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A new dynamic formulation for robot manipulators containing closed kinematic chains

ROBOTICA 1999年第3期17卷 261-267页

作者： Xu, XR Chung, WJ Choi, YH Ma, XF Chang Won Natl Univ Dept Mech Design & Mfg Chang Won 641773 South Korea Beijing Univ Sci & Technol Beijing 100083 Peoples R China

This paper presents a new recursive algorithm of robot dynamics based on the Kane's dynamic equations and Newton-Euler formulations. Differing from Kane's work, the algorithm is general-purpose and can be easily realized on computers. It is suited not only for robots with all rotary joints but also for robots with some prismatic joints. Formulations of the algorithm keep the recurrence characteristics of the Newton-Euler formulations, but possess stronger physical significance. Unlike the conventional algorithms, such as the Lagrange and Newton-Euler algorithm, etc., the algorithm can be used to deal with dynamics of robots containing closed chains without cutting the closed chains open. In addition, this paper makes a comparison between the algorithm and those conventional algorithms from the number of multiplications and additions.

关键词： closed kinematic chains recursive algorithm robot dynamics

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AN EFFICIENT algorithm TO COMPUTE THE POSTERIOR GENOTYPIC DISTRIBUTION FOR EVERY MEMBER OF A PEDIGREE WITHOUT LOOPS

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THEORETICAL AND APPLIED GENETICS 1993年第1-2期87卷 89-93页

作者： FERNANDO, RL STRICKER, C ELSTON, RC LOUISIANA STATE UNIV MED CTRDEPT BIOMETRY & GENETNEW ORLEANSLA 70112

This paper describes a non-iterative, recursive method to compute the likelihood for a pedigree without loops, and hence an efficient way to compute genotype probabilities for every member of the pedigree. The method can be used with multiple mates and large sib-ships. Scaling is used in calculations to avoid numerical problems in working with large pedigrees.

关键词： GENOTYPE PROBABILITIES LIKELIHOOD recursive algorithm

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Filtering and fault detection for nonlinear systems with polynomial approximation

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AUTOMATICA 2015年 54卷 348-359页

作者： Liu, Yang Wang, Zidong He, Xiao Zhou, D. H. Tsinghua Univ Dept Automat TNList Beijing 100084 Peoples R China Brunel Univ London Dept Comp Sci Uxbridge UB8 3PH Middx England

This paper is concerned with polynomial filtering and fault detection problems for a class of nonlinear systems subject to additive noises and faults. The nonlinear functions are approximated with polynomials of a chosen degree. Different from the traditional methods, the approximation errors are not discarded but formulated as low-order polynomial terms with norm-bounded coefficients. The aim of the filtering problem is to design a least squares filter for the formulated nonlinear system with uncertain polynomials, and an upper bound of the filtering error covariance is found and subsequently minimized at each time step. The desired filter gain is obtained by recursively solving a set of Riccati-like matrix equations, and the filter design algorithm is therefore applicable for online computation. Based on the established filter design scheme, the fault detection problem is further investigated where the main focus is on the determination of the threshold on the residual. Due to the nonlinear and time-varying nature of the system under consideration, a novel threshold is determined that accounts for the noise intensity and the approximation errors, and sufficient conditions are established to guarantee the fault detectability for the proposed fault detection scheme. Comparative simulations are exploited to illustrate that the proposed filtering strategy achieves better estimation accuracy than the conventional polynomial extended Kalman filtering approach. The effectiveness of the associated fault detection scheme is also demonstrated. (C) 2015 Elsevier Ltd. All rights reserved.

关键词： Polynomial filtering Nonlinear systems Polynomial approximation Fault detection Adaptive threshold recursive algorithm Kronecker power

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ANALYSIS AND COMPUTATIONAL algorithm FOR QUEUES WITH STATE-DEPENDENT VACATIONS I:G/M(n)/1/K

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Journal of Systems Science & Complexity 2006年第2期19卷 36-53页

作者： Ayyar RAHMAN Industrial Engineering and Operations Research North Carolina State UniversityRaleighNC 27695USA.

In this paper we study a queueing system with state-dependent services and state-dependent vacations, or simply G/M（n）/1/K. Since the service rate is state-dependent, this system includes G/M/c and G/M/c/K queues with various types of station vacations as special cases. We provide a recursive algorithm using the supplementary variable technique to numerically compute the stationary queue length distribution of the system. The only input requirement is the Laplace-Stieltjes transform of the interarrival distribution as well as the state-dependent service rate and state-dependent vacation rate. In a subsequent companion paper, we study its dual system M（n）/G/1/K queue with statedependent vacations.

关键词： G/M（n）/1/K queue recursive algorithm queue length distribution removable server supplementary variable state-dependent service and vacations.

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algorithmic complexity of recursive and inductive algorithms

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THEORETICAL COMPUTER SCIENCE 2004年第1-3期317卷 31-60页

作者： Burgin, M Univ Calif Los Angeles Dept Comp Sci Los Angeles CA 90095 USA

The main goal of this paper is to compare recursive algorithms such as Turing machines with such super-recursive algorithms as inductive Turing machines. This comparison is made in a general setting of dual complexity measures such as Kolmogorov or algorithmic complexity. To make adequate comparison, we reconsider the standard axiomatic approach to complexity of algorithms. The new approach allows us to achieve a more adequate representation of static system complexity in the axiomatic context. It is demonstrated that for solving many problems inductive Turing machines have much lower complexity than Turing machines and other recursive algorithms. Thus, inductive Turing machines are not only more powerful, but also more efficient than Turing machines. (C) 2003 Elsevier B.V. All rights reserved.

关键词： efficiency complexity dual complexity measure Kolmogorov complexity recursive algorithm turing machine super-recursive algorithm inductive turing machine

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Adapted multivariate Pade approximation

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APPLIED NUMERICAL MATHEMATICS 2012年第9期62卷 1061-1076页

作者： Allouche, Hassane Mint El Agheb, Ebby Ghanou, Noura Fac Sci Dept Math & Comp Sci Meknes Morocco

To generalize the concept of Pade approximation for functions to more than one variable, several definitions have been introduced. We distinguish two types of definitions, the homogeneous multivariate Pade approximation and the general multivariate Pade approximation. Both definitions have advantages and disadvantages. In this work we present a new definition, of the multivariate Pade approximation, adapted to one class of functions. This definition is designed to avoid disadvantages of both definitions. The idea is that special cases deserve special treatment, which will enable approximants to show the character of function to approach and thus reduce the error of approximation and the computation cost. The main result obtained as consequence of this definition is some convergence results of multivariate Stieltjes series and a generalization of the Montessus De Ballore theorem for this class of multivariate functions. (c) 2011 IMACS. Published by Elsevier B.V. All rights reserved.

关键词： Homogeneous multivariate Pade approximation General multivariate Pade approximation Bloc structure of Pade table recursive algorithm Montessus theorem Stieltjes series Pseudo-multivariate function

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An algorithmic Approach for Multiserver Retrial Queues with Two Customers Classes and Non-preemptive Priority 1

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24th International Conference on Analytical and Stochastic Modelling Techniques and Applications (ASMTA)

作者： Gharbi, Nawel Charabi, Leila Univ Sci & Technol USTHB Dept Comp Sci Algiers Algeria Natl Comp Sci Engn Sch ESI Algiers Algeria

ISBN: (数字)9783319614281

ISBN: (纸本)9783319614281;9783319614274

Retrial queueing models with multiple servers and two classes of customers arise in various practical computer and telecommunication systems. The consideration of retrials (or repeated attempts) introduces analytical difficulties and most of works consider either models with preemptive priority or non-preemptive priority in the single server case. This paper aims to propose a recursive algorithmic approach for the performance analysis of a multiserver retrial queue with non-preemptive priority and two customers classes: ordinary customers whose access to the service depends on the number of available servers and who join the orbit when blocked;and impatient priority customers who have access to all servers and are lost when no server is available. In addition, we develop the formula of the main stationary performance measures. Through numerical examples, we study the effect of the system parameters on the blocking probability for ordinary customers and the loss probability for priority customers.

关键词： Retrial multiserver queues Two customers classes Impatient customers Non-preemptive priority recursive algorithm Performance measures

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recursive robust estimation of dynamic systems parameters

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Informatica (Netherlands) 1991年第4期2卷 579-592页

作者： Pupeikis, Rimantas Institute of Mathematics and Informatics Lithuanian Academy of Sciences Vilnius 2600 Akademijos St.4 Lithuania

In the previous paper (Pupeikis, 1990) the problem of model order determination in the presence of outliers in observations has been considered. The aim of the given paper is the development of the recursive algorithms of computation of M- estimates ensuring their stability conditions. In this connection the approach, based on adaptive Huber’s monotone psi-function, is worked out. It is also used for the detection of the outliers in time series and for the correction both outliers and Af-estimates during successive calculations. The results of numerical simulation by computer (Fig. 1 and Table 1) are given. © 1991 IOS Press. All rights reserved.

关键词： Outlier recursive algorithm Robustness

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Identification of multi-dimensional system based on a novel criterion

Identification of multi-dimensional system based on a novel ...

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5th International Conference on Informatics in Control, Automation and Robotics

作者： Zhao, Yue Lo, Kueiming Kwon, Wook-Hyun Tsinghua Univ Sch Software Key Lab ISS MOE China Beijing 100084 Peoples R China Seoul Natl Univ Sch Elect Engn Seoul 151742 South Korea

ISBN: (纸本)9789898111326

Most system recursive identification algorithms are based on the prediction error (PE) criterion. Such a recursive algorithm only considers the present estimation residual error instead of all estimation residuals. It would result in large estimation error when the signal noise disturbs strongly. In this paper, a new identification criterion is proposed. It considers both the errors between the actual outputs and the estimation result and the difference of each estimation error. Under this criterion, a new recursive algorithm MSDCN (Multi-dimensional System Disturbed by Color Noise) is proposed. For multi-dimensional systems, weighting different values on the estimation errors and the difference of each error, MSDCN could both decrease the estimation errors and got smooth prediction curves. Several simulation examples are given to illustrate the method's anti-disturbance performance.

关键词： multi-dimensional system identification criterion ARMAX model recursive algorithm

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Reliability Evaluation of Wind and PV Energy Penetrated Power System 3

Reliability Evaluation of Wind and PV Energy Penetrated Powe...

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International Conference on Reliability, Infocom Technologies and Optimization (ICRITO) (Trends and Future Directions)

作者： Lalitha, M. Padma Reddy, P. Harshavardhan Naidu, P. Janardhana Annamacharya Inst Technol & Sci EEE Dept Rajampeta India

ISBN: (纸本)9781479968961

This paper presents the reliability evaluation of high wind and photovoltaic (PV) energies penetrated power system at Hierarchical Level I (HL I). First, the renewable unit models are developed by considering the component failure rates and uncertain nature of renewable energy sources. The Data Synthesizer Software is used to extract the hourly wind speed and solar radiation from the weather statistical data. The Fuzzy C-means Clustering Method is used to obtain the required number of generation states from the hourly data. The Markov process is used to obtain both wind and PV models. Then, these renewable models are added to the Roy Billinton Test System (RBTS) by recursive algorithm approach and different reliability indices are calculated.

关键词： Photovoltaic farm Wind farm Data Synthesizer Software Markov models Fuzzy C-means Clustering recursive algorithm Generation Reliability Evaluation

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