Inter-Ing INTERDISCIPLINARITY IN ENGINEERING SCIENTIFIC INTERNATIONAL CONFERENCE, TG. MUREŞ ROMÂNIA, November 2007.
|
|
- Randolph Morris
- 8 years ago
- Views:
Transcription
1 Inter-Ing 2007 INTERDISCIPLINARITY IN ENGINEERING SCIENTIFIC INTERNATIONAL CONFERENCE, TG. MUREŞ ROMÂNIA, November UNCERTAINTY REGION SIMULATION FOR A SERIAL ROBOT STRUCTURE MARIUS SEBASTIAN RUSU, LUCIAN GRAMA PETRU MAIOR UNIVERSITY, TG-MUREŞ Keywords: vbratons composton, uncertanty regon, smulaton Abstract: As the undesred vbratons n mechatronc and robotc systems lead to the alteraton of ther behavor and fnally of ther performances, t s recommed that n the begnnng of the desgn phase, vbratons predcton and removal should be consdered as an mportant requrement. The knowledge of the nfluence of vbratons over the desgned system provdes the bass for elmnatng ther undesred effects as much as possble. Ths paper presents a smulaton of the uncertanty based vbratons effect model appled to a seral robot. 1. Introducton Buldng a robot that meets the proect requrements s the goal of the product desgn and development. The requrements mpose performance crtera to the new system. These performance crtera are usually constraned by the undesred phenomena, such as vbratons. The vbraton reecton should be an mportant goal of the robot proect, as ts avodance can lead to an neffcent and useless system n the. Postonng s one maor feature of the robot and ths s strongly nfluenced by mechancal, electrcal and even algorthm faults. Undesred vbratons can alter the poston of the fnal effector and to make the robot less precse. Ths s why, knowng the behavor of these vbratons can offer a soluton for performance mprovements. In the next pages we shall present a method of modelng the effect of vbratons over a smple 1-degree-of-freedom robot and then a more complex n-degrees-of-freedom robot. 2. About the uncertanty regon model of the postonng alteraton of the effector We shall buld our smulatons on the uncertanty regon model of the postonng alteraton of the robot s effector. Ths model states that the effector s poston can be placed n an uncertanty regon, usually around ts deal poston. The smplest model presents an uncertanty surface around the deal pont where the effector s characterstc pont can be found. A more complex approach makes the dfference between longtudnal and transversal waves n the robot sold body and proposes a dsc shaped uncertanty surface surroundng the central deal poston. Stll these two models are lmted to surface areas, whle the volume of the obect s not taken n consderaton. Therefore, a more realstc representaton arses where the uncertanty regon s shaped as a volumetrc sphere around the deal poston. The effector can be found anywhere nsde the sphere s volume. Usually, the hghest probablty to fnd the effector s closer to the deal poston, therefore, nsde the sphere, there s a normal probablty dstrbuton feld. III-4-1
2 III-4-2 To enhance ths new perspectve, one shall consder the volumetrc dsc shaped normal dstrbuton to model the uncertanty regon. These two volumetrc models are presented n Fg. 1. a) sphercal volume uncertanty regon b) dsc shaped volume uncertanty regon Fg. 1 Volumetrc uncertanty regon models Startng from a smple, yet general, rotaton onts seral robot structure n Fg. 2, a forward knematcs model can be deduced n the form of the equatons n (1). Fg. 2 Seral planar robot model ± ± ± n n f n f l arctg l y l x 1 ' 1 1 ' 1 1 ' sn cos ε ε ε (1) Ths, along wth a trval 1-degree-of-freedon robot model wll be the bass for the followng smulatons.
3 3. Smulaton of vbratons nduced alteraton for 1-DOF robot We shall consder a trval 1 DOF robot havng a rotaton movement wth a 10 to 170 openng and a 0.9 step. The arm length s 30cm and the devaton coeffcent s 0.6. We shall buld the deal workspace and then some altered workspaces. The smulaton program s wrtten n Matlab 6.5 and ts source code s detaled n the next pages. The graphcal results are shown n Fg. 3 Fg. 6. Fg. 3 1 DOF robot deal workspace Fg. 4 Uncertanty regon borders Fg. 4 shows the borders of the uncertanty regon around the desred poston of the effector. The followng two mages show the nfluence of the Gaussan dstrbuted perturbaton and the unform dstrbuted perturbaton of the workspace of the trval robot. Fg. 5 Normal dstrbuted workspace alteraton Fg. 6 Unform dstrbuted workspace alteraton III-4-3
4 Fg. 7 Normal dstrbuted uncertanty regon Fg. 8 Unform dstrbuted uncertanty regon Images n Fg. 7 and Fg. 8 present a more detaled smulaton of the uncertanty regon around the desred workspace. 4. Generalzaton of the workspace alteraton for an n-dof seral robot We shall consder a seral rotaton n-dof robot as descrbed n Fg. 2. Ths case wll assume that each element of the chan can alter ts angle ndepently and the cumulatve effect wll be found n the placement of the effector. The followng fgures are made for a 2-DOF seral robot, but the smulaton s not lmted to ths. The robot s a rough structure wth the followng elements: 1: angles from 0 to π rad wth a 0.05 rad step angle, length 30 cm, devaton 0.8 cm; 2: angles from 0 to 2π rad wth a 0.05 rad step angle, length 9 cm, devaton 0.7 cm. Fg. 9 to Fg.12 presents the 2-DOF robot s workspace wth and wthout alteraton. Fg. 9 2-DOF robot deal workspace Fg DOF snus alteraton III-4-4
5 Fg DOF unform alteraton Fg DOF normal alteraton 5. The smulatons Matlab source code Ths chapter ncludes some of the Matlab source code for the smulatons above. Source code for the 1-DOF smulatons % ROBOT DEFINITION % angles (mn:step:max) angles p*(10/180) : p*(0.9/180) : p*(170/180); % arm length length 30; % uncertanty parameters defnton devaton 0.6; fgure (1); % IDEAL WORKSPACE x length * cos ( angles ); y length * sn ( angles ); subplot ( 221 ); grd on; hold on; ttle ('1 DOF robot deal workspace'); axs ( [ -length-3 length+3 0 length+3 ] ); plot ( x,y ); % ALTERED WORKSPACE BORDERS xb1 x + devaton * cos(angles); yb1 y + devaton * sn(angles); xb2 x - devaton * cos(angles); yb2 y - devaton * sn(angles); subplot ( 222 ); ttle ( '1 DOF Altered workspace borders' ); grd on; hold on; axs ( [ -length-3 length+3 0 length+3 ] ); plot ( x,y, 'b' ); plot ( xb1,yb1, 'r' ); plot ( xb2,yb2, 'r' ); leg ( 'deal workspace', 'uncertanty regon border' ); % NORMAL ALTERATION EXAMPLE gaussan_nose devaton * randn ( sze(angles) ); xna x + gaussan_nose.* cos(angles); yna y + gaussan_nose.* sn(angles); subplot ( 223 ); ttle ( '1 DOF Gaussan alteraton example' ); III-4-5
6 grd on; hold on; axs ( [ -length-3 length+3 0 length+3 ] ); plot ( x,y, 'b' ); plot ( xna,yna, 'r' ); leg ( 'deal workspace', 'gaussan dstrbuted alteraton' ); % UNIFORM ALTERATION EXAMPLE whte_nose devaton * ( rand ( sze(angles) ) - 0.5) * 5; xua x + whte_nose.* cos(angles); yua y + whte_nose.* sn(angles); subplot ( 224 ); grd on; hold on; ttle ( '1 DOF Unform alteraton example' ); axs ( [ -length-3 length+3 0 length+3 ] ); plot ( x,y, 'b' ); plot ( xua,yua, 'r' ); leg ( 'deal workspace', 'unform dstrbuted alteraton' ); fgure (2); Workspace calculaton recursve functon % functon: workspace % descrpton: computes recursvely the vector % of ponts that descrbe the robot's % workspace % nputs: onts: the lst ont obects % : current ont % ponts: the current ponts vector % output: the new vector of ponts functon [p] workspace ( onts,, ponts ) % stops teratng when fndng the effector f ( length(onts) ) % calculates every posble poston for the current % knematc chan confguraton for ( 1:length(onts().angles) ) onts().ndex ; % enlarge the ponts vector n length(ponts) + 1; ponts ( n ).x 0; ponts ( n ).y 0; % calculate the new posble poston for ( k1:length(onts) ) ponts ( n ).x ponts ( n ).x + onts(k).length * cos(onts(k).angles(onts(k).ndex)) + onts().nose(onts(k).ndex) * cos(onts(k).angles(onts(k).ndex)); ponts ( n ).y ponts ( n ).y + onts(k).length * sn(onts(k).angles(onts(k).ndex)) + onts().nose(onts(k).ndex) * sn(onts(k).angles(onts(k).ndex)); else % f the current terator s an ntermedate element % store the new angle ndex and recurse toward the % effector for ( 1:length(onts().angles) ) onts().ndex ; ponts workspace ( onts, +1, ponts ); p ponts; III-4-6
7 return The recursve functon above terates through the knematcs chan and determnes the resultng workspace. For readablty, packed obects have been used. 6. Conclusons Gatherng the desgn data and smulatng the vbraton nduced alteraton of the effector, whch drectly deterorates the robot s workspace, can gve a detaled vew of the problems to avod, as well as provdes the bass for reecton measures that should be taken. The uncertanty regon model ncludes the most common devatons and can be regarded as the goal of a perturbatons flterng n the desgn process. 7. Bblography 1. Merovtch, L, Prncples and technques of vbratons, Prentce-Hall Internatonal, New Jersey, Lupea, I., Robot s vbrat, Ed. Daca, Clu Napoca, Ispas, C., and others, Vbratons des systemes technologques, Ed. Agr, Bucurest, Moldovan, L., Vbrat mecance, Ed. UPM, Tg-Mures, Vstran, M, Roboţ ndustral, Ed. UT Clu, Clu-Napoca, Vorel, H, ş.a., Roboţ. Structură, cnematcă ş caracterstc III-4-7
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
More informationEfficient Project Portfolio as a tool for Enterprise Risk Management
Effcent Proect Portfolo as a tool for Enterprse Rsk Management Valentn O. Nkonov Ural State Techncal Unversty Growth Traectory Consultng Company January 5, 27 Effcent Proect Portfolo as a tool for Enterprse
More information"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
More informationHow 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
More informationVision 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
More informationRisk Model of Long-Term Production Scheduling in Open Pit Gold Mining
Rsk Model of Long-Term Producton Schedulng n Open Pt Gold Mnng R Halatchev 1 and P Lever 2 ABSTRACT Open pt gold mnng s an mportant sector of the Australan mnng ndustry. It uses large amounts of nvestments,
More informationbenefit 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
More informationCHOLESTEROL REFERENCE METHOD LABORATORY NETWORK. Sample Stability Protocol
CHOLESTEROL REFERENCE METHOD LABORATORY NETWORK Sample Stablty Protocol Background The Cholesterol Reference Method Laboratory Network (CRMLN) developed certfcaton protocols for total cholesterol, HDL
More informationAn 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
More informationBrigid Mullany, Ph.D University of North Carolina, Charlotte
Evaluaton And Comparson Of The Dfferent Standards Used To Defne The Postonal Accuracy And Repeatablty Of Numercally Controlled Machnng Center Axes Brgd Mullany, Ph.D Unversty of North Carolna, Charlotte
More informationRealistic Image Synthesis
Realstc Image Synthess - Combned Samplng and Path Tracng - Phlpp Slusallek Karol Myszkowsk Vncent Pegoraro Overvew: Today Combned Samplng (Multple Importance Samplng) Renderng and Measurng Equaton Random
More informationThe 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.
More informationDetailed Analysis of SCARA-Type Serial Manipulator on a Moving Base with LabView
Internatonal Journal of Advanced Robotc Systems ARTICLE Detaled Analyss of SCARA-Type Seral Manpulator on a Movng Base wth LabVew Regular Paper Alrıa Kalel 1,*, Ahmet Dumlu 1, M. Fath Çorapsı 1 and Köksal
More informationGRAVITY DATA VALIDATION AND OUTLIER DETECTION USING L 1 -NORM
GRAVITY DATA VALIDATION AND OUTLIER DETECTION USING L 1 -NORM BARRIOT Jean-Perre, SARRAILH Mchel BGI/CNES 18.av.E.Beln 31401 TOULOUSE Cedex 4 (France) Emal: jean-perre.barrot@cnes.fr 1/Introducton The
More informationEnergies of Network Nastsemble
Supplementary materal: Assessng the relevance of node features for network structure Gnestra Bancon, 1 Paolo Pn,, 3 and Matteo Marsl 1 1 The Abdus Salam Internatonal Center for Theoretcal Physcs, Strada
More informationIMPACT ANALYSIS OF A CELLULAR PHONE
4 th ASA & μeta Internatonal Conference IMPACT AALYSIS OF A CELLULAR PHOE We Lu, 2 Hongy L Bejng FEAonlne Engneerng Co.,Ltd. Bejng, Chna ABSTRACT Drop test smulaton plays an mportant role n nvestgatng
More informationImplementation of Deutsch's Algorithm Using Mathcad
Implementaton of Deutsch's Algorthm Usng Mathcad Frank Roux The followng s a Mathcad mplementaton of Davd Deutsch's quantum computer prototype as presented on pages - n "Machnes, Logc and Quantum Physcs"
More informationCalculating 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,
More informationThe Virtual Movable Human Upper Body for Palpatory Diagnostic Training
Paper Number 26-1-232 Sesson DHM5 The Vrtual Movable Human Upper Body for Palpatory Dagnostc Tranng Meng-Yun Chen, Robert L. Wllams II, Robert R. Conatser Jr. and John N. Howell Interdscplnary Insttute
More informationRESEARCH ON DUAL-SHAKER SINE VIBRATION CONTROL. Yaoqi FENG 1, Hanping QIU 1. China Academy of Space Technology (CAST) yaoqi.feng@yahoo.
ICSV4 Carns Australa 9- July, 007 RESEARCH ON DUAL-SHAKER SINE VIBRATION CONTROL Yaoq FENG, Hanpng QIU Dynamc Test Laboratory, BISEE Chna Academy of Space Technology (CAST) yaoq.feng@yahoo.com Abstract
More informationPSYCHOLOGICAL 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
More informationLuby s Alg. for Maximal Independent Sets using Pairwise Independence
Lecture Notes for Randomzed Algorthms Luby s Alg. for Maxmal Independent Sets usng Parwse Independence Last Updated by Erc Vgoda on February, 006 8. Maxmal Independent Sets For a graph G = (V, E), an ndependent
More informationHow Sets of Coherent Probabilities May Serve as Models for Degrees of Incoherence
1 st Internatonal Symposum on Imprecse Probabltes and Ther Applcatons, Ghent, Belgum, 29 June 2 July 1999 How Sets of Coherent Probabltes May Serve as Models for Degrees of Incoherence Mar J. Schervsh
More informationI. INTRODUCTION. 1 IRCCyN: UMR CNRS 6596, Ecole Centrale de Nantes, Université de Nantes, Ecole des Mines de Nantes
he Knematc Analyss of a Symmetrcal hree-degree-of-freedom lanar arallel Manpulator Damen Chablat and hlppe Wenger Insttut de Recherche en Communcatons et Cybernétque de Nantes, rue de la Noë, 442 Nantes,
More informationNon-symmetric membership function for Fuzzy-based visual servoing onboard a UAV.
1 Non-symmetrc membershp functon for Fuzzy-based vsual servong onboard a UAV. M. A. Olvares-Méndez* and P. Campoy and C. Martínez and I. F. Mondragón B. Computer Vson Group, DISAM, Unversdad Poltécnca
More information+ + + - - This circuit than can be reduced to a planar circuit
MeshCurrent Method The meshcurrent s analog of the nodeoltage method. We sole for a new set of arables, mesh currents, that automatcally satsfy KCLs. As such, meshcurrent method reduces crcut soluton to
More informationON THE ACCURACY, REPEATABILITY, AND DEGREE OF INFLUENCE OF KINEMATICS PARAMETERS FOR INDUSTRIAL ROBOTS
Internatonal Journal of Modellng and Smulaton, Vol. 22, No. 3, 2002 ON THE ACCURACY, REPEATABILITY, AND DEGREE OF INFLUENCE OF KINEMATICS PARAMETERS FOR INDUSTRIAL ROBOTS P.S. Shakolas, K.L. Conrad, and
More informationUnderwriting Risk. Glenn Meyers. Insurance Services Office, Inc.
Underwrtng Rsk By Glenn Meyers Insurance Servces Offce, Inc. Abstract In a compettve nsurance market, nsurers have lmted nfluence on the premum charged for an nsurance contract. hey must decde whether
More informationTHE METHOD OF LEAST SQUARES THE METHOD OF LEAST SQUARES
The goal: to measure (determne) an unknown quantty x (the value of a RV X) Realsaton: n results: y 1, y 2,..., y j,..., y n, (the measured values of Y 1, Y 2,..., Y j,..., Y n ) every result s encumbered
More informationStudy on Model of Risks Assessment of Standard Operation in Rural Power Network
Study on Model of Rsks Assessment of Standard Operaton n Rural Power Network Qngj L 1, Tao Yang 2 1 Qngj L, College of Informaton and Electrcal Engneerng, Shenyang Agrculture Unversty, Shenyang 110866,
More informationPOLYSA: 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
More informationForm-finding of grid shells with continuous elastic rods
Page of 0 Form-fndng of grd shells wth contnuous elastc rods Jan-Mn L PhD student Insttute of Buldng Structures and Structural Desgn (tke), Unversty Stuttgart Stuttgar, Germany quantumamn@gmal.com Jan
More informationRecurrence. 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.
More informationBERNSTEIN 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
More informationInstitute 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
More informationTHE DISTRIBUTION OF LOAN PORTFOLIO VALUE * Oldrich Alfons Vasicek
HE DISRIBUION OF LOAN PORFOLIO VALUE * Oldrch Alfons Vascek he amount of captal necessary to support a portfolo of debt securtes depends on the probablty dstrbuton of the portfolo loss. Consder a portfolo
More informationConversion between the vector and raster data structures using Fuzzy Geographical Entities
Converson between the vector and raster data structures usng Fuzzy Geographcal Enttes Cdála Fonte Department of Mathematcs Faculty of Scences and Technology Unversty of Combra, Apartado 38, 3 454 Combra,
More informationAN APPOINTMENT ORDER OUTPATIENT SCHEDULING SYSTEM THAT IMPROVES OUTPATIENT EXPERIENCE
AN APPOINTMENT ORDER OUTPATIENT SCHEDULING SYSTEM THAT IMPROVES OUTPATIENT EXPERIENCE Yu-L Huang Industral Engneerng Department New Mexco State Unversty Las Cruces, New Mexco 88003, U.S.A. Abstract Patent
More informationFuzzy Set Approach To Asymmetrical Load Balancing In Distribution Networks
Fuzzy Set Approach To Asymmetrcal Load Balancng n Dstrbuton Networks Goran Majstrovc Energy nsttute Hrvoje Por Zagreb, Croata goran.majstrovc@ehp.hr Slavko Krajcar Faculty of electrcal engneerng and computng
More informationSection 5.4 Annuities, Present Value, and Amortization
Secton 5.4 Annutes, Present Value, and Amortzaton Present Value In Secton 5.2, we saw that the present value of A dollars at nterest rate per perod for n perods s the amount that must be deposted today
More informationProject Networks With Mixed-Time Constraints
Project Networs Wth Mxed-Tme Constrants L Caccetta and B Wattananon Western Australan Centre of Excellence n Industral Optmsaton (WACEIO) Curtn Unversty of Technology GPO Box U1987 Perth Western Australa
More informationOn the Optimal Control of a Cascade of Hydro-Electric Power Stations
On the Optmal Control of a Cascade of Hydro-Electrc Power Statons M.C.M. Guedes a, A.F. Rbero a, G.V. Smrnov b and S. Vlela c a Department of Mathematcs, School of Scences, Unversty of Porto, Portugal;
More informationExtending 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
More informationRisk-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
More informationPRACTICE 1: MUTUAL FUNDS EVALUATION USING MATLAB.
PRACTICE 1: MUTUAL FUNDS EVALUATION USING MATLAB. INDEX 1. Load data usng the Edtor wndow and m-fle 2. Learnng to save results from the Edtor wndow. 3. Computng the Sharpe Rato 4. Obtanng the Treynor Rato
More informationAbstract. 260 Business Intelligence Journal July IDENTIFICATION OF DEMAND THROUGH STATISTICAL DISTRIBUTION MODELING FOR IMPROVED DEMAND FORECASTING
260 Busness Intellgence Journal July IDENTIFICATION OF DEMAND THROUGH STATISTICAL DISTRIBUTION MODELING FOR IMPROVED DEMAND FORECASTING Murphy Choy Mchelle L.F. Cheong School of Informaton Systems, Sngapore
More informationRing structure of splines on triangulations
www.oeaw.ac.at Rng structure of splnes on trangulatons N. Vllamzar RICAM-Report 2014-48 www.rcam.oeaw.ac.at RING STRUCTURE OF SPLINES ON TRIANGULATIONS NELLY VILLAMIZAR Introducton For a trangulated regon
More informationQuantization Effects in Digital Filters
Quantzaton Effects n Dgtal Flters Dstrbuton of Truncaton Errors In two's complement representaton an exact number would have nfntely many bts (n general). When we lmt the number of bts to some fnte value
More informationGENETIC ALGORITHM FOR PROJECT SCHEDULING AND RESOURCE ALLOCATION UNDER UNCERTAINTY
Int. J. Mech. Eng. & Rob. Res. 03 Fady Safwat et al., 03 Research Paper ISS 78 049 www.jmerr.com Vol., o. 3, July 03 03 IJMERR. All Rghts Reserved GEETIC ALGORITHM FOR PROJECT SCHEDULIG AD RESOURCE ALLOCATIO
More information8.5 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
More informationForecasting the Demand of Emergency Supplies: Based on the CBR Theory and BP Neural Network
700 Proceedngs of the 8th Internatonal Conference on Innovaton & Management Forecastng the Demand of Emergency Supples: Based on the CBR Theory and BP Neural Network Fu Deqang, Lu Yun, L Changbng School
More informationDescriptive 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
More informationFace 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
More informationAn Enhanced Super-Resolution System with Improved Image Registration, Automatic Image Selection, and Image Enhancement
An Enhanced Super-Resoluton System wth Improved Image Regstraton, Automatc Image Selecton, and Image Enhancement Yu-Chuan Kuo ( ), Chen-Yu Chen ( ), and Chou-Shann Fuh ( ) Department of Computer Scence
More informationAbstract # 015-0399 Working Capital Exposure: A Methodology to Control Economic Performance in Production Environment Projects
Abstract # 015-0399 Workng Captal Exposure: A Methodology to Control Economc Performance n Producton Envronment Projects Dego F. Manotas. School of Industral Engneerng and Statstcs, Unversdad del Valle.
More informationA COPMARISON OF PARTICLE SWARM OPTIMIZATION AND THE GENETIC ALGORITHM
A COPMARISON OF PARTICLE SWARM OPTIMIZATION AND THE GENETIC ALGORITHM Rana Hassan * Babak Cohanm Olver de Weck Massachusetts Insttute of Technology, Cambrdge, MA, 39 Gerhard Venter Vanderplaats Research
More informationSIMULATION OF THERMAL AND CHEMICAL RELAXATION IN A POST-DISCHARGE AIR CORONA REACTOR
XVIII Internatonal Conference on Gas Dscharges and Ther Applcatons (GD 2010) Grefswald - Germany SIMULATION OF THERMAL AND CHEMICAL RELAXATION IN A POST-DISCHARGE AIR CORONA REACTOR M. Mezane, J.P. Sarrette,
More informationFrequency Selective IQ Phase and IQ Amplitude Imbalance Adjustments for OFDM Direct Conversion Transmitters
Frequency Selectve IQ Phase and IQ Ampltude Imbalance Adjustments for OFDM Drect Converson ransmtters Edmund Coersmeer, Ernst Zelnsk Noka, Meesmannstrasse 103, 44807 Bochum, Germany edmund.coersmeer@noka.com,
More informationState Upgrades and Natural Rate of Cities
Rsk n Water Resources Management (Proceedngs of Symposum H03 held durng IUGG20 n Melbourne, Australa, July 20) (IAHS Publ. 347, 20). 07 Assmlaton of streamflow dscharge nto a contnuous flood forecastng
More informationCausal, Explanatory Forecasting. Analysis. Regression Analysis. Simple Linear Regression. Which is Independent? Forecasting
Causal, Explanatory Forecastng Assumes cause-and-effect relatonshp between system nputs and ts output Forecastng wth Regresson Analyss Rchard S. Barr Inputs System Cause + Effect Relatonshp The job of
More informationForecasting 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
More informationBayesian Network Based Causal Relationship Identification and Funding Success Prediction in P2P Lending
Proceedngs of 2012 4th Internatonal Conference on Machne Learnng and Computng IPCSIT vol. 25 (2012) (2012) IACSIT Press, Sngapore Bayesan Network Based Causal Relatonshp Identfcaton and Fundng Success
More informationPlanning for Marketing Campaigns
Plannng for Marketng Campagns Qang Yang and Hong Cheng Department of Computer Scence Hong Kong Unversty of Scence and Technology Clearwater Bay, Kowloon, Hong Kong, Chna (qyang, csch)@cs.ust.hk Abstract
More informationNPAR TESTS. One-Sample Chi-Square Test. Cell Specification. Observed Frequencies 1O i 6. Expected Frequencies 1EXP i 6
PAR TESTS If a WEIGHT varable s specfed, t s used to replcate a case as many tmes as ndcated by the weght value rounded to the nearest nteger. If the workspace requrements are exceeded and samplng has
More informationdenote the location of a node, and suppose node X . This transmission causes a successful reception by node X for any other node
Fnal Report of EE359 Class Proect Throughput and Delay n Wreless Ad Hoc Networs Changhua He changhua@stanford.edu Abstract: Networ throughput and pacet delay are the two most mportant parameters to evaluate
More informationCalculation 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
More informationActuator forces in CFD: RANS and LES modeling in OpenFOAM
Home Search Collectons Journals About Contact us My IOPscence Actuator forces n CFD: RANS and LES modelng n OpenFOAM Ths content has been downloaded from IOPscence. Please scroll down to see the full text.
More informationFaraday's Law of Induction
Introducton Faraday's Law o Inducton In ths lab, you wll study Faraday's Law o nducton usng a wand wth col whch swngs through a magnetc eld. You wll also examne converson o mechanc energy nto electrc energy
More informationActivity Scheduling for Cost-Time Investment Optimization in Project Management
PROJECT MANAGEMENT 4 th Internatonal Conference on Industral Engneerng and Industral Management XIV Congreso de Ingenería de Organzacón Donosta- San Sebastán, September 8 th -10 th 010 Actvty Schedulng
More informationAn Integrated Framework for Responsive Supply Chain Management
1 An Integrated Framework for Responsve Supply Chan Management 1 Darsht Parmar 1 Teresa Wu 1 John Fowler Tom Callarman 3 Vncent Hargaden 4 Eamonn Ambrose 1 Phlp Wolfe 1 Department of Industral Engneerng
More informationNumber of Levels Cumulative Annual operating Income per year construction costs costs ($) ($) ($) 1 600,000 35,000 100,000 2 2,200,000 60,000 350,000
Problem Set 5 Solutons 1 MIT s consderng buldng a new car park near Kendall Square. o unversty funds are avalable (overhead rates are under pressure and the new faclty would have to pay for tself from
More informationA Secure Password-Authenticated Key Agreement Using Smart Cards
A Secure Password-Authentcated Key Agreement Usng Smart Cards Ka Chan 1, Wen-Chung Kuo 2 and Jn-Chou Cheng 3 1 Department of Computer and Informaton Scence, R.O.C. Mltary Academy, Kaohsung 83059, Tawan,
More informationElastic Systems for Static Balancing of Robot Arms
. th World ongress n Mechans and Machne Scence, Guanajuato, Méco, 9- June, 0 _ lastc Sstes for Statc alancng of Robot rs I.Sonescu L. uptu Lucana Ionta I.Ion M. ne Poltehnca Unverst Poltehnca Unverst Poltehnca
More informationSIMULATION OF INVENTORY CONTROL SYSTEM FOR SUPPLY CHAIN PRODUCER WHOLESALER CLIENT IN EXTENDSIM ENVIRONMENT
SIMULATION OF INVENTOY CONTOL SYSTEM FO SUPPLY CHAIN PODUCE WHOLESALE CLIENT IN EXTENDSIM ENVIONMENT Eugene Kopytov and Avars Muravjovs Transport and Telecommuncaton Insttute, Lomonosov Street, ga, LV-09,
More informationAnalysis 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
More informationChapter 4 ECONOMIC DISPATCH AND UNIT COMMITMENT
Chapter 4 ECOOMIC DISATCH AD UIT COMMITMET ITRODUCTIO A power system has several power plants. Each power plant has several generatng unts. At any pont of tme, the total load n the system s met by the
More informationA DYNAMIC CRASHING METHOD FOR PROJECT MANAGEMENT USING SIMULATION-BASED OPTIMIZATION. Michael E. Kuhl Radhamés A. Tolentino-Peña
Proceedngs of the 2008 Wnter Smulaton Conference S. J. Mason, R. R. Hll, L. Mönch, O. Rose, T. Jefferson, J. W. Fowler eds. A DYNAMIC CRASHING METHOD FOR PROJECT MANAGEMENT USING SIMULATION-BASED OPTIMIZATION
More informationRotation 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
More informationOptimal Bidding Strategies for Generation Companies in a Day-Ahead Electricity Market with Risk Management Taken into Account
Amercan J. of Engneerng and Appled Scences (): 8-6, 009 ISSN 94-700 009 Scence Publcatons Optmal Bddng Strateges for Generaton Companes n a Day-Ahead Electrcty Market wth Rsk Management Taken nto Account
More informationA Replication-Based and Fault Tolerant Allocation Algorithm for Cloud Computing
A Replcaton-Based and Fault Tolerant Allocaton Algorthm for Cloud Computng Tork Altameem Dept of Computer Scence, RCC, Kng Saud Unversty, PO Box: 28095 11437 Ryadh-Saud Araba Abstract The very large nfrastructure
More informationAnalysis of Energy-Conserving Access Protocols for Wireless Identification Networks
From the Proceedngs of Internatonal Conference on Telecommuncaton Systems (ITC-97), March 2-23, 1997. 1 Analyss of Energy-Conservng Access Protocols for Wreless Identfcaton etworks Imrch Chlamtac a, Chara
More informationthe Manual on the global data processing and forecasting system (GDPFS) (WMO-No.485; available at http://www.wmo.int/pages/prog/www/manuals.
Gudelne on the exchange and use of EPS verfcaton results Update date: 30 November 202. Introducton World Meteorologcal Organzaton (WMO) CBS-XIII (2005) recommended that the general responsbltes for a Lead
More informationAn Interest-Oriented Network Evolution Mechanism for Online Communities
An Interest-Orented Network Evoluton Mechansm for Onlne Communtes Cahong Sun and Xaopng Yang School of Informaton, Renmn Unversty of Chna, Bejng 100872, P.R. Chna {chsun,yang}@ruc.edu.cn Abstract. Onlne
More informationLinear Circuits Analysis. Superposition, Thevenin /Norton Equivalent circuits
Lnear Crcuts Analyss. Superposton, Theenn /Norton Equalent crcuts So far we hae explored tmendependent (resste) elements that are also lnear. A tmendependent elements s one for whch we can plot an / cure.
More informationA 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
More informationA hybrid global optimization algorithm based on parallel chaos optimization and outlook algorithm
Avalable onlne www.ocpr.com Journal of Chemcal and Pharmaceutcal Research, 2014, 6(7):1884-1889 Research Artcle ISSN : 0975-7384 CODEN(USA) : JCPRC5 A hybrd global optmzaton algorthm based on parallel
More informationWhat is Candidate Sampling
What s Canddate Samplng Say we have a multclass or mult label problem where each tranng example ( x, T ) conssts of a context x a small (mult)set of target classes T out of a large unverse L of possble
More informationCopulas. Modeling dependencies in Financial Risk Management. BMI Master Thesis
Copulas Modelng dependences n Fnancal Rsk Management BMI Master Thess Modelng dependences n fnancal rsk management Modelng dependences n fnancal rsk management 3 Preface Ths paper has been wrtten as part
More informationCan Auto Liability Insurance Purchases Signal Risk Attitude?
Internatonal Journal of Busness and Economcs, 2011, Vol. 10, No. 2, 159-164 Can Auto Lablty Insurance Purchases Sgnal Rsk Atttude? Chu-Shu L Department of Internatonal Busness, Asa Unversty, Tawan Sheng-Chang
More informationGoals Rotational quantities as vectors. Math: Cross Product. Angular momentum
Physcs 106 Week 5 Torque and Angular Momentum as Vectors SJ 7thEd.: Chap 11.2 to 3 Rotatonal quanttes as vectors Cross product Torque expressed as a vector Angular momentum defned Angular momentum as a
More informationA Multi-mode Image Tracking System Based on Distributed Fusion
A Mult-mode Image Tracng System Based on Dstrbuted Fuson Ln zheng Chongzhao Han Dongguang Zuo Hongsen Yan School of Electroncs & nformaton engneerng, X an Jaotong Unversty X an, Shaanx, Chna Lnzheng@malst.xjtu.edu.cn
More informationA Computer Program for Flow-Log Analysis of Single Holes (FLASH)
Fnal copy as submtted to Ground Water for publcaton as: Day-Lews, F.D., Johnson, C. D., Pallet, F.L., and Halford, K.J., 2011, A computer program for flow-log analyss of sngle holes (FLASH): Ground Water,
More informationThe 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
More informationRequIn, a tool for fast web traffic inference
RequIn, a tool for fast web traffc nference Olver aul, Jean Etenne Kba GET/INT, LOR Department 9 rue Charles Fourer 90 Evry, France Olver.aul@nt-evry.fr, Jean-Etenne.Kba@nt-evry.fr Abstract As networked
More informationLogistic Regression. Lecture 4: More classifiers and classes. Logistic regression. Adaboost. Optimization. Multiple class classification
Lecture 4: More classfers and classes C4B Machne Learnng Hlary 20 A. Zsserman Logstc regresson Loss functons revsted Adaboost Loss functons revsted Optmzaton Multple class classfcaton Logstc Regresson
More informationAverage perimeter distance and its relation to floor plate geometry 41
Lght, vews and money: Average permeter dstance and ts relaton to floor plate geometry 41 Ermal Shpuza Georga Insttute of Technology, USA Abstract Envronmental comfort n buldngs wth large floor plates s
More informationEnabling 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
More informationAutonomous Navigation and Map building Using Laser Range Sensors in Outdoor Applications
Autonomous Navgaton and Map buldng Usng aser Range Sensors n Outdoor Applcatons Jose Guvant, Eduardo Nebot and Stephan Baker Australan Centre for Feld Robotcs Department of Mechancal and Mechatronc Engneerng
More informationTrade Adjustment and Productivity in Large Crises. Online Appendix May 2013. Appendix A: Derivation of Equations for Productivity
Trade Adjustment Productvty n Large Crses Gta Gopnath Department of Economcs Harvard Unversty NBER Brent Neman Booth School of Busness Unversty of Chcago NBER Onlne Appendx May 2013 Appendx A: Dervaton
More informationwhere the coordinates are related to those in the old frame as follows.
Chapter 2 - Cartesan Vectors and Tensors: Ther Algebra Defnton of a vector Examples of vectors Scalar multplcaton Addton of vectors coplanar vectors Unt vectors A bass of non-coplanar vectors Scalar product
More information