Práce komplexně popisuje vodní a vodovzdušné chlazení pomocí metod CFD (Computational Fluid Dynamics) konkrétně s využitím software ANSYS FLUENT. Skládá se ze dvou hlavních částí, z nichž první se zabývá numerickým popisem jediné vodní kapky a druhá popisem směsí kapek představující paprsek válcové a ploché trysky. Je založena převážně na vícefázových modelech proudění a vlastních uživatelsky definovaných funkcí (User Defined Functions, UDF) představujících stěžejní část práce. Uvedené výpočtové modely jsou ve většině případů verifikovány pomocí experimentálních dat nebo jiných numerických modelů. V první části práce jsou teoreticky postupně rozebrány všechny tři použité vícefázové modely proudění. První z nich, Volume Of Fluid model (VOF), byl použit pro modelování jediné kapky (mikromodel). Zatímco zbývající dva, Euler-Euler model a Euler-Lagrange model, byly aplikovány v modelu celého paprsku trysky (makromodel). Mikromodel popisuje dynamiku volného pádu vodní kapky. Pro malé průměry kapek (~100µm) standardní model povrchového napětí (Continuum Surface Force, CSF) způsoboval tzv. parazitní proudy. Z toho důvodu je v práci rozebrána problematika výpočtu normál, křivostí volných povrchů a povrchového napětí jako zdroje objemových sil v pohybových rovnicích. Makromodel se zabývá studiem dynamiky celého paprsku tj. oblastí od ústí trysky po dopad na horký povrch, bere v úvahu kompletní geometrii, tzn. např. podpůrné válečky, bramu, spodní část krystalizátoru apod. V práci je rozebrána 2D simulace dopadu paprsku válcové trysky pomocí VOF modelu Euler-Lagrange modelu na horký povrch. Pro případ s VOF modelem byl navržen model blánového varu. Euler-Euler model a Euler-Lagrange model byly využity pro simulaci paprsku ploché trysky horizontálně ostřikující horkou bramu přímo pod krystalizátorem nad první řadou válečků. Pro Euler-Euler model byl navržen model sekundárního rozpadu paprsku založený na teorii nejstabilnější vlnové délky (Blob jet model). Jelikož diskrétní Lagrangeovy částice tvořily v určitých místech spíše kontinuální fázi, byl navržen a otestován model pro konverzi těchto částic do VOF.

The main body of this thesis consists of four appended papers. The first two consider different aspects of the trajectory planning problem, while the last two deal with observer design for mobile robotic and Euler-Lagrange systems respectively. The first paper addresses the problem of designing a real time, high performance trajectory planner for aerial vehicles. The main contribution is two-fold. Firstly, by augmenting a novel safety maneuver at the end of the planned trajectory, this paper extends previous results by having provable safety properties in a 3D setting. Secondly, assuming initial feasibility, the planning method is shown to have finite time task completion. Moreover, in the second part of the paper, the problem of simultaneous arrival of multiple aerial vehicles is considered. By using a time-scale separation principle, one is able to adopt standard Laplacian control to this consensus problem, which is neither unconstrained, nor first order. Direct methods for trajectory optimization are traditionally based on a priori temporal discretization and collocation methods. In the second paper, the problem of adaptive node distribution is formulated as a constrained optimization problem, which is to be included in the underlying nonlinear mathematical programming problem. The benefits of utilizing the suggested method for online trajectory optimization are illustrated by a missile guidance example. In the third paper, the problem of active observer design for an important class of non-uniformly observable systems, namely mobile robotics systems, is considered. The set of feasible configurations and the set of output flow equivalent states are defined. It is shown that the inter-relation between these two sets may serve as the basis for design of active observers. The proposed observer design methodology is illustrated by considering a unicycle robot model, equipped with a set of range-measuring sensors. Finally, in the fourth paper, a geometrically intrinsic observer for Euler-Lagrange systems is defined and analyzed. This observer is a generalization of the observer recently proposed by Aghannan and Rouchon. Their contractivity result is reproduced and complemented by a proof that the region of contraction is infinitely thin. However, assuming a priori bounds on the velocities, convergence of the observer is shown by means of Lyapunov's direct method in the case of configuration manifolds with constant curvature. / QC 20101108

In this dissertation, we discuss the problem of robust linear subspace estimation using low-rank optimization and propose three formulations of it. We demonstrate how these formulations can be used to solve fundamental computer vision problems, and provide superior performance in terms of accuracy and running time. Consider a set of observations extracted from images (such as pixel gray values, local features, trajectories . . . etc). If the assumption that these observations are drawn from a liner subspace (or can be linearly approximated) is valid, then the goal is to represent each observation as a linear combination of a compact basis, while maintaining a minimal reconstruction error. One of the earliest, yet most popular, approaches to achieve that is Principal Component Analysis (PCA). However, PCA can only handle Gaussian noise, and thus suffers when the observations are contaminated with gross and sparse outliers. To this end, in this dissertation, we focus on estimating the subspace robustly using low-rank optimization, where the sparse outliers are detected and separated through the `1 norm. The robust estimation has a two-fold advantage: First, the obtained basis better represents the actual subspace because it does not include contributions from the outliers. Second, the detected outliers are often of a specific interest in many applications, as we will show throughout this thesis. We demonstrate four different formulations and applications for low-rank optimization. First, we consider the problem of reconstructing an underwater sequence by removing the iii turbulence caused by the water waves. The main drawback of most previous attempts to tackle this problem is that they heavily depend on modelling the waves, which in fact is ill-posed since the actual behavior of the waves along with the imaging process are complicated and include several noise components; therefore, their results are not satisfactory. In contrast, we propose a novel approach which outperforms the state-of-the-art. The intuition behind our method is that in a sequence where the water is static, the frames would be linearly correlated. Therefore, in the presence of water waves, we may consider the frames as noisy observations drawn from a the subspace of linearly correlated frames. However, the noise introduced by the water waves is not sparse, and thus cannot directly be detected using low-rank optimization. Therefore, we propose a data-driven two-stage approach, where the first stage “sparsifies” the noise, and the second stage detects it. The first stage leverages the temporal mean of the sequence to overcome the structured turbulence of the waves through an iterative registration algorithm. The result of the first stage is a high quality mean and a better structured sequence; however, the sequence still contains unstructured sparse noise. Thus, we employ a second stage at which we extract the sparse errors from the sequence through rank minimization. Our method converges faster, and drastically outperforms state of the art on all testing sequences. Secondly, we consider a closely related situation where an independently moving object is also present in the turbulent video. More precisely, we consider video sequences acquired in a desert battlefields, where atmospheric turbulence is typically present, in addition to independently moving targets. Typical approaches for turbulence mitigation follow averaging or de-warping techniques. Although these methods can reduce the turbulence, they distort the independently moving objects which can often be of great interest. Therefore, we address the iv problem of simultaneous turbulence mitigation and moving object detection. We propose a novel three-term low-rank matrix decomposition approach in which we decompose the turbulence sequence into three components: the background, the turbulence, and the object. We simplify this extremely difficult problem into a minimization of nuclear norm, Frobenius norm, and `1 norm. Our method is based on two observations: First, the turbulence causes dense and Gaussian noise, and therefore can be captured by Frobenius norm, while the moving objects are sparse and thus can be captured by `1 norm. Second, since the object’s motion is linear and intrinsically different than the Gaussian-like turbulence, a Gaussian-based turbulence model can be employed to enforce an additional constraint on the search space of the minimization. We demonstrate the robustness of our approach on challenging sequences which are significantly distorted with atmospheric turbulence and include extremely tiny moving objects. In addition to robustly detecting the subspace of the frames of a sequence, we consider using trajectories as observations in the low-rank optimization framework. In particular, in videos acquired by moving cameras, we track all the pixels in the video and use that to estimate the camera motion subspace. This is particularly useful in activity recognition, which typically requires standard preprocessing steps such as motion compensation, moving object detection, and object tracking. The errors from the motion compensation step propagate to the object detection stage, resulting in miss-detections, which further complicates the tracking stage, resulting in cluttered and incorrect tracks. In contrast, we propose a novel approach which does not follow the standard steps, and accordingly avoids the aforementioned diffi- culties. Our approach is based on Lagrangian particle trajectories which are a set of dense trajectories obtained by advecting optical flow over time, thus capturing the ensemble motions v of a scene. This is done in frames of unaligned video, and no object detection is required. In order to handle the moving camera, we decompose the trajectories into their camera-induced and object-induced components. Having obtained the relevant object motion trajectories, we compute a compact set of chaotic invariant features, which captures the characteristics of the trajectories. Consequently, a SVM is employed to learn and recognize the human actions using the computed motion features. We performed intensive experiments on multiple benchmark datasets, and obtained promising results. Finally, we consider a more challenging problem referred to as complex event recognition, where the activities of interest are complex and unconstrained. This problem typically pose significant challenges because it involves videos of highly variable content, noise, length, frame size . . . etc. In this extremely challenging task, high-level features have recently shown a promising direction as in [53, 129], where core low-level events referred to as concepts are annotated and modelled using a portion of the training data, then each event is described using its content of these concepts. However, because of the complex nature of the videos, both the concept models and the corresponding high-level features are significantly noisy. In order to address this problem, we propose a novel low-rank formulation, which combines the precisely annotated videos used to train the concepts, with the rich high-level features. Our approach finds a new representation for each event, which is not only low-rank, but also constrained to adhere to the concept annotation, thus suppressing the noise, and maintaining a consistent occurrence of the concepts in each event. Extensive experiments on large scale real world dataset TRECVID Multimedia Event Detection 2011 and 2012 demonstrate that our approach consistently improves the discriminativity of the high-level features by a significant margin.

科学研究費補助金 研究種目:基盤研究(C) 課題番号:10650238 研究代表者:安田 仁彦 研究期間:1998-1999年度

Die vorliegende Arbeit widmet sich der Aufgabe makroskopische Berechnungsmodelle zur Beschreibung des Drahtsägens zu erarbeiten. Ziel ist es, die wesentlichen Effekte abzubilden und den Einfluss von Prozessparametern auf die Dynamik des Systems zu bestimmen. Ein zentraler Punkt ist die Modellierung des bewegten Sägedrahtes. Durch die dem Kontinuum an den Auflagern aufgeprägte Führungsbewegung sind einerseits die Randbedingungen und andererseits ortsfest auf den Draht wirkende Lasten nichtmateriell. Die korrekte kinematische Beschreibung dieses Sachverhaltes ist essentielle Grundlage für die spätere Anwendung des Prinzips von HAMILTON. Durch die Führungsbewegung, die Formulierung der Kontaktkräfte als Folgelasten und durch explizit zeitabhängige Systemparameter ergibt sich ein kompliziertes Systemverhalten. Die dargestellten Berechnungsergebnisse umfassen Studien zu stationären Lagen, die Berechnung von Eigenfrequenzen, Stabilitätsnachweise des dynamischen Grundzustandes, die Bestimmung von Zeitlösungen und die Simulation des Materialabtrages beim Einschnitt. / The aim of the present thesis is to generate macroscopic models to describe the wire sawing process. The principal purpose is to illustrate basic effects and to investigate the influence of important process parameters relating to the dynamics of the system. A fundamental point is the modeling of the moving wire. Because of the axially movement of the continuum the boundary conditions and spatial acting loads are non-material. The precise kinematical description of this issue is the pre-condition for the correct evaluation of HAMILTON’s principle to characterize the dynamics of the system. The resultant complex system behavior is a consequence of the movement of the wire, of the formulation of the contact forces as follower loads and of explicitly time-dependent model parameters. The results of research contain studies of steady state equilibrium solutions and the proof of their LJAPUNOW stability, the calculation of eigenfrequencies, steady state time solutions under harmonically oscillating contact forces and the simulation of the material removal during the cutting process.

Die vorliegende Arbeit widmet sich der Aufgabe makroskopische Berechnungsmodelle zur Beschreibung des Drahtsägens zu erarbeiten. Ziel ist es, die wesentlichen Effekte abzubilden und den Einfluss von Prozessparametern auf die Dynamik des Systems zu bestimmen. Ein zentraler Punkt ist die Modellierung des bewegten Sägedrahtes. Durch die dem Kontinuum an den Auflagern aufgeprägte Führungsbewegung sind einerseits die Randbedingungen und andererseits ortsfest auf den Draht wirkende Lasten nichtmateriell. Die korrekte kinematische Beschreibung dieses Sachverhaltes ist essentielle Grundlage für die spätere Anwendung des Prinzips von HAMILTON. Durch die Führungsbewegung, die Formulierung der Kontaktkräfte als Folgelasten und durch explizit zeitabhängige Systemparameter ergibt sich ein kompliziertes Systemverhalten. Die dargestellten Berechnungsergebnisse umfassen Studien zu stationären Lagen, die Berechnung von Eigenfrequenzen, Stabilitätsnachweise des dynamischen Grundzustandes, die Bestimmung von Zeitlösungen und die Simulation des Materialabtrages beim Einschnitt.:1 Einleitung 1.1 Technische Problemstellung und Motivation der Arbeit 1.2 Literaturübersicht 1.3 Thema und Gliederung der Arbeit 2 Theoretische Grundlagen 2.1 Notation und mathematische Grundlagen 2.2 Kinematische Grundlagen der Kontinuumsmechanik 2.2.1 Konfiguration und Betrachtungsweisen 2.2.2 Verformungskinematik 2.2.3 Zeitableitungen 2.3 Variationsrechnung 2.3.1 Grundlagen 2.3.2 Verallgemeinerte Variationen 2.4 Kinetik / Prinzip von HAMILTON 2.5 Diskretisierung von Feldproblemen 2.6 Stabilität stationärer Lösungen 2.6.1 Grundlagen der kinetischen Stabilitätstheorie 2.6.2 Erste Methode von LJAPUNOW 2.6.3 Stabilitätsbetrachtung für bewegte Kontinua 2.7 Zeitlösung 2.7.1 Homogene Lösung der Störungsdifferentialgleichungen 2.7.2 Partikuläre Lösung der Störungsdifferentialgleichungen 3 Mechanisches Modell und Modellvarianten 3.1 Kinematik des Drahtes in LAGRANGE-Koordinaten 3.2 Kinematik des Drahtes in EULER-Koordinaten 3.3 Modell I 3.3.1 Variationsformulierung und Feldgleichungen 3.3.2 Ortsdiskretisierung der Variationsformulierung 3.3.3 Stationäre Lage, Stabilitätsuntersuchung und Zeitlösung 3.4 Modell II 3.4.1 Variationsformulierung und Feldgleichungen 3.4.2 Ortsdiskretisierung der Variationsformulierung 3.4.3 Stationäre Lage, Stabilitätsuntersuchung und Zeitlösung 3.5 Numerische Umsetzung 3.6 Berechnungsergebnisse 3.6.1 Stationäre Lagen 3.6.2 Eigenfrequenzen 3.6.3 Stabilitätsuntersuchungen 3.6.4 Zeitlösungen 4 Ankopplung des Ingot und Modellierung des Materialabtrages 4.1 FE- Modell des Gesamtblocks 4.1.1 Bestimmung der mechanischen Eigenschaften des Ingot 4.1.2 Berechnungsergebnisse 4.2 Strukturmechanisches Modell des Gesamtblocks und Ankopplung an den Sägedraht 4.3 Variationsformulierungen der gekoppelten Gesamtsysteme unter Berücksichtigung des Materialabtrages 4.3.1 Gesamtmodell I 4.3.2 Gesamtmodell II 4.4 Simulation des Schnittvorganges 5 Zusammenfassung / Ausblick 6 Verzeichnisse 6.1 Literaturverzeichnis 6.1.1 Allgemeine Literatur 6.1.2 Literatur zum Thema Drahtsägen 6.1.3 Literatur zum Thema bewegte Kontinua Anhang / The aim of the present thesis is to generate macroscopic models to describe the wire sawing process. The principal purpose is to illustrate basic effects and to investigate the influence of important process parameters relating to the dynamics of the system. A fundamental point is the modeling of the moving wire. Because of the axially movement of the continuum the boundary conditions and spatial acting loads are non-material. The precise kinematical description of this issue is the pre-condition for the correct evaluation of HAMILTON’s principle to characterize the dynamics of the system. The resultant complex system behavior is a consequence of the movement of the wire, of the formulation of the contact forces as follower loads and of explicitly time-dependent model parameters. The results of research contain studies of steady state equilibrium solutions and the proof of their LJAPUNOW stability, the calculation of eigenfrequencies, steady state time solutions under harmonically oscillating contact forces and the simulation of the material removal during the cutting process.:1 Einleitung 1.1 Technische Problemstellung und Motivation der Arbeit 1.2 Literaturübersicht 1.3 Thema und Gliederung der Arbeit 2 Theoretische Grundlagen 2.1 Notation und mathematische Grundlagen 2.2 Kinematische Grundlagen der Kontinuumsmechanik 2.2.1 Konfiguration und Betrachtungsweisen 2.2.2 Verformungskinematik 2.2.3 Zeitableitungen 2.3 Variationsrechnung 2.3.1 Grundlagen 2.3.2 Verallgemeinerte Variationen 2.4 Kinetik / Prinzip von HAMILTON 2.5 Diskretisierung von Feldproblemen 2.6 Stabilität stationärer Lösungen 2.6.1 Grundlagen der kinetischen Stabilitätstheorie 2.6.2 Erste Methode von LJAPUNOW 2.6.3 Stabilitätsbetrachtung für bewegte Kontinua 2.7 Zeitlösung 2.7.1 Homogene Lösung der Störungsdifferentialgleichungen 2.7.2 Partikuläre Lösung der Störungsdifferentialgleichungen 3 Mechanisches Modell und Modellvarianten 3.1 Kinematik des Drahtes in LAGRANGE-Koordinaten 3.2 Kinematik des Drahtes in EULER-Koordinaten 3.3 Modell I 3.3.1 Variationsformulierung und Feldgleichungen 3.3.2 Ortsdiskretisierung der Variationsformulierung 3.3.3 Stationäre Lage, Stabilitätsuntersuchung und Zeitlösung 3.4 Modell II 3.4.1 Variationsformulierung und Feldgleichungen 3.4.2 Ortsdiskretisierung der Variationsformulierung 3.4.3 Stationäre Lage, Stabilitätsuntersuchung und Zeitlösung 3.5 Numerische Umsetzung 3.6 Berechnungsergebnisse 3.6.1 Stationäre Lagen 3.6.2 Eigenfrequenzen 3.6.3 Stabilitätsuntersuchungen 3.6.4 Zeitlösungen 4 Ankopplung des Ingot und Modellierung des Materialabtrages 4.1 FE- Modell des Gesamtblocks 4.1.1 Bestimmung der mechanischen Eigenschaften des Ingot 4.1.2 Berechnungsergebnisse 4.2 Strukturmechanisches Modell des Gesamtblocks und Ankopplung an den Sägedraht 4.3 Variationsformulierungen der gekoppelten Gesamtsysteme unter Berücksichtigung des Materialabtrages 4.3.1 Gesamtmodell I 4.3.2 Gesamtmodell II 4.4 Simulation des Schnittvorganges 5 Zusammenfassung / Ausblick 6 Verzeichnisse 6.1 Literaturverzeichnis 6.1.1 Allgemeine Literatur 6.1.2 Literatur zum Thema Drahtsägen 6.1.3 Literatur zum Thema bewegte Kontinua Anhang