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Updated Lagrangian Particle Hydrodynamics (ULPH)Modeling of Natural Convection Problems
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作者 Junsong Xiong Zhen Wang +3 位作者 Shaofan Li Xin Lai Lisheng Liu Xiang Liu 《Computer Modeling in Engineering & Sciences》 SCIE EI 2024年第10期151-169,共19页
Natural convection is a heat transfer mechanism driven by temperature or density differences,leading to fluid motion without external influence.It occurs in various natural and engineering phenomena,influencing heat t... Natural convection is a heat transfer mechanism driven by temperature or density differences,leading to fluid motion without external influence.It occurs in various natural and engineering phenomena,influencing heat transfer,climate,and fluid mixing in industrial processes.This work aims to use the Updated Lagrangian Particle Hydrodynamics(ULPH)theory to address natural convection problems.The Navier-Stokes equation is discretized using second-order nonlocal differential operators,allowing a direct solution of the Laplace operator for temperature in the energy equation.Various numerical simulations,including cases such as natural convection in square cavities and two concentric cylinders,were conducted to validate the reliability of the model.The results demonstrate that the proposed model exhibits excellent accuracy and performance,providing a promising and effective numerical approach for natural convection problems. 展开更多
关键词 updated Lagrangian particle hydrodynamics(ULPH) natural convection meshless methods higher order Laplacian model
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An improved interval model updating method via adaptive Kriging models
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作者 Sha WEI Yifeng CHEN +1 位作者 Hu DING Liqun CHEN 《Applied Mathematics and Mechanics(English Edition)》 SCIE EI CSCD 2024年第3期497-514,共18页
Interval model updating(IMU)methods have been widely used in uncertain model updating due to their low requirements for sample data.However,the surrogate model in IMU methods mostly adopts the one-time construction me... Interval model updating(IMU)methods have been widely used in uncertain model updating due to their low requirements for sample data.However,the surrogate model in IMU methods mostly adopts the one-time construction method.This makes the accuracy of the surrogate model highly dependent on the experience of users and affects the accuracy of IMU methods.Therefore,an improved IMU method via the adaptive Kriging models is proposed.This method transforms the objective function of the IMU problem into two deterministic global optimization problems about the upper bound and the interval diameter through universal grey numbers.These optimization problems are addressed through the adaptive Kriging models and the particle swarm optimization(PSO)method to quantify the uncertain parameters,and the IMU is accomplished.During the construction of these adaptive Kriging models,the sample space is gridded according to sensitivity information.Local sampling is then performed in key subspaces based on the maximum mean square error(MMSE)criterion.The interval division coefficient and random sampling coefficient are adaptively adjusted without human interference until the model meets accuracy requirements.The effectiveness of the proposed method is demonstrated by a numerical example of a three-degree-of-freedom mass-spring system and an experimental example of a butted cylindrical shell.The results show that the updated results of the interval model are in good agreement with the experimental results. 展开更多
关键词 interval model updating(IMU) non-probabilistic uncertainty adaptive Kriging model surrogate model grey number
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Finite element model updating for structural damage detection using transmissibility data
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作者 Ahmad Izadi Akbar Esfandiari 《Earthquake Engineering and Engineering Vibration》 SCIE EI CSCD 2024年第1期87-101,共15页
This paper presents a new finite element model updating method for estimating structural parameters and detecting structural damage location and severity based on the structural responses(output-only data).The method ... This paper presents a new finite element model updating method for estimating structural parameters and detecting structural damage location and severity based on the structural responses(output-only data).The method uses the sensitivity relation of transmissibility data through a least-squares algorithm and appropriate normalization of the extracted equations.The proposed transmissibility-based sensitivity equation produces a more significant number of equations than the sensitivity equations based on the frequency response function(FRF),which can estimate the structural parameters with higher accuracy.The abilities of the proposed method are assessed by using numerical data of a two-story two-bay frame model and a plate structure model.In evaluating different damage cases,the number,location,and stiffness reduction of the damaged elements and the severity of the simulated damage have been accurately identified.The reliability and stability of the presented method against measurement and modeling errors are examined using error-contaminated data.The parameter estimation results prove the method’s capabilities as an accurate model updating algorithm. 展开更多
关键词 damage detection model updating output-only TRANSMISSIBILITY sensitivity equation
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Quantitative Identification of Delamination Damage in Composite Structure Based on Distributed Optical Fiber Sensors and Model Updating
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作者 Hao Xu Jing Wang +3 位作者 Rubin Zhu Alfred Strauss Maosen Cao Zhanjun Wu 《Structural Durability & Health Monitoring》 EI 2024年第6期785-803,共19页
Delamination is a prevalent type of damage in composite laminate structures.Its accumulation degrades structural performance and threatens the safety and integrity of aircraft.This study presents a method for the quan... Delamination is a prevalent type of damage in composite laminate structures.Its accumulation degrades structural performance and threatens the safety and integrity of aircraft.This study presents a method for the quantitative identification of delamination identification in composite materials,leveraging distributed optical fiber sensors and a model updating approach.Initially,a numerical analysis is performed to establish a parameterized finite element model of the composite plate.Then,this model subsequently generates a database of strain responses corresponding to damage of varying sizes and locations.The radial basis function neural network surrogate model is then constructed based on the numerical simulation results and strain responses captured from the distributed fiber optic sensors.Finally,a multi-island genetic algorithm is employed for global optimization to identify the size and location of the damage.The efficacy of the proposed method is validated through numerical examples and experiment studies,examining the correlations between damage location,damage size,and strain responses.The findings confirm that the model updating technique,in conjunction with distributed fiber optic sensors,can precisely identify delamination in composite structures. 展开更多
关键词 Composite structures fiber optic sensor damage identification model updating surrogate model
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A Real-time Updated Model Predictive Control Strategy for Batch Processes Based on State Estimation
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作者 杨国军 李秀喜 钱宇 《Chinese Journal of Chemical Engineering》 SCIE EI CAS CSCD 2014年第3期318-329,共12页
Nonlinear model predictive control(NMPC) is an appealing control technique for improving the performance of batch processes, but its implementation in industry is not always possible due to its heavy on-line computati... Nonlinear model predictive control(NMPC) is an appealing control technique for improving the performance of batch processes, but its implementation in industry is not always possible due to its heavy on-line computation. To facilitate the implementation of NMPC in batch processes, we propose a real-time updated model predictive control method based on state estimation. The method includes two strategies: a multiple model building strategy and a real-time model updated strategy. The multiple model building strategy is to produce a series of sim-plified models to reduce the on-line computational complexity of NMPC. The real-time model updated strategy is to update the simplified models to keep the accuracy of the models describing dynamic process behavior. The me-thod is validated with a typical batch reactor. Simulation studies show that the new method is efficient and robust with respect to model mismatch and changes in process parameters. 展开更多
关键词 batch process exothermic batch reactor nonlinear model predictive control state estimation real-time model update
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Finite element model updating and validating of Runyang Suspension Bridge based on SHMS 被引量:7
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作者 王浩 李爱群 缪长青 《Journal of Southeast University(English Edition)》 EI CAS 2005年第4期474-479,共6页
Based on the finite element (FE) program ANSYS, a three-dimensional model for the Runyang Suspension Bridge (RSB) is established. The structural natural frequency, vibration mode, stress and displacement response ... Based on the finite element (FE) program ANSYS, a three-dimensional model for the Runyang Suspension Bridge (RSB) is established. The structural natural frequency, vibration mode, stress and displacement response under various load cases are given. A new method of FE model updating is presented based on the physical meaning of sensitivity and the penalty function concept. In this method, the structural model is updated by modifying the parameters of design, and validated by structural natural vibration characteristics, stress response as well as displacement response. The design parameters used for updating are bounded according to measured static response and engineering judgment. The FE model of RSB is updated and validated by the measurements coming from the structural health monitoring system (SHMS), and the FE baseline model reflecting the current state of RSB is achieved. Both the dynamic and static results show that the method is effective in updating the FE model of long span suspension bridges. The results obtained provide an important research basis for damage alarming and health monitoring of the RSB. 展开更多
关键词 suspension bridge finite element model updating model validating baseline model structural health monitoring system (SHMS)
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Dynamic finite element model updating using meta-model and genetic algorithm 被引量:3
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作者 费庆国 李爱群 缪长青 《Journal of Southeast University(English Edition)》 EI CAS 2006年第2期213-217,共5页
Current dynamic finite element model updating methods are not efficient or restricted to the problem of local optima. To circumvent these, a novel updating method which integrates the meta-model and the genetic algori... Current dynamic finite element model updating methods are not efficient or restricted to the problem of local optima. To circumvent these, a novel updating method which integrates the meta-model and the genetic algorithm is proposed. Experimental design technique is used to determine the best sampling points for the estimation of polynomial coefficients given the order and the number of independent variables. Finite element analyses are performed to generate the sampling data. Regression analysis is then used to estimate the response surface model to approximate the functional relationship between response features and design parameters on the entire design space. In the fitness evaluation of the genetic algorithm, the response surface model is used to substitute the finite element model to output features with given design parameters for the computation of fitness for the individual. Finally, the global optima that corresponds to the updated design parameter is acquired after several generations of evolution. In the application example, finite element analysis and modal testing are performed on a real chassis model. The finite element model is updated using the proposed method. After updating, root-mean-square error of modal frequencies is smaller than 2%. Furthermore, prediction ability of the updated model is validated using the testing results of the modified structure. The root-mean-square error of the prediction errors is smaller than 2%. 展开更多
关键词 finite element model model updating response surface model genetic algorithm
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Double-layer model updating for steel-concrete composite beam cable-stayed bridge based on GPS 被引量:1
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作者 刘云 钱振东 《Journal of Southeast University(English Edition)》 EI CAS 2008年第1期80-84,共5页
In order to establish the relationship between the measured dynamic response and the health status of long-span bridges, a double-layer model updating method for steel-concrete composite beam cable-stayed bridges is p... In order to establish the relationship between the measured dynamic response and the health status of long-span bridges, a double-layer model updating method for steel-concrete composite beam cable-stayed bridges is proposed. Measured frequencies are selected as the first-layer reference data, and the mass of the bridge deck, the grid density, the modulus of concrete and the ballast on the side span are modified by using a manual tuning technique. Measured global positioning system (GPS) data is selected as the second-layer reference data, and the degradation of the integral structure stiffness EI of the whole bridge is taken into account for the second-layer model updating by using the finite element iteration algorithm. The Nanpu Bridge in Shanghai is taken as a case to verify the applicability of the proposed model updating method. After the first-layer model updating, the standard deviation of modal frequencies is smaller than 7%. After the second-layer model updating, the error of the deflection of the mid-span is smaller than 10%. The integral structure stiffness of the whole bridge decreases about 20%. The research results show a good agreement between the calculated response and the measured response. 展开更多
关键词 steel-concrete composite beam GPS dynamic respond double-layer model updating
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OPTIMIZATION WITH QUADRATIC CONSTRAINT IN APPLICATION OF STRUCTURE DYNAMIC MODEL UPDATING 被引量:1
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作者 桂冰 《Transactions of Nanjing University of Aeronautics and Astronautics》 EI 2005年第3期212-215,共4页
A model updating optimization algorithm under quadratic constraints is applied to structure dynamic model updating. The updating problems of structure models are turned into the optimization with a quadratic constrain... A model updating optimization algorithm under quadratic constraints is applied to structure dynamic model updating. The updating problems of structure models are turned into the optimization with a quadratic constraint. Numerical method is presented by using singular value decomposition and an example is given. Compared with the other method, the method is efficient and feasible. 展开更多
关键词 updating model quadratic constraint singular value decomposition
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AN UPDATING METHOD FOR LOCAL MODEL ERRORS
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作者 李书 冯太华 范绪箕 《Transactions of Nanjing University of Aeronautics and Astronautics》 EI 1995年第2期129-133,共5页
The location of model errors in a stiffness matrix by using test data has been investigated by the others.The present paper deals with the problem of updating stiffness elements in the erroneous areas. Firstly,a model... The location of model errors in a stiffness matrix by using test data has been investigated by the others.The present paper deals with the problem of updating stiffness elements in the erroneous areas. Firstly,a model that bears relation to erroneous elements only is derived.This model is termed local errors model,which reduces orders and computational loads compared with global stiffness matrix. Secondly,an inverse eigenvalue method is used to update model errors. The results of a numerical experiment demonstrate that the method is quite effective. 展开更多
关键词 finite element methods STRUCTURES inverse problem updating method model
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SOLVABILITY RESULTS OF A CONDITIONAL INPUT-OUTPUT EQUATION BASED ON A TYPE OF NONLINEAR LEONTIEF MODEL
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作者 胡问鸣 刘颖范 沙春林 《Transactions of Nanjing University of Aeronautics and Astronautics》 EI 2003年第2期224-229,共6页
A class of nonlinear and continuous type Leontief model and its corresponding conditional input-output equation are introduced, and two basic problems under the so called positive or negative boundary assumption are p... A class of nonlinear and continuous type Leontief model and its corresponding conditional input-output equation are introduced, and two basic problems under the so called positive or negative boundary assumption are presented. By approaches of nonlinear analysis some solvability results of this equation and continuous perturbation properties of the relative solution sets are obtained, and some economic significance are illustrated by the remark. 展开更多
关键词 conditional Leontief model input-output equation positive (negative) boundary assumption nonlinear analysis SOLVABILITY continuous disturbance
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DYNAMIC FINITE ELEMENT MODEL UPDATING BASED ON GLOBAL INFORMATION OF STRUCTURES 被引量:6
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作者 FeiQingguo ZhangLingmi GuoQintao 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2005年第2期294-296,共3页
Finite element model updating method based on global information is proposed.Prior investigation upon design space of structural parameters is performed before updating usingstatistic analysis, including parameter scr... Finite element model updating method based on global information is proposed.Prior investigation upon design space of structural parameters is performed before updating usingstatistic analysis, including parameter screening using variance analysis and response surfacefitting using regression analysis. The parameter screening method selects the design parametersconsidering the result of hypothesis testing, which is a kind of global information. Meanwhile, thetraditional updating method considers local sensitivity which only gives the information at solepoint in the design space. Response surface fitting constructs a close-form multinomial whichdescribes the relationship between concerned structural feature and selected updating parameters. Itis an approximation to finite element models(FEM) and used as a substitution in the updatingiterations. The presented updating method can be applied without the restriction of linearassumption. In addition, there is no data exchange between the updating program and the finite-element analysis program in the updating iterations. This makes the method practical inengineering. An aircraft test structure, GARTEUR, is employed to verify the effectiveness of themethod. After updating, the error of modal frequencies is less than 3 percent. 展开更多
关键词 model updating Design of experiment Variance analysis Regression analysis Response surface methodology
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Finite Element Model Updating of Bridge Structures Based on Sensitivity Analysis and Optimization Algorithm 被引量:6
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作者 HUANG Minshui ZHU Hongping 《Wuhan University Journal of Natural Sciences》 CAS 2008年第1期87-92,共6页
The dynamic characteristics of bridge structures, such as the natural frequencies, mode shapes and model damping ratio, are the basis of structural dynamic computation, seismic analysis, vibration control and structur... The dynamic characteristics of bridge structures, such as the natural frequencies, mode shapes and model damping ratio, are the basis of structural dynamic computation, seismic analysis, vibration control and structural health condition monitoring. In this paper, a three-dimensional finite-element model is established for a highway bridge over a railway on No.312 National Highway and the ambient test is carried out in site, the dynamic characteristics of the bridge are studied using the finite-element analysis and ambient vibration measurements. Comparison between the theoretical and experimental results shows that the frequency differences of the modes range between 0.44% and 8.77%. If the measurement is more reliable, the finite element model updating is necessary. Thus, a set of design variables is selected based on sensitivity analysis, then the finite element model of the bridge is updated based on optimization algorithm. The results of model updating show that the proposed updating method in this paper is more simple and effective, the updated finite element model can reflect the dynamic characteristics of the bridge better, the analytical results can provide the theoretical basis for damage identification and health condition monitoring of the bridge. 展开更多
关键词 sensitivity analysis optimization algorithm model updating bridge structure
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An improved optimal elemental method for updating finite element models 被引量:5
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作者 段忠东 Spencer B.F. +1 位作者 闫桂荣 欧进萍 《Earthquake Engineering and Engineering Vibration》 SCIE EI CSCD 2004年第1期67-74,共8页
The optimal matrix method and optimal elemental method used to update finite element models may not provide accurate results.This situation occurs when the test modal model is incomplete,as is often the case in practi... The optimal matrix method and optimal elemental method used to update finite element models may not provide accurate results.This situation occurs when the test modal model is incomplete,as is often the case in practice.An improved optimal elemental method is presented that defines a new objective function,and as a byproduct,circumvents the need for mass normalized modal shapes,which are also not readily available in practice.To solve the group of nonlinear equations created by the improved optimal method,the Lagrange multiplier method and Matlab function fmincon are employed.To deal with actual complex structures, the float-encoding genetic algorithm(FGA)is introduced to enhance the capability of the improved method.Two examples,a 7- degree of freedom(DOF)mass-spring system and a 53-DOF planar frame,respectively,are updated using the improved method. The example results demonstrate the advantages of the improved method over existing optimal methods,and show that the genetic algorithm is an effective way to update the models used for actual complex structures. 展开更多
关键词 model updating optimal elemental method Lagrangc multiplier method genetic algorithm
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Comparison of eigensensitivity and ANN based methods in model updating of an eight-story building 被引量:4
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作者 Prabakaran K Ashok Kumar Shashi Kant Thakkar 《Earthquake Engineering and Engineering Vibration》 SCIE EI CSCD 2015年第3期453-464,共12页
Analytical models prepared from field drawings do not generally provide results that match with experimental results.The error may be due to uncertainties in the property of materials,size of members and errors in the... Analytical models prepared from field drawings do not generally provide results that match with experimental results.The error may be due to uncertainties in the property of materials,size of members and errors in the modelling process.It is important to improve analytical models using experimentally obtained data.For the past several years,data obtained from ambient vibration testing have been successfully used in many cases to update and match dynamic behaviors of analytical models with real structures.This paper presents a comparison between artificial neural network(ANN) and eigensensitivity based model updating of an existing multi-story building.A simple spring-mass analytical model,developed from the structural drawings of the building,is considered and the corresponding spring stiffness and lumped mass of all floors are chosen as updating parameters.The advantages and disadvantages of these updating methods are discussed.The advantage is that both methods ensure a physically meaningful model which canbe further employed in determining structural response and health monitoring. 展开更多
关键词 ambient vibration measurement model updating artif
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Research on the iterative method for model updating based on the frequency response function 被引量:3
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作者 Wei-Ming Li Jia-Zhen Hong 《Acta Mechanica Sinica》 SCIE EI CAS CSCD 2012年第2期450-457,共8页
Model reduction technique is usually employed in model updating process. In this paper, a new model updat- ing method named as cross-model cross-frequency response function (CMCF) method is proposed and a new iterat... Model reduction technique is usually employed in model updating process. In this paper, a new model updat- ing method named as cross-model cross-frequency response function (CMCF) method is proposed and a new iterative method associating the model updating method with the mo- del reduction technique is investigated. The new model up- dating method utilizes the frequency response function to avoid the modal analysis process and it does not need to pair or scale the measured and the analytical frequency re- sponse function, which could greatly increase the number of the equations and the updating parameters. Based on the traditional iterative method, a correction term related to the errors resulting from the replacement of the reduction ma- trix of the experimental model with that of the finite element model is added in the new iterative method. Comparisons be- tween the traditional iterative method and the proposed itera- tive method are shown by model updating examples of solar panels, and both of these two iterative methods combine the CMCF method and the succession-level approximate reduc- tion technique. Results show the effectiveness of the CMCF method and the proposed iterative method . 展开更多
关键词 model updating model reduction Frequency response function ITERATION
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Dynamic finite element model updating of prestressed concrete continuous box-girder bridge 被引量:6
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作者 Lin Xiankun Zhang Lingmi +1 位作者 Guo Qintao Zhang Yufeng 《Earthquake Engineering and Engineering Vibration》 SCIE EI CSCD 2009年第3期399-407,共9页
The dynamic finite element model (FEM) of a prestressed concrete continuous box-girder bridge, called the Tongyang Canal Bridge, is built and updated based on the results of ambient vibration testing (AVT) using a... The dynamic finite element model (FEM) of a prestressed concrete continuous box-girder bridge, called the Tongyang Canal Bridge, is built and updated based on the results of ambient vibration testing (AVT) using a real-coded accelerating genetic algorithm (RAGA). The objective functions are defined based on natural frequency and modal assurance criterion (MAC) metrics to evaluate the updated FEM. Two objective functions are defined to fully account for the relative errors and standard deviations of the natural frequencies and MAC between the AVT results and the updated FEM predictions. The dynamically updated FEM of the bridge can better represent its structural dynamics and serve as a baseline in long-term health monitoring, condition assessment and damage identification over the service life of the bridge . 展开更多
关键词 prestressed concrete continuous box-girder bridge field ambient vibration testing dynamic characteristics model updating accelerating genetic algorithm objective function
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Model update mechanism for mean-shift tracking 被引量:3
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作者 PengNingsong YangJie LiuErqi 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2005年第1期52-57,共6页
In order to solve the model update problem in mean-shift based tracker, a novel mechanism is proposed. Kalman filter is employed to update object model by filtering object kernel-histogram using previous model and cur... In order to solve the model update problem in mean-shift based tracker, a novel mechanism is proposed. Kalman filter is employed to update object model by filtering object kernel-histogram using previous model and current candidate. A self-tuning method is used for adaptively adjust all the parameters of the filters under the analysis of the filtering residuals. In addition, hypothesis testing servers as the criterion for determining whether to accept filtering result. Therefore, the tracker has the ability to handle occlusion so as to avoid over-update. The experimental results show that our method can not only keep up with the object appearance and scale changes but also be robust to occlusion. 展开更多
关键词 MEAN-SHIFT TRACKING model update Kalman filter hypothesis testing.
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Model updating of a bridge structure using vibration test data based on GMPSO and BPNN:case study 被引量:6
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作者 Xia Zhiyuan Li Aiqun +1 位作者 Shi Huiyuan Li Jianhui 《Earthquake Engineering and Engineering Vibration》 SCIE EI CSCD 2021年第1期213-221,共9页
Model updating issues with high-dimensional and strong-nonlinear optimization processes are still unsolved by most optimization methods.In this study,a hybrid methodology that combines the Gaussian-white-noise-mutatio... Model updating issues with high-dimensional and strong-nonlinear optimization processes are still unsolved by most optimization methods.In this study,a hybrid methodology that combines the Gaussian-white-noise-mutation particle swarm optimization(GMPSO),back-propagation neural network(BPNN)and Latin hypercube sampling(LHS)technique is proposed.In this approach,as a meta-heuristic algorithm with the least modification to the standard PSO,GMPSO simultaneously offers convenient programming and good performance in optimization.The BPNN with LHS establishes the meta-models for FEM to accelerate efficiency during the updating process.A case study of the model updating of an actual bridge with no distribution but bounded parameters was carried out using this methodology with two different objective functions.One considers only the frequencies of the main girder and the other considers both the frequencies and vertical displacements of typical points.The updating results show that the methodology is a sound approach to solve an actual complex bridge structure and offers good agreement in the frequencies and mode shapes of the updated model and test data.Based on the shape comparison of the main girder at the finished state with different objective functions,it is emphasized that both the dynamic and static responses should be taken into consideration during the model updating process. 展开更多
关键词 model updating hybrid methodology advanced particle swarm optimization neural network case study
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Hydraulic model with roughness coefficient updating method based on Kalman filter for channel flood forecast 被引量:4
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作者 Hong-jun BAO Lin-na ZHAO 《Water Science and Engineering》 EI CAS 2011年第1期13-23,共11页
A real-time channel flood forecast model was developed to simulate channel flow in plain rivers based on the dynamic wave theory. Taking into consideration channel shape differences along the channel, a roughness upda... A real-time channel flood forecast model was developed to simulate channel flow in plain rivers based on the dynamic wave theory. Taking into consideration channel shape differences along the channel, a roughness updating technique was developed using the Kalman filter method to update Manning's roughness coefficient at each time step of the calculation processes. Channel shapes were simplified as rectangles, triangles, and parabolas, and the relationships between hydraulic radius and water depth were developed for plain rivers. Based on the relationship between the Froude number and the inertia terms of the momentum equation in the Saint-Venant equations, the relationship between Manning's roughness coefficient and water depth was obtained. Using the channel of the Huaihe River from Wangjiaba to Lutaizi stations as a case, to test the performance and rationality of the present flood routing model, the original hydraulic model was compared with the developed model. Results show that the stage hydrographs calculated by the developed flood routing model with the updated Manning's roughness coefficient have a good agreement with the observed stage hydrographs. This model performs better than the original hydraulic model. 展开更多
关键词 flood routing Manning's roughness coefficient updating method Kalman filter Froude number Saint-Venant equations hydraulic model
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