A robust-adaptive fuzzy coverage control for robotic swarms

In this paper, a decentralized adaptive control scheme for multi-robot coverage is proposed. This control method is designed based on centroidal Voronoi configuration integrated with robust adaptive fuzzy control techniques. We consider simple single integrator mobile robots used for covering dynamical environments, where an adaptive fuzzy logic system is used to approximate the unknown parts of control law. A robust coverage criterion is used to attenuate the adaptive fuzzy approximation error and measurement noises to a prescribed level. Therefore, the robots motion is forced to obey solutions of a coverage optimization problem. The advantages of the proposed controller can be listed as robustness to external disturbances, computation uncertainties, and measurement noises, while applicability on dynamical environments. A Lyapunov-function based proof is given of robust stability, i.e. convergence to the optimal positions with bounded error. Finally, simulation results are demonstrated for a swarm coverage problem simultaneous with tracking mobile intruders.     

Polygon-wise constant curvature natural element approximation of Kirchhoff plate model

A polygon-wise constant curvature natural element approximation is presented in this paper for the numerical implementation of the abstract Kirchhoff plate model. The strict C¹-continuity requirement in the displacement field is relaxed by converting the area integral of the curvatures into the boundary integral along the Voronoi boundary. Curvatures and bending moments are assumed to be constant within each Voronoi polygon, and the Voronoi-polygon-wise constant curvatures are derived in a selective manner for the sake of the imposition of essential boundary conditions. The numerical results illustrating the proposed method are also given.     

基于Voronoi cells的二维不规则自适应网格的生成及其应用

基于Voronoi cells的数据结构和算法，给出了一种二维不规则自适应网格的生成方法，用VisualC＋＋语言在微机上开发了Windows环境下网格自动生成的可视化软件。既可以得到Voronoi cells网格，也可得到相应的Delaunay triangles网格，网格生成的实例表明，本文方法所得到的网格非常适合于多尺度系统的流动问题的计算，具有较好的应用前景。     

自然单元法研究进展

自然单元法是一种基于Voronoi图和Delaunay三角化几何结构,以自然邻点插值为试函数的一种新型数值方法.其既具有无网格方法和经典有限元方法的优点,又克服了两者的一些缺陷,是一种发展前景广阔的求解微分方程的数值方法.自然单元法的形函数满足插值性质,可以像有限元法一样直接施加本质边界条件,不存在基于移动最小二乘拟合的无网格方法不能直接施加本质边界条件的难题.由于自然单元法是无网格方法,可以方便处理有限元方法较难处理的一些问题,例如移动边界和大变形等问题.自然单元法与其他数值方法的最根本区别于其插值格式的不同.将自然邻点插值用于Galerkin过程,就得到基于Voronoi结构的自然单元Galerkin法.自然邻点插值有自然邻点Sibson插值和Laplace插值(非Sibson插值)两种.Laplace插值比Sibson插值在计算上要简单的多,并且不论对凸的或非凸的区域都能精确施加本质边界条件.以Laplace插值为试函数的自然单元法在数值实施上比以Sibson插值为试函数的自然单元法简单.本文对基于Voronoi结构的自然邻点插值和自然单元法的基本思想作了介绍,综述了国内外关于自然单元法的研究成果,总结了自然单元法的优点和尚需解决的问题.      

椭球颗粒体系剪切过程中自由体积的分布与演化

颗粒材料是一种复杂的多体相互作用体系, 由大量离散的颗粒和其周围的自由体积组成. 虽然颗粒的自由体积与颗粒材料的力学性能和变形特征的相关性已得到证实, 但是由于表征上的困难, 目前对非球形颗粒体系的局部自由体积的认识还不够充分. 本文采用连续离散耦合分析方法进行了不同主轴长度的椭球颗粒试样的三轴剪切数值模拟, 基于Set Voronoi算法对剪切过程中的颗粒试样进行了Voronoi元胞分割, 分析了颗粒试验在剪切过程中自由体积的统计分布特性和演化规律, 研究了颗粒形态对自由体积的影响. 剪切过程中Voronoi元胞的各向异性逐渐增强, 且各项异性增强程度随颗粒非球度的增加而增大, 表明非球颗粒在剪切过程中经历更加强烈的重排列. 具有不同非球度的椭球颗粒体系的局部孔隙比均服从k?Γ分布, 且这个分布仅与颗粒体系的全局孔隙比相关, 不受颗粒形态和剪切状态的影响. 局部孔隙比的波动呈现非对称拉普拉斯分布, 非对称参数刻画了局部自由体积收缩和膨胀的博弈, 其与全局孔隙比呈线性关系.      

Proposal of FEM implemented with particle discretization for analysis of failure phenomena

A new method for numerical simulation of failure behavior, namely, FEM-β, is proposed. For a continuum model of a deformable body, FEM-β solves a boundary value problem by applying particle discretization to a displacement field; the domain is decomposed into a set of Voronoi blocks and the non-overlapping characteristic functions for the Voronoi blocks are used to discretize the displacement function. By computing average strain and average strain energy, FEM-β obtains a numerical solution of the variational problem that is transformed from the boundary value problem. In a rigorous form, FEM-β is formulated for a variational problem of displacement and stress with different particle discretization, i.e., the non-overlapping characteristic function of the Voronoi blocks and the conjugate Delaunay tessellations, respectively, are used to discretize the displacement and stress functions. While a displacement field is discretized with non-smooth functions, it is shown that a solution of FEM-β has the same accuracy as that of ordinary FEM with triangular elements. The key point of FEM-β is the ease of expressing failure as separation of two adjacent Voronoi blocks owing to the particle discretization that uses non-overlapping characteristic functions. This paper explains these features of FEM-β with results of numerical simulation of several example problems.     

Simulated annealing based algorithm for node generation in seepage analysis with meshless method

Node generation plays an important role in meshless methods for seepage analysis with a free surface. A probabilistic algorithm based on a combination of simulated annealing and the generalized probabilistic Lloyd's method, which is related to centroidal Voronoi tessellations (CVTs), is used in seepage analyses with the element-free Galerkin method (EFG). The applications in this paper involve analyzing steady seepage in a rectangular dam, a dam with an inclined slope surface, and a dam with a horizontal drain. The results show that the algorithm can easily fit and update the changeable free surface, and obtains higher-quality node sets, particularly when simulating physical domains with complex geometrical boundaries.     

A method for generating irregular computational grids in multiply connected planar domains

A method for generating irregular triangular computational grids in two-dimensional multiply connected domains is described. A set of points around each body is defined using a simple grid generation technique appropriate to the geometry of each body. The Voronoi regions associated with the resulting global point distribution are constructed from which the Delaunay triangulation of the set of points is thus obtained. The definition of Voronoi regions ensures that the triangulation produces triangles of reasonable aspect ratios given a grid point distribution. The approach readily accommodates local clustering of grid points to facilitate variable resolution of the domain. The technique is generally applicable and has been used with success in computing triangular grids in multiply connected planar domains. The suitability of such grids for flow calculations is demonstrated using a finite element method for solution of the inviscid transonic flow over two- dimensional high-lift aerofoil configurations.     

MESHLESS METHOD FOR 2D MIXED-MODE CRACK PROPAGATION BASED ON VORONOI CELL

A meshless method integrated with linear elastic fracture mechanics (LEFM) is presented for 2D mixed-mode crack propagation analysis. The domain is divided automatically into sub-domains based on Voronoi cells, which are used for quadrature for the potential energy. The continuous crack propagation is simulated with an incremental crack-extension method which assumes a piecewise linear discretization of the unknown crack path. For each increment of the crack extension, the meshless method is applied to carry out a stress analysis of the cracked structure. The J-integral, which can be decomposed into mode I and mode II for mixed-mode crack, is used for the evaluation of the stress intensity factors (SIFs). The crack-propagation direction, predicted on an incremental basis, is computed by a criterion defined in terms of the SIFs. The flowchart of the proposed procedure is presented and two numerical problems are analyzed with this method. The meshless results agree well with the experimental ones, which validates the accuracy and efficiency of the method.     

Elastic wave propagation study in copper poly-grain sample using FEM

The paper presents Voronoi based micro-structure modeling through elastic wave propagation in a polycrystalline copper using finite element method.The micro-structural parameters studied here are;the grain size and the grain orientation.The poly-crystalline copper is modeled as a randomly oriented Voronoi cells in a fixed 2D computational domain.Tone burst 3-cycle pulse of 1 MHz frequency is used as the line source or point source for testing.Welded contact conditions are used at the interface boundaries of any two mutual cells of the domain.It is reported that wave scattering independent of the shape when the size of the scatterer less than the wavelength.Also,It is concluded that transmission efficiency increases as the cell size decreases.     

Numerical simulations of the steady Navier–Stokes equations using adaptive meshing schemes

In this paper, we consider an adaptive meshing scheme for solution of the steady incompressible Navier–Stokes equations by finite element discretization. The mesh refinement and optimization are performed based on an algorithm that combines the so‐called conforming centroidal Voronoi Delaunay triangulations (CfCVDTs) and residual‐type local a posteriori error estimators. Numerical experiments in the two‐dimensional space for various examples are presented with quadratic finite elements used for the velocity field and linear finite elements for the pressure. The results show that our meshing scheme can equally distribute the errors over all elements in some optimal way and keep the triangles very well shaped as well at all levels of refinement. In addition, the convergence rates achieved are close to the best obtainable. Extension of this approach to three‐dimensional cases is also discussed and the main challenge is the efficient implementation of three‐dimensional CfCVDT generation that is still under development. Copyright © 2007 John Wiley & Sons, Ltd.     

PARAMETRIC VARIATIONAL PRINCIPLE BASED ELASTIC-PLASTIC ANALYSIS OF HETEROGENEOUS MATERIALS WITH VORONOI FINITE ELEMENT METHOD

The Voronoi cell finite element method (VCFEM) is adopted to overcome the limitations of the classic displacement based finite element method in the numerical simulation of heterogeneous materials. The parametric variational principle and quadratic programming method are developed for elastic-plastic Voronoi finite element analysis of two-dimensional problems. Finite element formulations are derived and a standard quadratic programming model is deduced from the elastic-plastic equations. Influence of microscopic heterogeneities on the overall mechanical response of heterogeneous materials is studied in detail. The overall properties of heterogeneous materials depend mostly on the size, shape and distribution of the material phases of the microstructure. Numerical examples are presented to demonstrate the validity and effectiveness of the method developed.     

基于k-fold交叉验证的代理模型序列采样方法

在代理模型序列采样框架下,针对现有研究中的不足之处,通过引入k-fold交叉验证计算样本的预测误差,并结合泰森多边形法和最大距离最小化准则,发展了一种适用于任意代理模型的k-fold CV-Voronoi自适应序列采样方法。相较于传统序列采样方法,本文方法具有计算简单和自适应性强等显著优势。通过数值算例和工程算例对比分析发现所提序列采样方法具有较高的近似精度和计算效率,此外,进一步讨论了k-fold交叉验证中k的不同取值对于代理模型精度的影响,总结出k的最优取值范围以供参考。     

A local search algorithm for natural neighbours in the natural element method

A local basis algorithm for searching natural neighbours in Natural Element Method (NEM) is presented for solving the elasticity problems in this paper. Comparison with the global sweep algorithm used in natural element method or Natural Neighbour Method (NNM) for searching natural neighbours, the proposed algorithm is more expedient and convenient in the constructions and computation of natural neighbour interpolations. In the proposed NEM based on local search, the Laplace (non-sibson) interpolations are constructed with respect to the natural neighbour nodes of the given point which have been locally defined. The shape functions from the Laplace approximations have the delta function property and the Laplace interpolants are strictly linear between adjacent nodes, which facilitate imposition of essential boundary conditions and treatment of material discontinuity with ease as it is in the conventional finite element method. The Laplace interpolants derived from the local algorithm and the global algorithm in NEM are identical because of the uniqueness of the Voronoi diagram. Numerical results and convergence studies also show that the present NEM based on local search algorithm possesses the same accuracy and rate of convergence as they are in previous NEM.     

基于Voronoi切割算法的碎冰区构造及离散元分析

离散元方法广泛应用于海冰,特别是碎冰区的动力过程及其对海洋结构作用过程的数值模拟。为构造碎冰区中的冰块几何特性,基于二维Voronoi图方法对计算域进行随机切割以生成碎冰区中冰块的几何形态,并采用球体单元对每个碎冰块单元进行填充,从而确定碎冰区的初始分布场。在采用Voronoi图进行碎冰区构造时,可对冰块尺寸、几何形态和密集度等海冰参数进行设定。为确定冰块的不同几何规则度,综合采用排斥法和扰动法以定量地控制碎冰块几何形态从完全随机分布到规则分布的连续变换。为分析不同几何规则度下碎冰块的几何特性概率分布规律,对计算域内冰块的面积和边数等参数进行统计分析,从而可更合理地参数化控制初始冰场中碎冰块的几何特性。在此基础上,本文基于粘接-破碎的球体离散元方法对不同冰况下锥体结构的冰荷载进行了数值计算,讨论分析了碎冰区的海冰密集度、冰块面积和几何规则度对冰载荷的影响。     

Remarks on nonlinear Galerkin method for Kuramoto-Sivashinsky equation

I.TheEquation-ConsidertheKuramoto-Sivashinskyequati0nwithperiodicboundaryconditiontwherev>Oisarbitraryandu,(x)isl-peri0dicandofzeromean.ThisequationcanberewrittenasanabstractevolutionequationinaHilbertspeceHendowedwithascalarproduct',')andanorml'I.Here,we…     

Winkler地基上厚板分析的自然单元法

以自然单元法中自然邻接点的Laplace插值形函数为基础,基于Mindlin厚板理论,建立了Winkler地基上厚板弯曲挠度的自然单元法求解控制方程,并进行了相应的程序实现,最后通过算例分析,表明了该文方法的可行性和有效性.     

三维自然单元法插值形函数的导数计算

根据Voronoi胞的几何性质,获得了积分点的二阶Voronoi胞顶点的表达式,并对各邻近结点相关的顶点进行排序以使其生成的二阶Voronoi胞切割面为凸多边形,从而获得各切割凸多边形面域的面积表达式;最后,基于复合函数链式求导法则,获得了三维自然单元法non-Sibson插值形函数导数的显式格式。相比Lasserre算法,该方法具有直观、便于编程且计算量小的特点。悬臂梁的算例结果进一步说明了该方法的可靠性,证实了文献[2,7,8]关于自然单元法具有比有限元中常应变单元更高的精度,理论上和双线性单元的精度同阶的结论。     

自然单元法在Winkler地基薄板计算中的应用

自然单元法是一种基于Voronoi图及Delaunay三角形剖分图,以自然邻接点插值为试函数的一种无网格数值方法.本文以目前该方法中自然邻接点的Laplace插值形函数为基础,求出了其一阶及二阶导函数,建立了Winkler地基上薄板弯曲挠度的自然单元法求解控制方程,并编制了相应的计算程序,通过算例分析表明了本文方法的可行性和有效性.