scholarly journals Criticality-Driven Evolution of Adaptable Morphologies of Voxel-Based Soft-Robots

2021 ◽  
Vol 8 ◽  
Author(s):  
Jacopo Talamini ◽  
Eric Medvet ◽  
Stefano Nichele
Keyword(s):  
Phase Transition ◽  
Neural Networks ◽  
Control Algorithm ◽  
Chaotic Regime ◽  
Critical Dynamics ◽  
Power Law Distribution ◽  
Soft Robots ◽  
Simulation Based ◽  
The One ◽  
The Impact

The paradigm of voxel-based soft robots has allowed to shift the complexity from the control algorithm to the robot morphology itself. The bodies of voxel-based soft robots are extremely versatile and more adaptable than the one of traditional robots, since they consist of many simple components that can be freely assembled. Nonetheless, it is still not clear which are the factors responsible for the adaptability of the morphology, which we define as the ability to cope with tasks requiring different skills. In this work, we propose a task-agnostic approach for automatically designing adaptable soft robotic morphologies in simulation, based on the concept of criticality. Criticality is a property belonging to dynamical systems close to a phase transition between the ordered and the chaotic regime. Our hypotheses are that 1) morphologies can be optimized for exhibiting critical dynamics and 2) robots with those morphologies are not worse, on a set of different tasks, than robots with handcrafted morphologies. We introduce a measure of criticality in the context of voxel-based soft robots which is based on the concept of avalanche analysis, often used to assess criticality in biological and artificial neural networks. We let the robot morphologies evolve toward criticality by measuring how close is their avalanche distribution to a power law distribution. We then validate the impact of this approach on the actual adaptability by measuring the resulting robots performance on three different tasks designed to require different skills. The validation results confirm that criticality is indeed a good indicator for the adaptability of a soft robotic morphology, and therefore a promising approach for guiding the design of more adaptive voxel-based soft robots.

scholarly journals One day ahead forecasting of energy generating in photovoltaic systems

2018 ◽  
Vol 21 ◽  
pp. 00023
Author(s):  
Grzegorz Drałus ◽  
Grzegorz Dec ◽  
Damian Mazur
Keyword(s):  
Neural Networks ◽  
Renewable Energy Sources ◽  
Prognostic Models ◽  
Energy Market ◽  
Model Structure ◽  
Short Term ◽  
Weather Factors ◽  
The One ◽  
The Impact ◽  
Mlp Neural Networks

The article presents selected methods for forecasting energy generated by a solar system. Short-term forecasts are necessary in planning the work of renewable energy sources and their share in the energy market. Forecasting from the one-day horizon is one of the short-term forecasts. Rear-round prognostic models have been designed using various forecasting methods such as regression, neural networks or time series. On the basis of one day ahead forecasts the accuracy of designed models was assessed. The influence of selected weather factors on forecasts accuracy is also presented, only for models implemented by MLP neural networks. As well as the results of research on the impact of the model structure (as MLP neural network) on the accuracy of forecasts are presented.

Vehicle Attitude Control Simulation Based on Soft and Hard Damping

2012 ◽  
Vol 263-266 ◽  
pp. 660-663
Author(s):  
Yu Zhuo Men ◽  
Haibo Yu ◽  
Xin Pan
Keyword(s):  
Simulation Model ◽  
Attitude Control ◽  
Control Algorithm ◽  
Shock Absorber ◽  
Model Based ◽  
Control Simulation ◽  
Damping Characteristics ◽  
Simulation Based ◽  
Simulation Results ◽  
The Impact

In order to study the impact of vehicle attitude changes on stability, vehicle attitude control simulation model based on soft and hard damping characteristics was built. The model was applied to simulate vehicle straight driving and turning driving, thus simulating various vehicle attitudes in driving. The simulation results show that this model was correct and the control algorithm was feasible; the damping impact on a variety of vehicle attitudes in the driving process can be simulated in advance by adjusting the damping; and the changes of soft and hard damping adjustable shock absorber damping can effectively change the vehicle riding comfort and handling stability.

Static and Dynamic Studies of Gasoline in View of its Octane Number and its Toxic Effect

2013 ◽  
Vol 12 (7) ◽  
pp. 451-459
Author(s):  
Ashraf Yehia El-Naggar ◽  
Mohamed A. Ebiad
Keyword(s):  
Toxic Effect ◽  
Aromatic Hydrocarbons ◽  
Octane Number ◽  
Liquid Fuel ◽  
Positive Impact ◽  
Hydrocarbon Composition ◽  
Different Temperatures ◽  
Different Seasons ◽  
The One ◽  
The Impact

Gasoline come primarily from petroleum cuts, it is the preferred liquid fuel in our lives. Two gasoline samples of octane numbers 91 and 95 from Saudi Arabia petrol stations were studied. This study was achieved at three different temperatures 20oC, 30oC and 50oC representing the change in temperatures of the different seasons of the year. Both the evaporated gases of light aromatic hydrocarbons (BTEX) of gasoline samples inside the tank were subjected to analyze qualitatively and quantitatively via capillary gas chromatography. The detailed hydrocarbon composition and the octane number of the studied gasoline samples were determined using detailed hydrocarbon analyzer. The idea of research is indicating the impact of light aromatic compounds in gasoline on the toxic effect of human and environment on the one hand, and on octane number of gasoline on the other hand. Although the value of octane number will be reduced but this will have a positive impact on the environment as a way to produce clean fuel.

The Development of Agritourism in the Podkarpackie Voivodeship in the Light of International and National Conditions

2017 ◽  
Vol 13 ◽  
pp. 244-261
Author(s):  
Mariola Tracz ◽  
Małgorzata Bajgier-Kowalska ◽  
Radosław Uliszak
Keyword(s):  
Development Strategy ◽  
Current State ◽  
Central Statistical ◽  
Central Statistical Office ◽  
Tourism Resources ◽  
The One ◽  
The Impact ◽  
District Offices ◽  
Socio Economic Factors

Podkarpackie Voivodeship is one of the regions of Poland in which the number of agritourism entities is very high. Therefore tourism plays a significant role in its development strategy. The aim of the paper is to identify the current state of agritourism and the changes that have occurred in the region in the years 2000–2016. Specific objectives are to determine the distribution of agritourism farms and their offer, together with a comprehensive analysis of the environmental and socio-economic factors, as well as the impact of the Slovak-Ukrainian border. The report was developed on the statistical materials from the Polish Central Statistical Office, Podkarpackie Agricultural Advisory Centre in Boguchwała and data collected from municipalities and district offices that is published on their websites, as well as through interviews with 100 owners of agritourism farms in the Podkarpackie Voivodeship. The research has shown, on the one hand, the decline in the number of farms in the region and, on the other hand, the increase in the diversity of the tourist offer of these entities. Distribution of agritourism farms is closely linked to the attractiveness of natural environment and quality of secondary tourism resources. Traditional agritourism has not yet fully used its countryside, as well as cross-border advantages of its location.

Laughter on the Fringes

2019 ◽  
Author(s):  
Anna Peterson
Keyword(s):  
The Other ◽  
Literary Canon ◽  
Autobiographical Writing ◽  
Treasure Trove ◽  
Old Comedy ◽  
Other Hand ◽  
Aggressive Humor ◽  
The One ◽  
The Individual ◽  
The Impact

This book examines the impact that Athenian Old Comedy had on Greek writers of the Imperial era. It is generally acknowledged that Imperial-era Greeks responded to Athenian Old Comedy in one of two ways: either as a treasure trove of Atticisms, or as a genre defined by and repudiated for its aggressive humor. Worthy of further consideration, however, is how both approaches, and particularly the latter one that relegated Old Comedy to the fringes of the literary canon, led authors to engage with the ironic and self-reflexive humor of Aristophanes, Eupolis, and Cratinus. Authors ranging from serious moralizers (Plutarch and Aelius Aristides) to comic writers in their own right (Lucian, Alciphron), to other figures not often associated with Old Comedy (Libanius) adopted aspects of the genre to negotiate power struggles, facilitate literary and sophistic rivalries, and provide a model for autobiographical writing. To varying degrees, these writers wove recognizable features of the genre (e.g., the parabasis, its agonistic language, the stage biographies of the individual poets) into their writings. The image of Old Comedy that emerges from this time is that of a genre in transition. It was, on the one hand, with the exception of Aristophanes’s extant plays, on the verge of being almost completely lost; on the other hand, its reputation and several of its most characteristic elements were being renegotiated and reinvented.

Freedom of Expression versus Privacy and the Right to Reputation

2017 ◽  
Author(s):  
Dirk Voorhoof
Keyword(s):  
Public Interest ◽  
Freedom Of Expression ◽  
Media Freedom ◽  
Investigative Journalism ◽  
The Public ◽  
The Right Of Privacy ◽  
The One ◽  
Grand Chamber ◽  
The Right ◽  
The Impact

The normative perspective of this chapter is how to guarantee respect for the fundamental values of freedom of expression and journalistic reporting on matters of public interest in cases where a (public) person claims protection of his or her right to reputation. First it explains why there is an increasing number and expanding potential of conflicts between the right to freedom of expression and media freedom (Article 10 ECHR), on the one hand, and the right of privacy and the right to protection of reputation (Article 8 ECHR), on the other. In addressing and analysing the European Court’s balancing approach in this domain, the characteristics and the impact of the seminal 2012 Grand Chamber judgment in Axel Springer AG v. Germany (no. 1) are identified and explained. On the basis of the analysis of the Court’s subsequent jurisprudence in defamation cases it evaluates whether this case law preserves the public watchdog-function of media, investigative journalism and NGOs reporting on matters of public interest, but tarnishing the reputation of public figures.

Preaching and Sermons

2017 ◽  
Author(s):  
Robert H. Ellison
Keyword(s):  
Eighteenth Century ◽  
North Atlantic ◽  
Religious Revival ◽  
Early Nineteenth Century ◽  
Denominational Identity ◽  
The North ◽  
The North Atlantic ◽  
The One ◽  
The Impact

Prompted by the convulsions of the late eighteenth century and inspired by the expansion of evangelicalism across the North Atlantic world, Protestant Dissenters from the 1790s eagerly subscribed to a millennial vision of a world transformed through missionary activism and religious revival. Voluntary societies proliferated in the early nineteenth century to spread the gospel and transform society at home and overseas. In doing so, they engaged many thousands of converts who felt the call to share their experience of personal conversion with others. Though social respectability and business methods became a notable feature of Victorian Nonconformity, the religious populism of the earlier period did not disappear and religious revival remained a key component of Dissenting experience. The impact of this revitalization was mixed. On the one hand, growth was not sustained in the long term and, to some extent, involvement in interdenominational activity undermined denominational identity; on the other hand, Nonconformists gained a social and political prominence they had not enjoyed since the middle of the seventeenth century and their efforts laid the basis for the twentieth-century explosion of evangelicalism in Africa, Asia, and South America.

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