scholarly journals Movement generalization of variable initial task state based on Euclidean transformation dynamical movement primitives

2021 ◽  
Vol 18 (6) ◽  
pp. 172988142110655
Author(s):  
Boyang Ti ◽  
Yongsheng Gao ◽  
Ming Shi ◽  
Le Fu ◽  
Jie Zhao
Keyword(s):  
Three Dimensional ◽  
Shape Features ◽  
Complex Environment ◽  
Initial State ◽  
Real Situation ◽  
Movement Primitives ◽  
Initial Task ◽  
Unstructured Environment ◽  
State Changes ◽  
Movement Imitation

Robots need the ability to tackle problems of movement generalization in variable task state and complex environment. Dynamical movement primitives can effectively endow robots with humanoid characteristics. However, when the initial state of tasks changes, the generalized trajectories by dynamical movement primitives cannot retain shape features of demonstration, resulting in the loss of imitation quality. In this article, a modified dynamical movement primitives based on Euclidean transformation is proposed to solve this problem. It transforms the initial task state to a virtual situation similar to the demonstration and then utilizes the dynamical movement primitive method to realize movement generalization. Finally, it reverses the movement back to the real situation. Besides, the information of obstacles is added to Euclidean transformation based dynamical movement primitives framework to endow robots with the ability of obstacle avoidance. The normalized root-mean-square error is proposed as the criterion to evaluate the imitation similarity. The feasibility of this method is verified through writing letters, wiping whiteboard in two-dimensional task, and stirring mixture in three-dimensional task. The results show that the similarity of movement imitation in the proposed method is higher than dynamical movement primitives when the initial state changes. Meanwhile, Euclidean transformation based dynamical movement primitives can still greatly retain shape feature of demonstration while avoiding obstacles in an unstructured environment.

scholarly journals Seismic Vertical Component Effects on the Pathology of a Historical Structure, Xana, Located in Greece

2021 ◽  
Vol 7 ◽  
Author(s):  
Vasiliki Terzi ◽  
Asimina Athanatopoulou
Keyword(s):  
Seismic Analysis ◽  
Near Field ◽  
Three Dimensional ◽  
Vertical Component ◽  
Element Model ◽  
Material Behavior ◽  
Initial State ◽  
Tensile Cracks ◽  
First Case ◽  
Three Dimensional Finite Element

The present study aims to investigate the effects of the seismic vertical component on the pathology of Xana monument which is a typical caravanserai, constructed circa 1375–1385 and is located in the archeological site of the municipality of Trainapoulis, Greece. The monument’s plan is rectangular and the three-leaf masonry circumferential walls support a hemicylindrical dome constructed by bricks and mortar. The structure consisted of two consecutive parts: one for the travelers and one for the animals. Nowadays, the triangular roof, that covered the structure, and the first part of the monument do not exist. Xana suffers tensile cracks along the interior surface of the dome, a vertical fracture located on the northern wall and vertical tensile cracks located at the openings. A three-dimensional finite element model of the initial state of Xana is constructed. Non-linear material behavior is taken into account as well as soil-structure interaction effects. An adequate number of near-field earthquake events has been used, taking into account that they are related to significant vertical components. The structural seismic analysis is conducted for two cases. The first case refers to the action of the two horizontal-component of ground motions while the second one takes into account the three translational seismic components. The pathology estimation reveals important information concerning the structural effects due to vertical accelerations.

scholarly journals ABOUT WAVELET-BASED MULTIGRID NUMERICAL METHOD OF STRUCTURAL ANALYSIS WITH THE USE OF DISCRETE HAAR BASIS

2018 ◽  
Vol 14 (3) ◽  
pp. 83-102
Author(s):  
Marina L. Mozgaleva ◽  
Pavel A. Akimov ◽  
Taymuraz B. Kaytukov
Keyword(s):  
Structural Analysis ◽  
Three Dimensional ◽  
Grid Method ◽  
Discrete Analogue ◽  
Algebraic Equations ◽  
Initial State ◽  
Haar Basis ◽  
Linear Algebraic Equations ◽  
Gauss Method ◽  
Original Grid

he distinctive paper is devoted to so-called multigrid (particularly two-grid) method of structural analysis based on discrete Haar basis (one-dimensional, two-dimensional and three-dimensional problems are under consideration). Approximations of the mesh functions in discrete Haar bases of zero and first levels are described (the mesh function is represented as the sum in which one term is its approximation of the first level, and the second term is so-called complement (up to the initial state) on the grid of the first level). Special projectors are constructed for the spaces of vector functions of the original grid to the space of their approximation on the first-level grid and its complement (the refinement component) to the initial state. Basic scheme of the two-grid method is presented. This method allows solution of boundary problems of structural mechanics with the use of matrix operators of significantly smaller dimension. It should be noted that discrete analogue of the initial operator equation is a system of linear algebraic equations which is constructed with the use of finite element method or finite difference method. Block Gauss method can be used for direct solution.

scholarly journals THREE-DIMENSIONAL PATH PLANNING OF UAVS IMAGING FOR COMPLETE PHOTOGRAMMETRIC RECONSTRUCTION

2020 ◽  
Vol V-1-2020 ◽  
pp. 325-331
Author(s):  
S. Zhang ◽  
C. Liu ◽  
N. Haala
Keyword(s):  
Path Planning ◽  
3D Reconstruction ◽  
Three Dimensional ◽  
Planning Method ◽  
Multiple Views ◽  
Complex Environment ◽  
Flight Planning ◽  
Coarse Model ◽  
Imaging Sensors ◽  
Ship Lock

Abstract. Lightweight unmanned aerial vehicles (UAVs) have been widely used in image acquisition for 3D reconstruction. With the availability of compact and high-end imaging sensors, UAVs can be the platform for precise photogrammetric reconstruction. However, the completeness and precision of complex environment or targets highly rely on the flight planning due to the self-occlusion of structures. Flight paths with back-and-forth pattern and nadir views will result in incompleteness and precision loss of the 3D reconstruction. Therefore, multiple views from different directions are preferred in order to eliminate the occlusion. We propose a 3D path planning method for multirotor UAVs aiming at capturing images for complete and precise photogrammetric 3D reconstructions. This method takes the coarse model from an initial flight as prior knowledge and estimates its completeness and precision. New imaging positions are then planned taking photogrammetric constraints into account. The real-world experiment on a ship lock shows that the proposed method can acquire a more complete result with similar precision compared with an existing 3D planning method.

Non-Equilibrium Critical Relaxation of Heisenberg Ferromagnets with Long-Range Correlated Defects

2012 ◽  
Vol 190 ◽  
pp. 39-42
Author(s):  
M. Medvedeva ◽  
Pavel V. Prudnikov
Keyword(s):  
Monte Carlo ◽  
Monte Carlo Simulations ◽  
Critical Behavior ◽  
Critical Exponents ◽  
Heisenberg Model ◽  
Three Dimensional ◽  
Initial State ◽  
Short Time ◽  
Theoretic Description ◽  
Good Agreement

The dynamic critical behavior of the three-dimensional Heisenberg model with longrangecorrelated disorder was studied by using short-time Monte Carlo simulations at criticality.The static and dynamic critical exponents are determined. The simulation was performed fromordered initial state. The obtained values of the exponents are in a good agreement with resultsof the field-theoretic description of the critical behavior of this model in the two-loopapproximation.

Dynamically Feasible Periodic Trajectories for Generic Spatial Three-Degree-of-Freedom Cable-Suspended Parallel Robots1

2018 ◽  
Vol 10 (3) ◽  
Author(s):  
Giovanni Mottola ◽  
Clément Gosselin ◽  
Marco Carricato
Keyword(s):  
Real Time ◽  
General Type ◽  
Three Dimensional ◽  
Initial State ◽  
End Effector ◽  
Periodic Trajectories ◽  
Real Time Applications ◽  
State Of Rest ◽  
Three Degree Of Freedom ◽  
Inertia Forces

Cable-suspended robots may move beyond their static workspace by keeping all cables under tension, thanks to end-effector inertia forces. This may be used to extend the robot capabilities, by choosing suitable dynamical trajectories. In this paper, we consider three-dimensional (3D) elliptical trajectories of a point-mass end effector suspended by three cables from a base of generic geometry. Elliptical trajectories are the most general type of spatial sinusoidal motions. We find a range of admissible frequencies for which said trajectories are feasible; we also show that there is a special frequency, which allows the robot to have arbitrarily large oscillations. The feasibility of these trajectories is verified via algebraic conditions that can be quickly verified, thus being compatible with real-time applications. By generalizing previous studies, we also study the possibility to change the frequency of oscillation: this allows the velocity at which a given ellipse is tracked to be varied, thus providing more latitude in the trajectory definition. We finally study transition trajectories to move the robot from an initial state of rest (within the static workspace) to the elliptical trajectory (and vice versa) or to connect two identical ellipses having different centers.

Three-Dimensional Simulation of Wheel Topography

2011 ◽  
Vol 487 ◽  
pp. 149-154 ◽  
Author(s):  
Qiang Feng ◽  
Qian Wang ◽  
Cheng Zu Ren
Keyword(s):  
Surface Topography ◽  
Grain Shape ◽  
Three Dimensional ◽  
Angle Distribution ◽  
Structural Components ◽  
Wheel Surface ◽  
Real Situation ◽  
Wheel Topography ◽  
Topography Model ◽  
Dimensional Simulation

Simulation of wheel surface topography is one key aspect of modeling the grinding process. A three-dimensional wheel topography model not only makes the simulated wheel topography more close to the real situation, but also benefits evaluation of wheel machinability and wears condition. This paper presents a physical model for simulation of three-dimensional wheel surface topography. Wheel structural components, grain shape, angle distribution of cutting edges, and the binding materials are considered in the model. Feasibility of the model is indicated by the simulation examples.

scholarly journals Phase Transition at the Metric Elastic Universe

1996 ◽  
Vol 168 ◽  
pp. 569-570
Author(s):  
Alexander Gusev
Keyword(s):  
Phase Transition ◽  
Constitutive Relations ◽  
Three Dimensional ◽  
Vacuum State ◽  
Space Time ◽  
Deformation Tensor ◽  
De Sitter ◽  
Initial State ◽  
Deformation State ◽  
The Universe

At the last time the concept of the curved space-time as the some medium with stress tensor σαβon the right part of Einstein equation is extensively studied in the frame of the Sakharov - Wheeler metric elasticity(Sakharov (1967), Wheeler (1970)). The physical cosmology pre- dicts a different phase transitions (Linde (1990), Guth (1991)). In the frame of Relativistic Theory of Finite Deformations (RTFD) (Gusev (1986)) the transition from the initial stateof the Universe (Minkowskian's vacuum, quasi-vacuum(Gliner (1965), Zel'dovich (1968)) to the final stateof the Universe(Friedmann space, de Sitter space) has the form of phase transition(Gusev (1989) which is connected with different space-time symmetry of the initial and final states of Universe(from the point of view of isometric groupGnof space). In the RTFD (Gusev (1983), Gusev (1989)) the space-time is described by deformation tensorof the three-dimensional surfaces, and the Einstein's equations are viewed as the constitutive relations between the deformations ∊αβand stresses σαβ. The vacuum state of Universe have the visible zero physical characteristics and one is unsteady relatively quantum and topological deformations (Gunzig & Nardone (1989), Guth (1991)). Deformations of vacuum state, identifying with empty Mikowskian's space are described the deformations tensor ∊αβ, wherethe metrical tensor of deformation state of 3-geometry on the hypersurface, which is ortogonaled to the four-velocityis the 3 -geometry of initial state,is a projection tensor.

Investigation of intelligent reversible diaphragm using shape memory polymers

2017 ◽  
Vol 29 (7) ◽  
pp. 1500-1509 ◽  
Author(s):  
Ran Tao ◽  
Qing-Sheng Yang ◽  
Xia Liu ◽  
Xiao-Qiao He ◽  
Kim-Meow Liew
Keyword(s):  
Shape Memory ◽  
Strain Energy ◽  
Structural Parameters ◽  
Shape Memory Polymer ◽  
Three Dimensional ◽  
Nonlinear Finite Element Method ◽  
Three Dimensional Model ◽  
Initial State ◽  
Whole Process ◽  
Propellant Tank

This article describes design and analysis of a novel reversible diaphragm using shape memory polymer. The reversible diaphragm could be applied to space engineering, such as propellant tank of rocket. The shape memory polymer diaphragm can automatically recover to the initial state after the overturning deformation and thus can be used repeatedly. A three-dimensional model is established to study the overturning and recovery behavior of the shape memory polymer diaphragm.The nonlinear finite element method based on the thermodynamic constitutive equations of shape memory polymer is used to obtain pressure -displacement relations and strain energy variation of SMP diaphragm with approximately hemispherical shape in the whole process of the overturning deformation. The influence of structural parameters and temperature on the overturning and recover behavior is discussed.

Bubble Behavior at an Uneven Wall

2016 ◽  
Author(s):  
H. Shmueli ◽  
G. Ziskind ◽  
R. Letan
Keyword(s):  
Bubble Growth ◽  
Three Dimensional ◽  
Grid Method ◽  
Numerical Code ◽  
Interface Tracking ◽  
Bubble Behavior ◽  
Three Dimensional Model ◽  
Surface Geometry ◽  
Initial State ◽  
Channel Orientation

The present study deals with single bubble growth on an uneven wall. A model problem is defined and solved using a three-dimensional numerical simulation. The wall has the shape of a triangular cavity and feature vortices. The equations solved in the present study are based on macro region modelling of the bubble alone and describe its growth from the initial state to detachment from the surface and consequent motion. The model includes a simultaneous solution of conservation equations for the liquid and gaseous phases, in conjunction with three-dimensional interface tracking. The latter is achieved using the level-set method. The numerical modeling includes the multi-grid method. The complete three-dimensional model is discretized using an original in-house numerical code realized in MATLAB. Different cases of bubble growth on the triangular cavity walls are investigated. The main conclusion from the calculations is that the bubble shape and its growth rate strongly depend on its location and on the channel orientation. New features, not possible for flat walls and special for this case, are revealed and discussed. It is demonstrated that under certain conditions, the bubble is obstructed by the surface geometry. It is also shown how a growing bubble affects the flow field inside a cavity, interacting with the vortex structure.

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