Robotics and neuroscience: A rhythmic interaction

At the crossing between motor control neuroscience and robotics system theory, the paper presents a rhythmic experiment that is amenable both to handy laboratory implementation and simple mathematical modeling. The experiment is based on an impact juggling task, requiring the coordination of two upper-limb effectors and some phase-locking with the trajectories of one or several juggled objects. We describe the experiment, its implementation and the mathematical model used for the analysis. Our underlying research focuses on the role of sensory feedback in rhythmic tasks. In a robotic implementation of our experiment, we study the minimum feedback that is required to achieve robust control. A limited source of feedback, measuring only the impact times, is shown to give promising results. A second field of investigation concerns the human behavior in the same impact juggling task. We study how a variation of the tempo induces a transition between two distinct control strategies with different sensory feedback requirements. Analogies and differences between the robotic and human behaviors are obviously of high relevance in such a flexible setup. © 2008 Elsevier Ltd. All rights reserved.

Multi-objective optimization of a fluid structure interaction benchmarking

The integration and application of a new multi-objective tabu search optimization algorithm for Fluid Structure Interaction (FSI) problems are presented. The aim is to enhance the computational design process for real world applications and to achieve higher performance of the whole system for the four considered objectives. The described system combines the optimizer with a well established FSI solver which is based on the fully implicit, monolithic formuFlation of the problem in the Arbitrary Lagrangian-Eulerian FEM approach. The proposed solver resolves the proposed uid-structure interaction benchmark which describes the self-induced elastic deformation of a beam attached to a cylinder in laminar channel ow. The optimized ow characteristics of the aforementioned geometrical arrangement illustrate the performance of the system in two dimensions. Special emphasis is given to the analysis of the simulation package, which is of high accuracy and is the core of application. The design process identifies the best combination of ow features for optimal system behavior and the most important objectives. In addition, the presented methodology has the potential to run in parallel, which will significantly speed-up the elapsed time. Finite Element Method (FEM), Fluid-Structure Interaction (FSI), Multi-Ojective Tabu search (MOTS2). Copyright © 2013 Tech Science Press.

Fluid-structure interaction simulations of a tension-cone inflatable aerodynamic decelerator

A series of fluid-structure interaction simulations of an aerodynamic tension-cone supersonic decelerator prototype intended for large mass payload deployment in planetary explorations are discussed. The fluid-structure interaction computations combine large deformation analysis of thin shells with large-eddy simulation of compressible turbulent flows using a loosely coupled approach to enable quantification of the dynamics of the vehicle. The simulation results are compared with experiments carried out at the NASA Glenn Research Center. Reasonably good agreement between the simulations and the experiment is observed throughout a deflation cycle. The simulations help to illuminate the details of the dynamic progressive buckling of the tension-cone decelerator that ultimately results in the collapse of the structure as the inflation pressure is decreased. Furthermore, the tension-cone decelerator exhibits a transient oscillatory behavior under impulsive loading that ultimately dies out. The frequency of these oscillations was determined to be related to the acoustic time scale in the compressed subsonic region between the bow shock and the structure. As shown, when the natural frequency of the structure and the frequency of the compressed subsonic region approximately match, the decelerator exhibits relatively large nonaxisymetric oscillations. The observed response appears to be a fluid-structure interaction resonance resulting from an acoustic chamber (pistonlike) mode exciting the structure. Copyright © 2013 by Christopher Porter, R. Mark Rennie, Eric J. Jumper.

Exploring prior experience and the effects of age on product interaction and Learning

The purpose of this research was to investigate the extent to which prior technological experience of products is related to age, and if this has implications for the success of subsequent product interaction. The contribution of this work is to provide the design community with new knowledge and a greater awareness of the diversity of user needs, and particularly the needs and skills of older people. The focus of this paper is to present how individual's mental models of products and interaction were developed through experiential learning; what new knowledge was acquired, and how this contributed to the development of mental models and product understanding. © 2013 Springer-Verlag Berlin Heidelberg.

Interaction between heavy vehicles and roads

This paper discusses road damage caused by heavy commercial vehicles. Chapter 1 presents some important terminology and a brief historical review of road construction and vehicle-road interaction, from ancient times to the present day. The main types of vehicle-generated road damage, and the methods that are used by pavement engineers to analyze them are discussed in Chapter 2. Attention is also given to the main features of the response of road surfaces to vehicle loads and mathematical models that have been developed to predict road response. Chapter 3 reviews the effects on road damage of vehicle features which can be studied without consideration of vehicle dynamics. These include gross vehicle weight, axle and tire configurations, tire contact conditions and static load sharing in axle group suspensions. The dynamic tire forces generated by heavy vehicles are examined in Chapter 4. The discussion includes their simulation and measurement, their principal characteristics, the effects of tires and suspension design on dynamic forces, and the potential benefits of using advanced suspensions for minimizing dynamic tire forces. Chapter 5 discusses methods for estimating the effects of dynamic tire forces on road damage. The two main approaches are either to examine the statistics of the forces themselves; or to calculate the response of a pavement model to the forces, and to calculate the resulting wear using a material damage model. The issues involved in assessing vehicles for 'road friendliness' are discussed in Chapter 6. Possible assessment methods include measuring strains in an instrumented pavement traversed by the vehicle, measuring dynamic tire forces, or measuring vehicle parameters such as the 'natural frequency' and 'damping ratio'. Each of these measurements involves different assumptions and analysis methods for converting the results into some measure of road damage. Chapter 7 includes a summary of the main conclusions of the paper and recommendations for tire and suspension design, road design and construction, and for vehicle regulations.

The interaction of riblets with wall-bounded turbulence

The purpose of this thesis is to give answer to the question: why do riblets stop working for a certain size? Riblets are small surface grooves aligned in the mean direction of an overlying turbulent flow, designed specifically to reduce the friction between the flow and the surface. They were inspired by biological surfaces, like the oriented denticles in the skin of fastswimming sharks, and were the focus of a significant amount of research in the late eighties and nineties. Although it was found that the drag reduction depends on the riblet size scaled in wall units, the physical mechanisms implicated have not been completely understood up to now. It has been explained how riblets of vanishing size interact with the turbulent flow, producing a change in the drag proportional to their size, but that is not the regime of practical interest. The optimum performance is achieved for larger sizes, once that linear behavior has broken down, but before riblets begin adopting the character of regular roughness and increasing drag. This regime, which is the most relevant from a technological perspective, was precisely the less understood, so we have focused on it. Our efforts have followed three basic directions. First, we have re-assessed the available experimental data, seeking to identify common characteristics in the optimum regime across the different existing riblet geometries. This study has led to the proposal of a new length scale, the square root of the groove crosssection, to substitute the traditional peak-to-peak spacing. Scaling the riblet dimension with this length, the size of breakdown of the linear behavior becomes roughly universal. This suggests that the onset of the breakdown is related to a certain, fixed value of the cross-section of the groove. Second, we have conducted a set of direct numerical simulations of the turbulent flow over riblets, for sizes spanning the full drag reduction range. We have thus been able to reproduce the gradual transition between the different regimes. The spectral analysis of the flows has proven particularly fruitful, since it has made possible to identify spanwise rollers immediately above the riblets, which begin to appear when the riblet size is close to the optimum. This is a quite surprising feature of the flow, not because of the uniqueness of the phenomenon, which had been reported before for other types of complex and porous surfaces, but because most previous studies had focused on the detail of the flow above each riblet as a unit. Our novel approach has provided the adequate tools to capture coherent structures with an extended spanwise support, which interact with the riblets not individually, but collectively. We have also proven that those spanwise structures are responsible for the increase in drag past the viscous breakdown. Finally, we have analyzed the stability of the flow with a simplified model that connects the appearance of rollers to a Kelvin–Helmholtz-like instability, as is the case also for the flow over plant canopies and porous surfaces. In spite of the model emulating the presence of riblets only in an averaged, general fashion, it succeeds to capture the essential attributes of the breakdown, and provides a theoretical justification for the scaling with the groove cross-section.

The effects of various vortex generator configurations on a normal shock wave/boundary layer interaction

A number of VG configurations have been examined in a inlet relevant fiow-fleld which includes a terminal shock wave and subsequent subsonic diffuser. The flow-fleld was found to be highly sensitive to VG configuration. While the performance of one vane VG configuration was good over a wide range of streamwise positions, another quite similar vane configuration tended to perforin less well-especially when positioned further from the separation-and work is ongoing to determine the reasons behind tliis behavior. In addition, it was found that vane-type VG configurations were appreciably better at reducing separation than their micro-ramp counterparts. When combined with bleed in the centre-span region upstream of the VGs, the performance of vane type VGs was further enhanced and was the best of any configuration. © 2013 by Neil Titchener, Holger Babinsky and Eric Loth.

Interactive multi-objective particle swarm optimisation using decision space interaction

The most common approach to decision making in multi-objective optimisation with metaheuristics is a posteriori preference articulation. Increased model complexity and a gradual increase of optimisation problems with three or more objectives have revived an interest in progressively interactive decision making, where a human decision maker interacts with the algorithm at regular intervals. This paper presents an interactive approach to multi-objective particle swarm optimisation (MOPSO) using a novel technique to preference articulation based on decision space interaction and visual preference articulation. The approach is tested on a 2D aerofoil design case study and comparisons are drawn to non-interactive MOPSO. © 2013 IEEE.

Canonical normal shock wave/boundary-layer interaction flows relevant to external compression inlets

The normal shock wave/boundary-layer interaction is important to the operation and performance of a supersonic inlet, and the normal shock wave/boundary-layer interaction is particularly prominent in external compression inlets. To improve understanding of such interactions, it is helpful to make use of fundamental flows that capture the main elements of inlets, without resorting to the level of complexity and system integration associated with full-geometry inlets. In this paper, several fundamental flowfield configurations have been considered as possible test cases to represent the normal shock wave/boundary-layer interaction aspects found in typical external compression inlets, and it was found that the spillage diffuser more closely retains the basic flow features of an external compression inlet than the other configurations. In particular, this flowfield allows the normal shock Mach number as well as the amount and rate of subsonic diffusion to all be held approximately constant and independent of the application of flow control. In addition, a survey of several external compression inlets was conducted to quantify the flow and geometric parameters of the spillage diffuser relevant to actual inlets. The results indicated that such a flow may be especially relevant if the terminal Mach number is about 1.3 to 1.4, the confinement parameter is around 10%, and the width is around twice or three times the height. In addition, the area expansion downstream of the shock should be limited to the conservative side of incipient stall based on incompressible diffusers. Copyright © 2013 by the authors.

A computational fluid-structure interaction study of inflation cycles of a tension cone decelerator

Inflatable aerodynamic decelerators present potential advantages for planetary entry in missions of robotic and human exploration. The design of these structures face many engineering challenges, including complex deformable geometries, anisotropic material response, and coupled shockturbulence interactions. In this paper, we describe a comprehensive computational fluid-structure interaction study of an inflation cycle of a tension cone decelerator in supersonic flow and compare the simulations with earlier published experimental results. The aeroshell design and flow conditions closely match recent experiments conducted at Mach 2.5. The structural model is a 16-sided polygonal tension cone with seams between each segment. The computational model utilizes adaptive mesh refinement, large-eddy simulation, and shell mechanics with self-contact modeling to represent the flow and structure interaction. This study focuses on the dynamics of the structure as the inflation pressure varies gradually, and the behavior of forces experienced by the flexible and rigid (the payload capsule) structures. © 2011 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.

On-line policy optimisation of Bayesian spoken dialogue systems via human interaction

A partially observable Markov decision process has been proposed as a dialogue model that enables robustness to speech recognition errors and automatic policy optimisation using reinforcement learning (RL). However, conventional RL algorithms require a very large number of dialogues, necessitating a user simulator. Recently, Gaussian processes have been shown to substantially speed up the optimisation, making it possible to learn directly from interaction with human users. However, early studies have been limited to very low dimensional spaces and the learning has exhibited convergence problems. Here we investigate learning from human interaction using the Bayesian Update of Dialogue State system. This dynamic Bayesian network based system has an optimisation space covering more than one hundred features, allowing a wide range of behaviours to be learned. Using an improved policy model and a more robust reward function, we show that stable learning can be achieved that significantly outperforms a simulator trained policy. © 2013 IEEE.