arXiv subjects

Naoya Umeda

Publications and source records attributed to Naoya Umeda.

18 recordsLinked to original sources

arXiv2024

On the Uniqueness of the Approximate Analytical Solution of the Surf-Riding Threshold in the IMO Second Generation Intact Stability Criteria

The International Maritime Organization developed the Second Generation Intact Stability Criteria (SGISC) with the objective of mitigating maritime incidents attributable to roll motion. Given that surf-riding precedes broaching, the SGISC uses vulnerability criteria for broaching based on surf-riding dynamics. The surf-riding threshold is derived by Melnikov's method in the level-2 vulnerability criterion. In this paper, the authors discuss the uniqueness of the approximate analytical solutions to be used as the surf-riding threshold in the SGISC and based on the relationship between Melnikov's analysis and its physical interpretation.

math.DS↗

arXiv2023

Development of a Mathematical Model for Harbor-Maneuvers to Realize Modeling Automation

A simulation environment of harbor maneuvers is critical for developing automatic berthing. Dynamic models are widely used to estimate harbor maneuvers. However, human decision-making and data analysis are necessary to derive, select, and identify the model because each actuator configuration needs an inherent mathematical expression. We proposed a new dynamic model for arbitrary configurations to overcome that issue. The new model is a hybrid model that combines the simplicity of the derivation of the Taylor expansion and the high degree of freedom of the MMG low-speed maneuvering model. We also developed a method to select mathematical expressions for the proposed model using system identification. Because the proposed model can easily derive mathematical expressions, we can generate multiple models simultaneously and choose the best one. This method can reduce the workload of model identification and selection. Furthermore, the proposed method will enable the automatic generation of dynamic models because it can reduce human decision-making and data analysis for the model generation due to its less dependency on the knowledge of ship hydrodynamics and captive model test. The proposed method was validated with free-running model tests and showed equivalent or better estimation performance than the conventional model generation method.

physics.flu-dyn↗

arXiv2022

Experimental Low-speed Positioning System with VecTwin Rudder for Automatic Docking (Berthing)

A VecTwin rudder system comprises twin fishtail rudders with reaction fins to increase its performance. With a constant propeller revolution number, the vessel can execute special low-speed maneuvers like hover, crabbing, reverse, and rotation. Such low-speed maneuvers are termed dynamic positioning (DP), and a DP vessel should be fully/overly actuated with several thrusters. This article introduces a novel and experimental VecTwin positioning system (VTPS) without making the ship fully/overly actuated. Unlike the usual dynamic positioning system (DPS), the VTPS is developed for low-speed operations in a calm harbor area. It is designed upon an assumption that the forces due to the interaction between the rudders, the propeller, and the hull are linear with the rudder angles within a range around the hover rudder angle. The linear relationship is obtained through linear regression of the results from several CFD simulations. The VTPS implements a PID controller that regulates the actuator forces to achieve the given low-speed positioning objective. It was tested in combined automatic docking and position-keeping experiments where disturbances from the environment exist. It shows promising potential for a practical application but with further improvements.

eess.SY↗

arXiv2022

Application of Linear Filter and Moment Equation for Parametric Rolling in Irregular Longitudinal Waves

Parametric rolling is one of the dangerous dynamic phenomena. In order to discuss the safety of a vessel when a dangerous phenomenon occurs, it is important to estimate the probability of certain dynamical behavior of the ship with respect to a certain threshold level. In this paper, the moment values are obtained by solving the moment equations. Since the stochastic differential equation(SDE) is needed to obtain the moment equations, the Autoregressive Moving Average(ARMA) filter is used. The effective wave is modeled by using the 6th-order ARMA filter. In addition, the parametric excitation process is modeled by using a non-memory transformation obtained from the relationship between GM and wave elevation. The resulting system of equations is represented by the 8th-order Itô stochastic differential equation, which consists of a second-order SDE for the ship motion and a 6th-order SDE for the effective wave. This system has nonlinear components. Therefore, the cumulant neglect closure method is used as higher-order moments need to be truncated. Furthermore, the probability density function of roll angle is determined by using moment values obtained from the SDE and the moment equation. Here, two types of the probability density function are suggested and have a good agreement.

math.DS↗

arXiv2022

Stochastic Assessment of Acceleration Probability Density Function for Parametric Rolling Using Moment Method

Container ships encounter large roll angles and high acceleration, and container loss remains a problem. This study proposes a method for calculating the probability density function~(PDF) of roll angular and cargo lateral accelerations. First, the moment values of these accelerations are derived using the linearity of expectation and the validity of this method is examined. Second, the PDF shapes of these accelerations are proposed and their coefficients are determined using the obtained moment values. Our proposed method can be used to derive the PDFs of roll angular and cargo lateral accelerations.

math.DS↗

arXiv2022

Warm-started Semionline Trajectory Planner for Ship's Automatic Docking (Berthing)

In the usual framework of control, a reference trajectory is needed as the set point for a feedback controller. This reference trajectory can be generated by solving a trajectory optimization problem. This problem is a continuous optimal control problem (OCP) that is transcribed into a finite-dimensional nonlinear optimization problem (NLP) and solved by SQP. For an underactuated conventional vessel, the mathematical model can be very intricate, hence the NLP itself. This causes significant computational time. This article demonstrates that the balance between the feasibility of the reference trajectory and the computational time can be achieved for an underactuated vessel in a disturbed and restricted environment. This is done by: (1) using an almost-globally optimal offline solution as a warm start in a semionline trajectory optimization to speed up the calculation, (2) including the prediction of wind dynamics, and (3) representing the ship as a rigid body and using a predefined boundary to generate the necessary spatial constraints via a point-in-polygon method that ensure a collision-free trajectory in a nonconvex region. Incorporation of these three things maintains a safe and dynamically feasible trajectory where the warm start gives a considerable computational speedup and better results than that without a warm start.

eess.SY↗

arXiv2022

Optimization on Planning of Trajectory and Control of Autonomous Berthing and Unberthing for the Realistic Port Geometry

To realize autonomous shipping, autonomous berthing and unberthing are some of the technical challenges. In the past, numerous research have been done on the optimization of trajectory planning of berthing problems. However, these studies assumed only a simple berth and did not consider obstacles. Optimization of trajectory planning on berthing and unberthing in actual ports must consider the spatial constraints and maintain sufficient distance to obstacles. The main contributions of this study are as follows: (i) a collision avoidance algorithm based on the ship domain which has variable size by the ship speed is proposed, to include the spatial constraints to optimization; (ii) the effect of wind disturbance is taken into account to the trajectory planning to make a feasible trajectory based on the capacity limit of actuators; (iii) showing that the optimization method for berthing is also eligible for the unberthing, which has been almost neglected; (iv) waypoints are included to the optimization process, to make optimization easier on practical applications. The authors tested the proposed method on two existing ports. The proposed method performed well on both the berthing and the unberthing problem and optimized the control input and the trajectory while avoiding collision with the complex obstacles.

math.OC↗

arXiv2021

System Parameter Exploration of Ship Maneuvering Model for Automatic Docking / Berthing using CMA-ES

Accurate maneuvering estimation is essential to establish autonomous berthing control. The system-based mathematical model is widely used to estimate the ship's maneuver. Commonly, the system parameters of the mathematical model are obtained by the captive model test (CMT), which is time-consuming to construct an accurate model suitable for complex berthing maneuvers. System identification (SI) is an alternative to constructing the mathematical model. However, SI on the mathematical model of ship's maneuver has been only conducted on much simpler maneuver: turning and zig-zag. Therefore, this study investigates the SI on a mathematical model capable of berthing maneuver. The main contributions of this study are as follows: (i) construct the system-based mathematical model on berthing by optimizing system parameters with a reduced amount of model tests than the CMT-based scheme; (ii) Find the favorable choice of objective function and type of training data for optimization. Global optimization scheme CMA-ES explored the system parameters of the MMG model from the free-running model's trajectories. The berthing simulation with the parameters obtained by the proposed method showed better agreement with the free-running model test than parameters obtained by the CMT. Furthermore, the proposed method required fewer data amounts than a CMT-based scheme.

eess.SY↗

arXiv2020

Implementation of the HMC algorithm on the tempered Lefschetz thimble method

The tempered Lefschetz thimble method (TLTM) is a parallel-tempering algorithm towards solving the numerical sign problem, where the system is tempered by the antiholomorphic gradient flow to tame both the sign and ergodicity problems simultaneously. In this paper, we implement the hybrid Monte Carlo (HMC) algorithm for transitions on each flowed surface, expecting that this implementation on TLTM will give a useful framework for future computations of large-scale systems including fermions. Although the use of HMC in Lefschetz thimble methods has been proposed so far, our crucial achievement here is that HMC is implemented on TLTM so as to work within the parallel-tempering algorithm in TLTM, especially by developing an algorithm to handle zeros of fermion determinants in the course of the molecular-dynamics process. We confirm that the algorithm works correctly by applying it to the sign problem of the Hubbard model on a small lattice, for which the TLTM is known to work with the Metropolis algorithm. We show that the use of HMC significantly reduces the autocorrelation times with less computational times compared to the Metropolis algorithm.

hep-lat↗

arXiv2020

Distance between configurations in MCMC simulations and the geometrical optimization of the tempering algorithms

For a given Markov chain Monte Carlo (MCMC) algorithm, we define the distance between configurations that quantifies the difficulty of transitions. This distance enables us to investigate MCMC algorithms in a geometrical way, and we investigate the geometry of the simulated tempering algorithm implemented for an extremely multimodal system with highly degenerate vacua. We show that the large scale geometry of the extended configuration space is given by an asymptotically anti-de Sitter metric, and argue in a simple, geometrical way that the tempering parameter should be best placed exponentially to acquire high acceptance rates for transitions in the extra dimension. We also discuss the geometrical optimization of the tempered Lefschetz thimble method, which is an algorithm towards solving the numerical sign problem.

hep-lat↗

arXiv2020

Tempered Lefschetz thimble method and its application to the Hubbard model away from half filling

The tempered Lefschetz thimble method (TLTM) is a parallel-tempering algorithm towards solving the numerical sign problem. It tames both the sign and ergodicity problems simultaneously by tempering the system with the flow time of continuous deformations of the integration region. In this article, after reviewing the basics of the TLTM, we explain a new algorithm within the TLTM that enables us to estimate the expectation values precisely with a criterion ensuring global equilibrium and the sufficiency of the sample size. To demonstrate the effectiveness of the algorithm, we apply the TLTM to the quantum Monte Carlo simulation of the Hubbard model away from half filling on a two-dimensional lattice of small size, and show that the obtained numerical results agree nicely with exact values.

hep-lat↗

arXiv2019

Applying the tempered Lefschetz thimble method to the Hubbard model away from half-filling

The tempered Lefschetz thimble method is a parallel-tempering algorithm towards solving the numerical sign problem. It uses the flow time of the gradient flow as a tempering parameter and is expected to tame both the sign and multimodal problems simultaneously. In this paper, we further develop the algorithm so that the expectation values can be estimated precisely with a criterion ensuring global equilibrium and the sufficiency of the sample size. To demonstrate that this algorithm works well, we apply it to the quantum Monte Carlo simulation of the Hubbard model away from half-filling on a two-dimensional lattice of small size, and show that the numerical results agree nicely with exact values.

cond-mat.str-el↗

arXiv2018

Emergence of AdS geometry in the simulated tempering algorithm

In our previous work [1], we introduced to an arbitrary Markov chain Monte Carlo algorithm a distance between configurations. This measures the difficulty of transition from one configuration to the other, and enables us to investigate the relaxation of probability distribution from a geometrical point of view. In this paper, we investigate the geometry of stochastic systems whose equilibrium distributions are highly multimodal with a large number of degenerate vacua. Implementing the simulated tempering algorithm to such a system, we show that an asymptotically Euclidean anti-de Sitter geometry emerges with a horizon in the extended configuration space when the tempering parameter is optimized such that distances get minimized.

hep-th↗

arXiv2018

Distance between configurations in Markov chain Monte Carlo simulations

For a given Markov chain Monte Carlo algorithm we introduce a distance between two configurations that quantifies the difficulty of transition from one configuration to the other configuration. We argue that the distance takes a universal form for the class of algorithms which generate local moves in the configuration space. We explicitly calculate the distance for the Langevin algorithm, and show that it certainly has desired and expected properties as distance. We further show that the distance for a multimodal distribution gets dramatically reduced from a large value by the introduction of a tempering method. We also argue that, when the original distribution is highly multimodal with large number of degenerate vacua, an anti-de Sitter-like geometry naturally emerges in the extended configuration space.

hep-lat↗

arXiv2017

Parallel tempering algorithm for integration over Lefschetz thimbles

The algorithm based on integration over Lefschetz thimbles is a promising method to resolve the sign problem for complex actions. However, this algorithm often meets a difficulty in actual Monte Carlo calculations because the configuration space is not easily explored due to the infinitely high potential barriers between different thimbles. In this paper, we propose to use the flow time of the antiholomorphic gradient flow as an auxiliary variable for the highly multimodal distribution. To illustrate this, we implement the parallel tempering method by taking the flow time as a tempering parameter. In this algorithm, we can take the maximum flow time to be sufficiently large such that the sign problem disappears there, and two separate modes are connected through configurations at small flow times. To exemplify that this algorithm does work, we investigate the (0+1)-dimensional massive Thirring model at finite density and show that our algorithm correctly reproduces the analytic results for large flow times such as T=2.

hep-lat↗

arXiv2016

Triangle-hinge models for unoriented membranes

Triangle-hinge models [arXiv:1503.08812] are introduced to describe worldvolume dynamics of membranes. The Feynman diagrams consist of triangles glued together along hinges and can be restricted to tetrahedral decompositions in a large N limit. In this paper, after clarifying that all the tetrahedra resulting in the original models are orientable, we define a version of triangle-hinge models that can describe the dynamics of unoriented membranes. By regarding each triangle as representing a propagation of an open membrane of disk topology, we introduce a local worldvolume parity transformation which inverts the orientation of triangle, and define unoriented triangle-hinge models by gauging the transformation. Unlike two-dimensional cases, this local transformation generally relates a manifold to a nonmanifold, but still is a well-defined manipulation among tetrahedral decompositions. We further show that matter fields can be introduced in the same way as in the original oriented models. In particular, the models will describe unoriented membranes in a target spacetime by taking matter fields to be the target space coordinates.

hep-th↗

arXiv2016

Matter fields in triangle-hinge models

The worldvolume theory of membrane is mathematically equivalent to three-dimensional quantum gravity coupled to matter fields corresponding to the target space coordinates of embedded membrane. In a recent paper [arXiv:1503.08812] a new class of models are introduced that generate three-dimensional random volumes, where the Boltzmann weight of each configuration is given by the product of values assigned to the triangles and the hinges. These triangle-hinge models describe three-dimensional pure gravity and are characterized by semisimple associative algebras. In this paper, we introduce matter degrees of freedom to the models by coloring simplices in a way that they have local interactions. This is achieved simply by extending the associative algebras of the original triangle-hinge models, and the profile of matter field is specified by the set of colors and the form of interactions. The dynamics of a membrane in $D$-dimensional spacetime can then be described by taking the set of colors to be $\mathbb{R}^D$. By taking another set of colors, we can also realize three-dimensional quantum gravity coupled to the Ising model, the $q$-state Potts models or the RSOS models. One can actually assign colors to simplices of any dimensions (tetrahedra, triangles, edges and vertices), and three-dimensional colored tensor models can be realized as triangle-hinge models by coloring tetrahedra, triangles and edges at a time.

hep-th↗

arXiv2015

Random volumes from matrices

We propose a class of models which generate three-dimensional random volumes, where each configuration consists of triangles glued together along multiple hinges. The models have matrices as the dynamical variables and are characterized by semisimple associative algebras A. Although most of the diagrams represent configurations which are not manifolds, we show that the set of possible diagrams can be drastically reduced such that only (and all of the) three-dimensional manifolds with tetrahedral decompositions appear, by introducing a color structure and taking an appropriate large N limit. We examine the analytic properties when A is a matrix ring or a group ring, and show that the models with matrix ring have a novel strong-weak duality which interchanges the roles of triangles and hinges. We also give a brief comment on the relationship of our models with the colored tensor models.

hep-th↗