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A recursive algorithm for dynamics of multiple frictionless impact-contacts in open-loop robotic mechanisms

MECHANISM AND MACHINE THEORY 2020年第0期146卷 103745-000页

作者： Ahmadizadeh, M. Shafei, A. M. Fooladi, M. Shahid Bahonar Univ Kerman Dept Mech Engn Kerman Iran

In this paper, the phenomenon of multiple impact-contacts has been dynamically modeled for an open kinematic chain with rigid links and revolute joints. The dynamic equations of the mentioned system have been extracted based on the recursive Gibbs-Appell formulation. The impact-contact phenomenon has been formulated by the regularized method in which the force of impact is a continuous function of the relative penetration and relative velocity of two colliding surfaces with respect to each other. The geometrical specifications and the mechanical properties of colliding surfaces are the two main parameters used in the modeling of viscoelastic contact force models. In this work, a recursive algorithm, which has been developed based on 3 x 3 rotation matrices to reduce the computational load, symbolically derives the motion equations of a multibody system that collides with surrounding surfaces at several points. The system under study includes the non-impact (flight) phase and the impact phase. Going from the flight phase to the impact phase and back, detecting the exact moment of impact, and also solving the differential equations of motion during a very short impact time have their particular challenges and complexities, which are dealt with in this work. In the next step, nine famous contact force models have been compared in order to select the most suitable model for simulation work. Finally, to show the accuracy and the capability of the presented algorithm, the dynamic behavior of an open-chain robotic mechanism consisting of 4 rigid links connected by revolute joints has been simulated and analyzed. (C) 2019 Elsevier Ltd. All rights reserved.

关键词： Contact force model Impact moment Multibody system Gibbs-Appell formulation recursive algorithm

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A Novel recursive algorithm For Detail-Preserving Impulse Noise Removal

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JOURNAL OF KING SAUD UNIVERSITY-COMPUTER AND INFORMATION SCIENCES 2010年 22卷 37-44页

作者： Alajlan, Naif King Saud Univ Coll Comp & Informat Sci ALISR POB 51178 Riyadh 11543 Saudi Arabia

Removing impulse noise from digital images without altering image details is a central problem in image processing. There is a huge number of filters in the literature that deal with this problem. In the state-of-the-art filters, the removal of impulse noise is usually carried out in two main steps: detection and estimation. In this paper, we show that we can take any impulse noise removal approach, where the noise detection and estimation processes are separable, and enhance its detail preservation capability. Unlike the classical recursive implementation which performs sequential row-by-row scanning, the proposed algorithm maximizes the contribution of noise-free neighbors in detecting and correcting the noisy pixels. Simulation results using standard test images demonstrate the effectiveness of the proposed algorithm in preserving image details.

关键词： Impulse noise removal recursive algorithm image denoising nonlinear filtering

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A fast recursive GIS algorithm for computing Strahler stream order in braided and nonbraided networks

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JOURNAL OF THE AMERICAN WATER RESOURCES ASSOCIATION 2004年第4期40卷 937-946页

作者： Gleyzer, A Denisyuk, M Rimmer, A Salingar, Y STAV GIS Ltd IL-20179 Misgav Israel Kinneret Limnol Lab KLL Migdal Israel

Stream ordering is a useful property of every river network, having a wide range of applications. A method for determining stream orders that quickly and easily addresses various network topologies and magnitudes is therefore needed. This paper introduces a general recursive stream ordering framework for vector hydrography. It also presents a linear, O(n), stream ordering procedure for braided river networks, which is a major improvement to the existing quadratic, O(n(2)), procedure. The discussion includes results and interpretations, and the appendices present procedure pseudocodes and thorough line by line explanations.

关键词： Strahler stream order geographic information system recursive algorithm software drainage braided networks

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Reflected-intensity distribution of angle-tuned thin film filter based on frequency recursive algorithm

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Frontiers of Optoelectronics 2013年第2期6卷 175-179页

作者： Kan YU Juanjuan YIN Jiaqi BAO Huazhong University of Science and Technology Wenhua College Wuhan 430074 China

For a three-port angle-tuned thin film filter, the characteristic of reflected-port is very important to reflect multiple wavelengths spectrum. As the filter is in tilted incidence, the reflected-facula broadens and the refiectivity decreases. In this paper, we proposed a frequency recursive algorithm based on fast Fourier transform and Fresnel formula. The reflected-intensity distribution of the narrow- band filter from normal incidence to 40~ tilted incidence was simulated by this frequency recursive algorithm. Meanwhile, the beam field experiments were accordingly performed in this study. Compared with the traditional beam spatial superposition method, the frequency recur- sive algorithm is more efficient and precise in calculating the reflectivity of the reflected beam, suggesting the frequency recursive algorithm may be more helpful for fabricating the three-port tunable thin film filter.

关键词： thin film filter recursive algorithm tilted incidence fast Fourier transform

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On the recursive algorithm of Bias Compensated Weighted Least Squares Method 58

On the Recursive Algorithm of Bias Compensated Weighted Leas...

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58th Annual Conference of the Society-of-Instrument-and-Control-Engineers-of-Japan (SICE)

作者： Ikenoue, Masato Kanae, Shunshoku Wada, Kiyoshi Ariake Coll Natl Inst Technol Fukuoka Japan Junshin Gakuen Univ Fukuoka Japan Kyushu Univ Fukuoka Japan

ISBN: (纸本)9784907764678

This paper investigates the problem of identifying errors-in-variables (EIV) models, where the both input and output measurements are corrupted by white noises, and addresses a new efficient recursive identification algorithm. The identification problem of EIV models with unknown noise variances has been studied extensively and several methods have been proposed. To be further developed in terms of estimation accuracy, the bias compensated weighted least squares (BCWLS) method with only requirement of input noise variance estimate has been proposed by using the biased weighted least squares estimate. However, the recursive form for the standard least squares estimate cannot be applied to recursively compute the BCWLS estimate because the weight matrix is not diagonal. To recursively compute the BCWLS estimate, the recursive forms for the WLS estimate and the input noise variance estimate are derived when the biased WLS estimate is two-stage least squares type estimate. The results of a simulated example indicate that the proposed recursive algorithm provides good results.

关键词： Errors in variables Identification Bias compensation recursive algorithm

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A recursive algorithm for Generating Four-block Cutting Pattern of Circular Blanks

A Recursive Algorithm for Generating Four-block Cutting Patt...

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第30届中国控制与决策会议

作者： Weiping Pan Ruiyou Zhang College of Information Science and Engineering Northeastern University

Focusing on the unconstrained circle cutting problem, a recursive algorithm which can generate four-block cutting pattern was presented. With the four-block cutting pattern, a sheet can be cut into four blocks. Each block contains strips of the same direction and length. In each strip more than one row of identical blanks can appear. The optimal arrangement of strips on each block was determined by the recursive algorithm. An implicit enumeration method was used to determine the combination of blocks in sheet to make the material usage reach its maximum. The experimental results show that, the algorithm is efficient in both the computation time and the material usage.

关键词： Two-dimensional cutting Unconstrained circle cutting problem Four-block cutting pattern recursive algorithm

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Analysis of singular systems via Taylor series using a recursive algorithm

Analysis of singular systems via Taylor series using a recur...

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IEEE International Conference on Control, Measurement and Instrumentation

作者： Suchismita Ghosh Department of Electrical Engineering MCKV Institute of Engineering

ISBN: (纸本)9781479988501

The paper proposes a new recursive approach for the analysis of singular system using Taylor series. Firstly, theoretical foundation of the recursive algorithm using both first and second orders Taylor series has been established in a lucid manner. Numerical examples have been treated along with relevant tables and curves in support of effectiveness of the method. Further, mean integral square error (MISE) has been estimated for both first and second order Taylor series approaches and found to be within tolerable limits. Thus, the method proves to be attractive and efficient as well.

关键词： Singular system Taylor series recursive algorithm

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Separable recursive Gradient algorithm for Dynamical Systems Based on the Impulse Response Signals

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INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS 2020年第12期18卷 3167-3177页

作者： Xu, Ling Ding, Feng Yang, Erfu Jiangnan Univ Key Lab Adv Proc Control Light Ind Sch Internet Things Engn Minist Educ Wuxi 214122 Jiangsu Peoples R China Univ Strathclyde Dept Design Mfg & Engn Management Space Mechatron Syst Technol Lab Strathclyde Space Inst Glasgow G1 1XJ Lanark Scotland

The identification for process control systems is considered in this paper based on the impulse response signals from the discrete measurements. By taking advantage of impulse signals and through the model parameter decomposition, two dependent identification models are constructed and two identification sub-algorithms are presented based on the nonlinear gradient optimization. In terms of the associated items of the parameters to be estimated between two derived sub-algorithms, a separable recursive gradient parameter estimation method is proposed by designing an interactive and recursive estimation. The performance tests and the comparison experiments are carried out by the simulation examples.

关键词： Gradient search impulse signal parameter estimation recursive algorithm system response

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GENERAL SOLUTION SCHEME TO SPATIAL COMPLEXITY OF recursive algorithm

GENERAL SOLUTION SCHEME TO SPATIAL COMPLEXITY OF RECURSIVE A...

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2006 International Conference on Machine Learning and Cybernetics(IEEE第五届机器学习与控制论坛)

作者： YONG SUN XUAN WANG School of Electronics and Information Engineering Shenzhen Polytechnic Shenzhen 518055 China Dept.of computer science Harbin Institute of Technology Shenzhen Graduate School Shenzhen 518055C

recursive algorithm (RA) need a great number of storage space for continue operations (such as push) on stack, which easily causes stack overflow. In the paper, we present a novel recursive algorithm to solve this intractability throw constructing recursive tree, which only restoring valuable data for decreasing the spatial complexity, and then traversing recursive tree. In this way, the problem of spatial complexity of recursive algorithm could be solved effectively, making recursive algorithm more practical in application.

关键词： recursive algorithm recursive tree Spatial complexity

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Simultaneous Reactive-Power and Frequency Estimations Using Simple recursive WLS algorithm and Adaptive Filtering

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IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT 2011年第12期60卷 3860-3867页

作者： Kusljevic, Miodrag D. Poljak, Predrag D. Termoelektro Enel AD Belgrade 11060 Serbia Sch Elect Engn & Comp Sci Appl Studies Belgrade 11000 Serbia

A new simple approach to the design of digital algorithm for simultaneous reactive-power and frequency estimations of local system is presented. The algorithm is derived using the weighted-least-square method. During the algorithm derivation, a pure sinusoidal voltage model was assumed. Cascade finite-impulse-response (FIR) comb digital filters are used to minimize the noise effect and to eliminate the presence of harmonics effect. The most important point of this paper is the mathematical model that transforms the problem of estimation into an overdetermined set of linear equations. The investigation was simplified because the total similarity to the state of the problem of the active-power and frequency estimations was noticed. The only difference is the adaptive phase shifter applied to the voltage signal. In addition, coefficient-sensitivity problems of the large-order FIR comb cascade structure are overridden by using a multirate (decimation) digital signal processing technique. Even more, by using antialiasing filters, the parameter estimation accuracy is improved. The effectiveness of the proposed techniques is demonstrated by both simulation and experimental results. The algorithm shows a very high level of robustness, as well as high measurement accuracy over a wide range of frequency changes.

关键词： Cascaded-integrator-comb (CIC) filter digital phase shifter downsampling finite-impulse-response (FIR) filter frequency estimation reactive-power estimation recursive algorithm weighted least square (WLS)

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