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2020 IEEE Andescon Conference

作者： Flores, Ivan A. Calle Univ Nacl Ingn Mechatron Engn Lima Peru

ISBN: (纸本)9781728193656

For the autonomous navigation of mobile robots we need grid maps and probabilistic models to describe the world and the sensors' measurements. This work presents an efficient matlab implementation of grid maps and laser sensor likelihood models that can be used for both the rapid prototyping of autonomous navigation algorithms and the easy analysis of the impact of the several parameters of these models. The approach makes use of an object oriented approach and of vectorized operations wherever possible in order speed the velocity of execution. The main advantages of this library are the easy with wich the user can implement and analyze autonomous navigation algorithms which is demonstrated in the implementation of a localization algorithm using particle filters, and the low execution times that allow its use in real-time operations.

关键词： Occupancy grid maps range likelihood model matlab implementation real-time

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A numerical implementation for the high-order 2D virtual element method in matlab

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NUMERICAL ALGORITHMS 2023年第3期92卷 1707-1721页

作者： Herrera, Cesar Corrales-Barquero, Ricardo Arroyo-Esquivel, Jorge Calvo, Juan G. Univ Costa Rica Escuela Matemat San Jose Costa Rica Univ Calif Davis Dept Math Davis CA 95616 USA Univ Costa Rica CIMPA Escuela Matemat San Jose Costa Rica

We present a numerical implementation for the Virtual Element Method that incorporates high order spaces. We include all the required computations in order to assemble the stiffness and mass matrices, and right hand side. Convergence of the method is verified for different polygonal partitions. An specific mesh-free application that allows to approximate harmonic functions is discussed, which is based on high-order projections onto polynomial spaces of degree k;this approach only requires to solve a k(k - 1)/2 linear system, reducing significantly the number of operations compared to usual finite or virtual element methods, and can be modified for different virtual spaces and elliptic partial differential equations.

关键词： Virtual element methods Polygonal mesh matlab implementation Nodal elliptic problems

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HILBERT - a matlab implementation of adaptive 2D-BEM

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NUMERICAL ALGORITHMS 2014年第1期67卷 1-32页

作者： Aurada, Markus Ebner, Michael Feischl, Michael Ferraz-Leite, Samuel Fuehrer, Thomas Goldenits, Petra Karkulik, Michael Mayr, Markus Praetorius, Dirk Vienna Univ Technol A-1040 Vienna Austria Pontificia Univ Catolica Chile Santiago Chile Max Planck Inst Math Sci D-04103 Leipzig Germany

We report on the matlab program package HILBERT. It provides an easily-accessible implementation of lowest order adaptive Galerkin boundary element methods for the numerical solution of the Poisson equation in 2D. The library was designed to serve several purposes: The stable implementation of the integral operators may be used in research code. The framework of matlab ensures usability in lectures on boundary element methods or scientific computing. Finally, we emphasize the use of adaptivity as general concept and for boundary element methods in particular. In this work, we summarize recent analytical results on adaptivity in the context of BEM and illustrate the use of HILBERT. Various benchmarks are performed to empirically analyze the performance of the proposed adaptive algorithms and to compare adaptive and uniform mesh-refinements. In particular, we do not only focus on mathematical convergence behavior but also on the usage of critical system resources such as memory consumption and computational time. In any case, the superiority of the proposed adaptive approach is empirically supported.

关键词： Boundary element methods Adaptive mesh-refinement A posteriori error estimation matlab implementation

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matlab implementation in ZOOM FFT Technology Based on Analytic Signal and Band-Pass Filter

Matlab Implementation in ZOOM FFT Technology Based on Analyt...

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2014 International Conference on Energy Science and Applied Technology(ESAT 2014)

作者： Yuqing Zhao Yonghua Zhang Yue Zhang Faculty of Transportation Engineering Kunming University of Science and Technology Faculty of Engineering Technology Yunnan Agricultural University

ZOOM FFT technology is widely used in signal processing and modal analysis,it can improve frequency resolution,and amplify the characteristic curve in selected regions,makes the frequency characteristic of the system more clearly *** FFT technology based on analytic signal and band-pass filter has greatly improved than traditional methods,provides a new way to virtual instrument based on computer *** article discusses the application of matlab to achieve the ZOOM FFT.

关键词： ZOOM FFT analytic signal band-pass filter matlab implementation

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An open source matlab solver for contact finite element analysis

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ADVANCES IN ENGINEERING SOFTWARE 2025年 199卷

作者： Wang, Bin Bai, Jiantao Lu, Shanbin Zuo, Wenjie Jilin Univ Sch Mech & Aerosp Engn Changchun 130025 Peoples R China Jilin Univ Sch Automot Engn Changchun 130022 Peoples R China

Contact phenomenon widely exists in engineering, which is a high nonlinearity problem. However, the majority of open source contact finite element codes are written in C++, which are difficult for junior researchers to adopt and use. Therefore, this paper provides an open source 528-line matlab code and detailed interpretation for frictional contact finite element analysis considering large deformation, which is easy to learn and use by newcomers. This paper describes the contact projection, contact nodal forces and contact tangent stiffness matrices. The nonlinear equations are solved by the Newton-Raphson method. Numerical examples demonstrate the effectiveness of the matlab codes. The displacement, Cauchy stress and contact traction results are compared with the open-source software FEBIO.

关键词： Contact problems Finite element analysis Open source software matlab implementation Researcher development

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A matlab Software for Synchronous Robot Axis Control by Using Coordinate Transformation 22

A MATLAB Software for Synchronous Robot Axis Control by Usin...

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22nd International Conference on Research and Education in Mechatronics

作者： Graf, Tabea Sophie Biesenbach, Rolf Falkenhain, Jan Bochum Univ Appl Sci Inst Automat & Ind 4 0 Bochum Germany

ISBN: (纸本)9798331505981;9798331505974

The forward transformation of the Denavit-Hartenberg convention is applied to a 3D printed, six-axis industrial robot model developed for training purposes. For this purpose, the servomotors integrated in the system are coordinated via the higher-level matlab control software. In addition, the pulse width modulated signals (PWM) are transmitted to the individual control electronics of the servomotors using an Arduino Uno microcontroller. The focus of the programming concept is to implement a motion control system with a particular focus on the axis-synchronous control of the servomotors. Furthermore, the developed system is examined and validated with regard to the accuracy parameters relevant to robotics in terms of positioning and repetition accuracy. The software implementation is also evaluated. Finally, options for further optimization of the system environment are presented.

关键词： 3D print industrial robot model six-axis robot matlab implementation axis-synchronous movement control forward transformation Denavit-Hartenberg matrix training systemfor industrial robotics

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Topology Optimization of Anisotropic Materials with Smooth Fiber Orientation

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APPLIED SCIENCES-BASEL 2024年第13期14卷 5947页

作者： Jiang, Shaofei Shang, Chaofan Li, Jiquan Yi, Bing Peng, Xiang Zhejiang Univ Technol Coll Mech Engn Hangzhou 310023 Peoples R China Zhejiang Univ Technol Taizhou Inst Taizhou Key Lab Adv Mfg Technol Taizhou 318014 Peoples R China Cent South Univ Sch Traff & Transportat Engn Changsha 410083 Peoples R China

In the concurrent optimization of topology and fiber orientation, the design of smooth fiber helps to maintain the stability of numerical calculation and the compatibility of the manufacturing process. However, the improvement of fiber continuity is often accompanied by a significant decrease in the overall structural stiffness. Aiming at this problem, this paper proposes a topology optimization method for anisotropic materials with smooth fiber orientation. This method improves the smoothness of fiber orientation and reduces stiffness loss by introducing a fiber angle constraint strategy and adaptive filtering technology. The fiber angle constraint strategy integrates the created angle constraint function into the Method of Moving Asymptotes (MMA) to complete the strong constraint of the angle. This strategy quantifies the continuity of the fiber and effectively improves the continuity of the fiber. At the same time, the application of adaptive filtering technology can adjust a reasonable fiber angle distribution on the basis of smoothing fibers, thereby enhancing the stiffness of the overall structure. In addition, this paper shows the complete optimization process and matlab code implementation and verifies the effectiveness of the method through a series of numerical examples, that is, on the basis of improving fiber continuity, the stiffness of the whole structure is guaranteed, and then the effective balance between the two is realized.

关键词： topology optimization concurrent optimization fiber angle constraint adaptive filtering matlab implementation

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On the Solution of Contact Problems with Tresca Friction by the Semismooth* Newton Method 13th

On the Solution of Contact Problems with Tresca Friction by ...

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13th International Conference on Large-Scale ScientificComputations (LSSC)

作者： Gfrerer, Helmut Outrata, Jiri V. Valdman, Jan Johannes Kepler Univ Linz Inst Computat Math Linz Austria Czech Acad Sci Inst Informat Theory & Automat Prague Czech Republic Univ South Bohemia Dept Math Fac Sci Ceske Budejovice Czech Republic

ISBN: (纸本)9783030975494;9783030975487

An equilibrium of a linear elastic body subject to loading and satisfying the friction and contact conditions can be described by a variational inequality of the second kind and the respective discrete model attains the form of a generalized equation. To its numerical solution we apply the semismooth* Newton method by Gfrerer and Outrata (2019) in which, in contrast to most available Newton-type methods for inclusions, one approximates not only the single-valued but also the multi-valued part. This is performed on the basis of limiting (Morduchovich) coderivative. In our case of the Tresca friction, the multi-valued part amounts to the subdifferential of a convex function generated by the friction and contact conditions. The full 3D discrete problem is then reduced to the contact boundary. implementation details of the semismooth* Newton method are provided and numerical tests demonstrate its superlinear convergence and mesh independence.

关键词： Contact problems Tresca friction Semismooth* Newton method Finite elements matlab implementation

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A matlab code for the material-field series-expansion topology optimization method

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Frontiers of Mechanical Engineering 2021年第3期16卷 607-622页

作者： Pai LIU Xiaopeng ZHANG Yangjun LUO Yi YAN State Key Laboratory of Structural Analysis for Industrial Equipment Dalian University of TechnologyDalian 116024China School of Aeronautics and Astronautics Dalian University of TechnologyDalian 116024China

This paper presents a matlab implementation of the material-field series-expansion(MFSE)topology optimization *** MFSE method uses a bounded material field with specified spatial correlation to represent the structural *** the series-expansion method for bounded fields,this material field is described with the characteristic base functions and the corresponding *** with the conventional density-based method,the MFSE method decouples the topological description and the finite element discretization,and greatly reduces the number of design variables after dimensionality *** features of this method include inherent control on structural topological complexity,crisp structural boundary description,mesh independence,and being free from the checkerboard *** the focus on the implementation of the MFSE method,the present matlab code uses the maximum stiffness optimization problems solved with a gradientbased optimizer as *** matlab code consists of three parts,namely,the main program and two subroutines(one for aggregating the optimization constraints and the other about the method of moving asymptotes optimizer).The implementation of the code and its extensions to topology optimization problems with multiple load cases and passive elements are discussed in *** code is intended for researchers who are interested in this method and want to get started with it *** can also be used as a basis for handling complex engineering optimization problems by combining the MFSE topology optimization method with non-gradient optimization algorithms without sensitivity information because only a few design variables are required to describe relatively complex structural topology and smooth structural boundaries using the MFSE method.

关键词： matlab implementation topology optimization material-field series-expansion method bounded material field dimensionality reduction

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Design of Optimal PID Controller for Magnetic Levitation System Using Linear Quadratic Regulator Approach

Design of Optimal PID Controller for Magnetic Levitation Sys...

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International Symposium on Fundamentals of Electrical Engineering (ISFEE)

作者： Ismail, Laith S. Petrescu, Catalin Lupu, Ciprian Luu, Duc Lich Univ Politehn Bucuresti Fac Automat Control & Comp Bucharest Romania Al Turath Univ Comp Technol Engn Dept Baghdad Iraq Vinh Univ Technol Educ Fac Mech Dynam Nghe An Vietnam

ISBN: (纸本)9781728190389

this paper presents a proposal of the magnetic levitation (Maglev) ball system by using an optimal PID position controller. The optimal PID controller is achieved to keep a steel ball hanged in the air in the desired position with relation to the electromagnet bottom end. The optimal PID controller is to keep the balance between the magnetic force and the ball's weight. Where the Linear Quadratic Regulator optimal approach is used to place the desired close loop in an optimal sense. In this paper, complete mathematical models of the mechanical, electrical, and magnetic suspension systems that take the Maglev model are presented with the important linearization of the Maglev nonlinear model. The design and simulations are used with matlab/Simulink model package. This paper is presented very good results with the stability, overshoot, and strong response Results show that this optimal control approach can stabilize the position of the ball and has strong disturbance rejection.

关键词： Magnetic Levitation System optimal PID control LQR matlab implementation applied mathematics

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