• KSII Transactions on Internet and Information Systems (TIIS)
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• 제8권9호
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• pp.3211-3230
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• 2014

Recently, sparse coding has achieved remarkable success in image representation tasks. In practice, the performance of clustering can be significantly improved if limited label information is incorporated into sparse coding. To this end, in this paper, a novel semi-supervised algorithm, called constrained sparse concept coding (CSCC), is proposed for image representation. CSCC considers limited label information into graph embedding as additional hard constraints, and hence obtains embedding results that are consistent with label information and manifold structure information of the original data. Therefore, CSCC can provide a sparse representation which explicitly utilizes the prior knowledge of the data to improve the discriminative power in clustering. Besides, a kernelized version of our proposed CSCC, namely kernel constrained sparse concept coding (KCSCC), is developed to deal with nonlinear data, which leads to more effective clustering performance. The experimental evaluations on the MNIST, PIE and Yale image sets show the effectiveness of our proposed algorithms.

• Journal of Mechanical Science and Technology
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• 제19권11호
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• pp.1975-1987
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• 2005

An input time delay always exists in practical systems. Analysis of the delay phenomenon in a continuous-time domain is sophisticated. It is appropriate to obtain its corresponding discrete-time model for implementation via digital computers. In this paper a new scheme for the discretization of nonlinear systems using Taylor series expansion and the zero-order hold assumption is proposed. The mathematical structure of the new discretization method is analyzed. On the basis of this structure the sampled-data representation of nonlinear systems with time-delayed multi-input is presented. The delayed multi-input general equation has been derived. In particular, the effect of the time-discretization method on key properties of nonlinear control systems, such as equilibrium properties and asymptotic stability, is examined. Additionally, hybrid discretization schemes that result from a combination of the scaling and squaring technique (SST) with the Taylor series expansion are also proposed, especially under conditions of very low sampling rates. Practical issues associated with the selection of the method's parameters to meet CPU time and accuracy requirements, are examined as well. A performance of the proposed method is evaluated using a nonlinear system with time delay maneuvering an automobile.

• Earthquakes and Structures
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• 제8권4호
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• pp.915-934
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• 2015

Within the context of Structural Health Monitoring (SHM), it is often the case that structural systems are described by uncertainty, both with respect to their parameters and the characteristics of the input loads. For the purposes of system identification, efficient modeling procedures are of the essence for a fast and reliable computation of structural response while taking these uncertainties into account. In this work, a reduced order metamodeling framework is introduced for the challenging case of nonlinear structural systems subjected to earthquake excitation. The introduced metamodeling method is based on Nonlinear AutoRegressive models with eXogenous input (NARX), able to describe nonlinear dynamics, which are moreover characterized by random parameters utilized for the description of the uncertainty propagation. These random parameters, which include characteristics of the input excitation, are expanded onto a suitably defined finite-dimensional Polynomial Chaos (PC) basis and thus the resulting representation is fully described through a small number of deterministic coefficients of projection. The effectiveness of the proposed PC-NARX method is illustrated through its implementation on the metamodeling of a five-storey shear frame model paradigm for response in the region of plasticity, i.e., outside the commonly addressed linear elastic region. The added contribution of the introduced scheme is the ability of the proposed methodology to incorporate uncertainty into the simulation. The results demonstrate the efficiency of the proposed methodology for accurate prediction and simulation of the numerical model dynamics with a vast reduction of the required computational toll.

• 로봇학회논문지
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• 제17권4호
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• pp.500-507
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• 2022

In this study, a motion planning method based on the integer representation of contact status between wheels and the ground is proposed for planning swing motion of a 6×6 wheel-legged robot to cross large obstacles and gaps. Wheel-legged robots can drive on a flat road by wheels and overcome large obstacles by legs. Autonomously crossing large obstacles requires the robot to perform complex motion planning of multi-contacts and wheel-rolling at the same time. The lift-off and touch-down status of wheels and the trajectories of legs should be carefully planned to avoid collision between the robot body and the obstacle. To address this issue, we propose a planning method for swing motion of robot legs. It combines an integer representation of discrete contact status and a trajectory optimization based on the direct collocation method, which results in a mixed-integer nonlinear programming (MINLP) problem. The planned motion is used to control the joint angles of the articulated legs. The proposed method is verified by the MuJoCo simulation and shows that over 95% and 83% success rate when the height of vertical obstacles and the length of gaps are equal to or less than 1.68 times of the wheel radius and 1.44 times of the wheel diameter, respectively.

• Earthquakes and Structures
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• 제11권2호
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• pp.217-243
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• 2016

The linear and nonlinear seismic responses of steel buildings with perimeter moment resisting frames and welded connections (WC) are estimated and compared with those of buildings with post-tensioned connections (PC). Two-dimensional (2D) and three-dimensional (3D) structural representations of the buildings as well as global and local response parameters are considered. The seismic responses and structural damage of steel buildings with PC may be significantly smaller than those of the buildings with typical WC. The reasons for this are that the PC buildings dissipate more hysteretic energy and attract smaller inertia forces. The response reduction is larger for global than for local response parameters. The reduction may significantly vary from one structural representation to another. One of the main reasons for this is that the energy dissipation characteristics are quite different for the 2D and 3D models. In addition, in the case of the 3D models, the contribution of each horizontal component to the axial load on an specific column may be in phase each other during some intervals of time, but for some others they may be out of phase. It is not possible to observe this effect on the 2D structural formulation. The implication of this is that 3D structural representation should be used while estimating the effect of the PC on the structural response. Thus, steel frames with post-tensioned bolted connections are a viable option in high seismicity areas due to the fact that brittle failure is prevented and also because of their reduced response and self-centering capacity.

• Wind and Structures
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• 제6권2호
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• pp.141-150
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• 2003

This paper presents galloping analysis of multiple-degree-of-freedom (MDOF) structural roofs with multiple orientations. Instead of using drag and lift coefficients and/or their combined coefficient in traditional galloping analysis for slender structures, this study uses wind pressure coefficients for wind force representation on each and every different orientation roof, facilitating the galloping analysis of multiple-orientation roof structures. In the study, influences of nonlinear aerodynamic forces are considered. An energy-based equivalent technique, together with the modal analysis, is used to solve the nonlinear MDOF vibration equations. The critical wind speed for galloping of roof structures is derived, which is then applied to galloping analysis of roofs of a stadium and a high-rise building in China. With the aid of various experimental results obtained in pertinent research, this study also shows that consideration of nonlinear aerodynamic forces in galloping analysis generally increases the critical wind speed, thus enhancing aerodynamic stability of structures.

• Structural Engineering and Mechanics
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• 제49권3호
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• pp.411-425
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• 2014

This paper presents the processing of nonlinear features associated with a damage event by quadratic time-frequency distributions for damage identification in a frame structure. A time-frequency distribution is a function which distributes the total energy of a signal at a particular time and frequency point. As the occurrence of damage often gives rise to non-stationary, nonlinear structural behavior, simultaneous representation of the dynamic response in the time-frequency plane offers valuable insight for damage detection. The applicability of the bilinear time-frequency distributions of the Cohen class is examined for the damage assessment of a frame structure from the simulated acceleration data. It is shown that the changes in instantaneous energy of the dynamic response could be a good damage indicator. Presence and location of damage can be identified using Choi-Williams distribution when damping is ignored. However, in the presence of damping the Page distribution is more effective and offers better readability for structural damage detection.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제3권2호
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• pp.187-193
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• 2003

In this paper, a systematic design method of the intelligent PAM fuzzy controller for nonlinear systems using the efficient tools-Linear Matrix Inequality and the intelligent digital redesign is proposed. In order to digitally control the nonlinear systems, the TS fuzzy model is used for fuzzy modeling of the given nonlinear system. The convex representation technique also can be utilized for obtaining TS fuzzy models. First, the analog fuzzy-model-based controller is designed such that the closed-loop system is globally asymptotically stable in the sense of Lyapunov stability criterion. The simulation results strongly convince us that the proposed method has great potential in the application to the industry.

• 한국정밀공학회지
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• 제12권6호
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• pp.145-151
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• 1995

The first-order Taylor series expansion can be evaluated analytically from the formulated symbolic nonlinear dynamic equations. A closed-form linear dynamic euation is derived about a nominal trajectory. The state space representation of the linearized dynamics can be derived easily from the closed-form linear dynamic equations. But manual symbolic expansion of dynamic equations and linearization is tedious, time-consuming and error-prone. So it is desirable to manipulate the procedures using a computer. In this paper, the analytic linearization is performed using the symbolic language MATHEMATICA. Two examples are given to illustrate the approach anbd to compare nonlinear model with linear model.

• 한국해안해양공학회지
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• 제7권1호
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• pp.116-125
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• 1995

파하중과 해류하중을 받는 단일 자유도계를 동적 해석하여 비선형 거동을 나타냄을 보이고 고차의 비선형 전이함수를 포함한 모델을 적용하여 그 비선형 차수를 알아낸다. 먼저 구조물에 단일 정현파, 두 파의 합성파 그리고 불규칙파 하중을 차례로 가하면서 각 하중조건마다 세가지 비선형 요인의 효과를 조사한다. 이로부터 단일 자유도계의 공진주파수에서 파의 에너지는 존재하지 않지만 비선형 요인에 의해 응답 성분이 나타남을 보인다. 다음으로 Volterra 급수에 근거한 고차 전이함수(higher order transfer function)모델을 적용하여 유연한 단일 자유도계의 비선형 거동이 성공적으로 모델화됨을 보이며 또한 비선형성이 2차나 3차로 명백히 나타남을 보인다.