predatorprotectorprey multirobot highlevel reinforcement learning architecture adaptive.docx
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predatorprotectorprey multirobot highlevel reinforcement learning architecture adaptive.docx
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predatorprotectorpreymultirobothighlevelreinforcementlearningarchitectureadaptive
Pneumaticnon-contacttopographycharacterizationoffinish-groundsurfacesusingmultivariateprojectionmethods OriginalResearchArticle
PrecisionEngineering,Volume35,Issue2,April2011,Pages282-288
P.Koshy,D.Grandy,F.Klocke
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260
Effectofpulsedcurrentweldingonfatiguebehaviourofhighstrengthaluminiumalloyjoints OriginalResearchArticle
Materials&Design,Volume29,Issue2,2008,Pages492-500
V.Balasubramanian,V.Ravisankar,G.MadhusudhanReddy
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AbstractAbstract|Figures/TablesFigures/Tables|ReferencesReferences
Abstract
Highstrengthaluminiumalloys(Al–Zn–Mg–Cualloys)havegatheredwideacceptanceinthefabricationoflightweightstructuresrequiringhighstrength-toweightratio,suchastransportablebridgegirders,militaryvehicles,roadtankersandrailwaytransportsystems.Thepreferredweldingprocessesofhighstrengthaluminiumalloyarefrequentlygastungstenarcwelding(GTAW)processandgasmetalarcwelding(GMAW)processduetotheircomparativelyeasierapplicabilityandbettereconomy.Weldfusionzonestypicallyexhibitcoarsecolumnargrainsbecauseoftheprevailingthermalconditionsduringweldmetalsolidification.Thisoftenresultsinferiorweldmechanicalpropertiesandpoorresistancetohotcracking.Inthisinvestigation,anattempthasbeenmadetorefinethefusionzonegrainsbyapplyingpulsedcurrentweldingtechnique.Rolledplatesof6 mmthicknesshavebeenusedasthebasematerialforpreparingsinglepassweldedjoints.SingleVbuttjointconfigurationhasbeenpreparedforjoiningtheplates.ThefillermetalusedforjoiningtheplatesisAA5356(Al–5Mg(wt%))gradealuminiumalloy.Fourdifferentweldingtechniqueshavebeenusedtofabricatethejointsandtheyare:
(i)continuouscurrentGTAW(CCGTAW),(ii)pulsedcurrentGTAW(PCGTAW),(iii)continuouscurrentGMAW(CCGMAW)and(iv)pulsedcurrentGMAW(PCGMAW)processes.Argon(99.99%pure)hasbeenusedastheshieldinggas.Fatiguepropertiesoftheweldedjointshavebeenevaluatedbyconductingfatiguetestusingrotarybendingfatiguetestingmachine.Currentpulsingleadstorelativelyfinerandmoreequi-axedgrainstructureingastungstenarc(GTA)andgasmetalarc(GMA)welds.Incontrast,conventionalcontinuouscurrentweldingresultedinpredominantlycolumnargrainstructures.Grainrefinementisaccompaniedbyanincreaseinfatiguelifeandendurancelimit.
ArticleOutline
1.Introduction
2.Experimentalwork
3.Results
3.1.Fatigueproperties
3.2.Tensileproperties
3.3.Hardness
3.4.Microstructure
4.Discussion
4.1.Effectofpulsedcurrentweldingonfusionzonegrainrefinement
4.2.Effectofweldmetalstrengthonfatiguebehaviourofjoints
4.3.Effectoffusionzonegrainsizeonfatiguebehaviour
5.Conclusions
Acknowledgements
References
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261
FAT-basedadaptivecontrolforpneumaticservosystemswithmismatcheduncertainties OriginalResearchArticle
MechanicalSystemsandSignalProcessing,Volume22,Issue6,August2008,Pages1263-1273
Yi-ChangTsai,An-ChyauHuang
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Abstract
Inthispaper,afunctionapproximationtechnique(FAT)-basedadaptivecontrollerisproposedforpneumaticservosystemswithvariablepayloadanduncertaindisturbances.Thesystemmodelisfirstlydescribedbyasetofnon-autonomousstateequationswithmismatcheduncertainties.Sincetheuncertaintiesaretime-varyingandtheirvariationboundsarenotavailable,mosttraditionalrobustdesignsoradaptivestrategiesarenotdirectlyapplicable.TheFAT-baseddesignisproposedheretoestimatetheseuncertaintiessothattheclosed-loopstabilitycanbeprovedbyusingtheLyapunov-liketheory.Theproblemindealingwiththemismatcheduncertaintiesiscircumventedbyusingthemultiple-surfaceslidingcontrol(MSSC)algorithm.Experimentalresultsjustifythattheproposedschemecangivegoodperformanceregardlessofvariousuncertainties.
ArticleOutline
1.Introduction
2.Systemdescription
3.Controllerdesign
4.Experimentalresults
4.1.Regulation
4.2.Tracking
5.Conclusions
References
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262
FiniteelementmodelingofelectronbeamweldingofalargecomplexAlalloystructurebyparallelcomputations OriginalResearchArticle
JournalofMaterialsProcessingTechnology,Volume199,Issues1-3,1April2008,Pages41-48
YanhongTian,ChunqingWang,DanyangZhu,Y.Zhou
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Abstract
Thispaperdescribesfeaturesofathree-dimensionalfiniteelementmodeltosimulatethetemperaturefieldofalargecomplicatedAlalloystructureduringelectronbeamwelding(EBW),aimingtocontrolthefinaldistortionoftheweldedstructure.Theactualworkpieceisabout1 minlength,withover8 maggregateweldlength.Becauseamuchfinermeshwasrequiredtodescribetheelectronbeamheatsource,computationalworkwouldbesubstantiallyincreasedduetothethree-dimensionalmodel.Inordertoimprovecalculationspeedandqualityofsimulation,parallelcalculationwasperformedbyestablishingacomputerclustersystemcomposedoffourPCs.Atthesametime,adynamicthree-dimensionalkeyholewasappliedinthismodeltosimulatetheheatgenerationinthecavity.Followingtheheatsource,thekeyholemovedalongtheweldline,allowingamorecomplexexpressiontodescribetheheatsourceofEBW.Severalweldingprocessparametersincludinginputenergyandweldingspeedwerestudiedsystematically,aswellastheinfluenceofpre-deformationbeforeweldingontheultimatedistortion.Theresultsshowthattheinputenergyandweldingspeedhaveadirecteffectonthetemperaturefield,especiallyontheshapeanddimensionsoftheweldpool,andtheyseriouslyinfluencethefinaldistortion.Pre-deformationalsohasaneffectondistortion,butnotapparentlyasstrongastheparametersmentionedabove.
ArticleOutline
1.Introduction
2.Finiteelementmodeling
2.1.Parallelcalculation
2.2.Finiteelementmodel
2.3.Heattransfergoverningequations
2.4.Mechanicalanalysis
2.5.Materialproperties
3.Resultsanddiscussion
3.1.Resultsoftemperaturedistribution
3.2.Distortionoftheweldedstructure
4.Summary
Acknowledgements
References
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263
Exploringthedesignspaceofrobots:
Children'sperspectives OriginalResearchArticle
InteractingwithComputers,Volume18,Issue6,December2006,Pages1390-1418
SarahWoods
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AbstractAbstract|Figures/TablesFigures/Tables|ReferencesReferences
Abstract
Children'sperceptionsandevaluationsofdifferentrobotdesignsareanimportantunexploredareawithinroboticsresearchconsideringthatmanyrobotsarespecificallydesignedforchildren.Toexaminechildren'sfeelingsandattitudestowardsrobots,alargesampleofchildren(N = 159)evaluated40robotimagesbycompletingaquestionnaireforeachimage,whichenquiredaboutrobotappearance,robotpersonalitydimensionsandrobotemotions.Resultsshowedthatdependingonarobot'sappearancechildrenclearlydistinguishedrobotsintermsoftheirintentions(i.e.friendlyvs.unfriendly),theircapabilitytounderstand,andtheiremotionalexpression.Resultsofaprincipalcomponentsanalysisofthechildren'sratingsoftherobots'personalityattributesrevealedtwodimensionslabelled‘BehaviouralIntention’and‘EmotionalExpression’.Robotswereclassifiedaccordingtotheirscoresonthesetwodimensionsandacontentanalysisoftheirappearancewasconductedinanattempttoidentifysalientfeaturesofdifferentrobotpersonalities.Childrenjudgedhuman-likerobotsasaggressive,buthuman–machinerobotsasfriendly.Resultsonchildren'sperceptionsoftherobots'behaviouralintentionsprovidedtentativeempiricalsupportfortheUncannyValley,hypothesizedby(Mori,M.,1970),reflectingasituationwhererobotsareveryhuman-like,butstilldistinguishablefromhumans,evokingafeelingofdiscomfortorrepulsion.Thepaperconcludeswithadiscussionofdesignimplicationsforrobots,andtheuseofrobotsineducationalcontexts.
ArticleOutline
1.Introduction
1.1.Overview
1.2.Thediverseuseofrobots
1.3.Designconsiderationsforrobots
1.3.1.Robotappearance
1.3.2.Robotmodeoflocomotion
1.3.3.Robotgender
1.3.4.Robotpersonality
1.3.5.ThedesignspaceofrobotsandtheUncannyValley
1.4.Apsychologicalapproachtowardsevaluatingchildren'srobotattitudes
2.Method
2.1.Design
2.2.Participants
2.3.Instruments
2.3.1.Robotpicturesandgenerationoftheindependentvariables(IVs)
2.3.2.Robotpicturesquestionnaireanddependentvariables:
‘Whatdoyouthink?
’
2.4.Procedure
2.5.Statisticalanalysis
3.Results
3.1.Children'sevaluationsofrobotfeelings
3.2.Children'sevaluationsofwhetherarobotwouldunderstandthem
3.3.Robotpersonalitydimensions
3.4.Robotappearanceandpersonalitytraits
3.5.AcontributiontotheevaluationofMori's‘UncannyValley’
4.Discussion
4.1.Designimplicationsforchildren'srobots
4.2.Futuredirections
5.Conclusion
Acknowledgements
References
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264
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