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An o(n) complexity recursive algorithm for multi-flexible-body dynamics based on absolute nodal coordinate formulation

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INTERNATIONAL JOURNAL FOR NUMERICAL METHODS IN ENGINEERING 2017年第11期110卷 1049-1068页

作者： Hu, Jingchen Wang, Tianshu Tsinghua Univ Sch Aerosp Beijing Peoples R China

A new algorithm called recursive absolute nodal coordinate formulation algorithm (REC-ANCF) is presented for dynamic analysis of multi-flexible-body system including nonlinear large deformation. This method utilizes the absolute nodal coordinate formulation (ANCF) to describe flexible bodies, and establishes a kinematic and dynamic recursive relationship for the whole system based on the articulated-body algorithm (ABA). In the ordinary differential equations (ODEs) obtained by the REC-ANCF, a simple form of the system generalized Jacobian matrix and generalized mass matrix is obtained. Thus, a recursive forward dynamic solution is proposed to solve the ODEs one element by one element through an appropriate matrix manipulation. Utilizing the parent array to describe the topological structure, the REC-ANCF is suitable for generalized tree multibody systems. Besides, the cutting joint method is used in simple closed-loop systems to make sure the O(n) algorithm complexity of the REC-ANCF. Compared with common ANCF algorithms, the REC-ANCF has several advantages: the optimal algorithm complexity (O(n)) under limited processors, simple derivational process, no location or speed constraint violation problem, higher algorithm accuracy. The validity and efficiency of this method are verified by several numerical tests. Copyright (c) 2016 John Wiley & Sons, Ltd.

关键词： absolute nodal coordinate formulation articulated-body algorithm recursive algorithm o(n) algorithm complexity multi-flexible-body system

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A novel finite difference model coupled with recursive algorithm for analyzing heat and mass transfer processes in a cross flow dehumidifier/regenerator

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INTERNATIONAL JOURNAL OF THERMAL SCIENCES 2018年 131卷 1-13页

作者： Naik, B. Kiran Muthukumar, P. Kumar, P. Sunil Indian Inst Technol Guwahati Dept Mech Engn Gauhati 781039 Assam India RGUKT AP IIIT Dept Mech Engn Rk Valley 516330 Andhra Prades India

Maintaining the relative humidity within the desired level in hospitals, research laboratories and pharmaceutical industries is very crucial. Among the various techniques reported over the last three decades, liquid desiccant dehumidification has been found promising. Dehumidifier and regenerator are the key components in the liquid desiccant dehumidification system. In this paper, the coupled heat and mass transfer analyses in a cross flow liquid desiccant dehumidifier and regenerator are presented. A novel finite difference based thermodynamic model is developed using the governing equations of mass, momentum and energy and a recursive algorithm is proposed for solving the developed model. The simulated results obtained from the developed model are validated with the experimental data reported in the literature and a good agreement is observed between them. The contour plots for the distribution of air and desiccant enthalpies, air specific humidity and solution concentration along the longitudinal and the transverse directions of the packed tower are represented. Also, the contour plots for the desiccant concentration at different Lewis numbers are presented. Further, the influence of Lewis number on operating and performance parameters are also discussed in detail.

关键词： Coupled heat and mass transfer Dehumidification Liquid desiccant Finite difference model recursive algorithm

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Identification of Time-varying Frequencies and Model Parameters for Large Flexible On-orbit Satellites Using a recursive algorithm

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TRANSACTIONS OF THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES 2016年第3期59卷 150-160页

作者： Ni, Zhiyu Tan, Shujun Wu, Zhigang Dalian Univ Technol State Key Lab Struct Anal Ind Equipment Dalian 116024 Peoples R China Dalian Univ Technol Sch Aeronaut & Astronaut Dalian 116024 Peoples R China

Today, the primary identification methods in time domain for spacecraft are based on singular value decomposition (SVD), such as the eigensystem realization algorithm (ERA) or stochastic subspace identification (SSI), which requires significant computation time. However, some control problems, such as self-adaptive control, need the latest modal parameters to update controller parameters online. To improve computational efficiency, the fast approximated power iteration (FAPI) recursive algorithm, which avoids SVD, is applied as an alternative method to identify the time-varying frequencies of large flexible satellites. Moreover, an improved recursive form is also proposed to obtain the time-varying input matrix in a state-space model by rewriting the relation of the input and output data. In numerical simulations, the time-varying model of the Engineering Test Satellite-VIII (ETS-VIII) is established. The results illustrate that this recursive algorithm can implement time-varying parameter online identification and it has a better computational efficiency than the SVD-based methods.

关键词： On-orbit Identification Time-varying Modal Parameters Large Flexible Satellite recursive algorithm State-space Model

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A new fast recursive algorithm for computing discrete Hartley transform and its implementation

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SIGNAL PROCESSING 2001年第10期81卷 2235-2241页

作者： Yu, PN Hua, HP PLA Univ Sci & Technol Nanjing 210007 Peoples R China

The Hartley transform is more efficient and economical than the Fourier transform for real series data processing in several applications. This paper presents a block decomposition representation of discrete Hartley transform (DHT) coefficient matrix in view of algebra, from which a new fast recursive algorithm is derived. As to the DHT calculation of N = 2(t) real sequence, the arithmetic complexity is M = 1/2 N log(2) N - 3/2 N + 2 real multiplications and A = 3/2 N log(2) N - 4/3 N + 3/2 + (-1)(t-1) 1/6 real additions. Obviously, this recursive algorithm belongs to that class with the lowest arithmetic complexity. (C) 2001 Elsevier Science B.V. All rights reserved.

关键词： discrete Hartley transform (DHT) discrete Fourier transform (DFT) recursive algorithm arithmetic complexity

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A recursive algorithm to increase the speed of regression-based binary recommendation systems

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INFORMATION SCIENCES 2020年 512卷 1324-1334页

作者： Khadem, Mahla Mohammadzadeh Forghani, Yahya Islamic Azad Univ Mashhad Branch Dept Comp Mashhad Razavi Khorasan Iran

In this paper, a novel method is proposed to solve the Regression-based Binary Recommendation problem (RBR). The RBR is a univariate minimization problem, which has been solved recently using the Trichotomy approach with a logarithmic time complexity. The Trichotomy can obtain the global optimal minimum of univariate quasi-convex function. In this paper, it has been asserted that the objective function of the RBR problem is not necessarily quasi-convex;therefore, the Trichotomy method cannot always find its optimal solution that can be ultimately achieved by using the full search. Nonetheless, the difficulty of the full search method is that for each possible value of the variable of the problem, the objective function of the problem must be computed which involves the user-item tables to be reviewed entirely for each possible value of the variable. Since these tables are usually large, the runtime of the full search method is very high. In this paper, to unravel this difficulty, we made use of a recursive method to compute the objective function. Our proposed algorithm requires only one review of the user-item tables. Hence, the runtime of our proposed method is far less than the two other methods. (C) 2019 Elsevier Inc. All rights reserved.

关键词： Regression-based binary recommendation problem Trichotomy Full search recursive algorithm

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A recursive algorithm for the reliability of a circular connected-(r, s)-out-of-(m, n):F lattice system

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COMPUTERS & INDUSTRIAL ENGINEERING 2005年第1期49卷 21-34页

作者： Yamamoto, H Akiba, T Yamagata Coll Ind & Technol Dept Informat Management Engn Yamagata 9902473 Japan Tokyo Metropolitan Inst Technol Dept Prod Informat Syst Hino Tokyo 1910065 Japan

A circular connected-(r, s)-out-of-(m, n):F lattice system consists of m X n components arranged in a cylindrical grid. Each of m circles has n components, and this system fails if and only if there exists a grid of size r X s which all components are failed. A circular connected-(r, s)-out-of-(m, n):F lattice system might be used in reliability models for 'Feelers for measuring temperature on reaction chamber' and 'TFT Liquid Crystal Display system with 360 degrees wide area'. In this study, we proposed a new recursive algorithm for obtaining the reliability of a circular connected-(r, s)out-of-(m, n):F lattice system. We evaluated our proposed algorithms in terms of computing time and memory capacity. Furthermore, a numerical experiment comparing our proposed algorithm with Yamamoto and Miyakawa's algorithm [Yamamoto, H., & Miyakawa, M. (1996). Reliability of circular connected-(r, s)-out-of-(m, n):F lattice system. Journal of the Operations Research Society of Japan, 39(3), 389-406] showed that our proposed algorithm is more effective for systems with a large n. (c) 2005 Elsevier Ltd. All rights reserved.

关键词： circular connected-(r, s)-out-of-(m, n): F lattice system system reliability recursive algorithm

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Performance Analysis of The Auxiliary-Model-Based Multi-Innovation Stochastic Newton recursive algorithm for Dual-Rate Systems

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ASIAN JOURNAL OF CONTROL 2017年第2期19卷 647-658页

作者： Cao, Pengfei Luo, Xionglin China Univ Petr Dept Automat Beijing Peoples R China Shandong Univ Sci & Technol Coll Elect Engn & Automat Qingdao Peoples R China

The stochastic Newton recursive algorithm is studied for dual-rate system identification. Owing to a lack of intersample measurements, the single-rate model cannot be identified directly. The auxiliary model technique is adopted to provide the intersample estimations to guarantee the recursion process continues. Intersample estimations have a great influence on the convergence of parameter estimations, and one-step innovation may lead to a large fluctuation or even divergence during the recursion. In the meantime, the sample covariance matrix may appear singular. The recursive process would cease for these reasons. In order to guarantee the recursion process and to also improve estimation accuracy, multi-innovation is utilized for correcting the parameter estimations. Combining the auxiliary model and multi-innovation theory, the auxiliary-model-based multi-innovation stochastic Newton recursive algorithm is proposed for time-invariant dual-rate systems. The consistency of this algorithm is analyzed in detail. The final simulations confirm the effectiveness of the proposed algorithm.

关键词： Dual-rate system system identification recursive algorithm auxiliary model multi-innovation convergence analysis

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A Novel recursive algorithm for the Implementation of Adaptive Robot Controllers

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JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 2024年第3期110卷 115-115页

作者： Kaya, Mertcan Akbulut, Mehmet Ali Bayraktaroglu, Zeki Yagiz Kuehnlenz, Kolja Coburg Univ Appl Sci & Arts Dept Elect Engn & Comp Sci D-96450 Coburg Germany Istanbul Tech Univ Dept Mech Engn TR-34437 Istanbul Turkiye

In this paper, a novel recursive and efficient algorithm for real-time implementation of the adaptive and passivity-based controllers in model-based control of robot manipulators is proposed. Many of the previous methods on these topics involve the computation of the regressor matrix explicitly or non-recursive computations, which remains as the main challenge in practical applications. The proposed method achieves a compact and fully recursive reformulation without computing the regressor matrix or its elements. This paper is based on a comprehensive literature review of the previously proposed methods, presented in a unified mathematical framework suitable for understanding the fundamentals and making comparisons. The considered methods are implemented on several processors and their performances are compared in terms of real-time computational efficiency. Computational results show that the proposed Adaptive Newton-Euler algorithm significantly reduces the computation time of the control law per cycle time in the implementation of adaptive control laws. In addition, using the dynamic simulation of an industrial robot with 6-DoF, trajectory tracking performances of the adaptive controllers are compared with those of non-adaptive control methods where dynamic parameters are assumed to be known.

关键词： Adaptive control Real-time control recursive algorithm Robot manipulators

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A recursive algorithm for generating homogeneous T-shape cutting patterns

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART B-JOURNAL OF ENGINEERING MANUFACTURE 2006年第11期220卷 1767-1774页

作者： Cui, Yaodong Ji, Jun Guangxi Normal Univ Dept Comp Sci Guilin 541004 Guangxi Peoples R China

Both the material utilization and the complexity of the cutting process should be considered when generating cutting patterns. This paper presents a recursive algorithm for constrained two-dimensional guillotine-cutting problems of rectangles. It uses homogeneous T-shape patterns to simplify the cutting process. Only homogeneous strips are allowed, each of which contains rectangular items of the same type. The plate is divided into two segments, each of which consists of strips with the same length and direction. The strip directions of the two segments are perpendicular to each other. Two recursion functions are established. The first generates optimal layouts of parallel strips on segments with specified sizes, and the second determines the optimal T-shape pattern on the plate. The optimal solution to the unconstrained version of the cutting problem is used to reduce the computation time. The computational results indicate that the algorithm is efficient both in computation time and in material utilization.

关键词： metal plates cutting stock problem two-dimensional cutting recursive algorithm

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An order-recursive algorithm to solve the 3-D Yule-Walker equations of causal 3-D AR models

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IEEE TRANSACTIONS ON SIGNAL PROCESSING 1999年第9期47卷 2491-2502页

作者： Choi, B Yonsei Univ Dept Appl Stat Seoul 120749 South Korea

An order-recursive algorithm is proposed to solve the 3-D Yule-Walker equations of causal 3-D AR models. It is computationally efficient and can be easily transformed into a computer program. Moreover, it can be utili... 详细信息

关键词： identification recursive algorithm 3-D AR process Yule-Walker equations

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