Piecewise affine approximation of nonlinear systems a case study of a benchmark nonlinear boiler
|
|
|
- Mary Cora Rice
- 8 years ago
- Views:
Transcription
1 Proeedngs of the 8th WSEAS Internatonal Conferene on SYSTEM SCIENCE and SIMULATION n ENGINEERING Peewse affne approxmaton of nonlnear sstems a ase std of a benhmark nonlnear boler RADEK HORÁLEK* AND JAROSLAV HLAVA ** *Insttte of Sstems Control and Relablt Management **Insttte of Mehatrons and Compter Engneerng Tehnal Unverst of Lbere, Falt of Mehatrons 7 Lbere, Stdentská CZECH REPUBLIC {radek.horalek, jaroslav.hlava}@tl.z Abstrat: Ths paper deals wth peewse affne (PWA approxmaton of nonlnear sstems. Its motvaton s smple. If the ontrolled plant exhbts nonlnear behavor, lnear ontroller based on lnearzed model ma often be nable to aheve satsfator performane. On the other hand, ntrns omplext of the nonlnear ontroller based on fll nonlnear model ma prevent t from pratal applaton. PWA model that ses a set of swthed partal lnear models an then represent the mddle wa between smplfatons of the lnearzed model and omplext of the nonlnear model. The paper ses a ase std of a nonlnear power plant boler. It shows that ts omplex nonlnear dnamal behavor an well be approxmated wth a relatvel smple PWA sstem. Unlke one lnearzed model, ths PWA approxmaton fts boler dnam behavor ver well. As the development of model predtve ontrol of the PWA sstems has alread reahed a sbstantal level of matrt, ths PWA model an be sed as a bass for the desgn of hbrd model predtve ontrol for ths boler. Ke-Words: Hbrd sstems, peewse affne sstems, approxmaton of nonlnear sstems Introdton A strong emphass on energ effent prodton and tght emsson ontrol s now mperatve n all branhes of ndstr. Ths fat has an mportant mpat also on the feld of atomat ontrol. Tradtonal ontrol sstems based on lnear ontrol theor are no more able to aheve the level of ontrol performane that s dtated b the ontemporar reqrements. Sne the behavor of almost all tehnal sstems s nonlnear, nonlnear ontrol methods an be expeted to be a more promsng approah. However, the pratal applaton of nonlnear ontrol methods s farl nvolved and as a reslt of t, the nmber of reported sessfl applatons of nonlnear ontrol s lmted. Ths fat s partlarl well domented n the ase of the model predtve ontrol (MPC, whh s the most wdel appled advaned ontrol method. Althogh the omprehensve srve of MPC applatons gven b Qn and Badgwell [] reports some sessfl applatons of the non-lnear MPC, the vast majort of pratal MPC applatons are based on lnear models. Conseqentl ther ahevable performane s lmted. A potentall nterestng alternatve to smplst lnear ontrol and exeedngl omplex nonlnear ontrol s the hbrd model predtve ontrol based on peewse affne (PWA models. It was stated alread b Sonntag n ts semnal paper [7] that more general nonlnear sstems an be globall approxmated arbtrarl losel b PWA sstems. At the same tme PWA sstems are ver smlar to lnear sstems. In fat the onl dfferene between lnear and affne sstems s the presene of a onstant term n state eqatons. Gven the sope of ths onferene manl on sstem theor and smlaton, ths paper wll be not so mh onerned wth the ontrol tself bt t wll manl fos on the ablt of PWA modelng formalsm to desrbe omplex nonlnear behavor and n ths wa to serve as a stable bass for the ontroller desgn. The paper wll se a ase std of a power plant boler that was gven n [5] as a benhmark for nonlnear ontroller desgn. Ths boler s onsderabl nonlnear and ts approxmaton wth a sngle lnear model s learl not satsfator. However, t wll be shown that ts dnams an adeqatel be desrbed wth a PWA model. Ths model an then sbseqentl be sed as a bass for hbrd model predtve ontroller desgn. ISSN: ISBN:
2 Proeedngs of the 8th WSEAS Internatonal Conferene on SYSTEM SCIENCE and SIMULATION n ENGINEERING Nonlnear boler model The boler onsdered s of the drm boler tpe. Its strtre as desrbed n [5] s shown n Fg.. The man ontrol objetves assoated wth the boler ontrol are the followng. Steam pressre mst be mantaned on the desred vale despte load varatons. At the same tme the desred level of water n the drm mst also be kept at desred vale. The fel/ar rato n the ombston hamber mst respet safet, effen and eologal reqrements. Fg. Shemat strtre of the drm boler [5]. The nonlnear ontrol orented boler model pblshed n [5] n explt form s gven b eqatons (-8, where s the measred drm pressre (ps, s measred oxgen level (%, s the drm water level (n and s the steam flow rate (kg/s; x s the drm pressre state (kg/m, x s the exess oxgen level state (%, x s the sstem fld denst (kg/m and x s the exogenos varable related to the load dstrbane ntenst. Manplated varables,, are the fel flow rate, the ar flow rate and the feed water flow rate wth normalzed vales between (-. 8 x& ( ( 9 / t x t x ( t ( x& t x t ( ( x ( t 5 ( t x ( t x ( t x( t ( t ( t x ( t ( t 5x ( t ( t x ( t 5 ( x& ( x & ( (5 ( ( t 7x 7x 7x x [ 75x 7 ][ 77x ] x [ x 78 ] ( t [ x ] x ( t ( (8 The nmeral vales of the oeffents of ths model are gven n Table. Table : Coeffents of the nonlnear model For the omparson between lnearzed and nonlnear model, the lnearzed model arond the nomnal operatng pont (9 reommended n [5] was ompted. The resltng matres are gven b (-. The smlaton reslts n Fgs -5 onfrm that sgnfant dfferenes between the responses of the nonlnear and the lnear model arse f the plant operatng pont s not lose to the nomnal operatng pont. T x [ ] T [ ] [ ] T (9 ISSN: ISBN:
3 Proeedngs of the 8th WSEAS Internatonal Conferene on SYSTEM SCIENCE and SIMULATION n ENGINEERING A p B p C p D p ( ( ( ( PWA model of the boler Peewse-Affne sstems are sstems whose dnams are affne and an be dfferent n dfferent parts of the state-npt spae. The general form of a dsrete-tme PWA sstem s gven b x( k M x( k N( k f ( ( k Cx( k D( k g where eah dnams,...n PWA s atve n a polhedral partton D that s defned b gard lnes desrbed b x C G x( k G ( k G (5 Then the dnams represented b matres and vetors [[M, N, f, C, D, g ] s atve n the regon of state-npt spae that satsfes onstrants (5. A ver mportant part of the development of the PWA model from nonlnear boler model s to fnd a stable set of representatve operatng ponts arond whh the ndvdal affne models are reated. One possble solton s to base ths seleton on the vales of the npt varables, bt smlatons have shown that t does not lead to the rght reslt. In the nonlnear model eqatons, n aordane wth [], the state varable x has the man nflene on nonlneart. Frthermore we have verfed expermentall, that state varable x also has a sgnfant nflene on the lnearzed model. On the bass of these fats, the x (the drm pressre state and x (the exess oxgen level state were hosen for the operaton ponts segmentaton. x vales are from to kg/m wth the step kg/m, x vales are from - to % wth the step sze.5%. The stead state s gven b the sstem of the followng for eqatons 8 ( 9 / x t x ( t ( x t ( x ( t 5 ( t x ( t x( t ( x ( t ( t (7 x t (8 (9 These eqatons are for n nmber however the nlde onl three nknowns bease the do not nlde state varable x. For ths reason ths state varable s set to the same vale as gven n nomnal operatng pont (9. Then t s possble to ompte a set of representatve operatng ponts (note: the ponts whh are not phsall realzable are not onsdered. For ever operatng pont the lnearzed model n the form ( was reated and gard lnes n the form (5 were ompted. Valdt of eah lnear model s: ( x x x ( x.5 x x.5 ( Fnall, ths ontnos tme PWA model s onverted to the dsrete tme wth samplng perod s. The dsretzaton s done b dsretzng eah partal model separatel assmng zero order hold at the npts. Sstem (9 mst fnall be onverted to dsrete tme. Ths s done b dsretzng eah partal model separatel assmng zero order hold at the npts. Control Sstems Toolbox for Matlab has no rotne for dsretzaton of affne sstems. However t an be easl derved that the formlae for N and f n ( have the same form N e Tv ATv e A B d Tv ATv A ; f e e od ( Hene the omptaton of dsretzed model s possble b sng d ommand frst wth argments (A, B, C, D to obtan N and then wth argments (A, o, C, to obtan f. Comparson wth the Nonlnear Model For valdaton of the PWA model, step responses of the PWA model and the nonlnear model to a set of smlated npt sgnals were ompared. Intal ondtons were gven b the nomnal operatng pont (9. The hanges of npt varables are gven n Table. The smlatons were performed sng the blok of ISSN: ISBN:
4 Proeedngs of the 8th WSEAS Internatonal Conferene on SYSTEM SCIENCE and SIMULATION n ENGINEERING PWA dnamal sstem that s avalable n Mltparametr Toolbox for Matlab []. Table Smlated hanges of manplated varables Fg. ts ts t9s ts ts % -9.% % % -9.% % % Fg. ts ts t9s ts ts % -.% % % -.% % % Fg. ts t7s ts ts -.% 5% -.% 5% -8% Fg.5 ts t8s ts -.% % -.% % % The responses are gven n the respetve fgres. Fg.. Comparson of the nonlnear model, PWA model and sngle lnearzed model Fg.. Comparson of the nonlnear model, PWA model and sngle lnearzed model Fg.. Comparson of the nonlnear model, PWA model and sngle lnearzed model ISSN: ISBN:
5 Proeedngs of the 8th WSEAS Internatonal Conferene on SYSTEM SCIENCE and SIMULATION n ENGINEERING 5 Conlson It was shown n ths paper sng a ase std of a drm boler that PWA modelng s an adeqate wa to express the dnams of omplex nonlnear sstems. It has an mportant onseqene. The desgn of model predtve ontrol based on PWA models s easer and better developed that relatvel omplated fll nonlnear MPC. Ths the paper shows that hbrd MPC based on PWA models whh was orgnall developed for the ontrol of hbrd sstems an be appled also to plants that do not exhbt hbrd phenomena bt that are desrbed b omplated nonlnear models. Aknowledgement: Ths researh has been spported b the Czeh Sene Fondaton wthn projet /7/7. Fg.5. Comparson of the nonlnear model, PWA model and sngle lnearzed model It an easl be observed from these smlatons that the responses of sngle lnearzed model beome nreasngl nadeqate wth nreasng dstane from the nomnal operatng pont. All responses are almost ndstngshable n Fg. where the npt hanges are small; however the beome qte onsderable n Fgs -5 where the magntdes of npt hanges are hgher. On the other hand, the responses of PWA model are almost dental wth the responses of nonlnear model regardless of the magntdes of the npt hanges. In ths wa, t beomes evdent that PWA modelng s a stable wa to express omplated nonlnear dnams. Ths reslt shown here n the ase of omplated nonlnear drm-boler s smlar to the reslts aheved n the ase of three stage power plant reheater [] and omplex laborator sale plant wth hbrd dnams []. Referenes: [] Hlava, J., PWA modellng and oordnated ontnos and logal ontrol of a laborator sale plant wth hbrd dnams, Preprnts of IFAC Internatonal Smposm on Advaned Control of Chemal Proesses ADCHEM 9, Istanbl, Trke Jl 9, pp. -5. [] Hlava J., Hbrd modellng and ontrol of a power plant three-stage reheater, Preprnts of the rd IFAC Conferene on Analss and Desgn of Hbrd Sstems, pp. -7, Zaragoza, Span, September 9 [] Jzhen L, Cafen F and Wen Tan, Analss and Control of A Benhmark Boler, 5 Internatonal Conferene on Control and Atomaton (ICCA, Vols. and, 5, pp [] Kvasna, M., P. Greder, M. Baot & Morar M., Mlt-Parametr Toolbox (MPT, HSCC (Hbrd Sstems: Comptaton and Control, pp. 8-, Sprnger Verlag,. [5] G. Pellegrnett and J. Bentsman, Nonlnear Control Orented Boler Modelng: A Benhmark Problem for Controller Desgn, IEEE Transatons on Control Sstems Tehnolog, Vol., No., 99, pp [] Qn S. J. and Badgwell T. A. A srve of ndstral model predtve ontrol tehnolog, Control Engneerng Prate, vol., Isse 7, Jl, pp [7] Sontag, E. (98, Nonlnear reglaton: The peewse lnear approah, IEEE Transatons on Atomat Control, vol., no., pp ISSN: ISBN:
Data Analysis with Fuzzy Measure on Intuitionistic Fuzzy Sets
Proeedngs of the Internatonal MultConferene of Engneers and Computer Sentsts 2016 Vol II Marh 16-18 2016 Hong Kong Data nalyss wth Fuzzy Measure on Intutonst Fuzzy Sets Sanghyuk Lee * Ka Lok Man Eng Gee
Modern Problem Solving Techniques in Engineering with POLYMATH, Excel and MATLAB. Introduction
Modern Problem Solvng Tehnques n Engneerng wth POLYMATH, Exel and MATLAB. Introduton Engneers are fundamentally problem solvers, seekng to aheve some objetve or desgn among tehnal, soal eonom, regulatory
Use of Multi-attribute Utility Functions in Evaluating Security Systems
LLNL-TR-405048 Use of Mult-attrbute Utlty Funtons n Evaluatng Seurty Systems C. Meyers, A. Lamont, A. Sherman June 30, 2008 Ths doument was prepared as an aount of work sponsored by an ageny of the Unted
The Application of Qubit Neural Networks for Time Series Forecasting with Automatic Phase Adjustment Mechanism
The Applaton of Qubt Neural Networks for Tme Seres Foreastng wth Automat Phase Adjustment Mehansm arlos R. B. Azevedo 1 and Tago. A. E. Ferrera 1 1 entro de ênas e Tenologa Unversdade atóla de Pernambuo
Energy-Efficient Design in Wireless OFDMA
Ths full text paper was peer revewed at the dreton of IEEE Communatons Soety subjet matter experts for publaton n the ICC 2008 proeedngs. Energy-Effent Desgn n Wreless OFDMA Guowang Mao, Nageen Hmayat,
Calculation of Sampling Weights
Perre Foy Statstcs Canada 4 Calculaton of Samplng Weghts 4.1 OVERVIEW The basc sample desgn used n TIMSS Populatons 1 and 2 was a two-stage stratfed cluster desgn. 1 The frst stage conssted of a sample
When can bundling help adoption of network technologies or services?
When an bundlng help adopton of network tehnologes or serves? Steven Weber Dept. of ECE, Drexel U. sweber@oe.drexel.edu Roh Guérn Dept. of CSE, WUSTL guern@wustl.edu Jaudele C. de Olvera Dept. of ECE,
Lognormal random eld approxmatons to LIBOR market models O. Kurbanmuradov K. Sabelfeld y J. Shoenmakers z Mathemats Subet Classaton: 60H10,65C05,90A09 Keywords: LIBOR nterest rate models, random eld smulaton,
Peer-to-peer systems have attracted considerable attention
Reputaton Aggregaton n Peer-to-Peer etwork Usng Dfferental Gossp Algorthm Ruhr Gupta, Yatndra ath Sngh, Senor Member, IEEE, arxv:20.430v4 [s.i] 28 Jan 204 Abstrat Reputaton aggregaton n peer to peer networks
Multi-class kernel logistic regression: a fixed-size implementation
Mult-lass kernel logst regresson: a fxed-sze mplementaton Peter Karsmakers,2, Krstaan Pelkmans 2, Johan AK Suykens 2 Abstrat Ths researh studes a pratal teratve algorthm for mult-lass kernel logst regresson
DECOMPOSITION ALGORITHM FOR OPTIMAL SECURITY-CONSTRAINED POWER SCHEDULING
DECOMPOSITION ALGORITHM FOR OPTIMAL SECURITY-CONSTRAINED POWER SCHEDULING Jorge Martínez-Crespo Julo Usaola José L. Fernández Unversdad Carlos III de Madrd Unversdad Carlos III de Madrd Red Elétra de Espana
Pricing System Security in Electricity Markets. latter might lead to high prices as a result of unrealistic
1 Pro. Bulk Power Systems Dynams and Control{V, Onomh, Japan, August 2001. Prng System Seurty n Eletrty Markets Claudo A. Ca~nzares Hong Chen Wllam Rosehart UnverstyofWaterloo Unversty of Calgary Dept.
A frequency decomposition time domain model of broadband frequency-dependent absorption: Model II
A frequenc decomposton tme doman model of broadband frequenc-dependent absorpton: Model II W. Chen Smula Research Laborator, P. O. Box. 134, 135 Lsaker, Norwa (1 Aprl ) (Proect collaborators: A. Bounam,
A Novel Methodology of Working Capital Management for Large. Public Constructions by Using Fuzzy S-curve Regression
Novel Methodology of Workng Captal Management for Large Publc Constructons by Usng Fuzzy S-curve Regresson Cheng-Wu Chen, Morrs H. L. Wang and Tng-Ya Hseh Department of Cvl Engneerng, Natonal Central Unversty,
Series Solutions of ODEs 2 the Frobenius method. The basic idea of the Frobenius method is to look for solutions of the form 3
Royal Holloway Unversty of London Department of Physs Seres Solutons of ODEs the Frobenus method Introduton to the Methodology The smple seres expanson method works for dfferental equatons whose solutons
Multi-settlement Systems for Electricity Markets: Zonal Aggregation under Network Uncertainty and Market Power 1
Proeedngs of the 35th Hawa Internatonal Conferene on System Senes - 2002 Mult-settlement Systems for Eletrty Markets: Zonal Aggregaton under Network Unertanty and Market Power 1 Ransh Kamat and Shmuel
24. Impact of Piracy on Innovation at Software Firms and Implications for Piracy Policy
4. mpat of Pray on nnovaton at Software Frms and mplatons for Pray Poly Jeevan Jasngh Department of nformaton & Systems Management, HKUST Clear Water Bay, Kowloon Hong Kong jeevan@ust.h Abstrat A Busness
Behavior Coordination in E-commerce Supply Chains
Assoaton for Informaton ystems AI Eletron Lbrary AIeL) WHICEB 25 Proeedngs Wuhan Internatonal Conferene on e-busness ummer 6-9-25 Behavor Coordnaton n E-ommere upply Chans Yanhong Zhang Insttute of system
CLASSIFYING FEATURE DESCRIPTION FOR SOFTWARE DEFECT PREDICTION
Proeengs of e 20 Internatonal Conferene on Wavelet Analyss an Pattern Reognton, Guln, 0-3 July, 20 CLASSIFYING FEAURE DESCRIPION FOR SOFWARE DEFEC PREDICION LING-FENG ZHANG, ZHAO-WEI SHANG College of Computer
On the Use of Neural Network as a Universal Approximator
Internatonal Journal of Scences and Technques of Automatc control & computer engneerng IJ-STA, Volume, N, Jul 8, pp 386 399 On the Use of Neural Network as a Unversal Appromator Amel SIFAOUI, Afef ABDELKRIM,
benefit is 2, paid if the policyholder dies within the year, and probability of death within the year is ).
REVIEW OF RISK MANAGEMENT CONCEPTS LOSS DISTRIBUTIONS AND INSURANCE Loss and nsurance: When someone s subject to the rsk of ncurrng a fnancal loss, the loss s generally modeled usng a random varable or
The Mathematical Derivation of Least Squares
Pscholog 885 Prof. Federco The Mathematcal Dervaton of Least Squares Back when the powers that e forced ou to learn matr algera and calculus, I et ou all asked ourself the age-old queston: When the hell
Partner Choice and the Marital College Premium: Analyzing Marital Patterns Over Several Decades
Partner Choe and the Martal College Premum: Analyzng Martal Patterns Over Several Deades Perre-André Chappor Bernard Salané Yoram Wess January 31, 2015 Abstrat We onstrut a strutural model of household
Optimal Adaptive Voice Smoother with Lagrangian Multiplier Method for VoIP Service
Optmal Adaptve Voe Smoother wth Lagrangan Multpler Method for VoIP Serve Shyh-Fang HUANG, Er Hsao-uang WU and Pao-Ch CHANG Dept of Eletral Engneerng, Computer Sene and Informaton Engneerng and Communaton
Analysis of Premium Liabilities for Australian Lines of Business
Summary of Analyss of Premum Labltes for Australan Lnes of Busness Emly Tao Honours Research Paper, The Unversty of Melbourne Emly Tao Acknowledgements I am grateful to the Australan Prudental Regulaton
"Research Note" APPLICATION OF CHARGE SIMULATION METHOD TO ELECTRIC FIELD CALCULATION IN THE POWER CABLES *
Iranan Journal of Scence & Technology, Transacton B, Engneerng, ol. 30, No. B6, 789-794 rnted n The Islamc Republc of Iran, 006 Shraz Unversty "Research Note" ALICATION OF CHARGE SIMULATION METHOD TO ELECTRIC
Face Recognition in the Scrambled Domain via Salience-Aware Ensembles of Many Kernels
Fae Reognton n the Srambled Doman va Salene-Aware Ensembles of Many Kernels Jang, R., Al-Maadeed, S., Bourdane, A., Crooes, D., & Celeb, M. E. (2016). Fae Reognton n the Srambled Doman va Salene-Aware
On-Line Fault Detection in Wind Turbine Transmission System using Adaptive Filter and Robust Statistical Features
On-Lne Fault Detecton n Wnd Turbne Transmsson System usng Adaptve Flter and Robust Statstcal Features Ruoyu L Remote Dagnostcs Center SKF USA Inc. 3443 N. Sam Houston Pkwy., Houston TX 77086 Emal: ruoyu.l@skf.com
CONSIDER a connected network of n nodes that all wish
36 IEEE TRANSACTIONS ON INFORMATION THEORY, VOL. 60, NO. 2, FEBRUARY 204 Coded Cooperatve Data Exhange n Multhop Networks Thomas A. Courtade, Member, IEEE, and Rhard D. Wesel, Senor Member, IEEE Abstrat
Using Mean-Shift Tracking Algorithms for Real-Time Tracking of Moving Images on an Autonomous Vehicle Testbed Platform
Usng Mean-Shft Trackng Algorthms for Real-Tme Trackng of Movng Images on an Atonomos Vehcle Testbed Platform Benjamn Gorry, Zezh Chen, Kevn Hammond 2, Andy Wallace 3, and Greg Mchaelson () Dept. of Compter
Hgh Dmensonal Data Analysis proposeations
Yuntao Qan, Xaoxu Du, and Q Wang Sem-supervsed Herarhal Clusterng Analyss for Hgh Dmensonal Data Sem-supervsed Herarhal Clusterng Analyss for Hgh Dmensonal Data Yuntao Qan, Xaoxu Du, and Q Wang College
FI GERPRI T VERIFICATIO USI G OPTICAL SHIFTED PHASE- E CODED JOI T TRA SFORM CORRELATIO
FI GEPI VEIFICAIO USI G OPICAL SHIFED PHASE- E CODED JOI A SFOM COELAIO M. azrl Islam Emal: slamn@farmngdale.ed Secrt Sstems Farmngdale State Unerst of New York 350 Broad Hollow oad Farmngdale New York
Cyber-Security Via Computing With Words
Cyber-Seurty Va Computng Wth Words John. Rkard Dstrbuted Infnty, In. 4637 Shoshone Drve Larkspur, CO 808 Emal: trkard@dstrbutednfnty.om ABSRAC Cyber-seurty systems must deal wth a hgh rate of observable
1. Introduction to CFD
. Introdcton to CFD Ths s a qck ntrodcton to the basc concepts nderlyng CFD. The concepts are llstrated by applyng them to a smple D example. We dscss the followng topcs brefly:. Applcatons of CFD. The
Computer Administering of the Psychological Investigations: Set-Relational Representation
Open Journal of Appled Senes 2012 2 110-114 do:10.4236/ojapps.2012.22015 Publshed Onlne June 2012 (http://www.srp.org/journal/ojapps) Coputer Adnsterng of the Psyhologal Investgatons: Set-Relatonal Representaton
The Effect of Mean Stress on Damage Predictions for Spectral Loading of Fiberglass Composite Coupons 1
EWEA, Specal Topc Conference 24: The Scence of Makng Torque from the Wnd, Delft, Aprl 9-2, 24, pp. 546-555. The Effect of Mean Stress on Damage Predctons for Spectral Loadng of Fberglass Composte Coupons
SPEE Recommended Evaluation Practice #6 Definition of Decline Curve Parameters Background:
SPEE Recommended Evaluaton Practce #6 efnton of eclne Curve Parameters Background: The producton hstores of ol and gas wells can be analyzed to estmate reserves and future ol and gas producton rates and
por Ruedas Apdo. 14-740, 07000, México DF, México. earanda@cinvestav.mx *** Instituto Tecnológico de Celaya, Departamento de Ingeniería Electrónica,
BDscrete-me Modelng and Path-rackng for a Wheeled Moble RobotF 4BModelado en empo Dscreto Segumento de raectoras para un Robot Móvl Populsado por Ruedas Martn Velasco Vlla F Eduardo Aranda Brcare ** and
Institute of Informatics, Faculty of Business and Management, Brno University of Technology,Czech Republic
Lagrange Multplers as Quanttatve Indcators n Economcs Ivan Mezník Insttute of Informatcs, Faculty of Busness and Management, Brno Unversty of TechnologCzech Republc Abstract The quanttatve role of Lagrange
BERNSTEIN POLYNOMIALS
On-Lne Geometrc Modelng Notes BERNSTEIN POLYNOMIALS Kenneth I. Joy Vsualzaton and Graphcs Research Group Department of Computer Scence Unversty of Calforna, Davs Overvew Polynomals are ncredbly useful
PSYCHOLOGICAL RESEARCH (PYC 304-C) Lecture 12
14 The Ch-squared dstrbuton PSYCHOLOGICAL RESEARCH (PYC 304-C) Lecture 1 If a normal varable X, havng mean µ and varance σ, s standardsed, the new varable Z has a mean 0 and varance 1. When ths standardsed
Lecture 3: Force of Interest, Real Interest Rate, Annuity
Lecture 3: Force of Interest, Real Interest Rate, Annuty Goals: Study contnuous compoundng and force of nterest Dscuss real nterest rate Learn annuty-mmedate, and ts present value Study annuty-due, and
Recurrence. 1 Definitions and main statements
Recurrence 1 Defntons and man statements Let X n, n = 0, 1, 2,... be a MC wth the state space S = (1, 2,...), transton probabltes p j = P {X n+1 = j X n = }, and the transton matrx P = (p j ),j S def.
Evaluation of Delay Performance in Valiant Load-balancing Network
Evaluaton of Delay Performane n Valant Load-balanng Network Yngd Yu a, Yaohu Jn a, Hong Cheng a, Yu Gao a, Weqang Sun a, We Guo a, Wesheng Hu a a State Key Laboratory on Fber-Ot Loal Area Networks and
Credit Limit Optimization (CLO) for Credit Cards
Credt Lmt Optmzaton (CLO) for Credt Cards Vay S. Desa CSCC IX, Ednburgh September 8, 2005 Copyrght 2003, SAS Insttute Inc. All rghts reserved. SAS Propretary Agenda Background Tradtonal approaches to credt
Calculating the high frequency transmission line parameters of power cables
< ' Calculatng the hgh frequency transmsson lne parameters of power cables Authors: Dr. John Dcknson, Laboratory Servces Manager, N 0 RW E B Communcatons Mr. Peter J. Ncholson, Project Assgnment Manager,
CONTENT RECOMMENDATION SYSTEM BASED ON PRIVATE DYNAMIC USER PROFILE
CONTENT RECOMMENDATION SYSTEM BASED ON PRIVATE DYNAMIC USER PROFILE TING CHEN, WEI-LI HAN, HAI-DONG WANG, YI-XUN ZHOU, BIN XU, BIN-YU ZANG Softare Shool, Fdan Unversty, Chna E-MAIL: {05053009*, lhan, 06053008,
Optimal Health Insurance for Multiple Goods and Time Periods
04 R.P. Ells, S. Jang, and W.G. Mannng Optmal Health Insurane for Multple Goods and Tme Perods Randall P. Ells a,, Sheny Jang b, Wllard G. Mannng a Department of Eonoms, Boston Unversty, 70 Bay State Road,
Coordinate System for 3-D Model Used in Robotic End-Effector
AU JT 8(: 8 (Apr Codnate Sytem f D Model Ued n Robot EndEffer ulfqar Al Soomro Shool of Advaned Stude, Aan Inttute of Tehnology Pathum Than, Thaland Abtrat Th paper reve the onept of odnate ytem on new
Time Value of Money. Types of Interest. Compounding and Discounting Single Sums. Page 1. Ch. 6 - The Time Value of Money. The Time Value of Money
Ch. 6 - The Tme Value of Money Tme Value of Money The Interest Rate Smple Interest Compound Interest Amortzng a Loan FIN21- Ahmed Y, Dasht TIME VALUE OF MONEY OR DISCOUNTED CASH FLOW ANALYSIS Very Important
Forecasting the Direction and Strength of Stock Market Movement
Forecastng the Drecton and Strength of Stock Market Movement Jngwe Chen Mng Chen Nan Ye cjngwe@stanford.edu mchen5@stanford.edu nanye@stanford.edu Abstract - Stock market s one of the most complcated systems
The OC Curve of Attribute Acceptance Plans
The OC Curve of Attrbute Acceptance Plans The Operatng Characterstc (OC) curve descrbes the probablty of acceptng a lot as a functon of the lot s qualty. Fgure 1 shows a typcal OC Curve. 10 8 6 4 1 3 4
Vision Mouse. Saurabh Sarkar a* University of Cincinnati, Cincinnati, USA ABSTRACT 1. INTRODUCTION
Vson Mouse Saurabh Sarkar a* a Unversty of Cncnnat, Cncnnat, USA ABSTRACT The report dscusses a vson based approach towards trackng of eyes and fngers. The report descrbes the process of locatng the possble
L10: Linear discriminants analysis
L0: Lnear dscrmnants analyss Lnear dscrmnant analyss, two classes Lnear dscrmnant analyss, C classes LDA vs. PCA Lmtatons of LDA Varants of LDA Other dmensonalty reducton methods CSCE 666 Pattern Analyss
Proceedings of the Annual Meeting of the American Statistical Association, August 5-9, 2001
Proceedngs of the Annual Meetng of the Amercan Statstcal Assocaton, August 5-9, 2001 LIST-ASSISTED SAMPLING: THE EFFECT OF TELEPHONE SYSTEM CHANGES ON DESIGN 1 Clyde Tucker, Bureau of Labor Statstcs James
Rotation Kinematics, Moment of Inertia, and Torque
Rotaton Knematcs, Moment of Inerta, and Torque Mathematcally, rotaton of a rgd body about a fxed axs s analogous to a lnear moton n one dmenson. Although the physcal quanttes nvolved n rotaton are qute
An Alternative Way to Measure Private Equity Performance
An Alternatve Way to Measure Prvate Equty Performance Peter Todd Parlux Investment Technology LLC Summary Internal Rate of Return (IRR) s probably the most common way to measure the performance of prvate
Module 2 LOSSLESS IMAGE COMPRESSION SYSTEMS. Version 2 ECE IIT, Kharagpur
Module LOSSLESS IMAGE COMPRESSION SYSTEMS Lesson 3 Lossless Compresson: Huffman Codng Instructonal Objectves At the end of ths lesson, the students should be able to:. Defne and measure source entropy..
Adaptive Fractal Image Coding in the Frequency Domain
PROCEEDINGS OF INTERNATIONAL WORKSHOP ON IMAGE PROCESSING: THEORY, METHODOLOGY, SYSTEMS AND APPLICATIONS 2-22 JUNE,1994 BUDAPEST,HUNGARY Adaptve Fractal Image Codng n the Frequency Doman K AI UWE BARTHEL
Use of Numerical Models as Data Proxies for Approximate Ad-Hoc Query Processing
Preprnt UCRL-JC-?????? Use of Numercal Models as Data Proxes for Approxmate Ad-Hoc Query Processng R. Kammura, G. Abdulla, C. Baldwn, T. Crtchlow, B. Lee, I. Lozares, R. Musck, and N. Tang U.S. Department
Fault tolerance in cloud technologies presented as a service
Internatonal Scentfc Conference Computer Scence 2015 Pavel Dzhunev, PhD student Fault tolerance n cloud technologes presented as a servce INTRODUCTION Improvements n technques for vrtualzaton and performance
Tabu Search-Based Algorithm for Large Scale Crew Scheduling Problems 1
Tab Searh-ased Agorthm for arge Sae Crew Shedng robems Maro Caserta* Abstrat n ths paper, the probem of fndng a work shede for arne rew members n a gven tme horzon s taked. Ths probem s known n the teratre
Support Vector Machines
Support Vector Machnes Max Wellng Department of Computer Scence Unversty of Toronto 10 Kng s College Road Toronto, M5S 3G5 Canada wellng@cs.toronto.edu Abstract Ths s a note to explan support vector machnes.
A Performance Analysis of View Maintenance Techniques for Data Warehouses
A Performance Analyss of Vew Mantenance Technques for Data Warehouses Xng Wang Dell Computer Corporaton Round Roc, Texas Le Gruenwald The nversty of Olahoma School of Computer Scence orman, OK 739 Guangtao
Face Verification Problem. Face Recognition Problem. Application: Access Control. Biometric Authentication. Face Verification (1:1 matching)
Face Recognton Problem Face Verfcaton Problem Face Verfcaton (1:1 matchng) Querymage face query Face Recognton (1:N matchng) database Applcaton: Access Control www.vsage.com www.vsoncs.com Bometrc Authentcaton
Simple Interest Loans (Section 5.1) :
Chapter 5 Fnance The frst part of ths revew wll explan the dfferent nterest and nvestment equatons you learned n secton 5.1 through 5.4 of your textbook and go through several examples. The second part
) of the Cell class is created containing information about events associated with the cell. Events are added to the Cell instance
Calbraton Method Instances of the Cell class (one nstance for each FMS cell) contan ADC raw data and methods assocated wth each partcular FMS cell. The calbraton method ncludes event selecton (Class Cell
Vulnerability Assessment of Cybersecurity for SCADA Systems Using Attack Trees
Vulnerablty Assessment of Cyberseurty for SCADA Systems Usng Attak Trees Chee-Woo Ten, Student Member, IEEE, Chen-Chng Lu, Fellow, IEEE, Manmaran ovndarasu, Member, IEEE Abstrat By penetratng the SCADA
A STUDY OF SOFTBALL PLAYER SWING SPEED *
A STUDY OF SOFTBALL PLAYER SWING SPEED * LLOYD SMITH Shool of Mehanal and Materals Engneerng Washngton State Unversty E-mal: lvsmth@wsu.edu JEFF BROKER Department of Bology Unversty of Colorado, Colorado
21 Vectors: The Cross Product & Torque
21 Vectors: The Cross Product & Torque Do not use our left hand when applng ether the rght-hand rule for the cross product of two vectors dscussed n ths chapter or the rght-hand rule for somethng curl
Optimal Control Approach to Production Systems. with Inventory-Level-Dependent Demand
Optmal Control Approach to Prodcton Systems wth Inventory-Level-Dependent Demand Egene Khmelntsky and Ygal Gerchak Department of Indstral Engneerng, Tel-Avv Unversty, Tel-Avv 69978, Israel Fax: 97--647669,
Small pots lump sum payment instruction
For customers Small pots lump sum payment nstructon Please read these notes before completng ths nstructon About ths nstructon Use ths nstructon f you re an ndvdual wth Aegon Retrement Choces Self Invested
STANDING WAVE TUBE TECHNIQUES FOR MEASURING THE NORMAL INCIDENCE ABSORPTION COEFFICIENT: COMPARISON OF DIFFERENT EXPERIMENTAL SETUPS.
STADIG WAVE TUBE TECHIQUES FOR MEASURIG THE ORMAL ICIDECE ABSORPTIO COEFFICIET: COMPARISO OF DIFFERET EXPERIMETAL SETUPS. Angelo Farna (*), Patrzo Faust (**) (*) Dpart. d Ing. Industrale, Unverstà d Parma,
So far circuit analysis has been performed on single-
Three phase systems ntrdctn S far crct analyss has been perfrmed n sngle- phase crcts,.e. there has been ne crct wth a nmber f dfferent vltage and crrent srces whch were nt synchrnsed n any prpsefl way.
Characterization of Assembly. Variation Analysis Methods. A Thesis. Presented to the. Department of Mechanical Engineering. Brigham Young University
Characterzaton of Assembly Varaton Analyss Methods A Thess Presented to the Department of Mechancal Engneerng Brgham Young Unversty In Partal Fulfllment of the Requrements for the Degree Master of Scence
IDENTIFICATION AND CORRECTION OF A COMMON ERROR IN GENERAL ANNUITY CALCULATIONS
IDENTIFICATION AND CORRECTION OF A COMMON ERROR IN GENERAL ANNUITY CALCULATIONS Chrs Deeley* Last revsed: September 22, 200 * Chrs Deeley s a Senor Lecturer n the School of Accountng, Charles Sturt Unversty,
Damage detection in composite laminates using coin-tap method
Damage detecton n composte lamnates usng con-tap method S.J. Km Korea Aerospace Research Insttute, 45 Eoeun-Dong, Youseong-Gu, 35-333 Daejeon, Republc of Korea yaeln@kar.re.kr 45 The con-tap test has the
Cournot equilibria in two-settlement electricity markets with system contingencies. Jian Yao, Shmuel S. Oren* and Ilan Adler
142 Int. J. Crtal Infrastrutures, Vol. 3, Nos. 1/2, 2007 Cournot equlbra n two-settlement eletrty markets wth system ontngenes Jan Yao, Shmuel S. Oren* and Ilan Adler Department of Industral Engneerng
How To Understand The Results Of The German Meris Cloud And Water Vapour Product
Ttel: Project: Doc. No.: MERIS level 3 cloud and water vapour products MAPP MAPP-ATBD-ClWVL3 Issue: 1 Revson: 0 Date: 9.12.1998 Functon Name Organsaton Sgnature Date Author: Bennartz FUB Preusker FUB Schüller
North-South Trade-Related Technology Diffusion: Virtuous Growth Cycles in Latin America
DISCUSSION PAPER SERIES IZA DP No. 4943 North-South Trade-Related Tehnology Dffuson: Vrtuous Growth Cyles n Latn Amera Maure Shff Yanlng Wang May 2010 Forshungsnsttut zur Zukunft der Arbet Insttute for
POLYSA: A Polynomial Algorithm for Non-binary Constraint Satisfaction Problems with and
POLYSA: A Polynomal Algorthm for Non-bnary Constrant Satsfacton Problems wth and Mguel A. Saldo, Federco Barber Dpto. Sstemas Informátcos y Computacón Unversdad Poltécnca de Valenca, Camno de Vera s/n
Data Broadcast on a Multi-System Heterogeneous Overlayed Wireless Network *
JOURNAL OF INFORMATION SCIENCE AND ENGINEERING 24, 819-840 (2008) Data Broadcast on a Mult-System Heterogeneous Overlayed Wreless Network * Department of Computer Scence Natonal Chao Tung Unversty Hsnchu,
An Efficient Recovery Algorithm for Coverage Hole in WSNs
An Effcent Recover Algorthm for Coverage Hole n WSNs Song Ja 1,*, Wang Balng 1, Peng Xuan 1 School of Informaton an Electrcal Engneerng Harbn Insttute of Technolog at Weha, Shanong, Chna Automatc Test
Defining Contractor Performance Levels
Defnng Contrator Performane Leels Khaled Nassar, Ph.D., AIA Assoate Professor, Ameran Unersty n Caro In many ountres, state and prate owners often ategorze ontrators nto arous groups based on ther apates
A GRID BASED VIRTUAL REACTOR: PARALLEL PERFORMANCE AND ADAPTIVE LOAD BALANCING
A GRID BASED VIRTUAL REACTOR: PARALLEL PERFORMANCE AND ADAPTIVE LOAD BALANCING Vladmr V. Korkhov 1,2, Valera V. Krzhzhanovskaya 1,2 and P.M.A. Sloot 1 {vkorkhov valera sloot}@sene.uva.nl 1 Unversty of
Risk-based Fatigue Estimate of Deep Water Risers -- Course Project for EM388F: Fracture Mechanics, Spring 2008
Rsk-based Fatgue Estmate of Deep Water Rsers -- Course Project for EM388F: Fracture Mechancs, Sprng 2008 Chen Sh Department of Cvl, Archtectural, and Envronmental Engneerng The Unversty of Texas at Austn
Extending Probabilistic Dynamic Epistemic Logic
Extendng Probablstc Dynamc Epstemc Logc Joshua Sack May 29, 2008 Probablty Space Defnton A probablty space s a tuple (S, A, µ), where 1 S s a set called the sample space. 2 A P(S) s a σ-algebra: a set
Inter-Ing 2007. INTERDISCIPLINARITY IN ENGINEERING SCIENTIFIC INTERNATIONAL CONFERENCE, TG. MUREŞ ROMÂNIA, 15-16 November 2007.
Inter-Ing 2007 INTERDISCIPLINARITY IN ENGINEERING SCIENTIFIC INTERNATIONAL CONFERENCE, TG. MUREŞ ROMÂNIA, 15-16 November 2007. UNCERTAINTY REGION SIMULATION FOR A SERIAL ROBOT STRUCTURE MARIUS SEBASTIAN
Politecnico di Torino. Porto Institutional Repository
Poltecnco d orno Porto Insttutonal Repostory [Artcle] Study and development of morphologcal analyss gudelnes for pont cloud management: he "decsonal cube" Orgnal Ctaton: Vezzett E. (2011). Study and development
Robust Design of Public Storage Warehouses. Yeming (Yale) Gong EMLYON Business School
Robust Desgn of Publc Storage Warehouses Yemng (Yale) Gong EMLYON Busness School Rene de Koster Rotterdam school of management, Erasmus Unversty Abstract We apply robust optmzaton and revenue management
Modelling of Web Domain Visits by Radial Basis Function Neural Networks and Support Vector Machine Regression
Modellng of Web Doman Vsts by Radal Bass Functon Neural Networks and Support Vector Machne Regresson Vladmír Olej, Jana Flpová Insttute of System Engneerng and Informatcs Faculty of Economcs and Admnstraton,
Laws of Electromagnetism
There are four laws of electromagnetsm: Laws of Electromagnetsm The law of Bot-Savart Ampere's law Force law Faraday's law magnetc feld generated by currents n wres the effect of a current on a loop of
Descriptive Models. Cluster Analysis. Example. General Applications of Clustering. Examples of Clustering Applications
CMSC828G Prncples of Data Mnng Lecture #9 Today s Readng: HMS, chapter 9 Today s Lecture: Descrptve Modelng Clusterng Algorthms Descrptve Models model presents the man features of the data, a global summary
Enabling P2P One-view Multi-party Video Conferencing
Enablng P2P One-vew Mult-party Vdeo Conferencng Yongxang Zhao, Yong Lu, Changja Chen, and JanYn Zhang Abstract Mult-Party Vdeo Conferencng (MPVC) facltates realtme group nteracton between users. Whle P2P
Section 2 Introduction to Statistical Mechanics
Secton 2 Introducton to Statstcal Mechancs 2.1 Introducng entropy 2.1.1 Boltzmann s formula A very mportant thermodynamc concept s that of entropy S. Entropy s a functon of state, lke the nternal energy.
Lecture 2 Sequence Alignment. Burr Settles IBS Summer Research Program 2008 bsettles@cs.wisc.edu www.cs.wisc.edu/~bsettles/ibs08/
Lecture 2 Sequence lgnment Burr Settles IBS Summer Research Program 2008 bsettles@cs.wsc.edu www.cs.wsc.edu/~bsettles/bs08/ Sequence lgnment: Task Defnton gven: a par of sequences DN or proten) a method
Hedging Interest-Rate Risk with Duration
FIXED-INCOME SECURITIES Chapter 5 Hedgng Interest-Rate Rsk wth Duraton Outlne Prcng and Hedgng Prcng certan cash-flows Interest rate rsk Hedgng prncples Duraton-Based Hedgng Technques Defnton of duraton
The Development of Web Log Mining Based on Improve-K-Means Clustering Analysis
The Development of Web Log Mnng Based on Improve-K-Means Clusterng Analyss TngZhong Wang * College of Informaton Technology, Luoyang Normal Unversty, Luoyang, 471022, Chna wangtngzhong2@sna.cn Abstract.
8.5 UNITARY AND HERMITIAN MATRICES. The conjugate transpose of a complex matrix A, denoted by A*, is given by
6 CHAPTER 8 COMPLEX VECTOR SPACES 5. Fnd the kernel of the lnear transformaton gven n Exercse 5. In Exercses 55 and 56, fnd the mage of v, for the ndcated composton, where and are gven by the followng
A DATA MINING APPLICATION IN A STUDENT DATABASE
JOURNAL OF AERONAUTICS AND SPACE TECHNOLOGIES JULY 005 VOLUME NUMBER (53-57) A DATA MINING APPLICATION IN A STUDENT DATABASE Şenol Zafer ERDOĞAN Maltepe Ünversty Faculty of Engneerng Büyükbakkalköy-Istanbul