Applied Mathematics Commons^™

A Mathematical Framework For Unmanned Aerial Vehicle Obstacle Avoidance, Sorathan Chaturapruek

HMC Senior Theses

The obstacle avoidance navigation problem for Unmanned Aerial Vehicles (UAVs) is a very challenging problem. It lies at the intersection of many fields such as probability, differential geometry, optimal control, and robotics. We build a mathematical framework to solve this problem for quadrotors using both a theoretical approach through a Hamiltonian system and a machine learning approach that learns from human sub-experts' multiple demonstrations in obstacle avoidance. Prior research on the machine learning approach uses an algorithm that does not incorporate geometry. We have developed tools to solve and test the obstacle avoidance problem through mathematics.

Comments On The Paper “An Alternative Combination Rule For Evidential Reasoning” By Sebbak Et Al., Published In Fusion 2014 Conference, Salamanca, Spain, July 2014, Florentin Smarandache, Jean Dezert, Arnaud Martin

Branch Mathematics and Statistics Faculty and Staff Publications

In this note we want to show that the PCR6 fusion rule works and redistributes the conflicting mass properly, contrarily to the authors’ assertion that “the focal element {v3} absorbs almost all of the conflicting mass (the majority).” We also question the validity of the new CREC rule of combination presented by the authors.

Adaptive State Feedback Control Of Lorenz Systems To Its Non-Trivial Equilibrium, Anh V. Tran

College of Graduate Studies: Theses & Dissertations

The complex Lorenz system is a simplified nonlinear dynamical system, which is derived from the Navier-Stokes equations that govern a closed thermal convection loop. The Lorenz system is chaotic for large Rayleigh number. In this chaotic regime, we implement a linear state feedback controller to stabilize the state trajectory at its original nontrivial equilibrium. The state variable for feedback is easily measurable. The system is proved to be globally asymptotically stable with a optimal feedback gain. The stability bound is improved over the previous result. We also established globally stability of the adaptively control system, where the system parameters are …

Modelling The Role Of Cloud Density On The Removal Of Gaseous Pollutants And Particulate Matters From The Atmosphere, Shyam Sundar, Rajan K. Sharma, Ram Naresh

Applications and Applied Mathematics: An International Journal (AAM)

In this paper, a six dimensional nonlinear mathematical model is proposed to study the effect of the density of cloud droplets (formed due to the presence of vapors in the atmosphere) on the removal of pollutants, both gaseous and particulate, from the atmosphere. We assume that there exist six nonlinearly interacting phases in the atmosphere i.e. the vapor phase, the phase of cloud droplets, the phase of raindrops, the phase of gaseous pollutants, the phase of particulate matters and the phase of gaseous pollutants absorbed in raindrops. It is further assumed that the dynamics of the system undergo ecological type …

The Underlying Physiology Of Arterial Pulse Wave Morphology In Spatial Domain, Nzerem F. Egenti, Alozie H. Nkechi

Applications and Applied Mathematics: An International Journal (AAM)

Cardio-vascular events are among the world’s leading causes of morbidity and mortality. Most postulates suppose that culinary delights can be implicated in incidences of cardio-vascular diseases. This school of thought holds well in many respects. Much as the truistic value of the said school is acknowledged, we conceived of physiological disposition as an endogenous dominant factor in the events being considered, whereas culinary measures constitute an exogenous contributory factor. In this work we aimed at studying the effects of distance (stature) on pulse waveforms. Certain elements of our study showed that pulse wavelength was dominant in prescribing cardio-vascular physiology.

An Exponential Matrix Method For Numerical Solutions Of Hantavirus Infection Model, Şuayip Yüzbaşi, Mehmet Sezer

Applications and Applied Mathematics: An International Journal (AAM)

In this paper, a new matrix method based on exponential polynomials and collocation points is proposed to obtain approximate solutions of Hantavirus infection model corresponding to a class of systems of nonlinear ordinary differential equations. The method converts the model problem into a system of nonlinear algebraic equations by means of the matrix operations and the collocation points. The reliability and efficiency of the proposed scheme is demonstrated by the numerical applications and all numerical computations have been made by using a computer program written in Maple.

Creating The Park Cool Island In An Inner-City Neighborhood: Heat Mitigation Strategy For Phoenix, Az, Juan Declet-Barreto, Anthony J. Brazel, Chris A. Martin, Winston T. L. Chow, Sharon L. Harlan

Research Collection School of Social Sciences

We conducted microclimate simulations in ENVI-Met 3.1 to evaluate the impact of vegetation in lowering temperatures during an extreme heat event in an urban core neighborhood park in Phoenix, Arizona. We predicted air and surface temperatures under two different vegetation regimes: existing conditions representative of Phoenix urban core neighborhoods, and a proposed scenario informed by principles of landscape design and architecture and Urban Heat Island mitigation strategies. We found significant potential air and surface temperature reductions between representative and proposed vegetation scenarios: 1) a Park Cool Island effect that extended to non-vegetated surfaces; 2) a net cooling of air underneath …

Boundary Stabilization Of Torsional Vibrations Of A Solar Panel, Prasanta K. Nandi, Ganesh C. Gorain, Samarjit Kar

Applications and Applied Mathematics: An International Journal (AAM)

In this paper, we study a boundary stabilization of the torsional vibrations of a solar panel. The panel is held by a rigid hub at one end and is totally free at the other. The dynamics of the overall system leads to hybrid system of equations. It is set to a certain initial vibrations with a control torque as a stabilizer at the hub end only. Taking a non-linear damping as boundary stabilizer, a uniform exponential energy decay rate is obtained directly. Thus an explicit form of uniform stabilization of the system is achieved by means of the exponential energy …

Enacting Clan Control In Complex It Projects: A Social Capital Perspective, Cecil Eng Huang Chua, Wee-Kiat Lim, Christina Soh, Siew Kien Sia

CCX Research

The information technology project control literature has documented that clan control is often essential in complex multistakeholder projects for project success. However, instituting clan control in such conditions is challenging as people come to a project with diverse skills and backgrounds. There is often insufficient time for clan control to develop naturally. This paper investigates the question , "How can clan control be enacted in complex IT projects? " Recognizing social capital as a resource , we conceptualize a clan as a group with strong social capital (i.e., where its members have developed their structural, cognitive, and relational ties to …

A Review Of Some Subtleties Of Practical Relevance, Keqin Gu

SIUE Faculty Research, Scholarship, and Creative Activity

This paper reviews some subtleties in time-delay systems of neutral type that are believed to be of particular relevance in practice. Both traditional formulation and the coupled differential-difference equation formulation are used. The discontinuity of the spectrum as a function of delays is discussed. Conditions to guarantee stability under small parameter variations are given. A number of subjects that have been discussed in the literature, often using different methods, are reviewed to illustrate some fundamental concepts. These include systems with small delays, the sensitivity of Smith predictor to small delay mismatch, and the discrete implementation of distributed-delay feedback control. The …

Mathematical Modeling, A Small Step In A Right Direction, Reza D. Noubary

Applications and Applied Mathematics: An International Journal (AAM)

Models developed by mathematicians/statisticians based on criterion such as goodness of fit often leads to a “best” model only for the data utilized. Moreover the parameters in such models often do not have physical interpretations and as such their validity cannot be checked by other means. This article makes argument against modeling processes that do not incorporate information from discipline related to the origin of data and presents an example to demonstrate benefits of doing so.

Exact Controllability Of A Rayleigh Beam With A Single Boundary Control, Ahmet Ozkan Ozer, Scott Hansen

Mathematics Faculty Publications

No abstract provided.

Effect Of Network Structure On The Stability Margin Of Large Vehicle With Distributed Control, He Hao, Prabir Barooah, J. J. P. Veerman

Mathematics and Statistics Faculty Publications and Presentations

We study the problem of distributed control of a large network of double-integrator agents to maintain a rigid formation. A few lead vehicles are given information on the desired trajectory of the formation; while every other vehicle uses linear controller which only depends on relative position and velocity from a few other vehicles, which are called its neighbors. A predetermined information graph defines the neighbor relationships. We limit our attention to information graphs that are D-dimensional lattices, and examine the stability margin of the closed loop, which is measured by the real part of the least stable eigenvalue of …

Conservation Based Uncertainty Propagation In Dynamic Systems, Lillian J. Ratliff

UNLV Theses, Dissertations, Professional Papers, and Capstones

Uncertainty is present in our everyday decision making process as well as our understanding of the structure of the universe. As a result an intense and mathematically rigorous study of how uncertainty propagates in the dynamic systems present in our lives is warranted and arguably necessary. In this thesis we examine existing methods for uncertainty propagation in dynamic systems and present the results of a literature survey that justifies the development of a conservation based method of uncertainty propagation. Conservation methods are physics based and physics drives our understanding of the physical world. Thus, it makes perfect sense to formulate …

Mathematical Modeling Of Optimal Seasonal Reproductive Strategies And A Comparison Of Long-Term Viabilities Of Annuals And Perennials, Anthony Delegge

Department of Mathematics: Dissertations, Theses, and Student Research

In 1954, Lamont Cole posed a question which has motivated much ecological work in the past 50 years: When is the life history strategy of semelparity (organisms reproduce once, then die) favored, via evolution, over iteroparity (organisms may reproduce multiple times in their lifetime)? Although common sense should dictate that iteroparity would always be favored, we can observe that this is not always the case, since annual plants are not only prevalent, but can dominate an area. Also, certain plant species may be perennial in one region, but annual in another. Thus, in these areas, certain characteristics must be present …

Optimal Control And Feedback Design Of State-Constrained Parabolic Systems In Uncertainty Conditions, Boris S. Mordukhovich

Mathematics Research Reports

The paper concerns minimax control problems for linear multidimensional parabolic systems with distributed uncertain perturbations and control functions acting in the Dirichlet boundary conditions. The underlying parabolic control system is functioning under hard/pointwise constraints on control and state variables. The main goal is to design a feedback control regulator that ensures the required state performance and robust stability under any feasible perturbations and minimize an energy-type functional under the worst perturbations from the given area. We develop a constructive approach to the minimax control design of constrained parabolic systems that is based on certain characteristic features of the parabolic dynamics …

Symmetry And Stability Of Homogeneous Flocks, J. J. P. Veerman

Mathematics and Statistics Faculty Publications and Presentations

The study of the movement of flocks, whether biological or technological, is motivated by the desire to understand the capability of coherent motion of a large number of agents that only receive very limited information. In a biological flock a large group of animals seek their course while moving in a more or less fixed formation. It seems reasonable that the immediate course is determined by leaders at the boundary of the flock. The others follow: what is their algorithm? The most popular technological application consists of cars on a one-lane road. The light turns green and the lead car …

Automated Traffic And The Finite Size Resonance, J. J. P. Veerman, Borko D. Stošić, F. M. Tangerman

Mathematics and Statistics Faculty Publications and Presentations

We investigate in detail what one might call the canonical (automated) traffic problem: A long string of N+1 cars (numbered from 0 to N) moves along a one-lane road “in formation” at a constant velocity and with a unit distance between successive cars. Each car monitors the relative velocity and position of only its neighboring cars. This information is then fed back to its own engine which decelerates (brakes) or accelerates according to the information it receives. The question is: What happens when due to an external influence—a traffic light turning green—the ‘zero’th’ car (the “leader”) accelerates?

As …

An Introduction To Dsmt, Florentin Smarandache, Jean Dezert

Branch Mathematics and Statistics Faculty and Staff Publications

The management and combination of uncertain, imprecise, fuzzy and even paradoxical or highly conflicting sources of information has always been, and still remains today, of primal importance for the development of reliable modern information systems involving artificial reasoning. In this introduction, we present a survey of our recent theory of plausible and paradoxical reasoning, known as Dezert-Smarandache Theory (DSmT), developed for dealing with imprecise, uncertain and conflicting sources of information. We focus our presentation on the foundations of DSmT and on its most important rules of combination, rather than on browsing specific applications of DSmT available in literature. Several simple …

Linearizable Feedforward Systems: A Special Class, Issa Amadou Tall

Miscellaneous (presentations, translations, interviews, etc)

We address the problem of linearizability of systems in feedforward form. In a recent paper [22] we completely solved the linearizability for strict feedforward systems. We extend here those results to a special class of feedforward systems. We provide an algorithm, along with explicit transformations, that linearizes the system by change of coordinates when some easily checkable conditions are met. We also re-analyze type II class of linearizable strict feedforward systems provided by Krstic in [9] and we show that this class is the unique linearizable among the class of quasi-linear strict feedforward systems (see Definition III.1). Our results allow …

On Linearizability Of Strict Feedforward Systems, Issa Amadou Tall, Witold Respondek

Miscellaneous (presentations, translations, interviews, etc)

In this paper we address the problem of linearizability of systems in strict feedforward form. We provide an algorithm, along with explicit transformations, that linearizes a system by change of coordinates when some easily checkable conditions are met. Those conditions turn out to be necessary and sufficient, that is, if one fails the system is not linearizable. We revisit type I and type II classes of linearizable strict feedforward systems provided by Krstic in [6] and illustrate our algorithm by various examples mostly taken from [5], [6].

Stochastic Differential Equations With Jumps, Jose L. Menaldi

Mathematics Faculty Research Publications

Part I Stochastic Processes with Jumps Chapters: Probability Spaces, Semigroup Theory - Part II Stochastic Differential Equations with Jumps Chapters: Stochastic Calculus, Stochastic Differential Equations - Part III Reflected SDE with Jumps Chapters: Stochastic Differential Equations II, Stochastic Differential Equations III.

Comment: This is last version from 2014-01-07. *This Initial version 15/May/2008 was corrected and augmented to produce the others 5 volumes.

Optimization And Feedback Design Of State-Constrained Parabolic Systems, Boris S. Mordukhovich

Mathematics Research Reports

The paper is devoted to optimal control and feedback design of stateconstrained parabolic systems in uncertainty conditions. Problems of this type are among the most challenging and difficult in dynamic optimization for any kind of dynamical systems. We pay the main attention to considering linear multidimensional parabolic'systems with Dirichlet boundary controls and pointwise state constraints, while the methods developed in this study are applicable to other kinds of boundary controls and dynamical systems of the parabolic type. The feedback design problem is formulated in the minimax sense to ensure stabilization of transients within the prescribed diapason and robust stability of …

A Multivariate Magnitude Robust Control Chart For Mean Shift Detection And Change Point Estimation, Ryan M. Harrell

Theses and Dissertations

Statistical control charts are often used to detect a change in an otherwise stable process. This process may contain several variables affecting process stability. The goal of any control chart is to detect an out-of-control state quickly and provide insight on when the process actually changed. This reduces the off-line time the quality engineer spends assigning causality. In this research, a multivariate magnitude robust chart (MMRC) was developed using a change point model and a likelihood-ratio approach. Here the process is considered in-control until one or more normally distributed process variables permanently and suddenly shifts to out-of-control, stable value. Using …

Suboptimal Feedback Control Design Of Constrained Parabolic Systems In Uncertainty Conditions, Boris S. Mordukhovich

Mathematics Research Reports

The paper concerns minimax control problems forlinear multidimensional parabolic systems with distributed uncertain perturbations and control functions acting in the Dirichlet boundary conditions. The underlying parabolic control system is functioning under hard/pointwise constraints on control and state variables. The main goal is to design a feedback control regulator that ensures the required state performance and robust stability under any feasible perturbations and minimize an energy-type functional under the worst perturbations from the given area. We develop an efficient approach to the minimax control design of constrained parabolic systems that is based on certain characteristic features of the parabolic dynamics including …

Explicit Symmetries Of Strict Feedforward Control Systems, Issa Amadou Tall, Witold Respondek

Miscellaneous (presentations, translations, interviews, etc)

We show that any symmetry of a smooth strict feedforward system is conjugated to a scaling translation and any 1-parameter family of symmetries to a family of scaling translations along the first variable. We compute explicitly those symmetries by finding the conjugating diffeomorphism. We deduce, in accordance with our previous work, that a smooth system is feedback equivalent to a strict feedforward form if and only if it gives rise to a sequence of systems, such that each element of the sequence, firstly, possesses an infinitesimal symmetry whose flow is conjugated to a 1- parameter families of scaling translations and, …

Smooth And Analytic Normal And Canonical Forms For Strict Feedforward Systems, Issa Amadou Tall, Witold Respondek

Miscellaneous (presentations, translations, interviews, etc)

Recently we proved that any smooth (resp. analytic) strict feedforward system can be brought into its normal form via a smooth (resp. analytic) feedback transformation. This will allow us to identify a subclass of strict feedforward systems, called systems in special strict feedforward form, shortly (SSFF), possessing a canonical form which is an analytic counterpart of the formal canonical form. For (SSFF)-systems, the step-by-step normalization procedure of Kang and Krener leads to smooth (resp. convergent analytic) normalizing feedback transformations. We illustrate the class of (SSFF)-systems by a model of an inverted pendulum on a cart.

Feedback Classification Of Multi-Input Nonlinear Control Systems, Issa Amadou Tall

Articles and Preprints

We study the feedback group action on multi-input nonlinear control systems with uncontrollable mode. We follow slightly an approach proposed in Kang and Krener [W. Kang and A. J. Krener, SIAM J. Control. Optim., 30 (1992), pp. 1319–1337] which consists of analyzing the system and the feedback group step by step. We construct a normal form which generalizes, on one hand, the results obtained in the single-input case and, on the other hand, those recently obtained by the same author in the controllable case. We illustrate our results by studying the Caltech Multi-Vehicle Wireless Testbed (MVWT) and the prototype …

Flocks And Formations, J. J. P. Veerman, Gerardo Lafferriere, John S. Caughman Iv, A. Williams

Mathematics and Statistics Faculty Publications and Presentations

Given a large number (the “flock”) of moving physical objects, we investigate physically reasonable mechanisms of influencing their orbits in such a way that they move along a prescribed course and in a prescribed and fixed configuration (or “in formation”). Each agent is programmed to see the position and velocity of a certain number of others. This flow of information from one agent to another defines a fixed directed (loopless) graph in which the agents are represented by the vertices. This graph is called the communication graph. To be able to fly in formation, an agent tries to match the …

A Note On Lattice Chains And Delannoy Numbers, John S. Caughman Iv, Clifford R. Haithcock, J. J. P. Veerman

Mathematics and Statistics Faculty Publications and Presentations

Fix nonnegative integers n₁,…,n_d and let L denote the lattice of integer points (a₁,…,a_d)∈Z^d satisfying 0⩽a_i⩽n_i for 1⩽i⩽d. Let L be partially ordered by the usual dominance ordering. In this paper we offer combinatorial derivations of a number of results concerning chains in L. In particular, the results obtained are established without recourse to generating functions or recurrence relations. We begin with an elementary derivation of the number of chains in L of a given size, from which one can deduce the classical expression for the total number …