Modeling Framework and Software Tools for Walking Robots

In research on passive dynamic walking, the aim is to study and design robots that walk naturally, i.e., with little or no control effort. McGeer [1] and others (e.g. [2, 3]) have shown that, indeed, robots can walk down a shallow slope with no actuation, only powered by gravity.\ud In this work, we derive mathematical models of walking ro- bots to better understand the dynamics that determine the walking behavior, and to design controllers that e.g. in- crease robustness against changing environments. We use the port-Hamiltonian framework, as it has the advantage of explicitly showing energy-flows inside and into the system. Thus, it allows a direct efficiency study as well as the possi- bility to connect external elements in a ‘physical’ way using ports, instead of using just torque/force signals

Numerical modeling tools for chemical vapor deposition

Development of general numerical simulation tools for chemical vapor deposition (CVD) was the objective of this study. Physical models of important CVD phenomena were developed and implemented into the commercial computational fluid dynamics software FLUENT. The resulting software can address general geometries as well as the most important phenomena occurring with CVD reactors: fluid flow patterns, temperature and chemical species distribution, gas phase and surface deposition. The physical models are documented which are available and examples are provided of CVD simulation capabilities

Modeling and simulation of data communication networks using SARA

The selection of an appropriate simulation language can have a profound impact on the success of a simulation study. The available options range from domain-specific simulation languages to general-purpose programming languages. These languages are often supported by a collection of tools which form a simulation system. This paper examines UCLA's SARA (Systems ARchitects' Apprentice) system and explores its' usefulness in modeling and simulating a data communications network. Based on experimental use of SARA's tools, the system is evaluated with respect to required expertise, modeling power, as well as measurement and reporting capability

CEM03 and LAQGSM03 - new modeling tools for nuclear applications

An improved version of the Cascade-Exciton Model (CEM) of nuclear reactions realized in the code CEM2k and the Los Alamos version of the Quark-Gluon String Model (LAQGSM) have been developed recently at LANL to describe reactions induced by particles and nuclei for a number of applications. Our CEM2k and LAQGSM merged with the GEM2 evaporation/fission code by Furihata have predictive powers comparable to other modern codes and describe many reactions better than other codes; therefore both our codes can be used as reliable event generators in transport codes for applications. During the last year, we have made a significant improvements to the intranuclear cascade parts of CEM2k and LAQGSM, and have extended LAQGSM to describe photonuclear reactions at energies to 10 GeV and higher. We have produced in this way improved versions of our codes, CEM03.01 and LAQGSM03.01. We present a brief description of our codes and show illustrative results obtained with CEM03.01 and LAQGSM03.01 for different reactions compared with predictions by other models, as well as examples of using our codes as modeling tools for nuclear applications.Comment: 12 pages, 10 figures, to be published in Journal of Physics: Conference Series: Proc. Europhysics Conf. on New Trends in Nuclear Physics Applications and Technologies (NPDC19), Pavia, Italy, September 5-9, 200

Kevoree Modeling Framework (KMF): Efficient modeling techniques for runtime use

The creation of Domain Specific Languages(DSL) counts as one of the main goals in the field of Model-Driven Software Engineering (MDSE). The main purpose of these DSLs is to facilitate the manipulation of domain specific concepts, by providing developers with specific tools for their domain of expertise. A natural approach to create DSLs is to reuse existing modeling standards and tools. In this area, the Eclipse Modeling Framework (EMF) has rapidly become the defacto standard in the MDSE for building Domain Specific Languages (DSL) and tools based on generative techniques. However, the use of EMF generated tools in domains like Internet of Things (IoT), Cloud Computing or Models@Runtime reaches several limitations. In this paper, we identify several properties the generated tools must comply with to be usable in other domains than desktop-based software systems. We then challenge EMF on these properties and describe our approach to overcome the limitations. Our approach, implemented in the Kevoree Modeling Framework (KMF), is finally evaluated according to the identified properties and compared to EMF.Comment: ISBN 978-2-87971-131-7; N° TR-SnT-2014-11 (2014

Advanced language modeling approaches, case study: Expert search

This tutorial gives a clear and detailed overview of advanced language modeling approaches and tools, including the use of document priors, translation models, relevance models, parsimonious models and expectation maximization training. Expert search will be used as a case study to explain the consequences of modeling assumptions