scholarly journals On the Ergodicity of an Autonomous Robot for Efficient Environment Explorations

2020 ◽  
Author(s):  
Rabiul Hasan Kabir ◽  
Kooktae Lee
Keyword(s):  
Timing Analysis ◽  
Convergence Condition ◽  
Autonomous Robot ◽  
Reference Distribution ◽  
Mass Generation ◽  
Environment Exploration ◽  
Simulation Results ◽  
Definition Of ◽  
Mixture Of Gaussian ◽  
Efficient Environment

Abstract This paper addresses the autonomous robot ergodicity problem for efficient environment exploration. The spatial distribution as a reference distribution is given by a mixture of Gaussian and the mass generation of the robot is assumed to be skinny Gaussian. The main problem to solve is then to find out proper timing for the robot to visit as well as leave each component-wise Gaussian for the purpose of achieving the ergodicity. The novelty of the proposed method is that no approximation is required for the developed method. Given the definition of the ergodic function, a convergence condition is derived based on the timing analysis. Also, a formal algorithm to achieve the ergodicity is provided. To support the validity of the proposed algorithm, simulation results are provided.

A Proposal for Performance Criteria for Propulsion Losses Due to Ship Steering

1982 ◽  
Vol 104 (2) ◽  
pp. 158-165 ◽  
Author(s):  
R. E. Reid
Keyword(s):  
High Speed ◽  
Operating Conditions ◽  
Relative Performance ◽  
Performance Criteria ◽  
Ship Steering ◽  
Calm Water ◽  
Simulation Results ◽  
Definition Of ◽  
Hydrodynamic Data

The problem of definition of propulsion loss related to ship steering is addressed. Performance criteria representative of propulsion losses due to steering over a range of operating conditions including operation in calm water and a seaway are considered. Criteria are derived from strict analytical considerations and from empirical assumptions based on experimentally derived hydrodynamic data. The applicability of these various criteria and the implications for both assessment of relative performance of existing ship autopilots and for the design of new steering controllers is discussed in relation to simulation results for a high-speed containership.

Mathematical model of the artificial muscle with two actuators

2020 ◽  
pp. 095440622094156
Author(s):  
Ljubinko B Kevac ◽  
Mirjana M Filipovic ◽  
Ana M Djuric
Keyword(s):  
Mathematical Model ◽  
Control Structure ◽  
Artificial Muscle ◽  
Parallel Robot ◽  
Simulation Results ◽  
Proportional Derivative Controller ◽  
Definition Of ◽  
The Mathematical Model ◽  
The Given ◽  
Very High

Characteristic construction of cable-suspended parallel robot of artificial muscle, which presents an artificial forearm, is analyzed and synthesized. Novel results were achieved and presented. Results presented in this paper were initially driven to recognize and mathematically define undefined geometric relations of the artificial forearm since it was found that they strongly affect the dynamic response of this system. It gets more complicated when one has more complex system, which uses more artificial muscle subsystems, since these subsystems couple and system becomes more unstable. Unmodeled or insufficiently modeled dynamics can strongly affect the system’s instability. Because of that, the construction of this system and its new mathematical model are defined and presented in this paper. Generally, it can be said that the analysis of geometry of selected mechanism is the first step and very important step to establish the structural stability of these systems. This system is driven with two actuators, which need to work in a coordinated fashion. The aim of this paper is to show the importance of the geometry of this solution, which then strongly affects the system’s kinematics and dynamics. To determine the complexity of this system, it was presumed that system has rigid cables. Idea is to show the importance of good defined geometry of the system, which gives good basis for the definition of mathematical model of the system. Novel program package AMCO, artificial muscle contribution, was defined for the validation of the mathematical model of the system and for choice of its parameters. Sensitivity of the system to certain parameters is very high and hence analysis of this system needs to be done with a lot of caution. Some parameters are very influential on the possible implementation of the given task of the system. Only after choosing the parameters and checking the system through certain simulation results, control structure can be defined. In this paper, proportional–derivative controller was chosen.

scholarly journals Wigner-Ville Distribution Associated with the Linear Canonical Transform

2012 ◽  
Vol 2012 ◽  
pp. 1-14 ◽  
Author(s):  
Rui-Feng Bai ◽  
Bing-Zhao Li ◽  
Qi-Yuan Cheng
Keyword(s):  
Signal Processing ◽  
Signal Detection ◽  
Transform Domain ◽  
Linear Canonical Transform ◽  
Nonstationary Signal ◽  
Linear Frequency ◽  
Simulation Results ◽  
Definition Of ◽  
Linear Frequency Modulated Signal

The linear canonical transform is shown to be one of the most powerful tools for nonstationary signal processing. Based on the properties of the linear canonical transform and the classical Wigner-Ville transform, this paper investigates the Wigner-Ville distribution in the linear canonical transform domain. Firstly, unlike the classical Wigner-Ville transform, a new definition of Wigner-Ville distribution associated with the linear canonical transform is given. Then, the main properties of the newly defined Wigner-Ville transform are investigated in detail. Finally, the applications of the newly defined Wigner-Ville transform in the linear-frequency-modulated signal detection are proposed, and the simulation results are also given to verify the derived theory.

Information-Driven Rapidly-Exploring Random Tree for Efficient Environment Exploration

2017 ◽  
Vol 91 (2) ◽  
pp. 313-331 ◽  
Author(s):  
Jhielson M. Pimentel ◽  
Mário S. Alvim ◽  
Mario F. M. Campos ◽  
Douglas G. Macharet
Keyword(s):  
Random Tree ◽  
Environment Exploration ◽  
Efficient Environment

scholarly journals A New Definition of Fractional Derivatives Based on Truncated Left-Handed Grünwald-Letnikov Formula with0<α<1and Median Correction

2014 ◽  
Vol 2014 ◽  
pp. 1-9 ◽  
Author(s):  
Zhiwu Liao
Keyword(s):  
Signal Processing ◽  
Fractional Order ◽  
Fractional Derivatives ◽  
Original Signal ◽  
Theory Analysis ◽  
Left Handed ◽  
Signal Value ◽  
Simulation Results ◽  
Definition Of ◽  
Fractional Orders

We propose a new definition of fractional derivatives based on truncated left-handed Grünwald-Letnikov formula with0<α<1and median correction. Analyzing the difficulties to choose the fractional orders and unsatisfied processing results in signal processing using fractional-order partial differential equations and related methods; we think that the nonzero values of the truncated fractional order derivatives in the smooth regions are major causes for these situations. In order to resolve the problem, the absolute values of truncated parts of the G-L formula are estimated by the median of signal values of the remainder parts, and then the truncated G-L formula is modified by replacing each of the original signal value to the differences of the signal value and the median. Since the sum of the coefficients of the G-L formula is zero, the median correction can reduce the truncated errors greatly to proximate G-L formula better. We also present some simulation results and experiments to support our theory analysis.

scholarly journals APPLICATION EXPERIENCE OF COMPUTER SIMULATION SYSTEMS TO INCREASE THE EFFICIENCY OF FOUNDRY PRODUCTION AT THE ROSTOV FOUNDRY

2018 ◽  
pp. 72-76
Author(s):  
A. V. Fedosov ◽  
G. V. Chumachenko
Keyword(s):  
Computer Simulation ◽  
Systematic Approach ◽  
Practical Application ◽  
Simulation Tools ◽  
Shrinkage Defects ◽  
Gate System ◽  
System Equations ◽  
Simulation Results ◽  
Definition Of ◽  
Simulation Systems

The stages of introduction of computer simulation tools in the production process of The Rostov Foundry are considered. A system for estimating the results of simulation is proposed, which includes the definition of complex parameters that allow an assessment of the causes and the probability of formation of shrinkage defects. An equation that determines a relationship between results of simulation and actual rejects in production is proposed. The feeder operation index is suggested to use for estimation of the reasons for the formation of shrinkage defects. The yield index is suggested to evaluate the possibility of reducing the weight of gate system. Equations for calculating of these indices are developed. A systematic approach is presented for the application of simulation results, which provides for the organization of a database of the technologies being studied. The development of this base allows not only to accumulate the experience, but also to apply it to minimize errors and save time in the process of introducing new castings. The results of practical application of the developed system for 10 positions are presented, which allowed to increase the yield by 6.9% and to reduce the total defects rate by 5.1%.

Design of Intelligent Systems: Measure of Information Content

2005 ◽  
Author(s):  
Prakash C. R. J. Naidu ◽  
Andrew A. Goldenberg
Keyword(s):  
Information Content ◽  
Intelligent Systems ◽  
Design Theory ◽  
New Products ◽  
Autonomous Robot ◽  
Specific Context ◽  
Automation Systems ◽  
Axiomatic Design Theory ◽  
Design Theory And Methodology ◽  
Definition Of

Increasing intelligence in new products has necessitated a closer look at the application of design theory and methodology in the specific context of intelligent systems. In this paper, after reviewing the several prevalent notions of intelligent systems, some of the parameters and the measure of intelligence are discussed. The earlier work on evaluation of information content of automation systems is extended in the context of intelligent systems. The paper discusses a generic definition of intelligence more suitable for measurement in the realm of axiomatic design theory. It investigates the different issues pertaining to computation of information and its interpretation as a measure of intelligence considering an example of the basic maneuvers of an autonomous robot. The paper discusses the observations and elucidates the usefulness of information as a metric for measurement of intelligence.

Construction of the Signal Profile for Use in Blade Tip-Timing Analysis

2021 ◽  
Author(s):  
Dusan Maturkanic ◽  
Pavel Prochazka ◽  
Robert Hodbod ◽  
EderBatista Tchawou Tchuisseu ◽  
Marek Brabec ◽  
...  
Keyword(s):  
Timing Analysis ◽  
Step Method ◽  
Accurate Definition ◽  
Speed Fluctuation ◽  
History Of ◽  
Regulation Function ◽  
Blade Tip ◽  
One Step ◽  
Definition Of ◽  
Signal Profile

Abstract The paper illustrates a fundamentally different approach applied to Blade Tip-Timing analysis in the background of works performed through the long history of this method. New innovative approach is based on the precise separation of measured data that was published in previous works. In this respect, the construction of the signal profile is intended for fast and accurate definition of the regulation function served to expression of the complete speed fluctuation and its instabilities. Following, the presented signal profile is demonstrated on four variants of data processing in two significantly different operations, where it allows the application of a one-step approach. Finally, these results are also compared with a two-step method used in previous cases without the signal profile. The benefit of the suggested procedure of the signal profile calculation is evident in the possibility of processing more complex functions in deterministic methods without limiting the characteristic advantages of these methods.

scholarly journals The influence of moral sensitivity on organizational cooperation

Kybernetes ◽  
2015 ◽  
Vol 44 (6/7) ◽  
pp. 1067-1081 ◽  
Author(s):  
Oswaldo Terán ◽  
Christophe Sibertin-Blanc ◽  
Benoit Gaudou
Keyword(s):  
Free Rider ◽  
Research Field ◽  
Organizational Setting ◽  
Moral Sensitivity ◽  
Content Type ◽  
Formal Framework ◽  
Simulation Results ◽  
Definition Of ◽  
New Research ◽  
Quantitative Definition

Purpose – The purpose of this paper is to present how to model moral sensitivity and emotions in organizational setting by using the SocLab formal framework. SocLab is a platform for the modelling, simulation and analysis of cooperation relationships within social organizations – and more generally Systems of Organized Action. Design/methodology/approach – Simulation results, including an interesting tendency for a Free Rider model, will be given. Considering that actors’ decision-making processes are not just driven by instrumental interest, the SocLab learning simulation algorithm has been extended to represent moral sensitivity, making actors trying to prevent bad emotions and feel good ones. Findings – Some simulation results about actors’ collaboration and emotions in a Free Rider model were presented. A noteworthy tendency is that actors’ unconditional collaboration, which occurs when their moral sensitivity reaches its highest value, is not so good since it exempts other actors from collaboration (they take advantage from the unconditional collaboration), while values of moral sensitivity somewhat below the highest value (between 0.7 and 0.9) still induces collaboration from others. Originality/value – The research and results presented in this paper have not been presented in other papers or workshops. The presented quantitative definition of emotions (determining indexes of emotions) is different to previous approaches – for instance, to Ortony, Clore and Collins (OCC) qualitative descriptions and to logical descriptions. Similarly, simulation of morality in organizations is a new research field, which has received scarce attention up to now.

Une méthode prédictive non biaisée et géoréférencée d'estimation des dommages résidentiels d'inondation

2003 ◽  
Vol 30 (5) ◽  
pp. 914-922 ◽  
Author(s):  
Michel Leclerc ◽  
Yves Secretan ◽  
Mourad Heniche ◽  
Taha B.M.J Ouarda ◽  
Joëlle Marion
Keyword(s):  
Numerical Modeling ◽  
Flood Risk ◽  
Flood Risk Management ◽  
Economical Analysis ◽  
Residual Level ◽  
The Mean ◽  
Rating Curves ◽  
Simulation Results ◽  
Definition Of ◽  
The Cost

Flood risk management for residences requires an economical analysis involving the mean annual damage by floods, taking into account the whole range of probability of floods and the cost of projected fluvial enhancements and measures, taking also into account the residual level of risk. Efficient methods are therefore necessary to estimate these risk values. The proposed approach is of a "distributed" type; it involves numerical modeling for estimating "residential submersion depth", a variable, which explains most of the direct damages to residences. The method relies on an individualized georeferenced definition of each residence. Measured submersion data and the compensations obtained from the huge Saguenay flood in 1996 (Ville de Laterrière) were used to build empirical laws based on submersion. Four distinct relationships were established: residences with or without a basement and valued below or above $50,000 each were assigned a specific relationship. With these relationships, direct residential damages in Laterrière were assessed by using only simulation results at the georeferenced position of sector residences as input. It was then possible to evaluate the total amount of direct home damages in Laterrière.Key words: flood, risk, damage rating curves, Saguenay floods, numerical modeling, predictive model, georeference, geographic information system.

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