Search results for "control systems"
showing 10 items of 590 documents
Comparison of KVP and RSI for Controlling KUKA Robots Over ROS
2020
In this work, an open-source ROS interface based on KUKAVARPROXY for control of KUKA robots is compared to the commercial closed-source Robot Sensor Interface available from KUKA. This comparison looks at the difference in how these two approaches communicate with the KUKA robot controller, the response time and tracking delay one can expect with the different interfaces, and the difference in use cases for the two interfaces. The investigations showed that the KR16 with KRC2 has a 50 ms response time, and RSI has a 120 ms tracking delay, with negligible delay caused by the ROS communication stack. The results highlight that the commercial inferface is more reliable for feedback control tas…
Crowd-Averse Robust Mean-Field Games: Approximation via State Space Extension
2016
We consider a population of dynamic agents, also referred to as players. The state of each player evolves according to a linear stochastic differential equation driven by a Brownian motion and under the influence of a control and an adversarial disturbance. Every player minimizes a cost functional which involves quadratic terms on state and control plus a cross-coupling mean-field term measuring the congestion resulting from the collective behavior, which motivates the term “crowd-averse.” Motivations for this model are analyzed and discussed in three main contexts: a stock market application, a production engineering example, and a dynamic demand management problem in power systems. For th…
Global sensitivity analysis in welding simulations -- what are the material data you really need ?
2011
In this paper, the sensitivity analysis methodology is applied to numerical welding simulation in order to rank the importance of input variables on the outputs of the code like distorsions or residual stresses. The numerical welding simulation uses the finite element method, with a thermal computation followed by a mechanical one. Classically, a local sensitivity analysis is performed, hence the validity of the results is limited to the neighbourhood of a nominal point, and cross effects cannot be detected. This study implements a global sensitivity analysis which allows to screen the whole material space of the steel family mechanical properties. A set of inputs of the mechanical model-ma…
Damage identification of a jacket support structure for offshore wind turbines
2020
Offshore jacket structures are regarded as a suitable type of support structure for offshore wind turbines in immediate water depths. Because of the welded tubular members used and environmental conditions, offshore jackets are often subjected to fatigue damages during their service life. Underwater sensors can provide measurements of the structural vibration signals and provide an efficient way to detect damages at early stages. In this work, simplified forms of the damages are assumed, random damages are imposed on the jacket structure, and damaged indicators are established from combination of modal shapes. Then, a response surface is constructed mapping the damage indicators and damages…
Thermosensory mapping of skin wetness sensitivity across the body of young males and females at rest and following maximal incremental running
2019
Key points: Humans lack skin receptors for wetness (i.e. hygroreceptors), yet we present a remarkable wetness sensitivity. Afferent inputs from skin cold-sensitive thermoreceptors are key for sensing wetness; yet, it is unknown whether males and females differ in their wetness sensitivity across their body and whether high intensity exercise modulates this sensitivity. We mapped sensitivity to cold, neutral and warm wetness across five body regions and show that females are more sensitive to skin wetness than males, and that this difference is greater for cold than warm wetness sensitivity. We also show that a single bout of maximal exercise reduced the sensitivity to skin wetness (i.e. hyg…
Risk Assessment of Hip Fracture Based on Machine Learning
2020
[EN] Identifying patients with high risk of hip fracture is a great challenge in osteoporosis clinical assessment. Bone Mineral Density (BMD) measured by Dual-Energy X-Ray Absorptiometry (DXA) is the current gold standard in osteoporosis clinical assessment. However, its classification accuracy is only around 65%. In order to improve this accuracy, this paper proposes the use of Machine Learning (ML) models trained with data from a biomechanical model that simulates a sideways-fall. Machine Learning (ML) models are models able to learn and to make predictions from data. During a training process, ML models learn a function that maps inputs and outputs without previous knowledge of the probl…
Motor-skill learning in an insect inspired neuro-computational control system
2017
In nature, insects show impressive adaptation and learning capabilities. The proposed computational model takes inspiration from specific structures of the insect brain: after proposing key hypotheses on the direct involvement of the mushroom bodies (MBs) and on their neural organization, we developed a new architecture for motor learning to be applied in insect-like walking robots. The proposed model is a nonlinear control system based on spiking neurons. MBs are modeled as a nonlinear recurrent spiking neural network (SNN) with novel characteristics, able to memorize time evolutions of key parameters of the neural motor controller, so that existing motor primitives can be improved. The ad…
Evaluating the stability of pharmacophore features using molecular dynamics simulations.
2016
Abstract Molecular dynamics simulations of twelve protein—ligand systems were used to derive a single, structure based pharmacophore model for each system. These merged models combine the information from the initial experimental structure and from all snapshots saved during the simulation. We compared the merged pharmacophore models with the corresponding PDB pharmacophore models, i.e., the static models generated from an experimental structure in the usual manner. The frequency of individual features, of feature types and the occurrence of features not present in the static model derived from the experimental structure were analyzed. We observed both pharmacophore features not visible in …
Taxonomic Classification for Living Organisms Using Convolutional Neural Networks
2017
Taxonomic classification has a wide-range of applications such as finding out more about evolutionary history. Compared to the estimated number of organisms that nature harbors, humanity does not have a thorough comprehension of to which specific classes they belong. The classification of living organisms can be done in many machine learning techniques. However, in this study, this is performed using convolutional neural networks. Moreover, a DNA encoding technique is incorporated in the algorithm to increase performance and avoid misclassifications. The algorithm proposed outperformed the state of the art algorithms in terms of accuracy and sensitivity, which illustrates a high potential f…
Us and them: intercultural sensitivity of Polish and Georgian adolescent multilinguals
2020
The aim of this study is to compare the levels of intercultural sensitivity (IS) in teenage multilinguals coming from two post-communist countries: Poland (N=293) and Georgia (N=240). Aside from quantitative data the Intercultural Sensitivity Scale by Chen & Starosta., the qualitative part of the study focused on exploring quality of contacts with another culture. It was found that Polish students demonstrated significantly lower levels of intercultural sensitivity in spite of their greater foreign language experience. However, Georgian multilinguals demonstrated greater positive affect, both quantitatively (Intercultural Enjoyment as part of the IS assessment) and qualitatively (prevailing…