Particle swarm optimization-based algorithm of a symplectic method for robotic dynamics and control

Multibody system dynamics provides a strong tool for the estimation of dynamic performances and the optimization of multisystem robot design. It can be described with differential algebraic equations(DAEs). In this paper, a particle swarm optimization(PSO) method is introduced to solve and control a symplectic multibody system for the first time. It is first combined with the symplectic method to solve problems in uncontrolled and controlled robotic arm systems. It is shown that the results conserve the energy and keep the constraints of the chaotic motion, which demonstrates the efficiency, accuracy, and time-saving ability of the method. To make the system move along the pre-planned path, which is a functional extremum problem, a double-PSO-based instantaneous optimal control is introduced. Examples are performed to test the effectiveness of the double-PSO-based instantaneous optimal control. The results show that the method has high accuracy, a fast convergence speed, and a wide range of applications.All the above verify the immense potential applications of the PSO method in multibody system dynamics.

A Symplectic Method of Numerical Simulation on Local Buckling for Cylindrical Long Shells under Axial Pulse Loads

In this paper,the local buckling of cylindrical long shells is discussed under axial pulse loads in a Hamiltonian system.Using this system,critical loads and modes of buckling of shells are reduced to symplectic eigenvalues and eigensolutions respectively.By the symplectic method,the solution of the local buckling of shells can be employed to the expansion series of symplectic eigensolutions in this system.As a result,relationships between critical buckling loads and other factors,such as length of pulse load,thickness of shells and circumferential orders,have been achieved.At the same time,symmetric and unsymmetric buckling modes have been discuss.Moreover,numerical results show that modes of post-buckling of shells can be Bamboo node-type,bending type,concave type and so on.Research in this paper provides analytical supports for ultimate load prediction and buckling failure assessment of cylindrical long shells under local axial pulse loads.

A symmetric substructuring method for analyzing the natural frequencies of conical origami structures

Conical origami structures are characterized by their substantial out-of-plane stiffness and energy-absorptioncapacity.Previous investigations have commonly focused on the static characteristics of these lightweight struc-tures.However,the efficient analysis of the natural vibrations of these structures is pivotal for designing conicalorigami structures with programmable stiffness and mass.In this paper,we propose a novel method to analyzethe natural vibrations of such structures by combining a symmetric substructuring method(SSM)and a gener-alized eigenvalue analysis.SSM exploits the inherent symmetry of the structure to decompose it into a finiteset of repetitive substructures.In doing so,we reduce the dimensions of matrices and improve computationalefficiency by adopting the stiffness and mass matrices of the substructures in the generalized eigenvalue analysis.Finite element simulations of pin-jointed models are used to validate the computational results of the proposedapproach.Moreover,the parametric analysis of the structures demonstrates the influences of the number of seg-ments along the circumference and the radius of the cone on the structural mass and natural frequencies of thestructures.Furthermore,we present a comparison between six-fold and four-fold conical origami structures anddiscuss the influence of various geometric parameters on their natural frequencies.This study provides a strategyfor efficiently analyzing the natural vibration of symmetric origami structures and has the potential to contributeto the efficient design and customization of origami metastructures with programmable stiffness.

Superconvergence of Direct Discontinuous Galerkin Methods:Eigen-structure Analysis Based on Fourier Approach

This paper investigates superconvergence properties of the direct discontinuous Galerkin(DDG)method with interface corrections and the symmetric DDG method for diffusion equations.We apply the Fourier analysis technique to symbolically compute eigenvalues and eigenvectors of the amplification matrices for both DDG methods with different coefficient settings in the numerical fluxes.Based on the eigen-structure analysis,we carry out error estimates of the DDG solutions,which can be decomposed into three parts:(i)dissipation errors of the physically relevant eigenvalue,which grow linearly with the time and are of order 2k for P^(k)(k=2,3)approximations;(ii)projection error from a special projection of the exact solution,which is decreasing over the time and is related to the eigenvector corresponding to the physically relevant eigenvalue;(iii)dissipative errors of non-physically relevant eigenvalues,which decay exponentially with respect to the spatial mesh sizeΔx.We observe that the errors are sensitive to the choice of the numerical flux coefficient for even degree P^(2)approximations,but are not for odd degree P^(3)approximations.Numerical experiments are provided to verify the theoretical results.

A symplectic finite element method based on Galerkin discretization for solving linear systems

We propose a novel symplectic finite element method to solve the structural dynamic responses of linear elastic systems.For the dynamic responses of continuous medium structures,the traditional numerical algorithm is the dissipative algorithm and cannot maintain long-term energy conservation.Thus,a symplectic finite element method with energy conservation is constructed in this paper.A linear elastic system can be discretized into multiple elements,and a Hamiltonian system of each element can be constructed.The single element is discretized by the Galerkin method,and then the Hamiltonian system is constructed into the Birkhoffian system.Finally,all the elements are combined to obtain the vibration equation of the continuous system and solved by the symplectic difference scheme.Through the numerical experiments of the vibration response of the Bernoulli-Euler beam and composite plate,it is found that the vibration response solution and energy obtained with the algorithm are superior to those of the Runge-Kutta algorithm.The results show that the symplectic finite element method can keep energy conservation for a long time and has higher stability in solving the dynamic responses of linear elastic systems.

Symmetric and symplectic methods for gyrocenter dynamics in time-independent magnetic fields

We apply a second-order symmetric Runge–Kutta method and a second-order symplectic Runge–Kutta method directly to the gyrocenter dynamics which can be expressed as a noncanonical Hamiltonian system.The numerical simulation results show the overwhelming superiorities of the two methods over a higher order nonsymmetric nonsymplectic Runge–Kutta method in long-term numerical accuracy and near energy conservation.Furthermore,they are much faster than the midpoint rule applied to the canonicalized system to reach given precision.

Symplectic partitioned Runge-Kutta method based onthe eighth-order nearly analytic discrete operator and its wavefield simulations

We propose a symplectic partitioned Runge-Kutta （SPRK） method with eighth-order spatial accuracy based on the extended Hamiltonian system of the acoustic waveequation. Known as the eighth-order NSPRK method, this technique uses an eighth-orderaccurate nearly analytic discrete （NAD） operator to discretize high-order spatial differentialoperators and employs a second-order SPRK method to discretize temporal derivatives.The stability criteria and numerical dispersion relations of the eighth-order NSPRK methodare given by a semi-analytical method and are tested by numerical experiments. We alsoshow the differences of the numerical dispersions between the eighth-order NSPRK methodand conventional numerical methods such as the fourth-order NSPRK method, the eighth-order Lax-Wendroff correction （LWC） method and the eighth-order staggered-grid （SG）method. The result shows that the ability of the eighth-order NSPRK method to suppress thenumerical dispersion is obviously superior to that of the conventional numerical methods. Inthe same computational environment, to eliminate visible numerical dispersions, the eighth-order NSPRK is approximately 2.5 times faster than the fourth-order NSPRK and 3.4 timesfaster than the fourth-order SPRK, and the memory requirement is only approximately47.17% of the fourth-order NSPRK method and 49.41% of the fourth-order SPRK method,which indicates the highest computational efficiency. Modeling examples for the two-layermodels such as the heterogeneous and Marmousi models show that the wavefields generatedby the eighth-order NSPRK method are very clear with no visible numerical dispersion.These numerical experiments illustrate that the eighth-order NSPRK method can effectivelysuppress numerical dispersion when coarse grids are adopted. Therefore, this methodcan greatly decrease computer memory requirement and accelerate the forward modelingproductivity. In general, the eighth-order NSPRK method has tremendous potential value forseismic exploration and seismology research.

Explicit Symplectic Methods for the Nonlinear Schrodinger Equation

By performing a particular spatial discretization to the nonlinear Schrodinger equation(NLSE),we obtain a non-integrable Hamiltonian system which can be decomposed into three integrable parts(L-L-N splitting).We integrate each part by calculating its phase flow,and develop explicit symplectic integrators of different orders for the original Hamiltonian by composing the phase flows.A 2nd-order reversible constructed symplectic scheme is employed to simulate solitons motion and invariants behavior of the NLSE.The simulation results are compared with a 3rd-order non-symplectic implicit Runge-Kutta method,and the convergence of the formal energy of this symplectic integrator is also verified.The numerical results indicate that the explicit symplectic scheme obtained via L-L-N splitting is an effective numerical tool for solving the NLSE.

A relativistic canonical symplectic particlein-cell method for energetic plasma analysis

A relativistic canonical symplectic particle-in-cell(RCSPIC)method for simulating energetic plasma processes is established.By use of the Hamiltonian for the relativistic Vlasov-Maxwell system,we obtain a discrete relativistic canonical Hamiltonian dynamical system,based on which the RCSPIC method is constructed by applying the symplectic temporal discrete method.Through a 106-step numerical test,the RCSPIC method is proven to possess long-term energy stability.The ability to calculate energetic plasma processes is shown by simulations of the reflection processes of a high-energy laser(1?×?1020 W cm-2)on the plasma edge.

New exact solutions for free vibrations of rectangular thin plates by symplectic dual method

The separation of variables is employed to solve Hamiltonian dual form of eigenvalue problem for transverse free vibrations of thin plates, and formulation of the natural mode in closed form is performed. The closed-form natural mode satisfies the governing equation of the eigenvalue problem of thin plate exactly and is applicable for any types of boundary conditions. With all combinations of simplysupported （S） and clamped （C） boundary conditions applied to the natural mode, the mode shapes are obtained uniquely and two eigenvalue equations are derived with respect to two spatial coordinates, with the aid of which the normal modes and frequencies are solved exactly. It was believed that the exact eigensolutions for cases SSCC, SCCC and CCCC were unable to be obtained, however, they are successfully found in this paper. Comparisons between the present results and the FEM results validate the present exact solutions, which can thus be taken as the benchmark for verifying different approximate approaches.

Multi-revolution low-thrust trajectory optimization using symplectic methods

Optimization of low-thrust trajectories that involve a larger number of orbit revolutions is considered as a challenging problem.This paper describes a high-precision symplectic method and optimization techniques to solve the minimum-energy low-thrust multi-revolution orbit transfer problem. First, the optimal orbit transfer problem is posed as a constrained nonlinear optimal control problem. Then, the constrained nonlinear optimal control problem is converted into an equivalent linear quadratic form near a reference solution. The reference solution is updated iteratively by solving a sequence of linear-quadratic optimal control sub-problems, until convergence. Each sub-problem is solved via a symplectic method in discrete form. To facilitate the convergence of the algorithm, the spacecraft dynamics are expressed via modified equinoctial elements. Interpolating the non-singular equinoctial orbital elements and the spacecraft mass between the initial point and end point is proven beneficial to accelerate the convergence process. Numerical examples reveal that the proposed method displays high accuracy and efficiency.

Investigation on charge parameters of underwater contact explosion based on axisymmetric SPH method

This paper investigates the effects of charge parameters of the underwater contact explosion based on the axisymmetric smoothed particle hydrodynamics （SPH） method. The dynamic boundary particle is proposed to improve the pressure fluctuation and numerical accuracy near the symmetric axis. An in-depth study is carried out over the influence of charge shapes and detonation modes on the near-field loads in terms of the peak pressure and impulse of shock waves. For different charge shapes, the cylindrical charge with different length-diameter ratios may cause strong directivity of peak pressure and impulse in the near field. Compared with spherical charge, the peak pressure of cylindrical charge may be either weakened or enhanced in different directions. Within a certain range, the greater the length-diameter ratio is, the more obvious the effect will be. The weakened ratio near the detonation end may reach 25% approximately, while the enhanced ratio may reach around 20% in the opposite direction. However, the impulse in different directions seems to be uniform. For different detonation modes, compared with point-source explosion, the peak pressure of plane-source explosion is enhanced by about 5%. Besides, the impulse of plane-source explosion is enhanced by around 5% near the detonation end, but close to those of the point-source explosion in other directions. Based on the material constitutive relation in the axisymmetric coordinates, a simple case of underwater contact explosion is simulated to verify the above conclusions, showing that the charge parameters of underwater contact explosion should not be ignored.

Double Symplectic Eigenfunction Expansion Method of Free Vibration of Rectangular Thin Plates

The free vibration problem of rectangular thin plates is rewritten as a new upper triangular matrix differential system. For the associated operator matrix, we find that the two diagonal block operators are Hamiltonian. Moreover, the existence and completeness of normed symplectic orthogonal eigenfunction systems of these two block operators are demonstrated. Based on the completeness, the general solution of the free vibration of rectangular thin plates is given by double symplectie eigenfunction expansion method.

Pseudospectral method with symplectic algorithm for the solution of time-dependent SchrSdinger equations

A pseudospectral method with symplectic algorithm for the solution of time-dependent Schrodinger equations （TDSE） is introduced. The spatial part of the wavefunction is discretized into sparse grid by pseudospectral method and the time evolution is given in symplectic scheme. This method allows us to obtain a highly accurate and stable solution of TDSE. The effectiveness and efficiency of this method is demonstrated by the high-order harmonic spectra of one-dimensional atom in strong laser field as compared with previously published work. The influence of the additional static electric field is also investigated.

Low-complexity soft-output signal detector based on adaptive pre-conditioned gradient descent method for uplink multiuser massive MIMO systems

In multiuser massive Multiple Input Multiple Output(MIMO)systems,a large amount of antennas are deployed at the Base Station(BS).In this case,the Minimum Mean Square Error(MMSE)detector with soft-output can achieve the near-optimal performance at the cost of a large-scale matrix inversion operation.The optimization algorithms such as Gradient Descent(GD)method have received a lot of attention to realize the MMSE detection efficiently without a large scale matrix inversion operation.However,they converge slowly when the condition number of the MMSE filtering matrix(the coefficient matrix)increases,which can compromise the efficiency of their implementation.Moreover,their soft information computation also involves a large-scale matrix-matrix multiplication operation.In this paper,a low-complexity soft-output signal detector based on Adaptive Pre-conditioned Gradient Descent(APGD-SOD)method is proposed to realize the MMSE detection with soft-output for uplink multiuser massive MIMO systems.In the proposed detector,an Adaptive Pre-conditioner(AP)matrix obtained through the Quasi-Newton Symmetric Rank One(QN-SR1)update in each iteration is used to accelerate the convergence of the GD method.The QN-SR1 update supports the intuitive notion that for the quadractic problem one should strive to make the pre-conditioner matrix close to the inverse of the coefficient matrix,since then the condition number would be close to unity and the convergence would be rapid.By expanding the signal model of the massive MIMO system and exploiting the channel hardening property of massive MIMO systems,the computational complexity of the soft information is simplified.The proposed AP matrix is applied to the GD method as a showcase.However,it also can be used by Conjugate Gradient(CG)method due to its generality.It is demonstrated that the proposed detector is robust and its convergence rate is superlinear.Simulation results show that the proposed detector converges at most four iterations.Simulation results also show that the proposed approach achieves a better trade-off between the complexity and the performance than several existing detectors and achieves a near-optimal performance of the MMSE detector with soft-output at four iterations without a complicated large scale matrix inversion operation,which entails a big challenge for the efficient implementation.

Convergence analysis of the formal energies of symplectic methods for Hamiltonian systems

Based on Feng's theory of formal vector fields and formal flows, we study the convergence problem of the formal energies of symplectic methods for Hamiltonian systems and give the clear growth of the coefficients in the formal energies. With the help of B-series and Bernoulli functions, we prove that in the formal energy of the mid-point rule, the coefficient sequence of the merging products of an arbitrarily given rooted tree and the bushy trees of height 1(whose subtrees are vertices), approaches 0 as the number of branches goes to ∞; in the opposite direction, the coefficient sequence of the bushy trees of height m(m ≥ 2), whose subtrees are all tall trees, approaches ∞ at large speed as the number of branches goes to +∞. The conclusion extends successfully to the modified differential equations of other Runge-Kutta methods. This disproves a conjecture given by Tang et al.(2002), and implies:(1) in the inequality of estimate given by Benettin and Giorgilli(1994) for the terms of the modified formal vector fields, the high order of the upper bound is reached in numerous cases;(2) the formal energies/formal vector fields are nonconvergent in general case.

On the symplectic superposition method for free vibration of rectangular thin plates with mixed boundary constraints on an edge

A novel symplectic superposition method has been proposed and developed for plate and shell problems in recent years.The method has yielded many new analytic solutions due to its rigorousness.In this study,the first endeavor is made to further developed the symplectic superposition method for the free vibration of rectangular thin plates with mixed boundary constraints on an edge.The Hamiltonian system-based governing equation is first introduced such that the mathematical techniques in the symplectic space are applied.The solution procedure incorporates separation of variables,symplectic eigen solution and superposition.The analytic solution of an original problem is finally obtained by a set of equations via the equivalence to the superposition of some elaborated subproblems.The natural frequency and mode shape results for representative plates with both clamped and simply supported boundary constraints imposed on the same edge are reported for benchmark use.The present method can be extended to more challenging problems that cannot be solved by conventional analytic methods.

Preservation of Equilibria for Symplectic Methods Applied to Hamiltonian Systems

In this paper, the linear stability of symplectic methods for Hamiltonian systems is studied. In par- ticular, three classes of symplectic methods are considered： symplectic Runge-Kutta （SRK） methods, symplectic partitioned Runge-Kutta （SPRK） methods and the composition methods based on SRK or SPRK methods. It is shown that the SRK methods and their compositions preserve the ellipticity of equilibrium points uncondi- tionally, whereas the SPRK methods and their compositions have some restrictions on the time-step.

THEORETIC SOLUTION OF RECTANGULAR THIN PLATE ON FOUNDATION WITH FOUR EDGES FREE BY SYMPLECTIC GEOMETRY METHOD

The theoretic solution for rectangular thin plate on foundation with four edges free is derived by symplectic geometry method. In the analysis proceeding, the elastic foundation is presented by the Winkler model. Firstly, the basic equations for elastic thin plate are transferred into Hamilton canonical equations. The symplectic geometry method is used to separate the whole variables and eigenvalues are obtained simultaneously. Finally, according to the method of eigen function expansion, the explicit solution for rectangular thin plate on foundation with the boundary conditions of four edges frees are developed. Since the basic elasticity equations of thin plate are only used and it is not need to select the deformation function arbitrarily. Therefore, the solution is theoretical and reasonable. In order to show the correction of formulations derived, a numerical example is given to demonstrate the accuracy and convergence of the current solution.

Explicit multi-symplectic method for the Zakharov-Kuznetsov equation

We propose an explicit multi-symplectic method to solve the two-dimensional Zakharov-Kuznetsov equation. The method combines the multi-symplectic Fourier pseudospectral method for spatial discretization and the Euler method for temporal discretization. It is verified that the proposed method has corresponding discrete multi-symplectic conservation laws. Numerical simulations indicate that the proposed scheme is characterized by excellent conservation.