Structural design and behavior of prestressed cable domes

2020 ◽  
Vol 209 ◽  
pp. 110294
Author(s):  
Sudarshan Krishnan
Keyword(s):  
Structural Design ◽  
And Behavior ◽  
Prestressed Cable ◽  
Cable Domes

scholarly journals Bio-Inspired Structure and Behavior of Self-Recovery Quadruped Robot with a Limited Number of Functional Legs

2019 ◽  
Vol 9 (4) ◽  
pp. 799 ◽  
Author(s):  
Sarun Chattunyakit ◽  
Yukinori Kobayashi ◽  
Takanori Emaru ◽  
Ankit Ravankar
Keyword(s):  
Structural Design ◽  
Numerical Optimization ◽  
Control Method ◽  
Optimization Technique ◽  
Quadruped Robot ◽  
Robotic Platform ◽  
Recovery Method ◽  
Q Learning ◽  
And Behavior ◽  
Self Learning

In this study, the authors focus on the structural design of and recovery methods for a damaged quadruped robot with a limited number of functional legs. Because the pre-designed controller cannot be executed when the robot is damaged, a control strategy to avoid task failures in such a scenario should be developed. Not only the control method but also the shape and structure of the robot itself are significant for the robot to be able to move again after damage. We present a caterpillar-inspired quadruped robot (CIQR) and a self-learning mudskipper inspired crawling (SLMIC) algorithm in this research. The CIQR is realized by imitating the prolegs of caterpillars and by using a numerical optimization technique. A reinforcement learning method called Q-learning is employed to improve the adaptability of locomotion based on the crawling behavior of mudskipper. The results show that the proposed robotic platform and recovery method can improve the moving ability of the damaged quadruped robot with a few active legs in both simulations and experiments. Moreover, we obtained satisfactory results showing that a damaged multi-legged robot with at least one leg could travel properly along the required direction. Furthermore, the presented algorithm can successfully be employed in a damaged quadruped robot with fewer than four legs.

scholarly journals MODERN CONSTRUCTION SOLUTIONS FOR PRESTRESSED CABLE DOMES AND WAYS TO IMPROVE THEM

2021 ◽  
pp. 56-64
Author(s):  
G.P. Kolomiychuk ◽  
◽  
V.G. Kolomiichuk ◽  
V.G. Kolomiichuk ◽  
◽  
...  
Keyword(s):  
Gaussian Curvature ◽  
Experimental Studies ◽  
Equilibrium Structure ◽  
Careful Study ◽  
Large Span ◽  
Axial Forces ◽  
Negative Gaussian Curvature ◽  
Cable Dome ◽  
Prestressed Cable ◽  
Cable Domes

To create fundamentally new innovative large-span structures of buildings and structures coverings, modern design solutions of prestressed cable domes of the Tensegrity type are considered. The service life of the first built Tensigrity domes is only 35 years. These are fairly new, effective structures that require careful study and use of modern scientific approaches for their design using software systems, since their work under load and the construction process are quite complex. The design analysis and erection of self-stressed structures is based on the invention of an equilibrium structure, the so-called tensegrity form. The search for the shape is multidimensional and consists of the stage of computational analysis of a self-stressed dome for the equilibrium position of elements and their nodes, selection of the most stable and rigid structure, as well as taking into account possible unfavorable loads during operation and the initial load in the elements from the application of prestressing. To determine the shape of cable domes, a nonlinear programming problem with given axial forces is formulated, which can be considered as the problem of minimizing the difference in the total strain energy between the elements of the cables and struts under constraints on the compatibility conditions. The first step in calculating the prestressing of a cable dome is to assess the feasibility of its geometry. The possibility of forming a cable dome of negative Gaussian curvature is considered and a method for calculating the prestressing for this new shape is investigated. The proposed method is effective and accurate in determining the allowable prestressing for a cable dome with negative Gaussian curvature and can be used for other types of prestressed structures. The new directions for the development of effective constructive solutions for large-span coatings are presented, including a suspended-dome structure, which combines the advantages of a mesh shell and a cable dome. Special attention should be paid to experimental studies on models of tensegrity domes, the results of which demonstrate the positive and negative aspects of the behavior of structures under load, the process of their erection, as well as the possibility of control and restoration during operation.

The Mechanical Structure Design of Behavior Training System

2012 ◽  
Vol 151 ◽  
pp. 429-432
Author(s):  
Qiang Guo ◽  
S.G. Wang ◽  
X.B. Li ◽  
Z.L. Cao
Keyword(s):  
Structural Design ◽  
Structure Design ◽  
Training System ◽  
The Body ◽  
Biomimetic Robots ◽  
Analysis Calculation ◽  
Environmental Requirements ◽  
System Requirements ◽  
Feasible Solutions ◽  
And Behavior

In recent years, research in robotics, especially in bio-robot research has been much attention. Biomimetic robots that mimic the biological nature of the external shape, movement and behavior of systems theory, to work in the biological characteristics of the robot. Based on the environmental requirements of the structural design of feasible solutions, respectively, to determine the structure and behavior training system for biomimetic smart mice relative to the chassis structure, steering means, electrical layout and some details of the design model, then movement of the body of theoretical analysis, calculation the actual running resistance and the motor power required. Final processing of the entity to verify the feasibility of the behavior of the training system, and the bionic mouse to the system requirements, performance steering and sport good.

How Homo economicus lost her mind and how we can revive her

2018 ◽  
Vol 41 ◽  
Author(s):  
Peter DeScioli
Keyword(s):  
Economic Thought ◽  
History Of Economic Thought ◽  
Homo Economicus ◽  
Economic Theories ◽  
Target Article ◽  
History Of ◽  
The Mind ◽  
And Behavior

AbstractThe target article by Boyer & Petersen (B&P) contributes a vital message: that people have folk economic theories that shape their thoughts and behavior in the marketplace. This message is all the more important because, in the history of economic thought, Homo economicus was increasingly stripped of mental capacities. Intuitive theories can help restore the mind of Homo economicus.

The parent-offspring microbiome and neurobehavioral development

2019 ◽  
Vol 42 ◽  
Author(s):  
Jeffrey R. Alberts ◽  
Christopher Harshaw ◽  
Gregory E. Demas ◽  
Cara L. Wellman ◽  
Ardythe L. Morrow
Keyword(s):  
Mammalian Species ◽  
Social Emotional ◽  
Behavioral Measures ◽  
Neurobehavioral Development ◽  
Emotional Function ◽  
Neurobehavioral Outcomes ◽  
Methodological Approaches ◽  
And Behavior

Abstract We identify the significance and typical requirements of developmental analyses of the microbiome-gut-brain (MGB) in parents, offspring, and parent-offspring relations, which have particular importance for neurobehavioral outcomes in mammalian species, including humans. We call for a focus on behavioral measures of social-emotional function. Methodological approaches to interpreting relations between the microbiota and behavior are discussed.

TEM evaluation of graded SixGe1-x heterolayers

1991 ◽  
Vol 49 ◽  
pp. 894-895
Author(s):  
N. David Theodore ◽  
Mamoru Tomozane ◽  
Ming Liaw
Keyword(s):  
Heterojunction Bipolar Transistors ◽  
Gas Flow ◽  
Field Effect Transistors ◽  
Chemical Vapor ◽  
Dark Field ◽  
Bipolar Transistors ◽  
Structural Quality ◽  
Weak Beam ◽  
Transmission Electron ◽  
And Behavior

There is extensive interest in SiGe for use in heterojunction bipolar transistors. SiGe/Si superlattices are also of interest because of their potential for use in infrared detectors and field-effect transistors. The processing required for these materials is quite compatible with existing silicon technology. However, before SiGe can be used extensively for devices, there is a need to understand and then control the origin and behavior of defects in the materials. The present study was aimed at investigating the structural quality of, and the behavior of defects in, graded SiGe layers grown by chemical vapor deposition (CVD).The structures investigated in this study consisted of Si1-xGex[x=0.16]/Si1-xGex[x= 0.14, 0.13, 0.12, 0.10, 0.09, 0.07, 0.05, 0.04, 0.005, 0]/epi-Si/substrate heterolayers grown by CVD. The Si1-xGex layers were isochronally grown [t = 0.4 minutes per layer], with gas-flow rates being adjusted to control composition. Cross-section TEM specimens were prepared in the 110 geometry. These were then analyzed using two-beam bright-field, dark-field and weak-beam images. A JEOL JEM 200CX transmission electron microscope was used, operating at 200 kV.

Formation of defects in implanted hipox-structures

1992 ◽  
Vol 50 (2) ◽  
pp. 1406-1407
Author(s):  
Peter Pegler ◽  
N. David Theodore ◽  
Ming Pan
Keyword(s):  
High Pressure ◽  
Cross Section ◽  
Semiconductor Devices ◽  
Silicon Substrates ◽  
Processing Conditions ◽  
Pressure Oxidation ◽  
Deep Trench ◽  
Local Oxidation ◽  
Trench Isolation ◽  
And Behavior

High-pressure oxidation of silicon (HIPOX) is one of various techniques used for electrical-isolation of semiconductor-devices on silicon substrates. Other techniques have included local-oxidation of silicon (LOCOS), poly-buffered LOCOS, deep-trench isolation and separation of silicon by implanted oxygen (SIMOX). Reliable use of HIPOX for device-isolation requires an understanding of the behavior of the materials and structures being used and their interactions under different processing conditions. The effect of HIPOX-related stresses in the structures is of interest because structuraldefects, if formed, could electrically degrade devices.This investigation was performed to study the origin and behavior of defects in recessed HIPOX (RHIPOX) structures. The structures were exposed to a boron implant. Samples consisted of (i) RHlPOX'ed strip exposed to a boron implant, (ii) recessed strip prior to HIPOX, but exposed to a boron implant, (iii) test-pad prior to HIPOX, (iv) HIPOX'ed region away from R-HIPOX edge. Cross-section TEM specimens were prepared in the <110> substrate-geometry.

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