Linear quadratic game and non-cooperative predictive methods for potential application to modelling driver-AFS interactive steering control

This paper is concerned with the modelling of strategic interactions between the human driver and the vehicle active front steering (AFS) controller in a path-following task where the two controllers hold different target paths. The work is aimed at extending the use of mathematical models in representing driver steering behaviour in complicated driving situations. Two game theoretic approaches, namely linear quadratic game and non-cooperative model predictive control (non-cooperative MPC), are used for developing the driver-AFS interactive steering control model. For each approach, the open-loop Nash steering control solution is derived; the influences of the path-following weights, preview and control horizons, driver time delay and arm neuromuscular system (NMS) dynamics are investigated, and the CPU time consumed is recorded. It is found that the two approaches give identical time histories as well as control gains, while the non-cooperative MPC method uses much less CPU time. Specifically, it is observed that the introduction of weight on the integral of vehicle lateral displacement error helps to eliminate the steady-state path-following error; the increase in preview horizon and NMS natural frequency and the decline in time delay and NMS damping ratio improve the path-following accuracy. © 2013 Copyright Taylor and Francis Group, LLC.

Wave propagation in nonlinear one-dimensional soil model

The objective of the research conducted by the authors is to explore the feasibility of determining reliable in situ values of shear modulus as a function of strain. In this paper the meaning of the material stiffness obtained from impact and harmonic excitation tests on a surface slab is discussed. A one-dimensional discrete model with the nonlinear material stiffness is used for this purpose. When a static load is applied followed by an impact excitation, if the amplitude of the impact is very small, the measured wave velocity using the cross-correlation indicates the wave velocity calculated from the tangent modulus corresponding to the state of stress caused by the applied static load. The duration of the impact affects the magnitude of the displacement and the particle velocity but has very little effect on the estimation of the wave velocity for the magnitudes considered herein. When a harmonic excitation is applied, the cross-correlation of the time histories at different depths estimates a wave velocity close to the one calculated from the secant modulus in the stress-strain loop under steady-state condition. Copyright © 2008 John Wiley & Sons, Ltd.

Factors affecting seismic response of submarine slopes

The response of submerged slopes on the continental shelf to seismic or storm loading has become an important element in the risk assessment for offshore structures and "local" tsunami hazards worldwide. The geological profile of these slopes typically includes normally consolidated to lightly overconsolidated soft cohesive soils with layer thickness ranging from a few meters to hundreds of meters. The factor of safety obtained from pseudo-static analyses is not always a useful measure for evaluating the slope response, since values less than one do not necessarily imply slope failure with large movements of the soil mass. This paper addresses the relative importance of different factors affecting the response of submerged slopes during seismic loading. The analyses use a dynamic finite element code which includes a constitutive law describing the anisotropic stress-strain-strength behavior of normally consolidated to lightly overconsolidated clays. The model also incorporates anisotropic hardening to describe the effect of different shear strain and stress histories as well as bounding surface principles to provide realistic descriptions of the accumulation of the plastic strains and excess pore pressure during successive loading cycles. The paper presents results from parametric site response analyses on slope geometry and layering, soil material parameters, and input ground motion characteristics. The predicted maximum shear strains, permanent deformations, displacement time histories and maximum excess pore pressure development provide insight of slope performance during a seismic event. © 2006 Author(s). This work is licensed under a Creative Commons License.

Understanding Everyday Homes of Urban Communities: The Case of Local Streets (Hawari) of Old Cairo

This paper aims at investigating architectural and urban heritage from the socio-cultural point of view, which stands on the human asset of traditional sites such as the hawari of old Cairo. It analyzes the social practice of everyday life in one of the oldest Cairene hawari, Haret al-Darb al-Asfar. The focus is on architectural and spatial organization of outdoor and indoor spaces that coordinate the spatial practices of local community. A daily monitoring of people’s activities and interviews was conducted in an investigation of how local people perceive their built environment between the house’s interior and the outdoor shared space. It emerges that people construct their own field of private spheres according to complex patterns of daily activities that are not in line with the classical segregation between private and public in Islamic cities. This paper reports that the harah is basically a construct of social spheres that are organized spatially by the flexible development of individual buildings over time and in response to changes in individuals’ needs and capabilities. In order to achieve sustainability in old urban quarters, the paper concludes, the focus should be directed towards the local organization of activities and a comprehensive upgrading of deteriorating buildings to match the changing needs of current population.

Quand les adolescents vont au musée : une étude de la médiation au Musée des beaux-arts de Montréal

L’étude proposée dans ce mémoire porte sur le processus de visite des adolescents de 14-16 ans au Musée des beaux-arts de Montréal. Je mobilise principalement les concepts de « médiateurs » et « médiations », entendus selon la définition proposée par Hennion (1988, 2000). En effet, Hennion propose de voir la médiation non comme un pont entre deux entités, vision commune de la médiation, mais comme un processus en construction. Ainsi, le médiateur est un élément qui va capter l’attention du jeune visiteur et la médiation est l’action qui va se développer dans cette relation médiateur-visiteur. L’analyse vise plus particulièrement à identifier les médiateurs qui agissent durant cette visite et à comprendre les médiations qui se mettent en place. Cette étude a été réalisée au moyen d’entrevues semi-structurées et d’observations participantes, auprès de six adolescents, âgés de 14 à 16 ans. Une première entrevue permettait de connaître les antécédents de ces jeunes à l’égard des musées et de comprendre suite à quelles mises en condition ils se rendaient à l’exposition. Une observation, par groupe de deux participants, a ensuite été menée lors de l’exposition du Musée des beaux-arts de Montréal : Il était une fois l’impressionnisme. Une histoire de l’impressionnisme : chefs-d’œuvre de la peinture française du Clark. Ces observations ont permis de repérer les moments qui ont capté l’attention des participants durant leur visite. Enfin, une seconde entrevue a été l’occasion de revenir sur leur expérience de visite et de dégager les médiations qui se sont mises en place. Sur les bases de ce terrain, ce mémoire met en avant un ensemble de médiateurs (les autres visiteurs, l’environnement physique, l’œuvre et le récit) et de médiations (rêver, comprendre, se projeter, admirer, comparer et refuser) qui se sont développées chez ces adolescents. Suite à cela, ce mémoire propose une explication du processus de visite tel qu’analysé chez ces adolescents à travers la représentation de la « spirale coquillage ». Cette représentation souligne le fait que le processus de visite n’est pas un phénomène linéaire mais se fait par la confrontation des antécédents de l’adolescent avec sa nouvelle expérience de visite. Il s’agit donc d’un processus circulaire qui se base sur ses antécédents pour construire progressivement de nouvelles strates, qui conditionneront ses prochaines expériences au musée.

Développement et validation d'un modèle de simulation numérique personnalisé à une athlète de plongeon

Les entraîneurs en sports acrobatiques disposent de peu d’outils permettant d’améliorer leur compréhension des saltos vrillés et la performance des athlètes. L’objectif de ce mémoire était de développer un environnement graphique de simulation numérique réaliste et utile des acrobaties aériennes. Un modèle composé de 17 segments et de 42 degrés de liberté a été développé et personnalisé à une athlète de plongeon. Un système optoélectronique échantillonné à 300 Hz a permis l’acquisition de huit plongeons en situation réelle d’entraînement. La cinématique articulaire reconstruite avec un filtre de Kalman étendu a été utilisée comme entrée du modèle. Des erreurs quadratiques moyennes de 20° (salto) et de 9° (vrille) entre les performances simulées et réelles ont permis de valider le modèle. Enfin, une formation basée sur le simulateur a été offerte à 14 entraîneurs en sports acrobatiques. Une augmentation moyenne de 11 % des résultats aux questionnaires post-test a permis de constater le potentiel pédagogique de l’outil pour la formation.

Disseny, anàlisi del comportament i fabricació d’un nou dissipador d’energia per a edificis sismorresistents

Definició, disseny, anàlisi del comportament i procés de fabricació d’un nou dissipador d’energia amb la finalitat de poder ser utilitzat en edificis sotmesos a situacions de moviment sísmic

Estudi del comportament sísmic d'una estructura de formigó armat amb forjats de llosa massissa i dissipadors d'energia

Anàlisi de la resposta estructural d’un edifici d’oficines de formigó armat amb pilars i forjats de llosa massissa situat en una zona de sismicitat elevada segons diferents variants constructives. L’emplaçament teòric de l’obra és la ciutat de Granada, per tant, li serà d’aplicació la normativa española vigent. L’estudi es basa especialment en la Normativa Sismorresistent Espanyola (NCSE-02) i el Codi Tècnic de l’Edificació (CTE), entre d’altres

Statistical properties of cloud lifecycles in cloud-resolving models

A new technique is described for the analysis of cloud-resolving model simulations, which allows one to investigate the statistics of the lifecycles of cumulus clouds. Clouds are tracked from timestep-to-timestep within the model run. This allows for a very simple method of tracking, but one which is both comprehensive and robust. An approach for handling cloud splits and mergers is described which allows clouds with simple and complicated time histories to be compared within a single framework. This is found to be important for the analysis of an idealized simulation of radiative-convective equilibrium, in which the moist, buoyant, updrafts (i.e., the convective cores) were tracked. Around half of all such cores were subject to splits and mergers during their lifecycles. For cores without any such events, the average lifetime is 30min, but events can lengthen the typical lifetime considerably.

Influence of rhBMP-2 on bone formation and osseointegration in different implant systems after sinus-floor elevation. An in vivo study on sheep

Background Several studies have reported certain bone morphogenic proteins (BMPs) to have positive effects on bone generation Although some investigators have studied the effects of human recombinant BMP (rhBMP-2) in sinus augmentation in sheep, none of these studies looked at the placement of implants at the time of sinus augmentation Furthermore, no literature could be found to report on the impact that different implant systems, as well as the positioning of the implants had on bone formation if rhBMP-2 was utilized in sinus-lift procedures Purpose The aim of this study was to compare sinus augmentation with rhBMP-2 on a poly-D, L-lactic-co-glycolic acid gelatine (PLPG) sponge with sinus augmentation with autologous pelvic cancellous bone in the maxillary sinus during the placement of different dental Implants Materials and methods Nine adult female sheep were submitted to bilateral sinus-floor elevation In one side (test group) the sinus lift was performed with rhBMP-2 on a PLPG-sponge, while the contralateral side served as the control by using cancellous bone from the iliac crest Three different implants (Branemark (R), 31 (R) and Straumann (R)) were inserted either simultaneously with the sinus augmentation or as a two staged procedure 6 weeks later The animals were sacrificed at 6 and 12 weeks for histological and histomorphometrical evaluations during which bone-to-implant contact (BIC) and bone density (BD) were evaluated Results BD and BIC were significantly higher at 12 weeks in the test group if the Implants were placed at the time of the sinus lift (p < 0 05) No difference was observed between the different implant systems or positions Conclusions The use of rhBMP-2 with PLPG-sponge increased BIC as well as BD in the augmented sinuses if compared to autologous bone Different implant systems and positions of the implants had no effect on BIC or BD (C) 2010 European Association for Cranio-Maxillo-Facial Surgery

Autogenous bone combined with anorganic bovine bone for maxillary sinus augmentation: Analysis of the osteogenic potential of cells derived from the donor and the grafted sites

Objectives: This study aimed to comparatively evaluate the in vitro osteogenic potential of cells obtained from the mandibular ramus (MR, autogenous bone donor site) and from the maxillary sinus (MS) bone grafted with a mixture of anorganic bovine bone (ABB) and MR prior to titanium implant placement (MS, grafted implant site). Material and methods: Cells were obtained from three patients subjected to MS floor augmentation with a 1: 1 mixture of ABB (GenOx Inorg®) and MR. At the time of the sinus lift procedure and after 8 months, prior to implant placement, bone fragments were taken from MR and MS, respectively, and subjected to trypsin-collagenase digestion for primary cell culturing. Subcultured cells were grown under osteogenic condition for up to 21 days and assayed for proliferation/viability, osteoblast marker mRNA levels, alkaline phosphatase (ALP) activity and calcium content/Alizarin red staining. ALP activity was also determined in primary explant cultures exposed to GenOx Inorg® (1: 1 with MR) for 7 days. Data were compared using either the Mann-Whitney U-test or the Kruskal-Wallis test. Results: MS cultures exhibited a significantly lower osteogenic potential compared with MR cultures, with a progressive increase in cell proliferation together with a decrease in osteoblast markers, reduced ALP activity and calcium content. Exposure of MR-derived primary cultures to GenOx Inorg® inhibited ALP activity. Conclusion: These results suggest that the use of GenOx Inorg® in combination with MR fragments for MS floor augmentation inhibits the osteoblast cell differentiation at the implant site in the long term. © 2013 John Wiley & Sons A/S.

The non-ideal problem behavior using a dynamic vibration absorber with nonlinear essential stiffness and timedependent damping properties

The purpose of this study is to develop a dynamic vibration absorber using viscoelastic material with nonlinear essential stiffness and time-dependent damping properties for a non-ideal vibrating system with Sommerfeld effect, resonance capture, and jump phenomenon. The absorber is a mass-bar subsystem that consists of a viscoelastic bar with memory attached to mass, in which the internal dissipative forces depend on current, deformations, and its operational frequency varies with limited temperature. The non-ideal vibrating system consists of a linear (nonlinear) oscillator (plane frame structure) under excitation, via spring connector, of a DC-motor with limited power supply. A viscoelastic dynamic absorber modeled with elastic stiffness essentially nonlinearities was developed to further reduce the Sommerfeld effect and the response of the structure. The numerical results show the performance of the absorber on the non-ideal system response through the resonance curves, time histories, and Poincarésections. Furthermore, the structure responses using the viscoelastic damper with and without memory were studied. © IMechE 2012.

Comportamento dinâmico não-linear de um sistema mecânico com vibrações associadas a uma transição brusca na rigidez

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Deus e o diabo nas pontas de um pé-de-veludo: estudo de uma personagem contraditória no imaginário popular mariliense

Pós-graduação em Ciências Sociais - FFC

Modelagem de comunicações móveis com a utilização de series temporais e geoestatísticas

O presente trabalho apresenta os resultados da modelagem de canal de propagação baseado em séries temporais multivariadas com a utilização de dados coletados em campanhas de medição e as principais características da urbanização de onze vias do centro da cidade de Belém-Pa. Modelos de função de transferência foram utilizados para avaliar efeitos na série temporal da potência do sinal recebido (dBm) que foi utilizada como variável resposta e como variáveis explicativas a altura dos prédios e as distâncias entre os prédios. Como nos modelos em séries temporais desconsideram-se as possíveis correlações entre amostras vizinhas, utilizou-se um modelo geoestatístico para se estabelecer a correção do erro deste modelo. Esta fase do trabalho consistiu em um conjunto de procedimentos necessários às técnicas geoestatísticas. Tendo como objetivo a análise em duas dimensões para dados espacialmente distribuídos, no que diz respeito à interpolação de superfícies geradas a partir das mostras georreferenciadas obtidas dos resíduos da potência do sinal recebido calculados com o modelo em séries temporais. Os resultados obtidos com o modelo proposto apresentam um bom desempenho, com erro médio quadrático na ordem de 0,33 dB em relação ao sinal medido, considerando os dados das onze vias do centro urbano da cidade de Belém/Pa. A partir do mapa de distribuição espacial da potência do sinal recebido (dBm), pode se identificar com facilidade as zonas infra ou supra dimensionadas em termos desta variável, isto é, beneficiadas ou prejudicadas com relação a recepção do sinal, o que pode resultar em um maior investimento da operadora (concessionária de telefonia celular móvel) local naquelas regiões onde o sinal é fraco.