pdf. D. [11] A. Content may be subject to copyright. 2006. ntnu. i kontrolsystemer ved Mads Clausen Instituttet<br /> på Syddansk Universitet og har forsket i, hvordan man kan<br /> overføre rødspættens effektive strategi til en bestemt type undervandsrobotter,<br /> som forskerne bruger til at måle blandt andet saltindholdet. dk, rst@mci. On a historical perspective, note that results very closedAll figure content in this area was uploaded by Jerome Jouffroy. Jerome Jouffroy Tu Duc Nguyen This paper extends previous work [6],[7] on the estimation of underwater vehicle trajectories using Gyro-Doppler (body-xed velocities) and acoustic signals (earth-xed. Starting from this model, we then design a nonlinear heading controller using the integrator. . Contributors: A. see FAQ. All figure content in this area was uploaded by Jerome Jouffroy. TY - CONF. Control systems, model-based. All content in this area was uploaded by Jerome Jouffroy. 29. pdf. All figure content in this area was uploaded by Jerome Jouffroy. Jérôme Jouffroy Expand search. The proposed approach consists of a diffusion-based trajectory observer (Jouffroy and Opderbecke, 2004) processing whole segments of a trajectory. Jerome Jouffroy Despite their interesting dynamic and controllability properties, sailing vehicles have not been much studied in the control community. There are 5 professionals named "Jerome Jouffroy", who use LinkedIn to exchange information, ideas, and opportunities. Authors: Johann Reger, Jérôme Jouffroy. All figure content in this area was uploaded by Jerome Jouffroy. . This paper considers the on-line implementation of the modulating function method, for parameter and state estimation, for the model of an air-handling unit, central element of HVAC systems. Overview; Fingerprint; Abstract. This paper discusses the use of techniques related to the modulating function method for performing joint parameter and state estimation. Content may be subject to copyright. sdu. Keviczky, T. Fossen. . The functions are treated analytically and by using feedback from the imposed constraint functions, constraint forces arise. Real-Time Geo-Referenced Video Mosaicking with the MATISSE System . Log In. Jerome Jouffroy の発音 1 オーディオ音, 辞書 集 クイズ 地域 の貢献 CertificateGuillaume Jouffroy, Jerome Jouffroy. Jérôme Jouffroy. All content in this area was uploaded by Jerome Jouffroy. Professor Jerome Jouffroy delves into this crucial discussion in his latest article. no, [email protected] Ionesi , Hossein Ramezaniy, Jerome Jouffroy z SDU Mechatronics, Mads Clausen Institute, University of Southern Denmark, DK-6400 Alsion 2, Sønderborg, Denmark October 23, 2018AU - Jouffroy, Jerome. AVERAGE RATING 0. Malte von Benzon 1,∗, Fredrik Fogh Sørensen 1, Esben Uth 1, Jerome Jouffroy 2, Jesper Liniger 1 and Simon Pedersen 1 1 AAU Energy, Aalborg University, 6700 Esbjerg, Denmark 2 Department of Mechanical and Electrical Engineering, University of Southern Denmark, SDU, 6400 Sønderborg, Denmark * Correspondence: msrvb@energy. pdf. C. Some ancestors of contraction analysis Jérôme Jouffroy Center for Ships and Ocean Structures (CeSOS) Norwegian University of Science and Technology (NTNU) NO-7491 Trondheim, Norway e-mail: jouffroy@ntnu. In order to adapt to harsh conditions. Jerome Jouffroy. Enter the email address you signed up with and we'll email you a reset link. The model is based on Modeling and Nonlinear Heading Control of Sailing Yachts by Jerome Jouffroy. 93-106. View the profiles of people named Jerome Jouffroy. Jerome Jouffroy; This paper addresses the issue of rejecting spurious acoustic position measurements for the estimation of trajectories in underwater vehicle navigation. Mere om Teknologiens Mediehus. Paper presented at European Control Conference (ECC'03), Cambridge, United Kingdom. . Join Facebook to connect with Chritelle Jerome Jouffroy and others you may know. View the profiles of people named Jerome Jouf. I. Mads Clausen Institute (MCI) The Faculty of Engineering;. Sept 2018, 2018 IEEE/ASME International Conference on Advanced. We propose a method for constructing control laws for formation control of marine craft using classical tools from analytical mechanics. Since the. or. Starting from a simple dynamic model of sailingDOI: 10. Download and share free MATLAB code, including functions, models, apps, support packages and toolboxesWeighing in at 7. Academic Editor: Onur Toker. However, note that the results shown in the present paperJerome Jouffroy Denmark James B. Content may be subject to copyright. Content may be subject to copyright. . Using Fossen's compact notation for marine vehicles, we first. The pdf can be found here. dk. “A lot of our ProZero work- and crewboat customers will benefit from an even more safe and stable platform to work from. Authors: Johann Reger, Jérôme Jouffroy. 5 pounds and 22 inches long, it uses narrow-band (or “comb”) jamming to ensure as little interference with other devices as possible. Jerome Jouffroy; This paper contributes a simple and intuitive result in the analysis of underwater navigation using a single ranging beacon. Jérôme Jouffroy’s Post Jérôme Jouffroy Directeur Industriel chez COBHAM AEROSPACE COMMUNICATIONS 1y Report this post Report Report. Department of Mechanical and Electrical Engineering (DME) Professor, SDU Mechatronics (CIM) VIP, SDU Climate Centre. 2004. Formation control for a fleet of. 880392Jerome Jouffroy Guaranteeing that traditional concepts of stability like uniform global exponential or asymptotic stability (UGES or UGAS) are verified when using design tools based on new concepts of stability may be of significant importance. e-mail: [email protected] robots are useful for exploring narrow spaces such as in collapsed buildings after a severe disaster. Jouffroy, and T. C. Jerome JOUFFROY | Cited by 1,241 | of University of Southern Denmark, Odense (SDU) | Read 84 publications | Contact Jerome JOUFFROYAssociate Professor, SDU Mechatronics. or. University of Southern Denmark An Accurate Programmable Pulse Generator for Stepper Actuated Real-Time Control Systems. fr Nathalie. Jerome Jouffroy. oktober. 1412–1473) was a French prelate and diplomat. Content uploaded by Jerome Jouffroy. 39, no. However, it seems that earlier results derived by mathematicians in the 1950s closely match some of the results of contraction analysis. org IEEE Conference on Decision and Control (CDC’04), Paradise Island, Bahamas, 2004 Abstract —This paper presents a globally. E. Two people are usually required for operating serpentine robot, one for pushing and twisting, and the other for controlling the tip. Krug USA Yoann Ladroit France David Lane UK Stephanie A. Jiaxi He Lin Xiao Jerome Jou roy Mads Clausen Institute, University of Southern Denmark (SDU), Alsion 2, DK-6400, S˝nderborg, Denmark jiaxihe1989@gmail. Jouffroy, Jerome. Download PDF Abstract: This note places into perspective the so-called algebraic time-derivative estimation method recently introduced by Fliess and co-authors with standard results from linear state-space theory for control systems. 25+ million members; 160+ million publication pages;Jerome Jouffroy; Thor I. If you love a cozy, comedic mystery, you'll love this 'whodunit' adventure. AU - Jouffroy, Jerome. This button displays the currently selected search type. Quick Start Instructions. Slotine. Hélène JOUFFROY. CONTRIBUTIONS 0 Questions 0 Answers. Torsetnes. Sensor Misalignment and Trajectory Estimation where and , which is often encountered In the case where there is a misalignment in the way the gyro- in adaptive control [15], [37], [46]. Professor Jerome Jouffroy delves into this crucial discussion in his latest article. Methodological remarks on contraction theory: Matlab/Simulink file of section 5. dk Mechatronics. Author links open overlay panel Dongwei Han, Jerome Jouffroy. Remarks on the Observability of. 25+ million members; 160+ million publication pages;All content in this area was uploaded by Jerome Jouffroy on Mar 22, 2013 . dk. Discover the world's research. Andrei Popa, Simon Iversen, Lars Duggen & Jerome Jouffroy Advanced Manufacturing Research Center, Youngstown State University, Youngstown, OH, 44555, USA Brian Zellers, Dillon Kennedy, Pedro Cortes, Brett Conner & Eric MacDonaldOn algebraic time-derivative estimation and deadbeat state reconstruction Johann Reger† and Jerome Jouffroy‡ Abstract— This paper places into perspective the so-called practical interest, we recall here only the main result for a algebraic time-derivative estimation method recently introduced moving-horizon version of the approach (see [21] and [35]). 3. The champion's jersey. by Jerome Jouffroy This paper studies the position estimation of an underwater vehicle using a single acoustic transponder. Content may be subject to copyright. [11] A. dk). DLillebaelt. 5. | Underwater, Observer and Motion. The students in Sønderborg recommends candidates from social science, engineering and languages to a committee which makes the final appointment. Jerome Jouffroy. Proceedings of the 8th IFAC International Conference on Manoeuvring and Control of Marine Craft September 16-18, 2009, Guarujá (SP), Brazil On Steering a Sailing Ship in a Wearing Maneuver Jerome Jouffroy Mads Clausen Institute University of Southern Denmark (SDU) Alsion 2, DK-6400 Sønderborg, Denmark e-mail:. See Photos. In. Report this post Report Report8th IFAC Conference on Control Applications in Marine Systems Rostock-Warnemünde, Germany September 15-17, 2010 Reflexions on Feedforward Control Strategies for a Class of Sailing Vehicles Lin Xiao and Jerome Jouffroy Mads Clausen Institute University of Southern Denmark (SDU) Alsion 2, DK-6400, Sønderborg,. -J. Additionally, as proposed in Jouffroy [8][7], the explicit. All content in this area was uploaded by Jerome Jouffroy. JOUFFROY Jérôme : Jérôme JOUFFROY, né en 1970 et habite DIJON. An. Y1 - 2010. A trajectory observ er for camera-based underwater. Jerome Jouffroy; This paper presents a study on the development and testing of a model-based heading controller for a sailing yacht. 2013. Guillaume Jouffroy, Jérôme Jouffroy: A simple mechanical system for studying adaptive oscillatory neural networks. ” “I’m eager to see how much additional crane and load capacity can be added to our workboats in order to increase their operational range and to. Lee USA Wei. Florence Garnier. 01/09/2021 → 31/01/2022. Enter the email address you signed up with and we'll email you a reset link. pdf. A remark on "Nonlinear output feedback control of underwater vehicle propellers using feedback form estimated axial flow velocityJerome Jouffroy and Qiuyang Zhou. This paper addresses the issue of estimating underwater vehicle trajectories using gyro-Doppler (body-fixed velocities) and acoustic positioning signals (earth-fixed positions) with results of contraction theory used to prove that the observers. Jerome Jouffroy. Gildas Besançon. Jerome Jouffroy; Qiuyang Zhou; Oliver Zielinski; Autonomous Lagrangian profilers are widely used as measurement and monitoring platforms. Dashboard; Badges; Statistics. E. Uniform global exponential stability (UGES) of the resulting system is proven. Jouffroy-2003un. Report this post Report Report 8th IFAC Conference on Control Applications in Marine Systems Rostock-Warnemünde, Germany September 15-17, 2010 Reflexions on Feedforward Control Strategies for a Class of Sailing Vehicles Lin Xiao and Jerome Jouffroy Mads Clausen Institute University of Southern Denmark (SDU) Alsion 2, DK-6400, Sønderborg, Denmark e-mail: {xiao,jerome}@mci. Jérôme Jouffroy posted a video on LinkedIn. From 2002 to 2003, he worked as a Research Engineer at the French Institute for Ocean Research (IFREMER), Toulon, France, on. Oversigt; Abstract. Jerome Jouffroy. FormationContraction theory entails a theoretical framework in which convergence of a nonlinear system can be analysed differentially in an appropriate contraction metric. “A Tutorial on Incremental Stability Analysis using Contraction Theory” Authors: Jerome Jouffroy and Thor I. Les Alliés ont trouvé les zones qui étaient. Directeur Industriel chez COBHAM AEROSPACE COMMUNICATIONS 1y A control-theoretic outlook at the no-go zone in sailing vessels Bin Yang†, Lin Xiao ‡, and Jerome Jouffroy Mads Clausen Institute University of Southern Denmark (SDU) Alsion 2, DK-6400. N2 - This paper presents a study on the development and testing of a model-based heading controller for a sailing yacht. by Fliess and co-authors with. 1 File. . Jerome Jouffroy Contraction theory is a recent tool enabling to study the stabil-ity of nonlinear systems trajectories with respect to one another, and therefore belongs to the class of. 25+ million members; 160+ million publication pages; View the profiles of people named Jérôme Jouffroy. Jerome Jouffroy. The lithium-ionJerome Jouffroy; Autonomous sailing platforms or sailing robots are a class of autonomous surface vehicles using only the wind as their means of propulsion. Jerome Jouffroy · J. dk and jerome@mci. Directeur Industriel chez COBHAM AEROSPACE COMMUNICATIONS 1mo All content in this area was uploaded by Jerome Jouffroy. Jouffroy. All content in this area was uploaded by Jerome Jouffroy. sdu. Kim USA Minsung Kim South Korea Tae Ho Kim South Korea Yongjune Kim South Korea Thomas Benjamin Knesl USA Matthew Koessler Australia. Log in or sign up for Facebook to connect with friends, family and people you know. N1 - Funding Information: ACKNOWLEDGMENTS The authors thank Markus Weber for his early investigations on the Lagrange system structure that led to the formulation framework of the present work. RANK 8,122 of 19,157. In particular, it is shown that the algebraic method can essentially be seen as a special case of deadbeat state. Facebook gives people the power. Keywords. JØrôme Jouffroy Center for Ships and Ocean Structures (CESOS) Norwegian University of Science and Technology (NTNU) NO-7491 Trondheim, Norway e-mail: jouffroy@ntnu. 12. dk. In particular, it is shown that the algebraic method can in a. About the institute. These are then used in combination with an integrator-based time. Author content. Using Fossen's compact notation for marine vehicles, we first. 313 - 326 , 10. Lee USA Wei. This article presents a method for formation control of marine surface vessels inspired by Lagrangian mechanics. Jerome Jouffroy Contraction theory is a recent tool enabling to study the stabil-ity of nonlinear systems trajectories with respect to one another, and therefore belongs to the class of. The. 201912 år. Article. com. Jouffroy, “A control strategy for steering an autonomous surface sailing vehicle in a tacking maneuver,” in Proceedings of the IEEE International Conference on Systems,. “A lot of our ProZero work- and crewboat customers will benefit from an even more safe and stable platform to work from. Using Fossen's compact notation for marine vehicles, we first. <br /> Han er lektor og ph. Professor Jerome Jouffroy delves into this crucial discussion in his latest article. Jerome Jouffroy. 1405776 Corpus ID: 14138265; Towards on-line underwater vehicle trajectory estimation using diffusion-based observers @article{Jouffroy2004TowardsOU, title={Towards on-line underwater vehicle trajectory estimation using diffusion-based observers}, author={J{'e}r{^o}me Jouffroy and Tu Due. Jouffroy, J. In this paper, we extend the original definition of contrac- tion theory to incorporate in an explicit manner the control in. Agus Hasan and Jerome Jouffroy / Energy Procedia 00 (2017) 000–000 [10] F. Facebook. It is also closely related to the. Jerome Jouffroy. Jérôme Figard. fr J. Y1 - 2014/4. iv. The control law is based on applying inter-vessel constraint functions which again impose forces on the individual vessels that maintain the given constraints on the total system. mdl. Sign Up. N2 - Because contraction analysis stems from a differential and incremental framework, the nature and methodology of contraction-based proofs are significantly different from those of their Lyapunov-based counterparts. The method relies on the diffusion-based. Author content. Enseignant et conférencier | Initiateur d'AlmaMater, du Printemps écologique et de Sailcoop | Plus sur linktr. Sailing vessels, due to their particular propulsive mechanism, gradually lose power as they face the wind, i. Source: check_circle. On steering a sailing ship in a wearing maneuver. Enter the email address you signed up with and we'll email you a reset link. T1 - Methodological remarks on contraction theory. Download PDF Abstract: This note places into perspective the so-called algebraic time-derivative estimation method recently introduced by Fliess and co-authors with standard results from linear state-space theory for control systems. Using Fossen's compact notation for marine vehicles, we first. Claude-François-Dorothée,. July 2002 · IFAC Proceedings Volumes (IFAC Papers-OnLine) Jerome Jouffroy. Jérôme Jouffroy posted a video on LinkedIn. Content uploaded by Jerome Jouffroy. practical interest, we recall here only the main result for a moving-horizon version of the approach (see [21] and [35]). Jerome Jouffroy; This paper presents a study on the development and testing of a model-based heading controller for a sailing yacht. Formation Control of Marine Surface Craft using Lagrange Multipliers. & Jouffroy, J. com fxiao,jeromeg@mci. In: Proc. Jerome Jouffroy Contraction theory is a recent tool enabling to study the stabil-ity of nonlinear systems trajectories with respect to one another, and therefore belongs to the class of. e. Facebook gives people the power to share and makes the world more open and. T o wards on-line underwater. Jérôme a 11 postes sur son profil. Jerome Jouffroy Contraction theory is a recent tool enabling to study the stabil- ity of nonlinear systems trajectories with respect to one another, and therefore belongs to the class of. See Photos. Source: check_circle. University of Southern Denmark (SDU) DK-6400 Sonderborg, Denmark. Our planning and control algorithms are seeking to leverage sailing dynamics from a paper: Modeling and Nonlinear Heading Control of Sailing Yachts by Jerome Jouffroy. A. Email or phone: Password: Forgot account? People named Jouffroy Jérôme. Jean Jouffroy (c. ntnu. by Fliess. Examination condition: The mandatory exercises and the project reports must be handed in on time and in accordance with requirements specified at the beginning of the semester. 25+ million members; 160+ million publication pages;People named Jérôme Jouffroy. Using Fossen's compact notation for marine vehicles, we first. Show more. The paper presents a systematic method for design of observer-controllers in cascade. 2005; This paper addresses the issue of rejecting spurious acoustic position measurements for the estimation of trajectories in underwater vehicle navigation. Syddansk Universitet On steering a sailing ship in a wearing maneuver Jouffroy, Jerome Publication date: 2009 Document version Publisher's PDF, also known as Version of record Citation for pulished version (APA): Jouffroy, J. Slotine. Vancouver Sun Archives 1912 - 2021. in a Wearing Maneuver Jerome Jouffroy ∗ ∗ Mads Clausen Institute University of Southern Denmark (SDU. Professor Jerome Jouffroy delves into this crucial discussion in his latest article. In particular, it is shown that the algebraic method can in a sense be. Content uploaded by Jerome Jouffroy. Expand. (2010) designed the controller for the rudder based on the feedback linearization technique, Xiao and Jouffroy (2011) and He et al. Alina Voda. Finally, I'd like to thank all my teachers (Andrei-Alexandru Popa (cool guy), Bjarne Schmidt, Thomas Ebel and many more), simply for being good and patient teachers and also Jerome Jouffroy for. Jerome Jouffroy · J. Content may be subject to copyright. dk, [email protected] NO-7491, Norway (e-mail: ihle@ntnu. E. These are then used in combination with an integrator-based time. Accepted 18 Jul 2011. The French National Cyclo-cross Championships is a cycling race that is held to decide the best French cyclist in the cyclo-cross discipline. Jerome Jouffroy Contraction analysis is a recent tool for analyz- ing the convergence behavior of nonlinear systems in state- space form (see Lohmiller and Slotine [16] for the main reference). Jerome Jouffroy. The desired formation configuration is given as a set of constraint functions. Presse/medie. Fossen **, Jerome Jouffroy * Show more. The approach is indeed interesting, even though it. This paper presents simple and computationally. This project receives funding from the European Union’s Horizon 2020 Research and Innovation Programme under grant. (2009). Aux dernières nouvelles il était à Collège Champollion à DIJON entre 1981 et 1986. The main interest of linear models is the wide panel of control structures that are available. Authors: Ana Ionesi, Hossein Ramezani, Jerome Jouffroy Download a PDF of the paper titled On-line parameter and state estimation of an air handling unit model: experimental results using the modulating function method, by Ana Ionesi and 2. Jerome. PY - 2014/4. Facebook gives people the power. Jouffroy. Rigaud, Ifremer. Press/Media: Press / Media. 词典 集合 测验 社会 贡献 CertificateJerome Jouffroy Contraction analysis is a recent tool for analyzing the convergence behavior of nonlinear systems in state-space form (see Lohmiller and Slotine [16] for the main reference). Find your friends on Facebook. In a world where geopolitical shifts are reshaping the landscape, we must consider the role of innovation in. ad. Jerome Jouffroy Professor at Syddansk Universitet - University of Southern Denmark 2y Report this post Great company, great innovation, these guys have a great future ahead of them. When expanded it provides a list of search options that will switch the search inputs to match the current. downlo. For adaptive real-time optimization of the sail and heading angle we then发音 Jerome Jouffroy 1 音, 更为 Jerome Jouffroy. Jérôme Jouffroy’s Post Jérôme Jouffroy Directeur Industriel chez COBHAM AEROSPACE COMMUNICATIONS 8mo Report this post Report Report. University of Southern Denmark. SMC 2006: 2584-2589. e. (2012. Join Facebook to connect with Jouffroy Jérôme and others you may know. . Author content. On algebraic time-derivative estimation and deadbeat state reconstruction Johann Reger† and Jerome Jouffroy‡ Abstract— This paper places into perspective the so-called practical interest, we recall here only the main result for a algebraic time-derivative estimation method recently introduced moving-horizon version of the approach (see [21] and [35]). In their current mode of operation, the profilers usually. However, note that the results shown in the present paperJerome Jouffroy Denmark James B. Contraction theory is a recent tool enabling to study the stabil- ity of nonlinear systems trajectories with respect to one another, and therefore belongs to the class of incremental stability meth- ods. dk. Mads Clausen Institute (MCI) The Faculty of Engineering; University of Paris 8; Research output: Contribution to conference without publisher/journal › Paper › Research › peer-review. 2022 | Conference paper | Author. Jerome Jouffroy; In this paper we develop a simplified mathematical model representing the main elements of the behaviour of sailing vessels as a basis for simulation and controller design. sdu. 2, 2014. Jérôme Jouffroy posted a video on LinkedIn. 2007 – okt. 201912 år. Jérôme Jouffroy’s Post Jérôme Jouffroy Directeur Industriel chez COBHAM AEROSPACE COMMUNICATIONS 11mo Report this post Report Report. Author content. Engineering, Environmental Science. Fossen. Log in or sign up for Facebook to connect with friends, family and people you know. In the work presented by Fossen and Blanke, a nonlinear observer for estimation of. Following our previous work, this paper addresses the issue of trajectory. Jérôme Jouffroy posted images on LinkedIn. Data. Jérôme Jouffre. Citations (0) References (0) ResearchGate has not been able to resolve any citations for this publication. The. Les Alliés ont trouvé les zones qui étaient. Jerome Jouffroy. Download scientific diagram | Evolution of the state norm of system (38) from publication: A Relaxed Criterion for Contraction Theory: Application to an Underwater Vehicle Observer | On the. Jerome Jouffroy Denmark Samar Kaddouri France Carl Kaiser USA Anup Kale Australia Bharath Kalyan Singapore Nicholas W. Jérôme Jouffroy posted a video on LinkedIn. [1] Notable people with the surname include: Alain Jouffroy (1928–2015), French writer, poet and artist. Using Fossen's compact notation for marine vehicles, we first. when they are in the so-called “no-go zone”. Using Fossen’s compact notation for marine vehicles, we first describe a nonlinear four-degree-of-freedom (DOF) dynamic model for a sailing yacht, including roll. von Benzon M, Sørensen FF, Uth E, Jouffroy J, Liniger J, Pedersen S. Jerome Jouffroy; This paper presents a study on the development and testing of a model-based heading controller for a sailing yacht. Hasan, L. a service of . 25+ million members; 160+ million publication pages; Yachts, IEEE JOUFFROY AND OPDERBECKE: UNDERWATER VEHICLE NAVIGATION USING DIFFUSION-BASED TRAJECTORY OBSERVERS 319 D. G. Rabe, A. Mads Clausen Institute, Sønderborg, Denmark. dk ABSTRACT In this paper we develop a simplified mathematicaljerome@mci. The functions are treated analytically and by using feedback from the imposed constraint functions, constraint forces arise. Cite. sdu. Jerome Jouffroy, Jacques Lottin. Real-Time Geo-Referenced Video Mosaicking with the MATISSE System . In a world where geopolitical shifts are reshaping the landscape, we must consider the role of innovation in. , Jérôme Jouffroy and Thor I. Jerome Jouffroy; This paper contributes a simple and intuitive result in the analysis of underwater navigation using a single ranging beacon. Bojan Nemec, Fares J. Overview; Fingerprint; Abstract. In this paper, using Contraction theory, a nonlinear observer is designed for a general nonlinear cable/string FEM (Finite Element Method) model. Palle Larsen #761818.