This paper presents a method to determine the rough shape of an object. This is a step in the development of a "One Click Grasping Tool", a grasping tool of everyday-life objects for an assistant robot dedic...
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ISBN:
(纸本)9781424420575
This paper presents a method to determine the rough shape of an object. This is a step in the development of a "One Click Grasping Tool", a grasping tool of everyday-life objects for an assistant robot dedicated to elderly or disabled. The goal is to determine the quadric that approximates at best the shape of an unknown object using multi-view measurements. Non-linear optimization techniques are considered to achieve this goal. Since multiple views are necessary, an active vision process is considered in order to minimize the uncertainty on the estimated parameters and determine the next best view. Finally, results that show the validity of the approach are presented.
We consider the ensemble of codes formed by a serial concatenation of a repetition code with two accumulators through uniform random interleavers. For this ensemble, asymptotic expressions for the normalized minimum t...
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ISBN:
(纸本)9781424429257
We consider the ensemble of codes formed by a serial concatenation of a repetition code with two accumulators through uniform random interleavers. For this ensemble, asymptotic expressions for the normalized minimum trapping distance are derived. We employ a variant of the Gallager-Zyablov-Pinsker bit flipping decoding algorithm on a binary symmetric channel, where the analysis is based on the factor graph of the code. In particular, we show that the minimum trapping distance can be determined by solving a non-linear optimization problem. As a result we find that the minimum trapping distance grows linearly with block length for code rates of 1/3 and smaller, albeit with very small growth rate coefficients.
In this paper an application of the nonlinear predictor-corrector primal-dual interior-point (IP) optimization method to wind power penetration is presented. The predictor-corrector primal-dual IP method improves the ...
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ISBN:
(纸本)9787564112493
In this paper an application of the nonlinear predictor-corrector primal-dual interior-point (IP) optimization method to wind power penetration is presented. The predictor-corrector primal-dual IP method improves the performance of the pure primal-dual IP algorithm by reducing the number of matrix factorizations to a necessary minimum. However, as wind power is stochastic and fluctuated with the variation of wind speed, the deterministic analysis approach is much more conservative for the power system containing wind farms. This paper proposes a probabilistic method to calculate the wind power penetration based on the nonlinear predictor-corrector primal-dual IP method. And the PQ model for double-fed wind power generator maintaining a constant power factor has been constructed and integrated into the presented method. The optimization results of a numerical example for IEEE 118-bus demonstrate that the proposed method is validated and fast compared with the pure primal-dual IP algorithm.
In this paper, we suggest a new optimization method by using grey area relational grade combined with nonlinear programming (abbreviated to NLP) method for GM(1,1) model's parameters, we introduce the grey area re...
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ISBN:
(纸本)9781424418183
In this paper, we suggest a new optimization method by using grey area relational grade combined with nonlinear programming (abbreviated to NLP) method for GM(1,1) model's parameters, we introduce the grey area relational grade to establish a NLP optimization parameters model for a GM(1, 1) model that has been established, by using mathematical software LINGO 10.0 for its optimal solution. By a lot of data's analysis, we conclude the new method is effective and feasible for the GM(1, 1) models that have been established by using any other methods.
This paper presents an application of neurobiological motor principles to the control of humanoid robot reaching movements. The model is mainly based on the hypotheses that the energy of motoneurons;signals is continu...
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ISBN:
(纸本)9781424428823
This paper presents an application of neurobiological motor principles to the control of humanoid robot reaching movements. The model is mainly based on the hypotheses that the energy of motoneurons;signals is continuously minimized along the motion and that dynamic and static efforts are processed separately. This paradigm is used to control the robot HRP2 by considering a dynamic model of the arm including, for each degree of freedom, two second order low-pass filters modeling the neuromuscular system defined by a pair of antagonist muscles. The optimal control problem is solved as a nonlinear programming problem by using a direct transcription method coupled with the optimization software Ipopt. This approach allows to generate realistic movements with anthropomorphic features such as quasi-rectilinear trajectories and bell-shaped velocity.
In this paper I describe a new and exciting application of optimization technology. The problem is to design a space telescope capable of imaging Earth-like planets around nearby stars. Because of limitations inherent...
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In this paper I describe a new and exciting application of optimization technology. The problem is to design a space telescope capable of imaging Earth-like planets around nearby stars. Because of limitations inherent in the wave nature of light, the design problem is one of diffraction control so as to provide the extremely high contrast needed to image a faint planet positioned very close to its much brighter star. I will describe the mathematics behind the diffraction control problem and explain how modern optimization tools were able to provide unexpected solutions that actually changed NASA's approach to this problem.
In this paper we describe a novel algorithm for active appearance model (AAM) alignment in which the normalized cross correlation (NCC) is maximized, rather than minimizing the sum of squared errors (SSE). We use an i...
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ISBN:
(纸本)9780769531229
In this paper we describe a novel algorithm for active appearance model (AAM) alignment in which the normalized cross correlation (NCC) is maximized, rather than minimizing the sum of squared errors (SSE). We use an inverse compositional approach and derive an analytic solution rather than rely on an off-the-shelf non-linear optimization routine. We show that the algorithm performs better than traditional AAM fitting in terms of accuracy, stability and speed.
Wireless sensor networks are becoming increasing important due to their outstanding ability to detect and transmit real-time and wide application in many fields. Reducing energy consumption and extending lifetime of n...
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ISBN:
(纸本)9787900719706
Wireless sensor networks are becoming increasing important due to their outstanding ability to detect and transmit real-time and wide application in many fields. Reducing energy consumption and extending lifetime of networks are important targets in the design of wireless sensor networks. In this paper, an optimal scheme is proposed based on mixed routing. the switch factor is presented and the optimal problem is converted into a nonlinear programming problem. The target is to optimize the lifetime of bottleneck node. The optimal solution is gained by the sub-gradient iterative algorithm. The simulations show that the lifetime of the networks is extended effectively.
The structural reliability is taken as control parameter for optimization design of Structural engineering, and the computing is realized by Lingo that is nonlinear programming software. First limit status function of...
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ISBN:
(纸本)9780769533049
The structural reliability is taken as control parameter for optimization design of Structural engineering, and the computing is realized by Lingo that is nonlinear programming software. First limit status function of structure is founded and the optimum algorithm for structural reliability is used as the constraint. Second, the program calculation is written by means of Lingo. Finally, the result indicates that computation from Lingo is accurate, high efficient and practical. It is very efficiency and convenience to make program of Lingo for optimization design based on reliability, and it is easy to be changed to calculation of other practice engineering and to be grasped for the engineers.
In this paper, we develop heuristics for finding good starting points when solving large-scale nonlinear constrained optimization problems (COPs). We focus on nonlinear programming (NLP) and mixed-integer NLP (MINLP) ...
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ISBN:
(纸本)9780769534404
In this paper, we develop heuristics for finding good starting points when solving large-scale nonlinear constrained optimization problems (COPs). We focus on nonlinear programming (NLP) and mixed-integer NLP (MINLP) problems with nonlinear non-convex objective and constraint functions. By exploiting the highly structured constraints in these problems, we first solve one or more simplified versions of the original COP, before generalizing the solutions found by interpolation or extrapolation to a good starting point. In our experimental evaluations of 190 NLP (resp., 52 MINLP) benchmark problems, our approach can solve 97.9% (resp., 71.2%) of the problems using significantly less iterations from our proposed starting points, as compared to 85.3% (resp., 462%) of the problems solvable by the best existing solvers from their default starting points.
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