829 resultados para Mobile Robots Dynamic and Kinematic Modelling and Simulation


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Aggregation and caking of particles are common severe problems in many operations and processing of granular materials, where granulated sugar is an important example. Prevention of aggregation and caking of granular materials requires a good understanding of moisture migration and caking mechanisms. In this paper, the modeling of solid bridge formation between particles is introduced, based on moisture migration of atmospheric moisture into containers packed with granular materials through vapor evaporation and condensation. A model for the caking process is then developed, based on the growth of liquid bridges (during condensation), and their hardening and subsequent creation of solid bridges (during evaporation). The predicted caking strengths agree well with some available experimental data on granulated sugar under storage conditions.

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How speech is separated perceptually from other speech remains poorly understood. Recent research indicates that the ability of an extraneous formant to impair intelligibility depends on the variation of its frequency contour. This study explored the effects of manipulating the depth and pattern of that variation. Three formants (F1+F2+F3) constituting synthetic analogues of natural sentences were distributed across the 2 ears, together with a competitor for F2 (F2C) that listeners must reject to optimize recognition (left = F1+F2C; right = F2+F3). The frequency contours of F1 - F3 were each scaled to 50% of their natural depth, with little effect on intelligibility. Competitors were created either by inverting the frequency contour of F2 about its geometric mean (a plausibly speech-like pattern) or using a regular and arbitrary frequency contour (triangle wave, not plausibly speech-like) matched to the average rate and depth of variation for the inverted F2C. Adding a competitor typically reduced intelligibility; this reduction depended on the depth of F2C variation, being greatest for 100%-depth, intermediate for 50%-depth, and least for 0%-depth (constant) F2Cs. This suggests that competitor impact depends on overall depth of frequency variation, not depth relative to that for the target formants. The absence of tuning (i.e., no minimum in intelligibility for the 50% case) suggests that the ability to reject an extraneous formant does not depend on similarity in the depth of formant-frequency variation. Furthermore, triangle-wave competitors were as effective as their more speech-like counterparts, suggesting that the selection of formants from the ensemble also does not depend on speech-specific constraints. © 2014 The Author(s).

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Conventional methods in horizontal drilling processes incorporate magnetic surveying techniques for determining the position and orientation of the bottom-hole assembly (BHA). Such means result in an increased weight of the drilling assembly, higher cost due to the use of non-magnetic collars necessary for the shielding of the magnetometers, and significant errors in the position of the drilling bit. A fiber-optic gyroscope (FOG) based inertial navigation system (INS) has been proposed as an alternative to magnetometer -based downhole surveying. The utilizing of a tactical-grade FOG based surveying system in the harsh downhole environment has been shown to be theoretically feasible, yielding a significant BHA position error reduction (less than 100m over a 2-h experiment). To limit the growing errors of the INS, an in-drilling alignment (IDA) method for the INS has been proposed. This article aims at describing a simple, pneumatics-based design of the IDA apparatus and its implementation downhole. A mathematical model of the setup is developed and tested with Bloodshed Dev-C++. The simulations demonstrate a simple, low cost and feasible IDA apparatus.

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With this paper we would like to trigger a discussion on future needs of modeling and simulation techniques and tools for the telecommunication industry. We claim that the telecommunication market has undergone severe changes that affect the need for and type of simulations in industrial research. We suggest some approaches how to address these new challenges. We believe that there is need for intensive research in the area.

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In the paper we consider the technology of new domain's ontologies development. We discuss main principles of ontology development, automatic methods of terms extraction from the domain texts and types of ontology relations.

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For metal and metal halide vapor lasers excited by high frequency pulsed discharge, the thermal effect mainly caused by the radial temperature distribution is of considerable importance for stable laser operation and improvement of laser output characteristics. A short survey of the obtained analytical and numerical-analytical mathematical models of the temperature profile in a high-powered He-SrBr2 laser is presented. The models are described by the steady-state heat conduction equation with mixed type nonlinear boundary conditions for the arbitrary form of the volume power density. A complete model of radial heat flow between the two tubes is established for precise calculating the inner wall temperature. The models are applied for simulating temperature profiles for newly designed laser. The author’s software prototype LasSim is used for carrying out the mathematical models and simulations.

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We study heterogeneity among nodes in self-organizing smart camera networks, which use strategies based on social and economic knowledge to target communication activity efficiently. We compare homogeneous configurations, when cameras use the same strategy, with heterogeneous configurations, when cameras use different strategies. Our first contribution is to establish that static heterogeneity leads to new outcomes that are more efficient than those possible with homogeneity. Next, two forms of dynamic heterogeneity are investigated: nonadaptive mixed strategies and adaptive strategies, which learn online. Our second contribution is to show that mixed strategies offer Pareto efficiency consistently comparable with the most efficient static heterogeneous configurations. Since the particular configuration required for high Pareto efficiency in a scenario will not be known in advance, our third contribution is to show how decentralized online learning can lead to more efficient outcomes than the homogeneous case. In some cases, outcomes from online learning were more efficient than all other evaluated configuration types. Our fourth contribution is to show that online learning typically leads to outcomes more evenly spread over the objective space. Our results provide insight into the relationship between static, dynamic, and adaptive heterogeneity, suggesting that all have a key role in achieving efficient self-organization.

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The purpose of this paper is to turn researchers' attention to the use of grid computing for simulating digital communications and its large potential for decreasing significantly the duration of the experiments and for improving the statistical representativeness and reliability of the obtained results.

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2000 Mathematics Subject Classification: primary: 60J80, 60J85, secondary: 62M09, 92D40

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2010 Mathematics Subject Classification: 65D18.

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Chloroperoxidase (CPO), a 298-residue glycosylated protein from the fungus Caldariomyces fumago, is probably the most versatile heme enzyme yet discovered. Interest in CPO as a catalyst is based on its power to produce enantiomerically enriched products. Recent research has focused its attention on the ability of CPO to epoxidize alkenes in high regioselectivity and enantioselectivity as an efficient and environmentally benign alternative to traditional synthetic routes. There has been little work on the nature of ligand binding, which probably controls the regio- and enantiospecifity of CPO. Consequently it is here that we focus our work. We report docking calculations and computer simulations aimed at predicting the enantiospecificity of CPO-catalyzed epoxidation of three model substrates. On the basis of this work candidate mutations to improve the efficiency of CPO are predicted. In order to accomplish these aims, a simulated annealing and molecular dynamics protocol is developed to sample potentially reactive substrate/CPO complexes.

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Compressional- and shear-wave velocity logs (Vp and Vs, respectively) that were run to a sub-basement depth of 1013 m (1287.5 m sub-bottom) in Hole 504B suggest the presence of Layer 2A and document the presence of layers 2B and 2C on the Costa Rica Rift. Layer 2A extends from the mudline to 225 m sub-basement and is characterized by compressional-wave velocities of 4.0 km/s or less. Layer 2B extends from 225 to 900 m and may be divided into two intervals: an upper level from 225 to 600 m in which Vp decreases slowly from 5.0 to 4.8 km/s and a lower level from 600 to about 900 m in which Vp increases slowly to 6.0 km/s. In Layer 2C, which was logged for about 100 m to a depth of 1 km, Vp and Vs appear to be constant at 6.0 and 3.2 km/s, respectively. This velocity structure is consistent with, but more detailed than the structure determined by the oblique seismic experiment in the same hole. Since laboratory measurements of the compressional- and shear-wave velocity of samples from Hole 504B at Pconfining = Pdifferential average 6.0 and 3.2 km/s respectively, and show only slight increases with depth, we conclude that the velocity structure of Layer 2 is controlled almost entirely by variations in porosity and that the crack porosity of Layer 2C approaches zero. A comparison between the compressional-wave velocities determined by logging and the formation porosities calculated from the results of the large-scale resistivity experiment using Archie's Law suggest that the velocity- porosity relation derived by Hyndman et al. (1984) for laboratory samples serves as an upper bound for Vp, and the noninteractive relation derived by Toksöz et al. (1976) for cracks with an aspect ratio a = 1/32 serves as a lower bound.

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Bulk gallium nitride (GaN) power semiconductor devices are gaining significant interest in recent years, creating the need for technology computer aided design (TCAD) simulation to accurately model and optimize these devices. This paper comprehensively reviews and compares different GaN physical models and model parameters in the literature, and discusses the appropriate selection of these models and parameters for TCAD simulation. 2-D drift-diffusion semi-classical simulation is carried out for 2.6 kV and 3.7 kV bulk GaN vertical PN diodes. The simulated forward current-voltage and reverse breakdown characteristics are in good agreement with the measurement data even over a wide temperature range.