15,875 research outputs found
Analytical continuum mechanics \`a la Hamilton-Piola: least action principle for second gradient continua and capillary fluids
In this paper a stationary action principle is proven to hold for capillary
fluids, i.e. fluids for which the deformation energy has the form suggested,
starting from molecular arguments, for instance by Cahn and Hilliard. Remark
that these fluids are sometimes also called Korteweg-de Vries or Cahn-Allen. In
general continua whose deformation energy depend on the second gradient of
placement are called second gradient (or Piola-Toupin or Mindlin or
Green-Rivlin or Germain or second gradient) continua. In the present paper, a
material description for second gradient continua is formulated. A Lagrangian
action is introduced in both material and spatial description and the
corresponding Euler-Lagrange bulk and boundary conditions are found. These
conditions are formulated in terms of an objective deformation energy volume
density in two cases: when this energy is assumed to depend on either C and
grad C or on C^-1 and grad C^-1 ; where C is the Cauchy-Green deformation
tensor. When particularized to energies which characterize fluid materials, the
capillary fluid evolution conditions (see e.g. Casal or Seppecher for an
alternative deduction based on thermodynamic arguments) are recovered. A
version of Bernoulli law valid for capillary fluids is found and, in the
Appendix B, useful kinematic formulas for the present variational formulation
are proposed. Historical comments about Gabrio Piola's contribution to
continuum analytical mechanics are also presented. In this context the reader
is also referred to Capecchi and Ruta.Comment: 52 page
Artificial Intelligence and Systems Theory: Applied to Cooperative Robots
This paper describes an approach to the design of a population of cooperative
robots based on concepts borrowed from Systems Theory and Artificial
Intelligence. The research has been developed under the SocRob project, carried
out by the Intelligent Systems Laboratory at the Institute for Systems and
Robotics - Instituto Superior Tecnico (ISR/IST) in Lisbon. The acronym of the
project stands both for "Society of Robots" and "Soccer Robots", the case study
where we are testing our population of robots. Designing soccer robots is a
very challenging problem, where the robots must act not only to shoot a ball
towards the goal, but also to detect and avoid static (walls, stopped robots)
and dynamic (moving robots) obstacles. Furthermore, they must cooperate to
defeat an opposing team. Our past and current research in soccer robotics
includes cooperative sensor fusion for world modeling, object recognition and
tracking, robot navigation, multi-robot distributed task planning and
coordination, including cooperative reinforcement learning in cooperative and
adversarial environments, and behavior-based architectures for real time task
execution of cooperating robot teams
Slowness and Sparseness Lead to Place, Head-Direction, and Spatial-View Cells
We present a model for the self-organized formation of place cells, head-direction cells, and spatial-view cells in the hippocampal formation based on unsupervised learning on quasi-natural visual stimuli. The model comprises a hierarchy of Slow Feature Analysis (SFA) nodes, which were recently shown to reproduce many properties of complex cells in the early visual system. The system extracts a distributed grid-like representation of position and orientation, which is transcoded into a localized place-field, head-direction, or view representation, by sparse coding. The type of cells that develops depends solely on the relevant input statistics, i.e., the movement pattern of the simulated animal. The numerical simulations are complemented by a mathematical analysis that allows us to accurately predict the output of the top SFA laye
- …