Search results for: Motion model

Authors: M. Pasbani Khiavi, M. A. Ghorbani

Abstract:

This paper presents an analytical solution to get a reliable estimation of the hydrodynamic pressure on gravity dams induced by vertical component earthquake when solving the fluid and dam interaction problem. Presented analytical technique is presented for calculation of earthquake-induced hydrodynamic pressure in the reservoir of gravity dams allowing for water compressibility and wave absorption at the reservoir bottom. This new analytical solution can take into account the effect of bottom material on seismic response of gravity dams. It is concluded that because the vertical component of ground motion causes significant hydrodynamic forces in the horizontal direction on a vertical upstream face, responses to the vertical component of ground motion are of special importance in analysis of concrete gravity dams subjected to earthquakes.

Keywords: Dam, Reservoir, Analytical solution, Vertical component, Earthquake

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Authors: Ming-Hui Lee, Iau-Teh Wang

Abstract:

The innovative fuzzy estimator is used to estimate the ground motion acceleration of the retaining structure in this study. The Kalman filter without the input term and the fuzzy weighting recursive least square estimator are two main portions of this method. The innovation vector can be produced by the Kalman filter, and be applied to the fuzzy weighting recursive least square estimator to estimate the acceleration input over time. The excellent performance of this estimator is demonstrated by comparing it with the use of difference weighting function, the distinct levels of the measurement noise covariance and the initial process noise covariance. The availability and the precision of the proposed method proposed in this study can be verified by comparing the actual value and the one obtained by numerical simulation.

Keywords: Earthquake, Fuzzy Estimator, Kalman Filter, Recursive Least Square Estimator.

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Authors: Farhad Sedaghati, Shahram Pezeshk

Abstract:

Regional variations in strong ground motions for the Iranian Plateau have been investigated by using a simple statistical method called Analysis of Variance (ANOVA). In this respect, a large database consisting of 1157 records occurring within the Iranian Plateau with moment magnitudes of greater than or equal to 5 and Joyner-Boore distances up to 200 km has been considered. Geometric averages of horizontal peak ground accelerations (PGA) as well as 5% damped linear elastic response spectral accelerations (SA) at periods of 0.2, 0.5, 1.0, and 2.0 sec are used as strong motion parameters. The initial database is divided into two different datasets, for Northern Iran (NI) and Central and Southern Iran (CSI). The comparison between strong ground motions of these two regions reveals that there is no evidence for significant differences; therefore, data from these two regions may be combined to estimate the unknown coefficients of attenuation relationships.

Keywords: ANOVA, attenuation relationships, Iranian Plateau, PGA, regional variation, SA, strong ground motion.

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Authors: Ricardo Merlo

Abstract:

In this paper, we analyzed the different didactic proposals for teaching about the free fall motion of bodies available online. An important aspect was the interpretation of the direction and sense of the acceleration of gravity and of the falling velocity of a body, which is why we found different applications of the Cartesian reference system used and also different graphical presentations of the velocity as a function of time and of the distance traveled vertically by the body in the period of time that it was dropped from a height h0. In this framework, a survey of previous concepts was applied to a voluntary group of first-year university students of an Engineering degree before and after the development of the class of the subject in question. Then, Hake's index (0.52) was determined, which resulted in an average learning gain from the meaningful use of the reference system and the respective graphs of velocity versus time and height versus time.

Keywords: Didactic gain, free–fall, physics teaching, previous knowledge.

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Authors: Sanjay Baburao Kulkarni

Abstract:

Exact solution of an unsteady flow of elastico-viscous electrically conducting fluid through a porous media in a tube of elliptical cross section under the influence of constant pressure gradient and magnetic field has been obtained in this paper. Initially, the flow is generated by a constant pressure gradient. After attaining the steady state, the pressure gradient is suddenly withdrawn and the resulting fluid motion in a tube of elliptical cross section by taking into account of the transverse magnetic field and porosity factor of the bounding surface is investigated. The problem is solved in twostages the first stage is a steady motion in tube under the influence of a constant pressure gradient, the second stage concern with an unsteady motion. The problem is solved employing separation of variables technique. The results are expressed in terms of a nondimensional porosity parameter (K), magnetic parameter (m) and elastico-viscosity parameter (β), which depends on the Non- Newtonian coefficient. The flow parameters are found to be identical with that of Newtonian case as elastic-viscosity parameter and magnetic parameter tends to zero and porosity tends to infinity. It is seen that the effect of elastico-viscosity parameter, magnetic parameter and the porosity parameter of the bounding surface has significant effect on the velocity parameter.

Keywords: Elastico-viscous fluid, Elliptic cross-section, Porous media, Second order fluids.

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Authors: Ram N. Singh, Abraham K. George, Dawood N. Al-Namaani

Abstract:

The Euler-s equation of motion is extended to include the viscosity stress tensor leading to the formulation of Navier– Stokes type equation. The latter is linearized and applied to investigate the rotational motion or vorticity in a viscous fluid. Relations for the velocity of viscous waves and attenuation parameter are obtained in terms of viscosity (μ) and the density (¤ü) of the fluid. μ and ¤ü are measured experimentally as a function of temperature for two different samples of light and heavy crude oil. These data facilitated to determine the activation energy, velocity of viscous wave and the attenuation parameter. Shear wave velocity in heavy oil is found to be much larger than the light oil, whereas the attenuation parameter in heavy oil is quite low in comparison to light one. The activation energy of heavy oil is three times larger than light oil.

Keywords: Activation Energy, Attenuation, Crude Oil, Navier- Stokes Equation, Viscosity.

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Authors: Konstantinos C. Kartsakalis, Angeliki Skoura, Vasileios Megalooikonomou

Abstract:

The fuzzy composition of objects depicted in images acquired through MR imaging or the use of bio-scanners has often been a point of controversy for field experts attempting to effectively delineate between the visualized objects. Modern approaches in medical image segmentation tend to consider fuzziness as a characteristic and inherent feature of the depicted object, instead of an undesirable trait. In this paper, a novel technique for efficient image retrieval in the context of images in which segmented objects are either crisp or fuzzily bounded is presented. Moreover, the proposed method is applied in the case of multiple, even conflicting, segmentations from field experts. Experimental results demonstrate the efficiency of the suggested method in retrieving similar objects from the aforementioned categories while taking into account the fuzzy nature of the depicted data.

Keywords: Fuzzy Object, Fuzzy Image Segmentation, Motion Descriptors, MRI Imaging, Object-Based Image Retrieval.

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Authors: Tainchi Lu, Chochih Lin

Abstract:

With a rapid growth in 3D graphics technology over the last few years, people are desired to see more flexible reacting motions of a biped in animations. In particular, it is impossible to anticipate all reacting motions of a biped while facing a perturbation. In this paper, we propose a three-level tracking method for animating a 3D humanoid character. First, we take the laws of physics into account to attach physical attributes, such as mass, gravity, friction, collision, contact, and torque, to bones and joints of a character. The next step is to employ PD controller to follow a reference motion as closely as possible. Once the character cannot tolerate a strong perturbation to prevent itself from falling down, we are capable of tracking a desirable falling-down action to avoid any falling condition inaccuracy. From the experimental results, we demonstrate the effectiveness and flexibility of the proposed method in comparison with conventional data-driven approaches.

Keywords: Character Animation, Forward Dynamics, Motion Tracking, PD Control.

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Authors: Satyendra Pratap Singh, S. P. Singh

Abstract:

This paper presents a methodology using Gravitational Search Algorithm for optimal placement of Phasor Measurement Units (PMUs) in order to achieve complete observability of the power system. The objective of proposed algorithm is to minimize the total number of PMUs at the power system buses, which in turn minimize installation cost of the PMUs. In this algorithm, the searcher agents are collection of masses which interact with each other using Newton’s laws of gravity and motion. This new Gravitational Search Algorithm based method has been applied to the IEEE 14-bus, IEEE 30-bus and IEEE 118-bus test systems. Case studies reveal optimal number of PMUs with better observability by proposed method.

Keywords: Gravitational Search Algorithm (GSA), Law of Motion, Law of Gravity, Observability, Phasor Measurement Unit.

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Authors: Z.D. Yang, E.S.S. Lam

Abstract:

Considering the merits and limitations of energy dissipation system, seismic isolation system and suspension system, a new earthquake resistant system is proposed and is demonstrated numerically through a frame-core structure. Base isolators and story isolators are installed in the proposed system. The former “isolates" the frame from the foundation and the latter “separates" the frame from the center core. Equations of motion are formulated to study the response of the proposed structural system to strong earthquake motion. As compared with the fixed-base building system, the proposed structural system shows substantial reduction on structural response.

Keywords: Base Isolator, Core-tube, Isolated frame, Seismic Mitigation, Story Isolator

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Authors: Hosein Falahaty, Hitoshi Gotoh, Abbas Khayyer

Abstract:

Performance of a Hamiltonian based particle method in simulation of nonlinear structural dynamics is subjected to investigation in terms of stability and accuracy. The governing equation of motion is derived based on Hamilton's principle of least action, while the deformation gradient is obtained according to Weighted Least Square method. The hyper-elasticity models of Saint Venant-Kirchhoff and a compressible version similar to Mooney- Rivlin are engaged for the calculation of second Piola-Kirchhoff stress tensor, respectively. Stability along with accuracy of numerical model is verified by reproducing critical stress fields in static and dynamic responses. As the results, although performance of Hamiltonian based model is evaluated as being acceptable in dealing with intense extensional stress fields, however kinds of instabilities reveal in the case of violent collision which can be most likely attributed to zero energy singular modes.

Keywords: Hamilton's principle of least action, particle based method, hyper-elasticity, analysis of stability.

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Authors: Hossein Pazhoumand-Dar, Amir Mohsen Toliyat Abolhassani, Ehsan Saeedi

Abstract:

Speed estimation is one of the important and practical tasks in machine vision, Robotic and Mechatronic. the availability of high quality and inexpensive video cameras, and the increasing need for automated video analysis has generated a great deal of interest in machine vision algorithms. Numerous approaches for speed estimation have been proposed. So classification and survey of the proposed methods can be very useful. The goal of this paper is first to review and verify these methods. Then we will propose a novel algorithm to estimate the speed of moving object by using fuzzy concept. There is a direct relation between motion blur parameters and object speed. In our new approach we will use Radon transform to find direction of blurred image, and Fuzzy sets to estimate motion blur length. The most benefit of this algorithm is its robustness and precision in noisy images. Our method was tested on many images with different range of SNR and is satisfiable.

Keywords: Blur Analysis, Fuzzy sets, Speed estimation.

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Authors: Khin Thandar Lwin, Than Htike, Zaw Min Naing

Abstract:

This paper introduces an intelligent system, which can be applied in the monitoring of vehicle speed using a single camera. The ability of motion tracking is extremely useful in many automation problems and the solution to this problem will open up many future applications. One of the most common problems in our daily life is the speed detection of vehicles on a highway. In this paper, a novel technique is developed to track multiple moving objects with their speeds being estimated using a sequence of video frames. Field test has been conducted to capture real-life data and the processed results were presented. Multiple object problems and noisy in data are also considered. Implementing this system in real-time is straightforward. The proposal can accurately evaluate the position and the orientation of moving objects in real-time. The transformations and calibration between the 2D image and the actual road are also considered.

Keywords: Motion Estimation, Image Analyses, Speed Detection

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Authors: T.C. Manjunath,

Abstract:

This paper features the trajectory planning design of a indigenously developed 4-Axis SCARA robot which is used for doing successful robotic manipulation task in the laboratory. Once, a trajectory is being designed and given as input to the robot, the robot's gripper tip moves along that specified trajectory. Trajectories have to be designed in the work space only. The main idea of this paper is to design a continuous path trajectory model for the indigenously developed SCARA robot arm during its maneuvering from one point to another point (during pick and place operations) in a workspace avoiding all the obstacles in its path of motion.

Keywords: SCARA, Trajectory, Planning.

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Authors: K. Sakthivel, R. Nallusamy, C. Kavitha

Abstract:

The goal of image segmentation is to cluster pixels into salient image regions. Segmentation could be used for object recognition, occlusion boundary estimation within motion or stereo systems, image compression, image editing, or image database lookup. In this paper, we present a color image segmentation using support vector machine (SVM) pixel classification. Firstly, the pixel level color and texture features of the image are extracted and they are used as input to the SVM classifier. These features are extracted using the homogeneity model and Gabor Filter. With the extracted pixel level features, the SVM Classifier is trained by using FCM (Fuzzy C-Means).The image segmentation takes the advantage of both the pixel level information of the image and also the ability of the SVM Classifier. The Experiments show that the proposed method has a very good segmentation result and a better efficiency, increases the quality of the image segmentation compared with the other segmentation methods proposed in the literature.

Keywords: Image Segmentation, Support Vector Machine, Fuzzy C–Means, Pixel Feature, Texture Feature, Homogeneity model, Gabor Filter.

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Authors: Habtu Alemayehu, G. Radhakrishnamacharya

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The paper presents an analytical solution for dispersion of a solute in the peristaltic motion of a couple stress fluid through a porous medium with slip condition in the presence of both homogeneous and heterogeneous chemical reactions. The average effective dispersion coefficient has been found using Taylor-s limiting condition and long wavelength approximation. The effects of various relevant parameters on the average coefficient of dispersion have been studied. The average effective dispersion coefficient tends to increase with permeability parameter but tends to decrease with homogeneous chemical reaction rate parameter, couple stress parameter, slip parameter and heterogeneous reaction rate parameter.

Keywords: Dispersion, Peristalsis, Couple stress fluid, Porousmedium, Chemical reaction, Slip condition.

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Authors: Xi Gu, Guan Heng Yeoh, Victoria Timchenko

Abstract:

In the current work, a three-dimensional geometry of a 75% stenosed blood vessel is analyzed. Large eddy simulation (LES) with the help of a dynamic subgrid scale Smagorinsky model is applied to model the turbulent pulsatile flow. The geometry, the transmural pressure and the properties of the blood and the elastic boundary were based on clinical measurement data. For the flexible wall model, a thin solid region is constructed around the 75% stenosed blood vessel. The deformation of this solid region was modelled as a deforming boundary to reduce the computational cost of the solid model. Fluid-structure interaction is realized via a twoway coupling between the blood flow modelled via LES and the deforming vessel. The information of the flow pressure and the wall motion was exchanged continually during the cycle by an arbitrary Lagrangian-Eulerian method. The boundary condition of current time step depended on previous solutions. The fluctuation of the velocity in the post-stenotic region was analyzed in the study. The axial velocity at normalized position Z=0.5 shows a negative value near the vessel wall. The displacement of the elastic boundary was concerned in this study. In particular, the wall displacement at the systole and the diastole were compared. The negative displacement at the stenosis indicates a collapse at the maximum velocity and the deceleration phase.

Keywords: Large Eddy Simulation, Fluid Structural Interaction, Constricted Artery, Computational Fluid Dynamics.

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Authors: J. Kavitha, S. Sowmyayani, P. Arockia Jansi Rani

Abstract:

In this paper, a shot boundary detection method is presented using octagon square search pattern. The color, edge, motion and texture features of each frame are extracted and used in shot boundary detection. The motion feature is extracted using octagon square search pattern. Then, the transition detection method is capable of detecting the shot or non-shot boundaries in the video using the feature weight values. Experimental results are evaluated in TRECVID video test set containing various types of shot transition with lighting effects, object and camera movement within the shots. Further, this paper compares the experimental results of the proposed method with existing methods. It shows that the proposed method outperforms the state-of-art methods for shot boundary detection.

Keywords: Content-based indexing and retrieval, cut transition detection, discrete wavelet transform, shot boundary detection, video source.

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Authors: Bala Dhandayuthapani Veerasamy

Abstract:

Parallel programming models exist as an abstraction of hardware and memory architectures. There are several parallel programming models in commonly use; they are shared memory model, thread model, message passing model, data parallel model, hybrid model, Flynn-s models, embarrassingly parallel computations model, pipelined computations model. These models are not specific to a particular type of machine or memory architecture. This paper expresses the model program for concurrent approach to data parallel model through java programming.

Keywords: Concurrent, Data Parallel, JDK, Parallel, Thread

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Authors: Zeinab A.Hussein, Manal S. Abd El-Wahab, Shorouk A. W. El-Shennawy

Abstract:

Children with hemiplgic cerebral palsy often walk with diminished reciprocal arm swing so the purpose of this study was to describe kinematic characteristics in children with hemiplegic cerebral palsy (CP) during the gait suphases, and find if there is a correlation between upper(shoulder and elbow) and lower(hip, knee, and ankle) limb joints either in involved or uninvolved.48 children with hemiplegic cerebral palsy (18boys, 30girls) with an average age of (5.1±0.87) years were selected randomly to evaluate joint angles during gait by 3D motion analysis system with 6 pro reflex cameras in a sagittal plane for both sides of the body. The results showed increased shoulder and elbow flexion, increased hip angular displacement, decreased knee and ankle arcs during gait cycle, also there is correlation between shoulder and elbow to hip, knee, and ankle joints during various subphases of gait.

Keywords: Cerebral palsy, Gait, Hemiplegia, Motion analysis.

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Authors: Barenten Suciu

Abstract:

In this work, effects of the friction and truncation on the dynamics of a double-cone gravitational motor, self-propelled on a straight V-shaped horizontal rail, are evaluated. Such mechanism has a variable radius of contact, and, on one hand, it is similar to a pulley mechanism that changes the potential energy into the kinetic energy of rotation, but on the other hand, it is similar to a pendulum mechanism that converts the potential energy of the suspended body into the kinetic energy of translation along a circular path. Movies of the self- propelled double-cones, made of S45C carbon steel and wood, along rails made of aluminum alloy, were shot for various opening angles of the rails. Kinematical features of the double-cones were estimated through the slow-motion processing of the recorded movies. Then, a kinematical model is derived under assumption that the distance traveled by the contact points on the rectilinear rails is identical with the distance traveled by the contact points on the truncated conical surface. Additionally, a dynamic model, for this particular contact problem, was proposed and validated against the experimental results. Based on such model, the traction force and the traction torque acting on the double-cone are identified. One proved that the rolling traction force is always smaller than the sliding friction force; i.e., the double-cone is rolling without slipping. Results obtained in this work can be used to achieve the proper design of such gravitational motor.

Keywords: Truncated double-cone, friction, rolling and sliding, dynamic model, gravitational motor.

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Authors: Chatchai Pesee

Abstract:

This paper examines long-range dependence or longmemory of financial time series on the exchange rate data by the fractional Brownian motion (fBm). The principle of spectral density function in Section 2 is used to find the range of Hurst parameter (H) of the fBm. If 0< H <1/2, then it has a short-range dependence (SRD). It simulates long-memory or long-range dependence (LRD) if 1/2< H <1. The curve of exchange rate data is fBm because of the specific appearance of the Hurst parameter (H). Furthermore, some of the definitions of the fBm, long-range dependence and selfsimilarity are reviewed in Section II as well. Our results indicate that there exists a long-memory or a long-range dependence (LRD) for the exchange rate data in section III. Long-range dependence of the exchange rate data and estimation of the Hurst parameter (H) are discussed in Section IV, while a conclusion is discussed in Section V.

Keywords: Fractional Brownian motion, long-rangedependence, memory, short-range dependence.

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Authors: Joanna M. Dulińska, Maria Fabijańska

Abstract:

In the paper a detailed analysis of the dynamic response of a cooling tower shell to mining tremors originated from two main regions of mining activity in Poland (Upper Silesian Coal Basin and Legnica-Glogow Copper District) was presented. The representative time histories registered in the both regions were used as ground motion data in calculations of the dynamic response of the structure. It was proved that the dynamic response of the shell is strongly dependent not only on the level of vibration amplitudes but on the dominant frequency range of the mining shock typical for the mining region as well. Also a vertical component of vibrations occurred to have considerable influence on the total dynamic response of the shell. Finally, it turned out that non-uniformity of kinematic excitation resulting from spatial variety of ground motion plays a significant role in dynamic analysis of large-dimensional shells under mining shocks.

Keywords: Cooling towers, dynamic response, mining tremors, non-uniform kinematic excitation

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Authors: Javier Ordorica Villalvazo, Claudia Camargo Wilson, Jesus Everardo Olguin Tiznado

Abstract:

This paper presents an experimental case using sensory thermography to describe temperatures behavior on median nerve once an activity of repetitive motion was done. Thermography is a noninvasive technique without biological hazard and not harm at all times and has been applied in many experiments to seek for temperature patterns that help to understand diseases like cancer and cumulative trauma disorders (CTD’s). An infrared sensory thermography technology was developed to execute this study. Three women in good shape were selected for the repetitive motion tests for 4 days, two right-handed women and 1 left handed woman, two sensory thermographers were put on both median nerve wrists to get measures. The evaluation time was of 3 hours 30 minutes in a controlled temperature, 20 minutes of stabilization time at the beginning and end of the operation. Temperatures distributions are statistically evaluated and showed similar temperature patterns behavior.

Keywords: Median nerve, temperature, sensory thermography, wrists, CTD’s.

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Authors: S. B. Kulkarni, Hasim A. Chikte, V. Murali Mohan

Abstract:

Exact solution of an unsteady MHD flow of elasticoviscous fluid through a porous media in a tube of elliptic cross section under the influence of magnetic field and constant pressure gradient has been obtained in this paper. Initially, the flow is generated by a constant pressure gradient. After attaining the steady state, the pressure gradient is suddenly withdrawn and the resulting fluid motion in a tube of elliptical cross section by taking into account of the porosity factor and magnetic parameter of the bounding surface is investigated. The problem is solved in two-stages the first stage is a steady motion in tube under the influence of a constant pressure gradient, the second stage concern with an unsteady motion. The problem is solved employing separation of variables technique. The results are expressed in terms of a non-dimensional porosity parameter, magnetic parameter and elastico-viscosity parameter, which depends on the Non-Newtonian coefficient. The flow parameters are found to be identical with that of Newtonian case as elastic-viscosity parameter, magnetic parameter tends to zero, and porosity tends to infinity. The numerical results were simulated in MATLAB software to analyze the effect of Elastico-viscous parameter, porosity parameter, and magnetic parameter on velocity profile. Boundary conditions were satisfied. It is seen that the effect of elastico-viscosity parameter, porosity parameter and magnetic parameter of the bounding surface has significant effect on the velocity parameter.

Keywords: Elastico-viscous fluid, Porous media, Elliptic cross-section, Magnetic parameter, Numerical Simulation.

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Authors: Srikanth L., Neelima Satyam D.

Abstract:

The transmission line towers are one of the important life line structures in the distribution of power from the source to the various places for several purposes. The predominant external loads which act on these towers are wind and earthquake loads. In this present study tower is analyzed using Indian Standards IS: 875:1987(Wind Load), IS: 802:1995(Structural steel), IS:1893:2002 (Earthquake) and dynamic analysis of tower has been performed considering ground motion of 2001 Bhuj Earthquake (India). The dynamic analysis was performed considering a tower system consisting two towers spaced 800m apart and 35m height each. This analysis has been performed using numerical time stepping finite difference method which is central difference method were employed by a developed MATLAB program to get the normalized ground motion parameters includes acceleration, frequency, velocity which are important in designing the tower. The tower is analyzed using response spectrum analysis.

Keywords: Response Spectra, Dynamic Analysis, Central Difference Method, Transmission Tower.

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Authors: Khaled M. Nabil

Abstract:

This paper introduces the Nested Vortexes conception of the universe structure and interprets all the physical phenomena according this conception. The paper first reviews recent physics theories, either in microscopic scale or macroscopic scale, to collect evidence that the space is not empty. But, these theories describe the property of the space medium without determining its structure. Determining the structure of space medium is essential to understand the mechanism that leads to its properties. Without determining the space medium structure, many phenomena; such as electric and magnetic fields, gravity, or wave-particle duality remain uninterpreted. Thus, this paper introduces a conception about the structure of the universe. It assumes that the universe is a medium of ultra-tiny homogeneous particles which are still undiscovered. Like any medium with certain movements, possibly because of a great asymmetric explosion, vortexes have occurred. A vortex condenses the ultra-tiny particles in its center forming a bigger particle, the bigger particles, in turn, could be trapped in a bigger vortex and condense in its center forming a much bigger particle and so on. This conception describes galaxies, stars, protons as particles at different levels. Existing of the particle’s vortexes make the consistency of the speed of light postulate is not true. This conception shows that the vortex motion dynamic agrees with the motion of all the universe particles at any level. An experiment has been carried out to detect the orbiting effect of aggregated vortexes of aligned atoms of a permanent magnet. Based on the described particle’s structure, the gravity force of a particle and attraction between particles as well as charge, electric and magnetic fields and quantum mechanics characteristics are interpreted. All augmented physics phenomena are solved.

Keywords: Astrophysics, cosmology, particles’ structure model, particles’ forces, vortex dynamics.

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Authors: M. Zahedian, B. Maraghechi, M. H. Rouhani

Abstract:

A nonlinear model of two-beam free-electron laser (FEL) in the absence of slippage is presented. The two beams are assumed to be cold with different energies and the fundamental resonance of the higher energy beam is at the third harmonic of lower energy beam. By using Maxwell-s equations and full Lorentz force equations of motion for the electron beams, coupled differential equations are derived and solved numerically by the fourth order Runge–Kutta method. In this method a considerable growth of third harmonic electromagnetic field in the XUV and X-ray regions is predicted.

Keywords: Free-electron laser, Higher energy beam, Lowerenergy beam, Two-beam

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Authors: Amit Gil, Helman Stern, Yael Edan

Abstract:

A cognitive collaborative reinforcement learning algorithm (CCRL) that incorporates an advisor into the learning process is developed to improve supervised learning. An autonomous learner is enabled with a self awareness cognitive skill to decide when to solicit instructions from the advisor. The learner can also assess the value of advice, and accept or reject it. The method is evaluated for robotic motion planning using simulation. Tests are conducted for advisors with skill levels from expert to novice. The CCRL algorithm and a combined method integrating its logic with Clouse-s Introspection Approach, outperformed a base-line fully autonomous learner, and demonstrated robust performance when dealing with various advisor skill levels, learning to accept advice received from an expert, while rejecting that of less skilled collaborators. Although the CCRL algorithm is based on RL, it fits other machine learning methods, since advisor-s actions are only added to the outer layer.

Keywords: Robot learning, human-robot collaboration, motion planning, reinforcement learning.

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Authors: Brahim Brahmi, Mohammed Hamza Laraki, Mohammad Habibur Rahman, Islam M. Rasedul, M. Assad Uz-Zaman

Abstract:

The humanoid robot, specifically the NAO robot must be able to provide a highly dynamic performance on the soccer field. Maintaining the balance of the humanoid robot during the required motion is considered as one of a challenging problems especially when the robot is subject to external disturbances, as contact with other robots. In this paper, a dynamic controller is proposed in order to ensure a robust walking (stabilization) and to improve the dynamic balance of the robot during its contact with the environment (external disturbances). The generation of the trajectory of the center of mass (CoM) is done by a model predictive controller (MPC) conjoined with zero moment point (ZMP) technique. Taking into account the properties of the rotational dynamics of the whole-body system, a modified previous control mixed with feedback control is employed to manage the angular momentum and the CoM’s acceleration, respectively. This latter is dedicated to provide a robust gait of the robot in the presence of the external disturbances. Simulation results are presented to show the feasibility of the proposed strategy.

Keywords: Preview control, walking, stabilization, humanoid robot.

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