54 research outputs found

    Structural health monitoring of beams with moving oscillator: theory and laboratory

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    U ovom se radu daje eksperimentalni i teoretski prikaz novog inteligentnog prenosivog mehaničkog sustava za otkrivanje oštećenja u kojem se koristi neizraziti genetski algoritam i metoda empirijskog rastavljanja (EMD). Za te je potrebe akcelerometrima izmjereno ubrzanje u vremenu na tri točke proste grede. Dobiveni signal rastavljen je metodom EMD na male komponente. Svaka komponenta sadrži određeni raspon frekvencija. Na kraju je provedeno projektiranje predloženog algoritma kako bi se utvrdilo mjesto i razina oštećenja na temelju obrasca variranja frekvencija na neoštećenoj i oštećenoj gredi.In this paper, a new intelligent portable mechanical system is introduced experimentally and theoretically to detect damage employing the fuzzy-genetic algorithm and EMD. For this purpose, the acceleration-time history is obtained from three points of a simply-supported beam utilizing accelerometer sensors. The gained signal is decomposed into small components by using an EMD method. Each decomposed component contains a specific frequency range. Finally, the proposed algorithm is designed to find the location and severity of damage through the frequency variation pattern among the safe and the damaged beam

    Designing of objects using smooth cubic splines

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    Inverse Kinematic Analysis of Robot Manipulators

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    An important part of industrial robot manipulators is to achieve desired position and orientation of end effector or tool so as to complete the pre-specified task. To achieve the above stated goal one should have the sound knowledge of inverse kinematic problem. The problem of getting inverse kinematic solution has been on the outline of various researchers and is deliberated as thorough researched and mature problem. There are many fields of applications of robot manipulators to execute the given tasks such as material handling, pick-n-place, planetary and undersea explorations, space manipulation, and hazardous field etc. Moreover, medical field robotics catches applications in rehabilitation and surgery that involve kinematic, dynamic and control operations. Therefore, industrial robot manipulators are required to have proper knowledge of its joint variables as well as understanding of kinematic parameters. The motion of the end effector or manipulator is controlled by their joint actuator and this produces the required motion in each joints. Therefore, the controller should always supply an accurate value of joint variables analogous to the end effector position. Even though industrial robots are in the advanced stage, some of the basic problems in kinematics are still unsolved and constitute an active focus for research. Among these unsolved problems, the direct kinematics problem for parallel mechanism and inverse kinematics for serial chains constitute a decent share of research domain. The forward kinematics of robot manipulator is simpler problem and it has unique or closed form solution. The forward kinematics can be given by the conversion of joint space to Cartesian space of the manipulator. On the other hand inverse kinematics can be determined by the conversion of Cartesian space to joint space. The inverse kinematic of the robot manipulator does not provide the closed form solution. Hence, industrial manipulator can achieve a desired task or end effector position in more than one configuration. Therefore, to achieve exact solution of the joint variables has been the main concern to the researchers. A brief introduction of industrial robot manipulators, evolution and classification is presented. The basic configurations of robot manipulator are demonstrated and their benefits and drawbacks are deliberated along with the applications. The difficulties to solve forward and inverse kinematics of robot manipulator are discussed and solution of inverse kinematic is introduced through conventional methods. In order to accomplish the desired objective of the work and attain the solution of inverse kinematic problem an efficient study of the existing tools and techniques has been done. A review of literature survey and various tools used to solve inverse kinematic problem on different aspects is discussed. The various approaches of inverse kinematic solution is categorized in four sections namely structural analysis of mechanism, conventional approaches, intelligence or soft computing approaches and optimization based approaches. A portion of important and more significant literatures are thoroughly discussed and brief investigation is made on conclusions and gaps with respect to the inverse kinematic solution of industrial robot manipulators. Based on the survey of tools and techniques used for the kinematic analysis the broad objective of the present research work is presented as; to carry out the kinematic analyses of different configurations of industrial robot manipulators. The mathematical modelling of selected robot manipulator using existing tools and techniques has to be made for the comparative study of proposed method. On the other hand, development of new algorithm and their mathematical modelling for the solution of inverse kinematic problem has to be made for the analysis of quality and efficiency of the obtained solutions. Therefore, the study of appropriate tools and techniques used for the solution of inverse kinematic problems and comparison with proposed method is considered. Moreover, recommendation of the appropriate method for the solution of inverse kinematic problem is presented in the work. Apart from the forward kinematic analysis, the inverse kinematic analysis is quite complex, due to its non-linear formulations and having multiple solutions. There is no unique solution for the inverse kinematics thus necessitating application of appropriate predictive models from the soft computing domain. Artificial neural network (ANN) can be gainfully used to yield the desired results. Therefore, in the present work several models of artificial neural network (ANN) are used for the solution of the inverse kinematic problem. This model of ANN does not rely on higher mathematical formulations and are adept to solve NP-hard, non-linear and higher degree of polynomial equations. Although intelligent approaches are not new in this field but some selected models of ANN and their hybridization has been presented for the comparative evaluation of inverse kinematic. The hybridization scheme of ANN and an investigation has been made on accuracies of adopted algorithms. On the other hand, any Optimization algorithms which are capable of solving various multimodal functions can be implemented to solve the inverse kinematic problem. To overcome the problem of conventional tool and intelligent based method the optimization based approach can be implemented. In general, the optimization based approaches are more stable and often converge to the global solution. The major problem of ANN based approaches are its slow convergence and often stuck in local optimum point. Therefore, in present work different optimization based approaches are considered. The formulation of the objective function and associated constrained are discussed thoroughly. The comparison of all adopted algorithms on the basis of number of solutions, mathematical operations and computational time has been presented. The thesis concludes the summary with contributions and scope of the future research work

    Numerical Simulation

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    Nowadays mathematical modeling and numerical simulations play an important role in life and natural science. Numerous researchers are working in developing different methods and techniques to help understand the behavior of very complex systems, from the brain activity with real importance in medicine to the turbulent flows with important applications in physics and engineering. This book presents an overview of some models, methods, and numerical computations that are useful for the applied research scientists and mathematicians, fluid tech engineers, and postgraduate students

    Qualitative Distances and Qualitative Description of Images for Indoor Scene Description and Recognition in Robotics

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    The automatic extraction of knowledge from the world by a robotic system as human beings interpret their environment through their senses is still an unsolved task in Artificial Intelligence. A robotic agent is in contact with the world through its sensors and other electronic components which obtain and process mainly numerical information. Sonar, infrared and laser sensors obtain distance information. Webcams obtain digital images that are represented internally as matrices of red, blue and green (RGB) colour coordinate values. All this numerical values obtained from the environment need a later interpretation in order to provide the knowledge required by the robotic agent in order to carry out a task. Similarly, light wavelengths with specific amplitude are captured by cone cells of human eyes obtaining also stimulus without meaning. However, the information that human beings can describe and remember from what they see is expressed using words, that is qualitatively. The research work done in this thesis tries to narrow the gap between the acquisition of low level information by robot sensors and the need of obtaining high level or qualitative information for enhancing human-machine communication and for applying logical reasoning processes based on concepts. Moreover, qualitative concepts can be added a meaning by relating them to others. They can be used for reasoning applying qualitative models that have been developed in the last twenty years for describing and interpreting metrical and mathematical concepts such as orientation, distance, velocity, acceleration, and so on. And they can be also understood by human-users both written and read aloud. The first contribution presented is the definition of a method for obtaining fuzzy distance patterns (which include qualitative distances such as near , far , very far and so on) from the data obtained by any kind of distance sensors incorporated in a mobile robot and the definition of a factor to measure the dissimilarity between those fuzzy patterns. Both have been applied to the integration of the distances obtained by the sonar and laser distance sensors incorporated in a Pioneer 2 dx mobile robot and, as a result, special obstacles have been detected as glass window , mirror , and so on. Moreover, the fuzzy distance patterns provided have been also defuzzified in order to obtain a smooth robot speed and used to classify orientation reference systems into open (it defines an open space to be explored) or closed . The second contribution presented is the definition of a model for qualitative image description (QID) based on qualitative models of shape, colour, topology and orientation. This model can qualitatively describe any kind of digital image and is independent of the image segmentation method used. The QID model have been tested in two scenarios in robotics: (i) the description of digital images captured by the camera of a Pioneer 2 dx mobile robot and (ii) the description of digital images of tile mosaics taken by an industrial camera located on a platform used by a robot arm to assemble tile mosaics. In order to provide a formal and explicit meaning to the qualitative description of the images generated, a Description Logic (DL) based ontology has been designed and presented as the third contribution. Our approach can automatically process any random image and obtain a set of DL-axioms that describe it visually and spatially. And objects included in the images are classified according to the ontology schema using a DL reasoner. Tests have been carried out using digital images captured by a webcam incorporated in a Pioneer 2 dx mobile robot. The images taken correspond to the corridors of a building at University Jaume I and objects with them have been classified into walls , floor , office doors and fire extinguishers under different illumination conditions and from different observer viewpoints. The final contribution is the definition of a similarity measure between qualitative descriptions of shape, colour, topology and orientation. And the integration of those measures into the definition of a general similarity measure between two qualitative descriptions of images. These similarity measures have been applied to: (i) extract objects with similar shapes from the MPEG7 CE Shape-1 library; (ii) assemble tile mosaics by qualitative shape and colour similarity matching; (iii) compare images of tile compositions; and (iv) compare images of natural landmarks in a mobile robot world for their recognition

    USING VIRTUAL REALITY TO INVESTIGATE ‘PROTEAN’ ANTI-PREDATOR BEHAVIOUR

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    Prey animals have evolved a wide variety of behaviours to combat the threat of predation, many of which have received considerable empirical and theoretical attention and are generally well understood in terms of their function and mechanistic underpinning. However, one of the most commonly observed and taxonomically widespread antipredator behaviours of all has, remarkably, received almost no experimental investigation: so-called ‘protean’ behaviour. This is defined as ‘behaviour that is sufficiently unpredictable to prevent a predator anticipating in detail the future position or actions of its prey’. In this thesis, I have elucidated the mechanisms that allow protean behaviour to be an effective anti-predatory response. This was explored with two approaches. Firstly, through the novel and extremely timely use of virtual reality to allow human ‘predators’ to attack and chase virtual prey in three-dimensions from a first-person perspective, thereby bringing the realism that has been missing from previous studies on predator-prey dynamics. Secondly through the three-dimensional tracking of protean behaviour in a highly tractable model species, the painted lady butterfly (Vanessa cardui). I explored this phenomenon in multiple contexts. Firstly, I simulated individual protean prey and explored the effects of unpredictability in their movement rules with respect to targeting accuracy of human ‘predators’ in virtual reality. Next, I examined the concept of ‘protean insurance’ via digitised movements of the painted lady butterfly, exploring the qualities of this animals’ movement paths related to human targeting ability. I then explored how the dynamics of animal groupings affected protean movement. Specifically, I investigated how increasing movement path complexity interacted with the well-documented ‘confusion effect’. I explored this question using both an experimental study and a VR citizen science game disseminated to the general public via the video game digital distribution service ‘Steam’. Subsequently, I explored another phenomenon associated with groupings of prey items; the ‘oddity effect’, which describes the preferential targeting of phenotypically odd individuals by predators. Typically, this phenomenon is associated with oddity of colouration or size. In this case, I investigated whether oddity of protean movement patterns relative to other group members could induce a ‘behavioural oddity effect’. Finally, I used a specialised genetic algorithm (GA) that was driven by human performance with respect to targeting prey items. I investigated the emergent protean movement paths that resulted from sustained predation pressure from humans. Specifically, I examined the qualities of the most fit movement paths with respect to control evolutions that were not under the selection pressure of human performance (randomised evolution). In the course of this thesis, I have gained a deeper understanding of a near ubiquitous component of predator prey interactions that has until recently been the subject of little empirical study. These findings provide important insights into the understudied phenomenon of protean movement, which are directly applicable to predator –prey dynamics within a broad range of taxa

    Bioinspired metaheuristic algorithms for global optimization

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    This paper presents concise comparison study of newly developed bioinspired algorithms for global optimization problems. Three different metaheuristic techniques, namely Accelerated Particle Swarm Optimization (APSO), Firefly Algorithm (FA), and Grey Wolf Optimizer (GWO) are investigated and implemented in Matlab environment. These methods are compared on four unimodal and multimodal nonlinear functions in order to find global optimum values. Computational results indicate that GWO outperforms other intelligent techniques, and that all aforementioned algorithms can be successfully used for optimization of continuous functions

    Experimental Evaluation of Growing and Pruning Hyper Basis Function Neural Networks Trained with Extended Information Filter

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    In this paper we test Extended Information Filter (EIF) for sequential training of Hyper Basis Function Neural Networks with growing and pruning ability (HBF-GP). The HBF neuron allows different scaling of input dimensions to provide better generalization property when dealing with complex nonlinear problems in engineering practice. The main intuition behind HBF is in generalization of Gaussian type of neuron that applies Mahalanobis-like distance as a distance metrics between input training sample and prototype vector. We exploit concept of neuron’s significance and allow growing and pruning of HBF neurons during sequential learning process. From engineer’s perspective, EIF is attractive for training of neural networks because it allows a designer to have scarce initial knowledge of the system/problem. Extensive experimental study shows that HBF neural network trained with EIF achieves same prediction error and compactness of network topology when compared to EKF, but without the need to know initial state uncertainty, which is its main advantage over EKF
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