Mathematical Methods in Engineering PDF
Preview Mathematical Methods in Engineering
Mathematical Methods in Engineering Nuno Miguel Fonseca Ferreira • José António Tenreiro Machado Editors Mathematical Methods in Engineering 2123 Editors NunoMiguelFonsecaFerreira JoséAntónioTenreiroMachado CoimbraInstituteofEngineering DeptofElectricalEngineering Coimbra InstituteofEngineeringofPorto Portugal Porto Portugal ISBN978-94-007-7182-6 ISBN978-94-007-7183-3(eBook) DOI10.1007/978-94-007-7183-3 SpringerDordrechtHeidelbergNewYorkLondon LibraryofCongressControlNumber:2014938246 © SpringerScience+BusinessMediaDordrecht2014 Thisworkissubjecttocopyright.AllrightsarereservedbythePublisher,whetherthewholeorpartofthe materialisconcerned,specificallytherightsoftranslation,reprinting,reuseofillustrations,recitation, broadcasting,reproductiononmicrofilmsorinanyotherphysicalway,andtransmissionorinformation storageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimilarmethodology nowknownorhereafterdeveloped.Exemptedfromthislegalreservationarebriefexcerptsinconnection withreviewsorscholarlyanalysisormaterialsuppliedspecificallyforthepurposeofbeingenteredand executed on a computer system, for exclusive use by the purchaser of the work. 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Printedonacid-freepaper SpringerispartofSpringerScience+BusinessMedia(www.springer.com) Preface Thisbookaddresses,inasinglevolume,someofthecontributionsthatarecarefully selectedaccordingtothereportsofreferees,presentedattheInternationalSympo- sium,MME10MathematicalMethodsinEngineering,heldinPolytechnicInstitute ofCoimbra-EngineeringInstituteofCoimbra(IPC/ISEC),Portugal,October21–24, 2010. The Symposium provided a setting for discussing recent developments issues abouttheoreticalandappliedareasofmathematicsandengineering.Theconference wasintendedtobeaninternationalforumwhereaneffectiveexchangeofknowledge andexperienceamongstresearchersactivecouldtakeplace. The members of the organizing committee were Micael Couceiro and Nuno Ferreira. Wewouldliketothankalltherefereesandothercolleagueswhohelpedinprepar- ing this book for publication. Our thanks are also due to all participants for their contributionstothesymposiumandtothisbook. OurspecialthanksareduetoNathalieJacobsandCynthiaFeenstrafromSpringer, fortheircontinuoushelpandworkinconnectionwiththisbook. v Contents 1 MathematicalModelingforSoftware-in-the-LoopPrototyping ofAutomatedManufacturingSystems ........................... 1 ClaudioBonivento,MatteoCacciari,AndreaPaoliandMatteoSartini 2 ANewParallelMatrixMultiplicationAlgorithm forWormhole-RoutedAll-Port2D/3DTorusNetworks ............ 13 CesurBaransel,KayhanImreandHarunArtuner 3 2.5DAcousticWavePropagationinShallowWaterOver anIrregularSeabedUsingtheBoundaryElementMethod......... 23 A.Pereira,A.Tadeu,L.GodinhoandJ.A.F.Santiago 4 TowardsReplacingLyapunov’s“Direct”MethodinAdaptive ControlofNonlinearSystems................................... 35 JózsefK.Tar 5 FractionalParticleSwarmOptimization......................... 47 E.J.SolteiroPires,J.A.TenreiroMachadoandP.B.deMoura Oliveira 6 TowardtheConceptofRobotSociety:AMulti-RobotSLAM CaseStudy ................................................... 57 MicaelS.Couceiro,AndriaR.Lopes,N.M.FonsecaFerreira, AnabelaG.FerreiraandRuiRocha 7 Generalized State-Space Modeling for m Level Diode-Clamped MultilevelConverters.......................................... 67 MiguelChaves,ElmanoMargato,J.FernandoSilva andSóniaF.Pinto 8 ModellingCodfishDrying:ComparisonBetweenArtificialNeural Network,DiffusiveandSemi-EmpiricalModels .................. 87 CNBoeri,FJNetodaSilvaandJAFFerreira vii viii Contents 9 StabilityofMatrixDifferentialEquationswithCommutingMatrix ConstantCoefficients .......................................... 97 FernandoMartins,EdgarPereira,M.A.FacasVicente andJoséVitória 10 IdentificationofMaterialThermophysicalParameterswithRegard toOptimumLocationofSensors................................ 109 EwaMajchrzakandJerzyMendakiewicz 11 MathematicalModelingofHeatandMassTransferinDomain ofSolidifyingAlloy ............................................ 119 BohdanMochnackiandEwaMajchrzak 12 TotalVariationApproachtoDensityReconstructionfromX-Ray RadiographTomography ...................................... 131 SuhuaWeiandGuipingZhao 13 The Improvement ofTotalVariation Based Image Restoration MethodandItsApplication .................................... 139 SuhuaWeiandGuipingZhao 14 AdaptiveSystemforControlofActiveAnkle-FootOrthosis andGaitAnalysis ............................................. 153 IvankaVenevaandNunoFerreira 15 VectorEllipsoidalHarmonicsStructurePeculiarities andLimitations............................................... 165 GeorgeDassios 16 CasualtiesDistributioninHumanandNaturalHazards ........... 173 CarlaM.A.Pinto,A.MendesLopesandJ.A.TenreiroMachado 17 OptimizationofQuadrupedRobotLocomotionGaitsThrough aGeneticAlgorithm ........................................... 181 ManuelF.Silva 18 AnalysisofanIncompleteInformationSystemUsingtheRough SetTheory ................................................... 193 C.I.FaustinoAgreira,M.M.TravassosValdez,C.M.Machado FerreiraandF.P.MacielBarbosa 19 ChainDrivesModellingUsingKinematicConstraintsandRevolute ClearanceJointsFormulations ................................. 205 CândidaPereiraandJorgeAmbrósio Contents ix 20 JacobiPolynomialsandSomeRelatedFunctions.................. 219 MarianaMarcˇokováandVladimírGuldan 21 DescartesRuleofSignsandLinearProgramming ................ 229 CarlaFidalgoandAlexanderKovacˇec 22 Multidimensional Markov Chains Usage in the Radio Resource ManagementProblem ......................................... 235 VictorD.N.Santos,N.M.FonsecaFerreiraandF.Moita 23 AManufacturingSchedulingApproachbyCombiningSimulation TechniquewiththeHodgson’sAlgorithm ........................ 247 TelmoPintoandLeonildeVarela 24 Long Time NumericalApproximation of Coherent-Structure SolutionsoftheCubicSchrödingerEquation..................... 259 I.Alonso-Mallo,A.DuránandN.Reguera 25 AStatisticalApproachforTuningtheWindowedFourierTransform 269 MiguelF.M.LimaandJ.A.TenreiroMachado 26 CanPeopleWithHighPhysicalMovementRestrictionsAccess toAnyComputer?TheCaNWIITool............................ 283 N.Rodrigues,N.MartinsandJ.Barbosa 27 AProposalforDetectionandEstimationofGolfPutting........... 293 GonçaloDias,J.MiguelA.Luz,MicaelS.Couceiro,CarlosM. Figueiredo,NunoFerreira,PedroIglésias,RuiMendes,MariaCastro andOrlandoFernandes 28 AnalysisofElectricityMarketPricesUsingMultidimensional Scaling....................................................... 305 FilipeAzevedoandJ.TenreiroMachado 29 MathematicalandStatisticalConceptsAppliedtoHealth andMotorControl ............................................ 315 FilipeMeloandCatarinaGodinho Mathematical Modeling for Software-in-the-Loop Prototyping of Automated Manufacturing Systems ClaudioBonivento,MatteoCacciari,AndreaPaoliandMatteoSartini Abstract Nowadaysautomatedmanufacturingsystemsaredesignedasthecomplex interconnectionofcomponentsbelongingtodifferentengineeringdomains.Actually high performances are required in order to satisfy market needs and standards. In thisframeworkthevalidationviasimulationplaysacrucialroleasitallowstoverify thesystemduringthedesignphase. Software-in-the-looparchitecturesrepresenta good practice to take into account also technological side-effects that represent a classicalcauseoflongtime-to-marketor,intheworstcase,toprojectfailure.Inthis paperwepresentamathematicalsimulatortobeusedwithinasoftware-in-the-loop prototypingsystem. Keywords Multi-domainsimulator·Mechatronics·Rapidprototyping·Validation bysimulation 1 Introduction Recentlyinmostofindustrialprocessesaneverincreasingdegreeofautomationhas beenobserved.Thisismotivatedbynewrequestofsystemswithhighperformances intermsofqualityofproductsandservices,productivity,efficiencyandlowcostsin thedesign,realizationandmaintenance.Thistrendinthegrowthofcomplexautoma- tionsystemsisrapidlyspreadingoverAutomatedManufacturingSystems(AMS). Nowadaysautomationisbasedontheintegrationbetweendifferentareas:automatica andmathematicalcontroltheory,mechanics,electricaldevicesandelectronicsand C.Bonivento((cid:2))·M.Cacciari·A.Paoli·M.Sartini CASY—CenterforResearchonComplexAutomatedSystems,UniversityofBologna, VialeCarloPepoli3/2,Bologna40136,Italy e-mail:[email protected] M.Cacciari e-mail:[email protected] A.Paoli e-mail:[email protected] M.Sartini e-mail:[email protected] N.M.FonsecaFerreira,J.A.TenreiroMachado(eds.),MathematicalMethods 1 inEngineering,DOI10.1007/978-94-007-7183-3_1, ©SpringerScience+BusinessMediaDordrecht2014 2 C.Boniventoetal. computer engineering (see [1–3]), and this makes automation a tough task. Time- to-marketisacrucialissueindevelopinganyindustrialproductand,consequently, therequestofreducingdevelopmenttimeinrealizingautomatedindustrialplantsis gettingmoreandmoretight.Towardthispurpose,manytoolshavebeendeveloped to speed-up the testing phase of control logic in the development life-cycle. One waytoimprovedevelopmenttimeistodevelophardwareandsoftwareinparallel. Usually,thisapproachinvolvesseparatehardwareandsoftwareprofessionalteams development that perform their work simultaneously and independently. As soon as an hardware prototype and a substantial portion of the embedded code become available, suchhardwareandsoftwarearecombinedinasystemintegrationphase andthetestingtaskbegins.Toofrequently,seriousproblemsariseduringthissystem integrationprocessandthistypicallycausessignificanthardwarereconfigurationor softwareworkaroundswhichworstthetimetomarket.Todevelopsoftwareindepen- dentlyfromhardwarewhileavoidingintegrationproblemsanimportantkeyfactor is the availability of simulation tools. In fact integration problems are due to side effectsderivingfromtechnologicalaspectswhichcannotbeconsideredifsoftware isdevelopedindependentlyfromhardware.Besidesthis,thesimulationisnotonly importanttoreducesoftwaredevelopmenttime,butalsotoanalyzesystemproperties suchas,faultdiagnosis,faultreconfigurationandsafetythatcannotbetestedonthe field(see[4,5]).Fromthisbriefdiscussionitturnsoutthatagoodsimulationtool issuchifisbasedonaproperlydetailedmathematicalmodelofthesystem,andit iscapabletocapturealltechnologicalaspectslinkedtothefielddevice(mechanical implementation,communicationsetc.). Severalsoftwaretoolsexisttomodelandsimulateseparatelyalldifferentaspects. Inparticularwerefertophysicaldomainsimulatorofthesystemdynamics,logiccon- trolCACSDtools,electronicandmechanicsCAD.So,theintegrationproblemstill remainopen.Anapproachtotestthecontrolsoftwarealgorithmwhileconsidering technologicalaspectsistheSoftware-In-the-Loop(SIL)simulation.Inthisapproach thecontrolunitinteractswithamathematicalsimulatoroftheplantevaluatingboth logiccorrectnessandthesideeffectscomingfromtheimplementation(see[6–8]). The aim of this work is to present a SIL technological architecture for rapid prototypingthatembedsamulti-domainmathematicalsimulatorimplementedona PC,alogiccontrolrunningonaPLCandacommunicationinfrastructurebetween thesimulatorandthecontroller. This paper is organized as follows. In Sect. 2 we present a description of our proposed architecture and, in Sect. 3, the mathematical model of the system. In Sect.4weshowtheapplicationtoamicroFMS. 2 ASILTechnologicalArchitectureforRapidPrototyping InordertopresenttheneedsandrequirementsfortheproposedSILarchitecture,we presentasimpleFMSthathasmotivatedinthiswork.Thissystemwillbeusedasa testbedalongthethework.
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