Feature Search in the Grassmanian in Online Reinforcement Learning

We consider the problem of finding the best features for value function approximation in reinforcement learning and develop an online algorithm to optimize the mean square Bellman error objective. For any given feature value, our algorithm performs gradient search in the parameter space via a residual gradient scheme and, on a slower timescale, also performs gradient search in the Grassman manifold of features. We present a proof of convergence of our algorithm. We show empirical results using our algorithm as well as a similar algorithm that uses temporal difference learning in place of the residual gradient scheme for the faster timescale updates.

Seismic Bearing Capacity of Foundations on Cohesionless Slopes

By applying the lower bound theorem of limit analysis in conjunction with finite elements and nonlinear optimization, the bearing capacity factor N has been computed for a rough strip footing by incorporating pseudostatic horizontal seismic body forces. As compared with different existing approaches, the present analysis is more rigorous, because it does not require an assumption of either the failure mechanism or the variation of the ratio of the shear to the normal stress along the footing-soil interface. The magnitude of N decreases considerably with an increase in the horizontal seismic acceleration coefficient (kh). With an increase in kh, a continuous spread in the extent of the plastic zone toward the direction of the horizontal seismic body force is noted. The results obtained from this paper have been found to compare well with the solutions reported in the literature. (C) 2013 American Society of Civil Engineers.

Terminal Impact Angle Constrained Guidance Laws Using Variable Structure Systems Theory

In this brief, variable structure systems theory based guidance laws, to intercept maneuvering targets at a desired impact angle, are presented. Choosing the missile's lateral acceleration (latax) to enforce sliding mode, which is the principal operating mode of variable structure systems, on a switching surface defined by the line-of-sight angle leads to a guidance law that allows the achievement of the desired terminal impact angle. As will be shown, this law does not ensure interception for all states of the missile and the target during the engagement. Hence, additional switching surfaces are designed and a switching logic is developed that allows the latax to switch between enforcing sliding mode on one of these surfaces so that the target can be intercepted at the desired impact angle. The guidance laws are designed using nonlinear engagement dynamics for the general case of a maneuvering target.

Simultaneous feature selection and clustering using particle swarm optimization

Data clustering groups data so that data which are similar to each other are in the same group and data which are dissimilar to each other are in different groups. Since generally clustering is a subjective activity, it is possible to get different clusterings of the same data depending on the need. This paper attempts to find the best clustering of the data by first carrying out feature selection and using only the selected features, for clustering. A PSO (Particle Swarm Optimization)has been used for clustering but feature selection has also been carried out simultaneously. The performance of the above proposed algorithm is evaluated on some benchmark data sets. The experimental results shows the proposed methodology outperforms the previous approaches such as basic PSO and Kmeans for the clustering problem.

Call intensity is a repeatable and dominant acoustic feature determining male call attractiveness in a field cricket

Acoustic signal variation and female preference for different signal components constitute the prerequisite framework to study the mechanisms of sexual selection that shape acoustic communication. Despite several studies of acoustic communication in crickets, information on both male calling song variation in the field and female preference in the same system is lacking for most species. Previous studies on acoustic signal variation either were carried out on populations maintained in the laboratory or did not investigate signal repeatability. We therefore used repeatability analysis to quantify variation in the spectral, temporal and amplitudinal characteristics of the male calling song of the field cricket Plebeiogryllus guttiventris in a wild population, at two temporal scales, within and across nights. Carrier frequency (CF) was the most repeatable character across nights, whereas chirp period (CP) had low repeatability across nights. We investigated whether female preferences were more likely to be based on features with high (CF) or low (CP) repeatability. Females showed no consistent preferences for CF but were significantly more attracted towards signals with short CPs. The attractiveness of lower CP calls disappeared, however, when traded off with sound pressure level (SPL). SPL was the only acoustic feature that was significantly positively correlated with male body size. Since relative SPL affects female phonotaxis strongly and can vary unpredictably based on male spacing, our results suggest that even strong female preferences for acoustic features may not necessarily translate into greater advantage for males possessing these features in the field. (C) 2013 The Association for the Study of Animal Behaviour. Published by Elsevier Ltd. All rights reserved.

Bearing Capacity of Foundations with Inclined Groundwater Seepage

The ultimate bearing capacity of strip foundations in the presence of inclined groundwater flow, considering both upward and downward flow directions, has been determined by using the lower bound finite-element limit analysis. A numerical solution has been generated for both smooth and rough footings placed on frictional soils. A correction factor (f gamma), which needs to be multiplied with the N gamma-term, has been computed to account for groundwater seepage. The variation of f gamma has been obtained as a function of the hydraulic gradient (i) for various inclinations of groundwater flow. For a given magnitude of i, there exists a certain critical inclination of the flow for which the value of f gamma is minimized. With an upward flow, for all flow inclinations, the magnitude of f gamma always reduces with an increase in the value of i. An example has also been provided to illustrate the application of the obtained results when designing foundations in the presence of groundwater seepage.

Three dimensional PN based impact angle control for higher speed nonmaneuvering targets

Terminal impact angle control is crucial for enhancement of warhead effectiveness. In the literature, this problem has been addressed in the context of targets with lower speeds than the interceptor. However, in the current defence scenario, targets of much higher speed than the interceptor is a reality. This paper presents a generic proportional navigation (PN) based guidance law, that uses the standard PN and novel Retro-PN guidance laws based on the initial engagement geometry and terminal engagement requirements, for three dimensional engagement scenario against higher speed nonmaneuvering targets to control terminal impact angle. Results are obtained on the set of achievable impact angles and conditions on the navigation constant to achieve them. Simulation results are given to support the theoretical findings.

Nanoindentation behavior of nanotwinned Cu: Influence of indenter angle on hardness, strain rate sensitivity and activation volume

The influence of strain on the mechanical properties and deformation kinetic parameters of nanotwinned (at) copper is investigated by a series of nanoindentation experiments, which were performed by employing sharp indenters with five varying centerline-to-face angles (psi). Comparison experiments were also conducted on (1 1 0) single crystalline Cu. Experimental results indicate that, unlike coarsegrained materials, nt-Cu is prone to plastic flow softening with large material pile-up around the indentation impression at high levels of strains. Localized detwinning becomes more significant with decreasing psi, concomitant with reduced strain-rate sensitivity (m) and enhanced activation volume (V*). The m of nt-Cu is found to depend sensitively on psi with a variation of more than a factor of 3, whereas V* exhibits a much less sensitive trend. This paper discusses the validation of the experimental techniques and the implications of various deformation kinetic parameters on the underlying deformation mechanisms of nt-Ca. 2013 Acta Materialia Inc. Published by Elsevier Ltd. All rights reserved.

Evidence of an intermediate phase in a quaternary Ag bearing telluride glass system using alternating DSC

Alternating Differential Scanning Calorimetric (ADSC) studies on quaternary Ge15Te80-xIn5Agx glasses show the non-reversing enthalpy (Delta H-NR) at T-g to exhibit a broad global minimum in the 8% <= x <= 16% range of Ag, an observation that is taken evidence for existence of an Intermediate Phase (IP) in that range. Glasses at x < 8% are in the flexible phase while those at x > 16% in the stressed-rigid phase. The nature of crystalline phases formed upon crystallization of bulk glasses are elucidated by XRD studies, and reveal presence of Te, GeTe, Ag8GeTe6, AgTe, In2Te3 and In4Te3 phases. These experiments also reveal that the fraction of Ag- bearing phases increases while those of Te- bearing ones decreases with increasing x, suggesting progressive replacement of Te-Te bonds by Ag-Te bonds. (C) 2013 Elsevier Ltd. All rights reserved.

Effect of Inlet Jet injection angle on a calandria based reactor-An investigation with numerical analysis of heat and mass transfer for an optimum reactor design

Heat and mass transfer studies in a calandria based reactor is quite complex both due to geometry and due to the complex mixing flow. It is challenging to devise optimum operating conditions with efficient but safe working range for such a complex configuration. Numerical study known to be very effective is taken up for investigation. In the present study a 3D RANS code with turbulence model has been used to compute the flow fields and to get the heat transfer characteristics to understand certain design parameters of engineering importance. The angle of injection and of the coolant liquid has a large effect on the heat transfer within the reactor.

Biased PN based impact angle constrained guidance using a nonlinear engagement model

Impact angle constrained guidance laws are important in many applications such as guidance of torpedoes, anti-ballistic missiles and reentry vehicles. In this paper, we design a guidance law which is capable of achieving a wide range of impact angles. Biased proportional navigation guidance uses a bias term in addition to the basic PN command to satisfy additional constraints. Angle constrained BPNG (ACBPNG) uses small angle approximations to derive the bias term for impact angle requirement. We design a modified ACBPNG (MACBPNG) where the required bias term is derived in a closed form considering non-linear equations of motion. Simulations are carried out for a wide range of impact angle requirements. We also analyze capturability from different initial positions and also the launch angles possible at each initial position. The performance of the proposed law is compared with an existing law.

Intercepting maneuvering target with specified impact angle by modified SDRE technique

A guidance law derived by modifying state dependent Riccati equation technique, to enable the imposition of a predetermined terminal intercept angle to a maneuvering target, is presented in this paper. The interceptor is assumed to have no knowledge about the type of maneuver the target is executing. The problem is cast in a non-cooperative game theoretic form. The guidance law obtained is dependent on the LOS angular rotational rate and on the impact angle error. Theoretical conditions which guarantee existence of solutions under this method have been derived. It is shown that imposing the impact angle constraint calls for an increase in the gains of the guidance law considerably, subsequently requiring a higher maneuverability advantage of the interceptor. The performance of the proposed guidance law is studied using a non-linear two dimensional simulation of the relative kinematics, assuming first order dynamics for the interceptor and target.

Sliding mode control based terminal impact angle constrained guidance laws using dual sliding surfaces

In this paper, sliding mode control theory based guidance laws to intercept non-maneuvering targets at a desired impact angle are presented. The desired impact angle, defined in terms of a desired line-of-sight (LOS) angle, is achieved by selecting the missile's lateral acceleration (latax) to enforce sliding mode on a sliding surface based on this LOS angle. As will be shown, this guidance law does not ensure interception for all states of the missile and the target during the engagement. Hence, to satisfy the requirement of interception at the desired impact angle, a second sliding surface is designed and a switching logic, based on the conditions necessary for interception, is presented that allows the latax to switch between enforcing sliding mode on one of these surfaces so that the target can be intercepted at the desired impact angle. The guidance laws are designed using non-linear engagement dynamics.

Non-singular terminal sliding mode guidance and control with terminal angle constraints for non-maneuvering targets

In this paper guidance laws to intercept stationary and constant velocity targets at a desired impact angle, based on sliding mode control theory, are proposed. The desired impact angle, which is defined in terms of a desired line-of-sight (LOS) angle, is achieved in finite time by selecting the missile's lateral acceleration (latax) to enforce non-singular terminal sliding mode on a switching surface designed using this desired LOS angle and based on non-linear engagement dynamics. Numerical simulation results are presented to validate the proposed guidance laws for different initial engagement geometries and impact angles.