Sample average approximation of expected value constrained stochastic programs

We propose a sample average approximation (SAA) method for stochastic programming problems with expected value constraints. Such problems arise, for example, in portfolio selection with constraints on conditional value-at-risk (CVaR). We provide a convergence analysis and a statistical validation scheme for the proposed method.     

New algorithm for optimal parameter estimation with linear constraints

This paper presents a new algorithm for optimal parameter estimation problems with linear constraints. The algorithm developed is based on least absolute-value approximations. The problem is solved first using a least-error-square technique, where we add to the cost function the equality constraints via Lagrange multipliers, to obtain a good estimate for the residuals of the measurements, having gained this information, we choose a number of measurements with the smallest residuals. This number equals the number of parameters to be estimated minus the number of constraints. Using these measurements together with the constraints, we obtain a number of observations equal to the number of parameters to be estimated. By using this technique, we show that there is no need to either iterate or use linear programming to obtain the estimation.This work was supported by the Natural Sciences and Engineering Research Council of Canada, Grant A4146.     

Image space approach to penalty methods

In this paper, we introduce a unified framework for the study of penalty concepts by means of the separation functions in the image space (see Ref. 1). Moreover, we establish new results concerning a correspondence between the solutions of the constrained problem and the limit points of the unconstrained minima. Finally, we analyze some known classes of penalty functions and some known classical results about penalization, and we show that they can be derived from our results directly.     

二阶非线性阻尼微分方程解的振动性质

本文研究了一类二阶非线性阻尼微分方程解的振动性,利用分类讨论和分析的方法,建立了两个新的振动性定理,推广和改进了已有的结果.     

求解不等式约束优化问题的一个改进算法

本文改进了一个求解不等式约束优化问题的对偶算法，建立了一个相应的算法，进一步证明了该算法的收敛性．最后，给出数值结果以验证该算法的有效性。     

Optimizing Age Penalty in Time-Varying Networks with Markovian and Error-Prone Channel State

In this paper, we consider a scenario where the base station (BS) collects time-sensitive data from multiple sensors through time-varying and error-prone channels. We characterize the data freshness at the terminal end through a class of monotone increasing functions related to Age of information (AoI). Our goal is to design an optimal policy to minimize the average age penalty of all sensors in infinite horizon under bandwidth and power constraint. By formulating the scheduling problem into a constrained Markov decision process (CMDP), we reveal the threshold structure for the optimal policy and approximate the optimal decision by solving a truncated linear programming (LP). Finally, a bandwidth-truncated policy is proposed to satisfy both power and bandwidth constraint. Through theoretical analysis and numerical simulations, we prove the proposed policy is asymptotic optimal in the large sensor regime.     

Thermal-mechanical behavior of styrene-based shape memory polymer tubes

Styrene-based shape memory polymer (SMP) tubes were fabricated and their basic mechanical properties in different deformation states were investigated. The tensile, compression, bending and twisting shape memory properties of the tubes were analyzed and discussed, and the results indicated that SMP tubes exhibit good shape fixity ratio and shape recovery ratio. In addition, the shape recovery behavior was investigated at different heating rates. These experimental results will provide guidance for future applications of SMP tube structures.     

DYNAMICS MODELING,SIMULATION, AND CONTROL OF ROBOTS WITH FLEXIBLE JOINTS AND FLEXIBLE LINKS$^{\bf 1)}$

本文探究了铰柔性对机器人动力学响应和动力学控制的影响. 首先, 建立由$n$个柔性铰和$n$个柔性杆组成的空间机器人模型, 运用递推拉格朗日动力学方法, 得到柔性机器人系统的刚柔耦合动力学方程. 在动力学建模过程中, 除了考虑杆件的拉伸变形、弯曲变形、扭转变形以及非线性耦合变形对机器人系统动力学行为的影响, 还考虑了铰的柔性对机器人动力学响应和控制的影响. 其中, 柔性铰模型是基于Spong的柔性关节简化模型, 将柔性铰看成线性扭转弹簧, 不仅考虑了铰阻尼的存在, 还考虑了柔性铰的质量效应. 其次, 编写了空间柔性铰柔性杆机器人仿真程序, 研究铰的刚度系数和阻尼系数对系统动力学响应的影响. 研究表明: 随着柔性铰刚度系数的增大, 柔性机器人的动态响应幅值减小, 振动频率变大. 随着柔性铰阻尼系数的增大, 柔性机器人的动态响应幅值减小, 振动幅值的衰减速度变快. 可通过调节柔性铰的刚度和阻尼来减小柔性铰柔性杆机器人的振动, 因此铰阻尼的研究具有重要工程意义. 最后, 研究了铰柔性在机器人系统动力学控制中的影响. 在刚性铰机械臂和柔性铰机械臂完成相同圆周运动时, 通过逆动力学方法求解得到两种情况下的关节驱动力矩. 研究表明: 引入柔性铰会使控制所需的驱动力矩变小, 对机器人控制的影响显著.     

李萨如图形在检测系统中的应用

李萨如图形可以检测两个相同频率信号的相位差．主要论述具有惯性质量、弹簧和阻尼器的二阶加速度测量系统,其动态响应特性的分析方法,如何利用李萨如图形来检测力平衡式加速度传感器的动态特性,即幅频特性和相频特性,从而确定传感器的固有频率ω_n和阻尼比ξ,以此来评定传感器的综合特性．