33,070 research outputs found

    Perception of Motion and Architectural Form: Computational Relationships between Optical Flow and Perspective

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    Perceptual geometry refers to the interdisciplinary research whose objectives focuses on study of geometry from the perspective of visual perception, and in turn, applies such geometric findings to the ecological study of vision. Perceptual geometry attempts to answer fundamental questions in perception of form and representation of space through synthesis of cognitive and biological theories of visual perception with geometric theories of the physical world. Perception of form, space and motion are among fundamental problems in vision science. In cognitive and computational models of human perception, the theories for modeling motion are treated separately from models for perception of form.Comment: 10 pages, 13 figures, submitted and accepted in DoCEIS'2012 Conference: http://www.uninova.pt/doceis/doceis12/home/home.ph

    The effect of non-uniform damping on flutter in axial flow and energy harvesting strategies

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    The problem of energy harvesting from flutter instabilities in flexible slender structures in axial flows is considered. In a recent study, we used a reduced order theoretical model of such a system to demonstrate the feasibility for harvesting energy from these structures. Following this preliminary study, we now consider a continuous fluid-structure system. Energy harvesting is modelled as strain-based damping and the slender structure under investigation lies in a moderate fluid loading range, for which {the flexible structure} may be destabilised by damping. The key goal of this work is to {analyse the effect of damping distribution and intensity on the amount of energy harvested by the system}. The numerical results {indeed} suggest that non-uniform damping distributions may significantly improve the power harvesting capacity of the system. For low damping levels, clustered dampers at the position of peak curvature are shown to be optimal. Conversely for higher damping, harvesters distributed over the whole structure are more effective.Comment: 12 pages, 10 figures, to appear in Proc. R. Soc.

    CHANCE: A FRENCH-GERMAN HELICOPTER CFD-PROJECT

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    The paper gives an overview of the CHANCE research project (partly supported by the French DPAC and DGA and the German BMWA) which was started in 1998 between the German and French Aerospace Research Centres DLR and ONERA, the University of Stuttgart and the two National Helicopter Manufacturers, Eurocopter and Eurocopter Deutschland. The objective of the project was to develop and validate CFD tools for computing the aerodynamics of the complete helicopter, accounting for the blade elasticity by coupling with blade dynamics. The validation activity of the flow solvers was achieved through intermediate stages of increasing geometry and flow modelling complexity, starting from an isolated rotor in hover, and concluding with the time-accurate simulation of a complete helicopter configuration in forward-flight. All along the research program the updated versions of the CFD codes were systematically delivered to Industry. This approach was chosen to speed up the transfer of capabilities to industry and check early enough that the products meet the expectations for applicability in the industrial environment of Eurocopter

    Minimum-time trajectory generation for quadrotors in constrained environments

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    In this paper, we present a novel strategy to compute minimum-time trajectories for quadrotors in constrained environments. In particular, we consider the motion in a given flying region with obstacles and take into account the physical limitations of the vehicle. Instead of approaching the optimization problem in its standard time-parameterized formulation, the proposed strategy is based on an appealing re-formulation. Transverse coordinates, expressing the distance from a frame path, are used to parameterise the vehicle position and a spatial parameter is used as independent variable. This re-formulation allows us to (i) obtain a fixed horizon problem and (ii) easily formulate (fairly complex) position constraints. The effectiveness of the proposed strategy is proven by numerical computations on two different illustrative scenarios. Moreover, the optimal trajectory generated in the second scenario is experimentally executed with a real nano-quadrotor in order to show its feasibility.Comment: arXiv admin note: text overlap with arXiv:1702.0427

    Classical Langevin Dynamics for Model Hamiltonians

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    We propose a scheme for extending the model Hamiltonian method developed originally for studying the equilibrium properties of complex perovskite systems to include Langevin dynamics. The extension is based on Zwanzig's treatment of nonlinear generalized Langevin's equations. The parameters entering the equations of motion are to be determined by mapping from first-principles calculations, as in the original model Hamiltonian method. The scheme makes possible, in principle, the study of the dynamics and kinetics of structural transformations inaccessible to the original model Hamiltonian method. Moreover, we show that the equilibrium properties are governed by an effective Hamiltonian which differs from that used in previous work by a term which captures the coherent part of the previously ignored dynamical interaction with the omitted degrees of freedom. We describe how the additional information required for the Langevin equations can be obtained by a minor extension of the previous mapping.Comment: 5 pages, no figures, to appear in Physica Status Solidi; replacement acknowledges funding agenc

    Performance evaluation of a distributed integrative architecture for robotics

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    The eld of robotics employs a vast amount of coupled sub-systems. These need to interact cooperatively and concurrently in order to yield the desired results. Some hybrid algorithms also require intensive cooperative interactions internally. The architecture proposed lends it- self amenable to problem domains that require rigorous calculations that are usually impeded by the capacity of a single machine, and incompatibility issues between software computing elements. Implementations are abstracted away from the physical hardware for ease of de- velopment and competition in simulation leagues. Monolithic developments are complex, and the desire for decoupled architectures arises. Decoupling also lowers the threshold for using distributed and parallel resources. The ability to re-use and re-combine components on de- mand, therefore is essential, while maintaining the necessary degree of interaction. For this reason we propose to build software components on top of a Service Oriented Architecture (SOA) using Web Services. An additional bene t is platform independence regarding both the operating system and the implementation language. The robot soccer platform as well as the associated simulation leagues are the target domain for the development. Furthermore are machine vision and remote process control related portions of the architecture currently in development and testing for industrial environments. We provide numerical data based on the Python frameworks ZSI and SOAPpy undermining the suitability of this approach for the eld of robotics. Response times of signi cantly less than 50 ms even for fully interpreted, dynamic languages provides hard information showing the feasibility of Web Services based SOAs even in time critical robotic applications

    GPflowOpt: A Bayesian Optimization Library using TensorFlow

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    A novel Python framework for Bayesian optimization known as GPflowOpt is introduced. The package is based on the popular GPflow library for Gaussian processes, leveraging the benefits of TensorFlow including automatic differentiation, parallelization and GPU computations for Bayesian optimization. Design goals focus on a framework that is easy to extend with custom acquisition functions and models. The framework is thoroughly tested and well documented, and provides scalability. The current released version of GPflowOpt includes some standard single-objective acquisition functions, the state-of-the-art max-value entropy search, as well as a Bayesian multi-objective approach. Finally, it permits easy use of custom modeling strategies implemented in GPflow

    Statistical Theory of Asteroid Escape Rates

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    Transition states in phase space are identified and shown to regulate the rate of escape of asteroids temporarily captured in circumplanetary orbits. The transition states, similar to those occurring in chemical reaction dynamics, are then used to develop a statistical semianalytical theory for the rate of escape of asteroids temporarily captured by Mars. Theory and numerical simulations are found to agree to better than 1%. These calculations suggest that further development of transition state theory in celestial mechanics, as an alternative to large-scale numerical simulations, will be a fruitful approach to mass transport calculations

    Hypersonic Research Vehicle (HRV) real-time flight test support feasibility and requirements study. Part 2: Remote computation support for flight systems functions

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    The requirements are assessed for the use of remote computation to support HRV flight testing. First, remote computational requirements were developed to support functions that will eventually be performed onboard operational vehicles of this type. These functions which either cannot be performed onboard in the time frame of initial HRV flight test programs because the technology of airborne computers will not be sufficiently advanced to support the computational loads required, or it is not desirable to perform the functions onboard in the flight test program for other reasons. Second, remote computational support either required or highly desirable to conduct flight testing itself was addressed. The use is proposed of an Automated Flight Management System which is described in conceptual detail. Third, autonomous operations is discussed and finally, unmanned operations
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