TY - JOUR A1 - Ketelhut, Maike A1 - Brügge, G. M. A1 - Göll, Fabian A1 - Braunstein, Bjoern A1 - Albracht, Kirsten A1 - Abel, Dirk T1 - Adaptive iterative learning control of an industrial robot during neuromuscular training JF - IFAC PapersOnLine N2 - To prevent the reduction of muscle mass and loss of strength coming along with the human aging process, regular training with e.g. a leg press is suitable. However, the risk of training-induced injuries requires the continuous monitoring and controlling of the forces applied to the musculoskeletal system as well as the velocity along the motion trajectory and the range of motion. In this paper, an adaptive norm-optimal iterative learning control algorithm to minimize the knee joint loadings during the leg extension training with an industrial robot is proposed. The response of the algorithm is tested in simulation for patients with varus, normal and valgus alignment of the knee and compared to the results of a higher-order iterative learning control algorithm, a robust iterative learning control and a recently proposed conventional norm-optimal iterative learning control algorithm. Although significant improvements in performance are made compared to the conventional norm-optimal iterative learning control algorithm with a small learning factor, for the developed approach as well as the robust iterative learning control algorithm small steady state errors occur. KW - Iterative learning control KW - Robotic rehabilitation KW - Adaptive control Y1 - 2020 U6 - https://doi.org/10.1016/j.ifacol.2020.12.741 SN - 2405-8963 VL - 53 IS - 2 SP - 16468 EP - 16475 PB - Elsevier CY - Amsterdam ER - TY - JOUR A1 - Kleefeld, Andreas A1 - Pieronek, J. T1 - Elastic transmission eigenvalues and their computation via the method of fundamental solutions JF - Applicable Analysis N2 - A stabilized version of the fundamental solution method to catch ill-conditioning effects is investigated with focus on the computation of complex-valued elastic interior transmission eigenvalues in two dimensions for homogeneous and isotropic media. Its algorithm can be implemented very shortly and adopts to many similar partial differential equation-based eigenproblems as long as the underlying fundamental solution function can be easily generated. We develop a corroborative approximation analysis which also implicates new basic results for transmission eigenfunctions and present some numerical examples which together prove successful feasibility of our eigenvalue recovery approach. KW - elastic scattering KW - method of fundamental solutions KW - Interior transmission eigenvalues Y1 - 2020 U6 - https://doi.org/10.1080/00036811.2020.1721473 SN - 1563-504X VL - 100 IS - 16 SP - 3445 EP - 3462 PB - Taylore & Francis CY - London ER - TY - JOUR A1 - Breuß, Michael A1 - Kleefeld, Andreas T1 - Implicit monotone difference methods for scalar conservation laws with source terms JF - Acta Mathematica Vietnamica N2 - In this article, a concept of implicit methods for scalar conservation laws in one or more spatial dimensions allowing also for source terms of various types is presented. This material is a significant extension of previous work of the first author (Breuß SIAM J. Numer. Anal. 43(3), 970–986 2005). Implicit notions are developed that are centered around a monotonicity criterion. We demonstrate a connection between a numerical scheme and a discrete entropy inequality, which is based on a classical approach by Crandall and Majda. Additionally, three implicit methods are investigated using the developed notions. Next, we conduct a convergence proof which is not based on a classical compactness argument. Finally, the theoretical results are confirmed by various numerical tests. KW - Entropy solution KW - Source term KW - Monotone methods KW - Implicit methods KW - Finite difference methods KW - Conservation laws Y1 - 2020 U6 - https://doi.org/10.1007/s40306-019-00354-1 SN - 2315-4144 N1 - Corresponding author: Andreas Kleefeld VL - 45 SP - 709 EP - 738 PB - Springer Singapore CY - Singapore ER - TY - JOUR A1 - Asante-Asamani, E.O. A1 - Kleefeld, Andreas A1 - Wade, B.A. T1 - A second-order exponential time differencing scheme for non-linear reaction-diffusion systems with dimensional splitting JF - Journal of Computational Physics N2 - A second-order L-stable exponential time-differencing (ETD) method is developed by combining an ETD scheme with approximating the matrix exponentials by rational functions having real distinct poles (RDP), together with a dimensional splitting integrating factor technique. A variety of non-linear reaction-diffusion equations in two and three dimensions with either Dirichlet, Neumann, or periodic boundary conditions are solved with this scheme and shown to outperform a variety of other second-order implicit-explicit schemes. An additional performance boost is gained through further use of basic parallelization techniques. KW - Exponential time differencing KW - Real distinct pole KW - Dimensional splitting KW - Reaction-diffusion systems KW - Matrix exponential Y1 - 2020 U6 - https://doi.org/10.1016/j.jcp.2020.109490 SN - 0021-9991 N1 - Corresponding author: Andreas Kleefeld VL - 415 PB - Elsevier CY - Amsterdam ER - TY - CHAP A1 - Kleefeld, Andreas ED - Constanda, Christian T1 - Numerical calculation of interior transmission eigenvalues with mixed boundary conditions T2 - Computational and Analytic Methods in Science and Engineering N2 - Interior transmission eigenvalue problems for the Helmholtz equation play an important role in inverse wave scattering. Some distribution properties of those eigenvalues in the complex plane are reviewed. Further, a new scattering model for the interior transmission eigenvalue problem with mixed boundary conditions is described and an efficient algorithm for computing the interior transmission eigenvalues is proposed. Finally, extensive numerical results for a variety of two-dimensional scatterers are presented to show the validity of the proposed scheme. Y1 - 2020 SN - 978-3-030-48185-8 (Hardcover) U6 - https://doi.org/10.1007/978-3-030-48186-5_9 SP - 173 EP - 195 PB - Birkhäuser CY - Cham ER - TY - JOUR A1 - Martín-Vaquero, J. A1 - Kleefeld, Andreas T1 - Solving nonlinear parabolic PDEs in several dimensions: Parallelized ESERK codes JF - Journal of Computational Physics N2 - There is a very large number of very important situations which can be modeled with nonlinear parabolic partial differential equations (PDEs) in several dimensions. In general, these PDEs can be solved by discretizing in the spatial variables and transforming them into huge systems of ordinary differential equations (ODEs), which are very stiff. Therefore, standard explicit methods require a large number of iterations to solve stiff problems. But implicit schemes are computationally very expensive when solving huge systems of nonlinear ODEs. Several families of Extrapolated Stabilized Explicit Runge-Kutta schemes (ESERK) with different order of accuracy (3 to 6) are derived and analyzed in this work. They are explicit methods, with stability regions extended, along the negative real semi-axis, quadratically with respect to the number of stages s, hence they can be considered to solve stiff problems much faster than traditional explicit schemes. Additionally, they allow the adaptation of the step length easily with a very small cost. Two new families of ESERK schemes (ESERK3 and ESERK6) are derived, and analyzed, in this work. Each family has more than 50 new schemes, with up to 84.000 stages in the case of ESERK6. For the first time, we also parallelized all these new variable step length and variable number of stages algorithms (ESERK3, ESERK4, ESERK5, and ESERK6). These parallelized strategies allow to decrease times significantly, as it is discussed and also shown numerically in two problems. Thus, the new codes provide very good results compared to other well-known ODE solvers. Finally, a new strategy is proposed to increase the efficiency of these schemes, and it is discussed the idea of combining ESERK families in one code, because typically, stiff problems have different zones and according to them and the requested tolerance the optimum order of convergence is different. KW - Multi-dimensional partial differential equations KW - Higher-order codes KW - Nonlinear PDEs Y1 - 2020 U6 - https://doi.org/10.1016/j.jcp.2020.109771 SN - 0021-9991 IS - 423 PB - Elsevier CY - Amsterdam ER - TY - GEN A1 - Burgeth, Bernhard A1 - Kleefeld, Andreas A1 - Naegel, Benoît A1 - Perret, Benjamin T1 - Editorial — Special Issue: ISMM 2019 T2 - Mathematical Morphology - Theory and Applications N2 - This editorial presents the Special Issue dedicated to the conference ISMM 2019 and summarizes the articles published in this Special Issue. Y1 - 2020 U6 - https://doi.org/10.1515/mathm-2020-0200 SN - 2353-3390 VL - 4 IS - 1 SP - 159 EP - 161 PB - De Gruyter CY - Warschau ER - TY - CHAP A1 - Laack, Walter van T1 - Twee Kanten van één Medaille T2 - Het Geheim van Elysion : 45 Jaar Studies naar Nabij-de-Dood-Ervaringen over Bewustzijn in Liefde zonder Waarheen Y1 - 2020 SN - 978-94-93175-44-0 SP - 97 EP - 105 PB - Van Warven CY - Kampen ER - TY - CHAP A1 - Abele, Daniel A1 - Kleefeld, Andreas ED - Constanda, Christian T1 - New Numerical Results for the Optimization of Neumann Eigenvalues T2 - Computational and Analytic Methods in Science and Engineering N2 - We present new numerical results for shape optimization problems of interior Neumann eigenvalues. This field is not well understood from a theoretical standpoint. The existence of shape maximizers is not proven beyond the first two eigenvalues, so we study the problem numerically. We describe a method to compute the eigenvalues for a given shape that combines the boundary element method with an algorithm for nonlinear eigenvalues. As numerical optimization requires many such evaluations, we put a focus on the efficiency of the method and the implemented routine. The method is well suited for parallelization. Using the resulting fast routines and a specialized parametrization of the shapes, we found improved maxima for several eigenvalues. Y1 - 2020 SN - 978-3-030-48185-8 (Print) SN - 978-3-030-48186-5 (Online) U6 - https://doi.org/10.1007/978-3-030-48186-5_1 SP - 1 EP - 20 PB - Birkhäuser CY - Cham ER -