In order to obtain direct solutions of parallel manipulator without divergence in real time,a modified global Newton-Raphson(MGNR) algorithm was proposed for forward kinematics analysis of six-degree-of-freedom(DOF) p...In order to obtain direct solutions of parallel manipulator without divergence in real time,a modified global Newton-Raphson(MGNR) algorithm was proposed for forward kinematics analysis of six-degree-of-freedom(DOF) parallel manipulator.Based on geometrical frame of parallel manipulator,the highly nonlinear equations of kinematics were derived using analytical approach.The MGNR algorithm was developed for the nonlinear equations based on Tailor expansion and Newton-Raphson iteration.The procedure of MGNR algorithm was programmed in Matlab/Simulink and compiled to a real-time computer with Microsoft visual studio.NET for implementation.The performance of the MGNR algorithms for 6-DOF parallel manipulator was analyzed and confirmed.Applying the MGNR algorithm,the real generalized pose of moving platform is solved by using the set of given positions of actuators.The theoretical analysis and numerical results indicate that the presented method can achieve the numerical convergent solution in less than 1 ms with high accuracy(1×10-9 m in linear motion and 1×10-9 rad in angular motion),even the initial guess value is far from the root.展开更多
The modeling and multi-energy flow calculation of an integrated energy system (IES) are the bases of its operation and planning. This paper establishes the models of various energy sub-systems and the coupling equipme...The modeling and multi-energy flow calculation of an integrated energy system (IES) are the bases of its operation and planning. This paper establishes the models of various energy sub-systems and the coupling equipment for an electricity-gas-thermal IES, and an integrated multi-energy flow calculation model of the IES is constructed. A simplified calculation method for the compressor model in a natural gas network, one which is not included in a loop and works in constant compression ratio mode, is also proposed based on the concept of model reduction. In addition, a numerical conversion method for dealing with the conflict between nominal value and per unit value in the multi-energy flow calculation of IES is described. A case study is given to verify the correctness and speed of the proposed method, and the electricity-gas-thermal coupling interaction characteristics among sub-systems are studied.展开更多
Load distribution is a key technology in strip hot rolling process, which influences the coil＇s mierostrueture and performance. Currently, Newton-Raphson algorithm is applied to load distribution of hot tandem mills ...Load distribution is a key technology in strip hot rolling process, which influences the coil＇s mierostrueture and performance. Currently, Newton-Raphson algorithm is applied to load distribution of hot tandem mills in many hot rolling plants and has some serious defects such as having a strict restriction on initial iterative calculation value and requiring coefficient matrix of nonlinear equations to be nonsingular. To eliminate these defects and improve the online performance of the process control computer, Newton descendent numeric algorithm is introduced to this field to widen the initial value range and a new model named error conversion algorithm is put forth to deal with special conditions when the coefficient matrix is singular. Furthermore, considering the characteristics of load distribution, a condition of strip thickness distribution abnormality and corresponding solutions are provided which ensure that rolling parameters can be calculated normally. Simulation results show that the improved algorithm has overcome the defects of the Newton-Raphson algorithm and is suitable for online application.展开更多
This paper presents an analysis of the power flow within the Northern Interconnected Grid of Cameroon. The Newton-Raphson method has been performed, known for its accuracy, under MATLAB software, to model and solve co...This paper presents an analysis of the power flow within the Northern Interconnected Grid of Cameroon. The Newton-Raphson method has been performed, known for its accuracy, under MATLAB software, to model and solve complex power flow equations. This study simulates a series of outage scenarios to evaluate the responsiveness of the grid. The results obtained underline the crucial importance of reactive power management and highlight the urgent need to consolidate the grid infrastructure of North Cameroon. To increase grid resilience and stability, the paper recommends the strategic integration of renewables and the development of interconnections with other power grids. These measures are presented as viable solutions to meet current and future energy distribution challenges, ensuring a reliable and sustainable power supply for Cameroon.展开更多
The current theory in NF EN 1995-1-1/NA of Eurocode 5, which is based on maximum deflection, has been investigated on softwoods. Therefore, this theory is not adapted for slender glulam beam columns made of tropical h...The current theory in NF EN 1995-1-1/NA of Eurocode 5, which is based on maximum deflection, has been investigated on softwoods. Therefore, this theory is not adapted for slender glulam beam columns made of tropical hardwood species from the Congo Basin. This maximum deflection is caused by a set of loads applied to the structure. However, Eurocode 5 doesn’t provide how to predict this deflection in case of long-term load for such structures. This can be done by studying load-displacement (P-Δ) behaviour of these structures while taking into account second order effects. To reach this goal, a nonlinear analysis has been performed on a three-dimensional beam column embedded on both ends. Since conducting experimental investigations on large span structural products is time-consuming and expensive especially in developing countries, a numerical model has been implemented using the Newton-Raphson method to predict load-displacement (P-Δ) curve on a slender glulam beam column made of tropical hardwood species. On one hand, the beam has been analyzed without wood connection. On the other hand, the beam has been analyzed with a bolted wood connection and a slotted-in steel plate. The load cases considered include self-weight and a uniformly applied long-term load. Combinations of serviceability limit states (SLS) and ultimate limit states (ULS) have also been considered, among other factors. A finite-element software RFEM 5 has been used to implement the model. The results showed that the use of steel can reduce displacement by 20.96%. Additionally, compared to the maximum deflection provided by Eurocode 5 for softwoods, hardwoods can exhibit an increasing rate of 85.63%. By harnessing the plastic resistance of steel, the bending resistance of wood can be increased by 32.94%.展开更多
Multi-train modeling and simulation plays a vital role in railway electrification during operation and planning phase. Study of peak power demand and energy consumed by each traction substation needs to be deter- mine...Multi-train modeling and simulation plays a vital role in railway electrification during operation and planning phase. Study of peak power demand and energy consumed by each traction substation needs to be deter- mined to verify that electrical energy flowing in its railway power feeding system is appropriate or not. Gauss-Seidel, conventional Newton-Raphson, and current injection methods are well-known and widely accepted as a tool for electrical power network solver in DC railway power supply study. In this paper, a simplified Newton-Raphson method has been proposed. The proposed method employs a set of current-balance equations at each electrical node instead of the conventional power-balance equation used in the conventional Newton-Raphson method. This concept can remarkably reduce execution time and computing complexity for multi-train simulation. To evaluate its use, Sukhumvit line of Bangkok transit system （BTS） of Thai- land with 21.6-km line length and 22 passenger stopping stations is set as a test system. The multi-train simulation integrated with the proposed power network solver is developed to simulate 1-h operation service of selected 5-min headway. From the obtained results, the proposed method is more efficient with approximately 18 % faster than the conventional Newton-Raphson method and just over 6 % faster than the current injection method.展开更多
This paper proposes a comprehensive design scheme for the extremum seeking control(ESC)of the unmanned aerial vehicle(UAV)close formation flight.The proposed design scheme combines a Newton-Raphson method with an exte...This paper proposes a comprehensive design scheme for the extremum seeking control(ESC)of the unmanned aerial vehicle(UAV)close formation flight.The proposed design scheme combines a Newton-Raphson method with an extended Kalman filter(EKF)to dynamically estimate the optimal position of the following UAV relative to the leading UAV.To reflect the wake vortex effects reliably,the drag coefficient induced by the wake vortex is considered as a performance function.Then,the performance function is parameterized by the first-order and second-order terms of its Taylor series expansion.Given the excellent performance of nonlinear estimation,the EKF is used to estimate the gradient and the Hessian matrix of the parameterized performance function.The output feedback of the proposed scheme is determined by iterative calculation of the Newton-Raphson method.Compared with the traditional ESC and the classic ESC,the proposed design scheme avoids the slow continuous time integration of the gradient.This allows a faster convergence of relative position extremum.Furthermore,the proposed method can provide a smoother command during the seeking process as the second-order term of the performance function is taken into account.The convergence analysis of the proposed design scheme is accomplished by showing that the output feedback is a supermartingale sequence.To improve estimation performance of the EKF,a improved pigeon-inspired optimization(IPIO)is proposed to automatically tune the noise covariance matrix.Monte Carlo simulations for a three-UAV close formation show that the proposed design scheme is robust to the initial position of the following UAV.展开更多
Parameter identification is a key requirement in the field of automated control of unmanned excavators （UEs）. Furthermore, the UE operates in unstructured, often hazardous environments, and requires a robust paramet...Parameter identification is a key requirement in the field of automated control of unmanned excavators （UEs）. Furthermore, the UE operates in unstructured, often hazardous environments, and requires a robust parameter identification scheme for field applications. This paper presents the results of a research study on parameter identification for UE. Three identification methods, the Newton-Raphson method, the generalized Newton method, and the least squares method are used and compared for prediction accuracy, robustness to noise and computational speed. The techniques are used to identify the link parameters （mass, inertia, and length） and friction coefficients of the full-scale UE. Using experimental data from a full-scale field UE, the values of link parameters and the friction coefficient are identified. Some of the identified parameters are compared with measured physical values. Furthermore, the joint torques and positions computed by the proposed model using the identified parameters are validated against measured data. The comparison shows that both the Newton-Raphson method and the generalized Newton method are better in terms of prediction accuracy. The Newton-Raphson method is computationally efficient and has potential for real time application, but the generalized Newton method is slightly more robust to measurement noise. The experimental data were obtained in collaboration with QinetiQ Ltd.展开更多
Power flow(PF)is one of the most important calculations in power systems.The widely-used PF methods are the Newton-Raphson PF(NRPF)method and the fast-decoupled PF(FDPF)method.In smart grids,power generations and load...Power flow(PF)is one of the most important calculations in power systems.The widely-used PF methods are the Newton-Raphson PF(NRPF)method and the fast-decoupled PF(FDPF)method.In smart grids,power generations and loads become intermittent and much more uncertain,and the topology also changes more frequently,which may result in significant state shifts and further make NRPF or FDPF difficult to converge.To address this problem,we propose a data-driven PF(DDPF)method based on historical/simulated data that includes an offline learning stage and an online computing stage.In the offline learning stage,a learning model is constructed based on the proposed exact linear regression equations,and then the proposed learning model is solved by the ridge regression(RR)method to suppress the effect of data collinearity.In online computing stage,the nonlinear iterative calculation is not needed.Simulation results demonstrate that the proposed DDPF method has no convergence problem and has much higher calculation efficiency than NRPF or FDPF while ensuring similar calculation accuracy.展开更多
Recently, businessmen as well as industrialists are very much concerned about the theory of firm in order to make correct decisions regarding what items, how much and how to produce them. All these decisions are direc...Recently, businessmen as well as industrialists are very much concerned about the theory of firm in order to make correct decisions regarding what items, how much and how to produce them. All these decisions are directly related with the cost considerations and market situations where the firm is to be operated. In this regard, this paper should be helpful in suggesting the most suitable functional form of production process for the major manufacturing industries in Bangladesh. This paper considers Cobb-Douglas (C-D) production function with additive error and multiplicative error term. The main purpose of this paper is to select the appropriate Cobb-Douglas production model for measuring the production process of some selected manufacturing industries in Bangladesh. We use different model selection criteria to compare the Cobb-Douglas production function with additive error term to Cobb-Douglas production function with multiplicative error term. Finally, we estimate the parameters of the production function by using optimization subroutine.展开更多
基金Project(HgdJG00401D04) supported by National 921 Manned Space Project Foundation of ChinaProject(SKLRS200803B) supported by the Self-Planned Task Foundation of State Key Laboratory of Robotics and System (HIT) of China+1 种基金Project(CDAZ98502211) supported by China’s "World Class University (985)" Project FoundationProject(50975055) supported by the National Natural Science Foundation of China
文摘In order to obtain direct solutions of parallel manipulator without divergence in real time,a modified global Newton-Raphson(MGNR) algorithm was proposed for forward kinematics analysis of six-degree-of-freedom(DOF) parallel manipulator.Based on geometrical frame of parallel manipulator,the highly nonlinear equations of kinematics were derived using analytical approach.The MGNR algorithm was developed for the nonlinear equations based on Tailor expansion and Newton-Raphson iteration.The procedure of MGNR algorithm was programmed in Matlab/Simulink and compiled to a real-time computer with Microsoft visual studio.NET for implementation.The performance of the MGNR algorithms for 6-DOF parallel manipulator was analyzed and confirmed.Applying the MGNR algorithm,the real generalized pose of moving platform is solved by using the set of given positions of actuators.The theoretical analysis and numerical results indicate that the presented method can achieve the numerical convergent solution in less than 1 ms with high accuracy(1×10-9 m in linear motion and 1×10-9 rad in angular motion),even the initial guess value is far from the root.
基金supported by National Natural Science Foundation of China(52077193).
文摘The modeling and multi-energy flow calculation of an integrated energy system (IES) are the bases of its operation and planning. This paper establishes the models of various energy sub-systems and the coupling equipment for an electricity-gas-thermal IES, and an integrated multi-energy flow calculation model of the IES is constructed. A simplified calculation method for the compressor model in a natural gas network, one which is not included in a loop and works in constant compression ratio mode, is also proposed based on the concept of model reduction. In addition, a numerical conversion method for dealing with the conflict between nominal value and per unit value in the multi-energy flow calculation of IES is described. A case study is given to verify the correctness and speed of the proposed method, and the electricity-gas-thermal coupling interaction characteristics among sub-systems are studied.
基金Item Sponsored by National Natural Science Foundation of China (50504007)
文摘Load distribution is a key technology in strip hot rolling process, which influences the coil＇s mierostrueture and performance. Currently, Newton-Raphson algorithm is applied to load distribution of hot tandem mills in many hot rolling plants and has some serious defects such as having a strict restriction on initial iterative calculation value and requiring coefficient matrix of nonlinear equations to be nonsingular. To eliminate these defects and improve the online performance of the process control computer, Newton descendent numeric algorithm is introduced to this field to widen the initial value range and a new model named error conversion algorithm is put forth to deal with special conditions when the coefficient matrix is singular. Furthermore, considering the characteristics of load distribution, a condition of strip thickness distribution abnormality and corresponding solutions are provided which ensure that rolling parameters can be calculated normally. Simulation results show that the improved algorithm has overcome the defects of the Newton-Raphson algorithm and is suitable for online application.
文摘This paper presents an analysis of the power flow within the Northern Interconnected Grid of Cameroon. The Newton-Raphson method has been performed, known for its accuracy, under MATLAB software, to model and solve complex power flow equations. This study simulates a series of outage scenarios to evaluate the responsiveness of the grid. The results obtained underline the crucial importance of reactive power management and highlight the urgent need to consolidate the grid infrastructure of North Cameroon. To increase grid resilience and stability, the paper recommends the strategic integration of renewables and the development of interconnections with other power grids. These measures are presented as viable solutions to meet current and future energy distribution challenges, ensuring a reliable and sustainable power supply for Cameroon.
文摘The current theory in NF EN 1995-1-1/NA of Eurocode 5, which is based on maximum deflection, has been investigated on softwoods. Therefore, this theory is not adapted for slender glulam beam columns made of tropical hardwood species from the Congo Basin. This maximum deflection is caused by a set of loads applied to the structure. However, Eurocode 5 doesn’t provide how to predict this deflection in case of long-term load for such structures. This can be done by studying load-displacement (P-Δ) behaviour of these structures while taking into account second order effects. To reach this goal, a nonlinear analysis has been performed on a three-dimensional beam column embedded on both ends. Since conducting experimental investigations on large span structural products is time-consuming and expensive especially in developing countries, a numerical model has been implemented using the Newton-Raphson method to predict load-displacement (P-Δ) curve on a slender glulam beam column made of tropical hardwood species. On one hand, the beam has been analyzed without wood connection. On the other hand, the beam has been analyzed with a bolted wood connection and a slotted-in steel plate. The load cases considered include self-weight and a uniformly applied long-term load. Combinations of serviceability limit states (SLS) and ultimate limit states (ULS) have also been considered, among other factors. A finite-element software RFEM 5 has been used to implement the model. The results showed that the use of steel can reduce displacement by 20.96%. Additionally, compared to the maximum deflection provided by Eurocode 5 for softwoods, hardwoods can exhibit an increasing rate of 85.63%. By harnessing the plastic resistance of steel, the bending resistance of wood can be increased by 32.94%.
文摘Multi-train modeling and simulation plays a vital role in railway electrification during operation and planning phase. Study of peak power demand and energy consumed by each traction substation needs to be deter- mined to verify that electrical energy flowing in its railway power feeding system is appropriate or not. Gauss-Seidel, conventional Newton-Raphson, and current injection methods are well-known and widely accepted as a tool for electrical power network solver in DC railway power supply study. In this paper, a simplified Newton-Raphson method has been proposed. The proposed method employs a set of current-balance equations at each electrical node instead of the conventional power-balance equation used in the conventional Newton-Raphson method. This concept can remarkably reduce execution time and computing complexity for multi-train simulation. To evaluate its use, Sukhumvit line of Bangkok transit system （BTS） of Thai- land with 21.6-km line length and 22 passenger stopping stations is set as a test system. The multi-train simulation integrated with the proposed power network solver is developed to simulate 1-h operation service of selected 5-min headway. From the obtained results, the proposed method is more efficient with approximately 18 % faster than the conventional Newton-Raphson method and just over 6 % faster than the current injection method.
基金supported by the National Natural Science Foundation of China(Grant Nos.91948204,U20B2071,T2121003 and U1913602)Open Fund/Postdoctoral Fund of the Laboratory of Cognition and Decision Intelligence for Complex Systems,Institute of Automation,Chinese Academy of Sciences(Grant No.CASIA-KFKT-08)。
文摘This paper proposes a comprehensive design scheme for the extremum seeking control(ESC)of the unmanned aerial vehicle(UAV)close formation flight.The proposed design scheme combines a Newton-Raphson method with an extended Kalman filter(EKF)to dynamically estimate the optimal position of the following UAV relative to the leading UAV.To reflect the wake vortex effects reliably,the drag coefficient induced by the wake vortex is considered as a performance function.Then,the performance function is parameterized by the first-order and second-order terms of its Taylor series expansion.Given the excellent performance of nonlinear estimation,the EKF is used to estimate the gradient and the Hessian matrix of the parameterized performance function.The output feedback of the proposed scheme is determined by iterative calculation of the Newton-Raphson method.Compared with the traditional ESC and the classic ESC,the proposed design scheme avoids the slow continuous time integration of the gradient.This allows a faster convergence of relative position extremum.Furthermore,the proposed method can provide a smoother command during the seeking process as the second-order term of the performance function is taken into account.The convergence analysis of the proposed design scheme is accomplished by showing that the output feedback is a supermartingale sequence.To improve estimation performance of the EKF,a improved pigeon-inspired optimization(IPIO)is proposed to automatically tune the noise covariance matrix.Monte Carlo simulations for a three-UAV close formation show that the proposed design scheme is robust to the initial position of the following UAV.
基金This work was supported by the EPSRC(No.GR/R50738/01).
文摘Parameter identification is a key requirement in the field of automated control of unmanned excavators （UEs）. Furthermore, the UE operates in unstructured, often hazardous environments, and requires a robust parameter identification scheme for field applications. This paper presents the results of a research study on parameter identification for UE. Three identification methods, the Newton-Raphson method, the generalized Newton method, and the least squares method are used and compared for prediction accuracy, robustness to noise and computational speed. The techniques are used to identify the link parameters （mass, inertia, and length） and friction coefficients of the full-scale UE. Using experimental data from a full-scale field UE, the values of link parameters and the friction coefficient are identified. Some of the identified parameters are compared with measured physical values. Furthermore, the joint torques and positions computed by the proposed model using the identified parameters are validated against measured data. The comparison shows that both the Newton-Raphson method and the generalized Newton method are better in terms of prediction accuracy. The Newton-Raphson method is computationally efficient and has potential for real time application, but the generalized Newton method is slightly more robust to measurement noise. The experimental data were obtained in collaboration with QinetiQ Ltd.
基金supported in part by National Natural Science Foundation of China(No.52077076)in part by the State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources(No.LAPS202118)。
文摘Power flow(PF)is one of the most important calculations in power systems.The widely-used PF methods are the Newton-Raphson PF(NRPF)method and the fast-decoupled PF(FDPF)method.In smart grids,power generations and loads become intermittent and much more uncertain,and the topology also changes more frequently,which may result in significant state shifts and further make NRPF or FDPF difficult to converge.To address this problem,we propose a data-driven PF(DDPF)method based on historical/simulated data that includes an offline learning stage and an online computing stage.In the offline learning stage,a learning model is constructed based on the proposed exact linear regression equations,and then the proposed learning model is solved by the ridge regression(RR)method to suppress the effect of data collinearity.In online computing stage,the nonlinear iterative calculation is not needed.Simulation results demonstrate that the proposed DDPF method has no convergence problem and has much higher calculation efficiency than NRPF or FDPF while ensuring similar calculation accuracy.
文摘Recently, businessmen as well as industrialists are very much concerned about the theory of firm in order to make correct decisions regarding what items, how much and how to produce them. All these decisions are directly related with the cost considerations and market situations where the firm is to be operated. In this regard, this paper should be helpful in suggesting the most suitable functional form of production process for the major manufacturing industries in Bangladesh. This paper considers Cobb-Douglas (C-D) production function with additive error and multiplicative error term. The main purpose of this paper is to select the appropriate Cobb-Douglas production model for measuring the production process of some selected manufacturing industries in Bangladesh. We use different model selection criteria to compare the Cobb-Douglas production function with additive error term to Cobb-Douglas production function with multiplicative error term. Finally, we estimate the parameters of the production function by using optimization subroutine.
