (Bos indicus) cattle

Studies investigating the use of random regression models for genetic evaluation of milk production in Zebu cattle are scarce. In this study, 59,744 test-day milk yield records from 7,810 first lactations of purebred dairy Gyr (Bos indicus) and crossbred (dairy Gyr × Holstein) cows were used to compare random regression models in which additive genetic and permanent environmental effects were modeled using orthogonal Legendre polynomials or linear spline functions. Residual variances were modeled considering 1, 5, or 10 classes of days in milk. Five classes fitted the changes in residual variances over the lactation adequately and were used for model comparison. The model that fitted linear spline functions with 6 knots provided the lowest sum of residual variances across lactation. On the other hand, according to the deviance information criterion (DIC) and Bayesian information criterion (BIC), a model using third-order and fourth-order Legendre polynomials for additive genetic and permanent environmental effects, respectively, provided the best fit. However, the high rank correlation (0.998) between this model and that applying third-order Legendre polynomials for additive genetic and permanent environmental effects, indicates that, in practice, the same bulls would be selected by both models. The last model, which is less parameterized, is a parsimonious option for fitting dairy Gyr breed test-day milk yield records. © 2013 American Dairy Science Association.

O uso de Thin-Plate Splines na transformação de coordenadas com modelagem de distorções entre realizações de referenciais geodésicos

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Transformação de coordenadas com modelagem de distorções entre SAD69 e SIRGAS2000 com o uso de Thin-Plate Splines

Several countries have been passed by change processes in their fundamental geodesic structure with the focus on the adoption of geocentric reference systems. In Brazil, the adoption of the SIRGAS2000 evolves the coexistence of two realizations from the COrrego Alegre system, two realizations from the SAD69 system and one realization from the SIRGAS2000 system. To make use of products in the old reference systems, methods of coordinate transformation between the existent reference frames are necessary. So, in this paper one solution for the transformation between coordinates from different reference frames, based on Thin-Plate Splines (TPS), that allows the estimation of parameters from one linear transformation and also one non-linear model is presented. The TPS model was developed to work with tridimensional coordinates and in this paper the results and analysis are performed with simulated data and also with data from the official Brazilian Geodetic System (SGB). In the check points from SAD69 stations (realization of 1996 - SAD69/96), the values of RMSE obtained were of 78,2 mm in latitude and 67,5 mm in longitude, before the transformation to the SIRGAS2000. In the comparison between the TPS model and ProGriD (Brazilian software provided by IBGE), the statistical indicators were reduced in 97%, by using the TPS model. Based in the obtained results from real dataset, the TPS model appears to be promising, since it allows improving the quality of transformation process with simultaneous distortion modeling.

Bayesian analysis of random regression models using B-splines to model test-day milk yield of Holstein cattle in Brazil

The objective of this paper is to model variations in test-day milk yields of first lactations of Holstein cows by RR using B-spline functions and Bayesian inference in order to fit adequate and parsimonious models for the estimation of genetic parameters. They used 152,145 test day milk yield records from 7317 first lactations of Holstein cows. The model established in this study was additive, permanent environmental and residual random effects. In addition, contemporary group and linear and quadratic effects of the age of cow at calving were included as fixed effects. Authors modeled the average lactation curve of the population with a fourth-order orthogonal Legendre polynomial. They concluded that a cubic B-spline with seven random regression coefficients for both the additive genetic and permanent environment effects was to be the best according to residual mean square and residual variance estimates. Moreover they urged a lower order model (quadratic B-spline with seven random regression coefficients for both random effects) could be adopted because it yielded practically the same genetic parameter estimates with parsimony. (C) 2012 Elsevier B.V. All rights reserved.