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In this study, virtual planar-motion-mechanism (PMM) tests in pure sway motion at constant forward speed are carried out to determine the sway added mass values of a 6:1 prolate spheroid. Added mass values are obtained by solving the Euler equations and the Reynolds Averaged Navier-Stokes (RANS) equations across a range of frequencies and depths. The effect that distance from the surface and radiation...
In order to analyze the dynamic performance of a Remotely Operated Vehicle (ROV) during mission like ship hull inspection, it is necessary to establish the 6 degree-of-freedom equations of motion considering well modeled hydrodynamic force acting on a ROV. Typically, the hydrodynamic force is the model by polynomial functions and those coefficients are obtained by captive model tests or empirical...
Self-organized flocking behavior is often seen in nature in the form of flocks of sheep, herds of cow, fish schools, and swarms of insects. The shepherding problem is concerned with the control of such a group by a small number of guides and has useful applications. The present paper focuses on two unrelated control methods and the similarities between them. Based on these two control methods, we...
This paper considers the application of finite-time control to a Cucker-Smale flocking model of autonomous agents with collision avoidance. A mathematical expression for the upper bound on the flocking time is derived. Previous results without considering collision avoidance showed that the flocking time decreases as the number of robots in the flock increases, which is counter-intuitive. We showed...
Very large-scale Deep Neural Networks (DNNs) have achieved remarkable successes in a large variety of computer vision tasks. However, the high computation intensity of DNNs makes it challenging to deploy these models on resource-limited systems. Some studies used low-rank approaches that approximate the filters by low-rank basis to accelerate the testing. Those works directly decomposed the pre-trained...
Kinematic models for skid-steer vehicles based on the locations of instantaneous centers of rotation (ICRs) of treads have been useful for motion control and dead reckoning. These models have typically assumed constant track ICRs because actual ICRs remain in bounded regions. However, this assumption neglects tread ICR variations during motion caused by dynamics. This paper analyzes the effect of...
The paper provides the mathematical model describing the movement of different kinds of avalanche snow mass and its interaction with obstacles based on the modified method of particle dynamics. Further, the authors introduce their algorithm to calculate avalanche impact on buildings and structures; this algorithm underlies a computer program that allows you to set the basic parameters of a building,...
This paper presents the derivation, in great detail, of the full nonlinear model for a quad-copter, using D'Alembert's principle. The final model is presented in a form suitable for simulation and control. Finally, the quad-copter model is implemented and a simple control law for the attitude and altitude are derived. Numerical results are presented at the end of the paper.
The main objective of the presented work is to do a preliminary sensitivity analysis of the simplified neuromusculoskeletal model of the human middle finger that we have already developed [1], [2]. The importance of this study is to improve the model by well estimating internal parameters, which are the most affecting the model output, and by adapting it to each individual. The sensitivity analysis...
The paper offers mathematical models and software for electromagnetic calculations in conducting plate with flaws (cuts). It solves the problem of the influence of one or more straight line intersecting in one point of flaws on eddy currents and electromotive force (EF) induced in a coil with current. The coil is located above the nonmagnetic infinite plate orthogonally to the lines of flaws. Under...
This article is concerned with parameters identification problems and computer modeling of thrust generation subsystem for small unmanned aerial vehicles (UAV) quadrotor type. In this paper approach for computer model generation of dynamic process of thrust generation subsystem that consists of fixed pitch propeller, EC motor and power amplifier, is considered. Due to the fact that obtainment of aerodynamic...
This paper presents a cooperative shared control driver assistance system which supports the driver in the longitudinal vehicle control. The system architecture design enables the driver and the assistance system to apply a force on the accelerator pedal. Therefore, a cooperative control algorithm has to be developed. This design problem can be described mathematically as a differential game. For...
It is a challenge to precisely predict hand grasps based on EMG signals given practical scenarios, due to its inherent nature. This paper proposes a solution to tackle the challenge with a force-driven granular model (FDGM). The problem of n-class hand grasp classification has been represented as force-based granular modelling, in which a number of granules are constructed for each class relying on...
One important field of computer simulations is material science, the examination of the structure and interaction of molecules, for which various models and algorithms have been developed. One of these is the MMFF94 force field, which describes potential energies. Gradually modifying the coordinates of the atoms in the molecule and calculating the energy, states with favorable energies can be found...
Modeling helps explain the fundamental physics hidden behind experimental data. In the case of material modeling, running one simulation rarely results in output that reproduces the experimental data. Often one or more of the force field parameters are not precisely known and must be optimized for the output to match that of the experiment. Since the simulations require high performance computing...
This paper discusses numerical experiments by the fast computation method of hydraulic robot dynamics. This paper shows a new proposed model with a special nondmensional representation which is based on the proposed model. The four methods are compared with each other with respect to computation time.
Medical training systems often require the use of haptic interaction with deformable models and high visual fidelity. It is necessary to get a compromise between the geometric model and the deformation model in order to achieve the required frame rate for haptic interaction of 1000Hz. Frequently low level geometric models are used to describe the geometry of the object. This produces large data structures...
In this work we propose a framework for data-driven crowd simulation starting from a small set of trajectories. To model the macroscopic behavior, our method extracts pedestrian trajectories from real videos, clusters all trajectories of pedestrians who intend to reach the same goal, and computes the velocity field associated with each exit region in the scene to guide virtual agents toward their...
Nowadays, numerous Zakat Calculation Platforms (ZCP) are in continuous incremental progress due to the high demands on such Islamic platforms. The multitude of these ZCP platforms, although it has advantages, it also presents a number of disadvantages. Actually, over the past few years, we can see the enormous increase of the use of these platforms that presents a number of disadvantages viz; they...
The control load system is a force simulation system, which simulates the operating force of the pilot when piloting an aircraft. According to the analysis of a certain type of aircraft control load system, designs an electric load control system by using DC torque motor as actuator. The system takes DSP TMS320F28335 as the controller, with the signal conditioning circuit, A/D conversion circuit,...
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