Search results for "Simulation."
showing 10 items of 4779 documents
ROS/Gazebo Based Simulation of Co-operative UAVs
2019
UAVs can be assigned different tasks such as e.g., rendez-vous and space coverage, which require processing and communication capabilities. This work extends the architecture ROS/Gazebo with the possibility of simulation of co-operative UAVs. We assume UAV with the underlying attitude controller based on the open-source Ardupilot software. The integration of the co-ordination algorithm in Gazebo is implemented with software modules extending Ardupilot with the capability of sending/receiving messages to/from drones, and executing the co-ordination protocol. As far as it concerns the simulation environment, we have extended the world in Gazebo to hold more than one drone and to open a specif…
Co-simulation and Formal Verification of Co-operative Drone Control With Logic-Based Specifications
2021
Abstract Unmanned aerial vehicle (UAV) co-operative systems are complex cyber-physical systems that integrate a high-level control algorithm with pre-existing closed implementations of lower-level vehicle kinematics. In model-driven development, simulation is one of the techniques that are usually applied, together with testing, in the analysis of system behaviours. This work proposes a method and tools to validate the design of UAV co-operative systems based on co-simulation and formal verification. The method uses the Prototype Verification System, an interactive theorem prover based on a higher-order logic language, and the Functional Mock-up Interface, a widely accepted standard for co-…
A fast and efficient modified sectional method for simulating multicomponent collisional kinetics
1999
A fast and efficient method for simulating the evolution of internally mixed multicomponent particle size distributions for aerosol coagulation and droplet coalescence is developed. The technique is based upon a bin-wise sectionalization of the particle mass domain and by imposing the condition of mass conservation for each component. The distribution of each species as a function of the total particle mass is represented in each mass bin as a two-parameter exponential function. Particles of a given mass are assumed to be internally homogeneously mixed. The method is shown to be numerically stable for a wide range of time steps. The numerical solution is compared with both analytical result…
Experimental analysis of bubble size distributions in 2D gas fluidized beds
2010
Abstract The present work focuses on the development of a novel statistical approach for the analysis of the behavior of a 2D fluidized bed operating under bubbling and slugging conditions. Experimental data were collected by means of a purposely built lab-scale 2D fluidized bed and an original digital image analysis technique (DIAT), allowing the acquisition of a number of data sufficient to perform a statistical analysis of bubble dynamics. In particular, measurements of bubble size distributions (BSD) along the bed were performed. The analysis allowed to characterize the shape of BSD for different particle systems and fluidization gas velocities; interestingly a bimodal shape of BSD is o…
Numerical modelling of fatigue crack initiation of martensitic steel
2010
Numerical simulation of micro-crack initiation that is based on Tanaka-Mura micro-crack nucleation model is presented. Three improvements were added to this model. Firstly, multiple slip bands where micro-cracks may occur are used in each grain. Second improvement deals with micro-crack coalescence by extending existing micro-cracks along grain boundaries and connecting them into a macro-crack. The third improvement handles segmented micro-crack generation, where a micro-crack is not nucleated in one step like in Tanaka-Mura model, but is instead generated in multiple steps. Numerical simulation of crack-initiation was performed with ABAQUS, using a plug-in that was written specially for ha…
Numerical modelling of fatigue crack initiation and growth of martensitic steels
2010
This paper presents a numerical simulation of micro-crack initiation that is based on Tanaka-Mura micro-crack nucleation model. Three improvements were added to this model. First, multiple slip bands where micro-cracks may occur are used in each grain. Second improvement deals with micro-crack coalescence by extending existing micro-cracks along grain boundaries and connecting them into a macro-crack. The third improvement handles segmented micro-crack generation, where a micro-crack is not nucleated in one step like in Tanaka-Mura model, but is instead generated in multiple steps. High cycle fatigue testing was also performed and showed reasonably good correlation of proposed model to expe…
Wind tunnel study on the size distribution of droplets after collision induced breakup of levitating water drops
2018
Abstract Wind tunnel experiments on collisions between drop pairs of 2.5 and 0.5 mm diameter have been performed and the coalescence and breakup events have been recorded by a high-speed digital camera. From the comprehensive analysis of the captured images, the most important parameters utilized in numerical models, such as coalescence efficiency, breakup type, number of fragments and fragment size distribution after breakup were determined. The experimentally obtained parameters have been compared to parameterizations based on earlier laboratory studies of Low and List, and on direct numerical simulations. A very good agreement between experimental results and parameterizations has been f…
Neural networks with non-uniform embedding and explicit validation phase to assess Granger causality
2015
A challenging problem when studying a dynamical system is to find the interdependencies among its individual components. Several algorithms have been proposed to detect directed dynamical influences between time series. Two of the most used approaches are a model-free one (transfer entropy) and a model-based one (Granger causality). Several pitfalls are related to the presence or absence of assumptions in modeling the relevant features of the data. We tried to overcome those pitfalls using a neural network approach in which a model is built without any a priori assumptions. In this sense this method can be seen as a bridge between model-free and model-based approaches. The experiments perfo…
What Will You Do Next? A Cognitive Model for Understanding Others’ Intentions Based on Shared Representations
2013
Goal-directed action selection is the problem of what to do next in order to progress towards goal achievement. This problem is computationally more complex in case of joint action settings where two or more agents coordinate their actions in space and time to bring about a common goal: actions performed by one agent influence the action possibilities of the other agents, and ultimately the goal achievement. While humans apparently effortlessly engage in complex joint actions, a number of questions remain to be solved to achieve similar performances in artificial agents: How agents represent and understand actions being performed by others? How this understanding influences the choice of ag…
Artificial organisms as tools for the development of psychological theory: Tolman's lesson
2007
In the 1930s and 1940s, Edward Tolman developed a psychological theory of spatial orientation in rats and humans. He expressed his theory as an automaton (the ‘‘schematic sowbug’’) or what today we would call an ‘‘artificial organism.’’ With the technology of the day, he could not implement his model. Nonetheless, he used it to develop empirical predictions which tested with animals in the laboratory. This way of proceeding was in line with scientific practice dating back to Galileo. The way psychologists use artificial organisms in their work today breaks with this tradition. Modern ‘‘artificial organisms’’ are constructed a posteriori, working from experimental or ethological observations…