A new method for establishing the equations of motion of multibody mechanisms based on canonical momenta is introduced in this paper. In absence of constraints, the proposed forward dynamics formulation results in a H...
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A new method for establishing the equations of motion of multibody mechanisms based on canonical momenta is introduced in this paper. In absence of constraints, the proposed forward dynamics formulation results in a Hamiltonian set of 2n first order ODEs in the generalized coordinates q and the canonical momenta p. These Hamiltonian equations are derived from a recursive Newton Euler formulation. As an example, it is shown how, in the case of a serial structure with rotational joints, an O(n) formulation is obtained. The amount of arithmetical operations is considerably less than acceleration based O(n) formulations.
A recursive algorithm of moving horizon estimation (MHE) with the convergence property is presented in this paper. In this work, we formulate the state estimation problem as a quadratic program problem with fixed-size...
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ISBN:
(纸本)078037729X
A recursive algorithm of moving horizon estimation (MHE) with the convergence property is presented in this paper. In this work, we formulate the state estimation problem as a quadratic program problem with fixed-size estimation window and a recursive formula for prior state estimation and covariance matrix is established. The proposed algorithm can improve the performance of MHE and offers advantages over other algorithm of MHE and Kalman filter.
Generic propagation model always have accuracy problems. Without model calibration, it can hardly be used in practice. This article develops a recursive algorithm on radio propagation model calibration for CDMA system...
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ISBN:
(纸本)7505350668
Generic propagation model always have accuracy problems. Without model calibration, it can hardly be used in practice. This article develops a recursive algorithm on radio propagation model calibration for CDMA systems. An evaluation method is introduced and actual drive test results are used to verify the refined model's goodness of fit. From the results it can be seen that the calibration method in this paper is feasible in practice.
The convergence theorems for the stochastic approximation (SA) algorithm with expanding truncations are first presented, which the system identification methods discussed in the paper are essentially based on. Then, t...
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The convergence theorems for the stochastic approximation (SA) algorithm with expanding truncations are first presented, which the system identification methods discussed in the paper are essentially based on. Then, the recursive identification algorithms are respectively defined for the multivariate errors-in-variables systems, Hammerstein systems, and Wiener systems. All estimates given in the paper are strongly consistent.
In this Letter an efficient recursive update algorithm for least squares support vector machines (LSSVMs) is developed. Using the previous solution and some matrix equations, the algorithm completely avoids training t...
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In this Letter an efficient recursive update algorithm for least squares support vector machines (LSSVMs) is developed. Using the previous solution and some matrix equations, the algorithm completely avoids training the LSSVM all over again whenever new training sample is available. The gain in speed using the recursive update algorithm is illustrated on four data sets from UCI repository: the Statlog Australian credit, the Pima Indians diabetes, the Wisconsin breast cancer, and the adult income data sets.
In many electromagnetic field problems, matrix equations were always deduced from using the method of moment. Among these matrix equations, some of them might require a large amount of computer memory storage which ma...
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In many electromagnetic field problems, matrix equations were always deduced from using the method of moment. Among these matrix equations, some of them might require a large amount of computer memory storage which made them unrealistic to be solved on a personal computer. Virtually, these matrices might be too large to be solved efficiently. A fast algorithm based on a Toeplitz matrix solution was developed for solving a bordered Toeplitz matrix equation arising in electromagnetic problems applications. The developed matrix solution method can be applied to solve some electromagnetic problems having very large-scale matrices. which are deduced from the moment method procedure. In this paper, a study of a computationally efficient order-recursive algorithm for solving the linear electromagnetic problems [Z](I) under bar = (V) under bar where [Z] is a Toeplitz matrix, was presented. Upon the described Toeplitz matrix algorithm, this paper derives an efficient recursive algorithm for solving a bordered Toeplitz matrix with the matrix's major portion in the form of a Toeplitz matrix. This algorithm has remarkable advantages in reducing both the number of arithmetic operations and memory storage.
This letter presents an efficient numerical method for the transient analysis of interconnects with frequency-dependent parameters. The development of interconnects model starts from frequency-domain Telegrapher's...
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This letter presents an efficient numerical method for the transient analysis of interconnects with frequency-dependent parameters. The development of interconnects model starts from frequency-domain Telegrapher's equations, and the time-domain equations including convolutions are obtained by inverse Laplace transform. Then, the differential quadrature method (DQM) approximates them to a set of ordinary differential equations. The numerical convolution items are calculated by recursive algorithm, which leads to high efficiency of this method. In addition, the model does not use any restrictive assumptions on the frequency dependence of interconnects parameters. A numerical example is presented to demonstrate the accuracy and efficiency of the proposed method.
This paper is concerned with the problem of computing approximate Doptimal design for polynomial regression with analytic weight function on a interval [m(0) - a, m(0) + a]. It is shown that the structure of the optim...
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This paper is concerned with the problem of computing approximate Doptimal design for polynomial regression with analytic weight function on a interval [m(0) - a, m(0) + a]. It is shown that the structure of the optimal design depends on a and weight function. Moreover, the optimal support points and weights are analytic functions of a at a = 0. We make use of a Taylor expansion to provide a recursive procedure for calculating the D-optimal designs.
In this letter, an efficient algorithm to determine the optimal delay in linear finite impulse response equalizers based on the minimum mean-square-error criterion is proposed. The algorithm uses the Levinson-Durbin (...
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In this letter, an efficient algorithm to determine the optimal delay in linear finite impulse response equalizers based on the minimum mean-square-error criterion is proposed. The algorithm uses the Levinson-Durbin (L-D) recursion as a starting point to find the values of the mean-square error for equalizers with all nontrivial delays. Despite the exhaustive search approach, the complexity of the proposed algorithm is only doubled when compared to the calculation of the equalizer with one prescribed delay. Such increase in complexity may be fully justified in practice because it yields globally optimal equalizer's design.
A novel analytical design method for highly selective digital optimal equiripple comb finite-impulse response (FIR) filters is presented. The equiripple comb FIR filters are optimal in the Chebyshev sense. The number ...
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A novel analytical design method for highly selective digital optimal equiripple comb finite-impulse response (FIR) filters is presented. The equiripple comb FIR filters are optimal in the Chebyshev sense. The number of notch bands, the width of the notch bands and the attenuation in the passbands can be independently specified. The degree formula and the differential equation for the generating polynomial of the filter is presented. Based on the differential equation, a fast simple algebraic recursive procedure for the evaluation of the impulse response of the filter is described. Its arithmetic robustness outperforms, by far, the known analytical design method. Highly selective equiripple comb FIR filters with thousands of coefficients can be designed. One example demonstrates the efficiency of the filter design.
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