Predicting the metabolic energy costs of bipedalism using evolutionary robotics

To understand the evolution of bipedalism among the homnoids in an ecological context we need to be able to estimate theenerrgetic cost of locomotion in fossil forms. Ideally such an estimate would be based entirely on morphology since, except for the rare instances where footprints are preserved, this is hte only primary source of evidence available. In this paper we use evolutionary robotics techniques (genetic algoritms, pattern generators and mechanical modeling) to produce a biomimentic simulation of bipedalism based on human body dimensions. The mechnaical simulation is a seven-segment, two-dimensional model with motive force provided by tension generators representing the major muscle groups acting around the lower-limb joints. Metabolic energy costs are calculated from the muscel model, and bipedal gait is generated using a finite-state pattern generator whose parameters are produced using a genetic algorithm with locomotor economy (maximum distance for a fixed energy cost) as the fitness criterion. The model is validated by comparing the values it generates with those for modern humans. The result (maximum efficiency of 200 J m-1) is within 15% of the experimentally derived value, which is very encouraging and suggests that this is a useful analytic technique for investigating the locomotor behaviour of fossil forms. Initial work suggests that in the future this technique could be used to estimate other locomotor parameters such as top speed. In addition, the animations produced by this technique are qualitatively very convincing, which suggests that this may also be a useful technique for visualizing bipedal locomotion.

Lexicon-grammar of Russian verbal idioms

Dissertação de Mestrado, Ciências da Linguagem, Faculdade de Ciências Humanas e Sociais, Universidade do Algarve, 2016

Control and Supervision of Wind Energy Conversion Systems

This paper is about a PhD thesis and includes the study and analysis of the performance of an onshore wind energy conversion system. First, mathematical models of a variable speed wind turbine with pitch control are studied, followed by the study of different controller types such as integer-order controllers, fractional-order controllers, fuzzy logic controllers, adaptive controllers and predictive controllers and the study of a supervisor based on finite state machines is also studied. The controllers are included in the lower level of a hierarchical structure composed by two levels whose objective is to control the electric output power around the rated power. The supervisor included at the higher level is based on finite state machines whose objective is to analyze the operational states according to the wind speed. The studied mathematical models are integrated into computer simulations for the wind energy conversion system and the obtained numerical results allow for the performance assessment of the system connected to the electric grid. The wind energy conversion system is composed by a variable speed wind turbine, a mechanical transmission system described by a two mass drive train, a gearbox, a doubly fed induction generator rotor and by a two level converter.

Dynamic Human Robot Interaction Framework Using Deep Learning and Robot Operating System (ROS): a practical approach

Trying to explain to a robot what to do is a difficult undertaking, and only specific types of people have been able to do so far, such as programmers or operators who have learned how to use controllers to communicate with a robot. My internship's goal was to create and develop a framework that would make that easier. The system uses deep learning techniques to recognize a set of hand gestures, both static and dynamic. Then, based on the gesture, it sends a command to a robot. To be as generic as feasible, the communication is implemented using Robot Operating System (ROS). Furthermore, users can add new recognizable gestures and link them to new robot actions; a finite state automaton enforces the users' input verification and correct action sequence. Finally, the users can create and utilize a macro to describe a sequence of actions performable by a robot.

Algebraic theory of minimal nondeterministic finite automata with applications

Since the 1950s, the theory of deterministic and nondeterministic finite automata (DFAs and NFAs, respectively) has been a cornerstone of theoretical computer science. In this dissertation, our main object of study is minimal NFAs. In contrast with minimal DFAs, minimal NFAs are computationally challenging: first, there can be more than one minimal NFA recognizing a given language; second, the problem of converting an NFA to a minimal equivalent NFA is NP-hard, even for NFAs over a unary alphabet. Our study is based on the development of two main theories, inductive bases and partials, which in combination form the foundation for an incremental algorithm, ibas, to find minimal NFAs. An inductive basis is a collection of languages with the property that it can generate (through union) each of the left quotients of its elements. We prove a fundamental characterization theorem which says that a language can be recognized by an n-state NFA if and only if it can be generated by an n-element inductive basis. A partial is an incompletely-specified language. We say that an NFA recognizes a partial if its language extends the partial, meaning that the NFA’s behavior is unconstrained on unspecified strings; it follows that a minimal NFA for a partial is also minimal for its language. We therefore direct our attention to minimal NFAs recognizing a given partial. Combining inductive bases and partials, we generalize our characterization theorem, showing that a partial can be recognized by an n-state NFA if and only if it can be generated by an n-element partial inductive basis. We apply our theory to develop and implement ibas, an incremental algorithm that finds minimal partial inductive bases generating a given partial. In the case of unary languages, ibas can often find minimal NFAs of up to 10 states in about an hour of computing time; with brute-force search this would require many trillions of years.

Protecting a quantum state from environmental noise by an incompatible finite-time measurement

We show that measurements of finite duration performed on an open two-state system can protect the initial state from a phase-noisy environment, provided the measured observable does not commute with the perturbing interaction. When the measured observable commutes with the environmental interaction, the finite-duration measurement accelerates the rate of decoherence induced by the phase noise. For the description of the measurement of an observable that is incompatible with the interaction between system and environment, we have found an approximate analytical expression, valid at zero temperature and weak coupling with the measuring device. We have tested the validity of the analytical predictions against an exact numerical approach, based on the superoperator-splitting method, that confirms the protection of the initial state of the system. When the coupling between the system and the measuring apparatus increases beyond the range of validity of the analytical approximation, the initial state is still protected by the finite-time measurement, according with the exact numerical calculations.

Finite element analysis of steady-state natural convection problems in fluid-saturated porous media heated from below

In this paper, a progressive asymptotic approach procedure is presented for solving the steady-state Horton-Rogers-Lapwood problem in a fluid-saturated porous medium. The Horton-Rogers-Lapwood problem possesses a bifurcation and, therefore, makes the direct use of conventional finite element methods difficult. Even if the Rayleigh number is high enough to drive the occurrence of natural convection in a fluid-saturated porous medium, the conventional methods will often produce a trivial non-convective solution. This difficulty can be overcome using the progressive asymptotic approach procedure associated with the finite element method. The method considers a series of modified Horton-Rogers-Lapwood problems in which gravity is assumed to tilt a small angle away from vertical. The main idea behind the progressive asymptotic approach procedure is that through solving a sequence of such modified problems with decreasing tilt, an accurate non-zero velocity solution to the Horton-Rogers-Lapwood problem can be obtained. This solution provides a very good initial prediction for the solution to the original Horton-Rogers-Lapwood problem so that the non-zero velocity solution can be successfully obtained when the tilted angle is set to zero. Comparison of numerical solutions with analytical ones to a benchmark problem of any rectangular geometry has demonstrated the usefulness of the present progressive asymptotic approach procedure. Finally, the procedure has been used to investigate the effect of basin shapes on natural convection of pore-fluid in a porous medium. (C) 1997 by John Wiley & Sons, Ltd.

Universal simulation of Hamiltonian dynamics for quantum systems with finite-dimensional state spaces

What interactions are sufficient to simulate arbitrary quantum dynamics in a composite quantum system? Dodd [Phys. Rev. A 65, 040301(R) (2002)] provided a partial solution to this problem in the form of an efficient algorithm to simulate any desired two-body Hamiltonian evolution using any fixed two-body entangling N-qubit Hamiltonian, and local unitaries. We extend this result to the case where the component systems are qudits, that is, have D dimensions. As a consequence we explain how universal quantum computation can be performed with any fixed two-body entangling N-qudit Hamiltonian, and local unitaries.

Average ground-state energy of finite Fermi systems

Semiclassical theories such as the Thomas-Fermi and Wigner-Kirkwood methods give a good description of the smooth average part of the total energy of a Fermi gas in some external potential when the chemical potential is varied. However, in systems with a fixed number of particles N, these methods overbind the actual average of the quantum energy as N is varied. We describe a theory that accounts for this effect. Numerical illustrations are discussed for fermions trapped in a harmonic oscillator potential and in a hard-wall cavity, and for self-consistent calculations of atomic nuclei. In the latter case, the influence of deformations on the average behavior of the energy is also considered.

Equation of state of hot, dense stellar matter. Finite temperature nuclear Thomas-Fermi approach

The properties of hot, dense stellar matter are investigated with a finite temperature nuclear Thomas-Fermi model.

Average ground-state energy of finite Fermi systems

Semiclassical theories such as the Thomas-Fermi and Wigner-Kirkwood methods give a good description of the smooth average part of the total energy of a Fermi gas in some external potential when the chemical potential is varied. However, in systems with a fixed number of particles N, these methods overbind the actual average of the quantum energy as N is varied. We describe a theory that accounts for this effect. Numerical illustrations are discussed for fermions trapped in a harmonic oscillator potential and in a hard-wall cavity, and for self-consistent calculations of atomic nuclei. In the latter case, the influence of deformations on the average behavior of the energy is also considered.

A study on semigroup action on fuzzy subsets, inverse fuzzy automata and related topics

This thesis comprises five chapters including the introductory chapter. This includes a brief introduction and basic definitions of fuzzy set theory and its applications, semigroup action on sets, finite semigroup theory, its application in automata theory along with references which are used in this thesis. In the second chapter we defined an S-fuzzy subset of X with the extension of the notion of semigroup action of S on X to semigroup action of S on to a fuzzy subset of X using Zadeh's maximal extension principal and proved some results based on this. We also defined an S-fuzzy morphism between two S-fuzzy subsets of X and they together form a category S FSETX. Some general properties and special objects in this category are studied and finally proved that S SET and S FSET are categorically equivalent. Further we tried to generalize this concept to the action of a fuzzy semigroup on fuzzy subsets. As an application, using the above idea, we convert a _nite state automaton to a finite fuzzy state automaton. A classical automata determine whether a word is accepted by the automaton where as a _nite fuzzy state automaton determine the degree of acceptance of the word by the automaton. 1.5. Summary of the Thesis 17 In the third chapter we de_ne regular and inverse fuzzy automata, its construction, and prove that the corresponding transition monoids are regular and inverse monoids respectively. The languages accepted by an inverse fuzzy automata is an inverse fuzzy language and we give a characterization of an inverse fuzzy language. We study some of its algebraic properties and prove that the collection IFL on an alphabet does not form a variety since it is not closed under inverse homomorphic images. We also prove some results based on the fact that a semigroup is inverse if and only if idempotents commute and every L-class or R-class contains a unique idempotent. Fourth chapter includes a study of the structure of the automorphism group of a deterministic faithful inverse fuzzy automaton and prove that it is equal to a subgroup of the inverse monoid of all one-one partial fuzzy transformations on the state set. In the fifth chapter we define min-weighted and max-weighted power automata study some of its algebraic properties and prove that a fuzzy automaton and the fuzzy power automata associated with it have the same transition monoids. The thesis ends with a conclusion of the work done and the scope of further study.