Number of found documents: 2086
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COMPUTER SIMULATION STUDY OF THE STABILITY OF UNDERACTUATED BIPEDAL ROBOT MODELS (motivated by Griffin and Grizzle, 2017)
Polach, P.; Anderle, Milan; Zezula, Pavel; Papáček, Štěpán
2023 - English
A key feature for bipedal walkers (robots and humans as well) is their stability or disturbance rejection defined as the ability to deal with unexpected disturbances. The paper by Griffin and Grizzle (2017) have significantly contributed to the shift from flat ground to slopes and steps when evaluating the walking efficiency of their robots. Similarly, in this contribution, based on the appropriate model of robot dynamics and control law, we examine the stability of walking-without-falling for different ground perturbations for a threelink compass gait walker. I.e., we perform the sensitivity analysis of the walking stability of underactuated bipedal walker with respect to certain disturbation using the alaska/MultibodyDynamics simulation tool. Keywords: Mechatronics; Bipedal robot; Multibody dynamics; Acrobot; Control applications Fulltext is available at external website.
COMPUTER SIMULATION STUDY OF THE STABILITY OF UNDERACTUATED BIPEDAL ROBOT MODELS (motivated by Griffin and Grizzle, 2017)

A key feature for bipedal walkers (robots and humans as well) is their stability or disturbance rejection defined as the ability to deal with unexpected disturbances. The paper by Griffin and Grizzle ...

Polach, P.; Anderle, Milan; Zezula, Pavel; Papáček, Štěpán
Ústav teorie informace a automatizace, 2023

Book of abstracts of the 1st outdoor seminar of the Department of Optical Materials: Advances in the new materials engineering and study
Buryi, Maksym; Král, Robert
2023 - English
The seminar is dedicated to the main activities of the department of Optical Materials, FZU - Institute of Physics of the Czech Academy of Sciences in the course of national and international collaborations. In particular, the advanced methods of the (nano)materials synthesis, fabrication, and characterization are presented and discussed in detail. The aim of the seminar is to establish more of the effective paths of communication and data exchange by creating and maintaining links among the teams of national and international experts in various fields of physical and chemical knowledge, both experimental and theoretical. Keywords: nanomaterials; synthesis; data exchange Fulltext is available at external website.
Book of abstracts of the 1st outdoor seminar of the Department of Optical Materials: Advances in the new materials engineering and study

The seminar is dedicated to the main activities of the department of Optical Materials, FZU - Institute of Physics of the Czech Academy of Sciences in the course of national and international ...

Buryi, Maksym; Král, Robert
Fyzikální ústav, 2023

Souvislost mezi principem nejmenší akce a termodynamickou podmínkou stability
Maršík, František; Trávníček, Zdeněk; Antošová, Zuzana
2023 - English
The extended principle is formulated for a material point (M.P.) X, which has nonzero mass, temperature, and trajectory x(X,t). The Lagrangian of this variation principle is equal to the kinetic energy from which, the internal energy of the material point (which depends on the entropy) and the additional energy caused by the frictional force are subtracted. The relation between the inertial force and the entropy gradient is found and the gravitational force is completely replaced by the entropy gradient. Thanks to the mentioned properties of the total enthalpy, the Thermodynamic criterion of stability of the state of M.P., is formulated. Keywords: principle of the least action; thermodynamic stability condition; annular swirl flow Fulltext is available at external website.
Souvislost mezi principem nejmenší akce a termodynamickou podmínkou stability

The extended principle is formulated for a material point (M.P.) X, which has nonzero mass, temperature, and trajectory x(X,t). The Lagrangian of this variation principle is equal to the kinetic ...

Maršík, František; Trávníček, Zdeněk; Antošová, Zuzana
Ústav termomechaniky, 2023

Book of Abstracts. 18th Youth Symposium on Experimental Solid Mechanics
Kytýř, Daniel; Doktor, Tomáš; Zlámal, Petr
2023 - English
The YSESM symposium provides a forum for young researchers and engineers, PhD students and students dealing with subjects of experimental mechanics. The Symposium concentrates on current work in all areas of experimental research and its application in solid and fluid mechanics. The topic will particularly concern to: Conventional and Advanced Experimental Methods in Solid and Fluid Mechanics; Non-Destructive Testing and Inspection, Measurements in Material Science, Computer Assisted Testing and Simulation, Engineering Design Simulation, Hybrid Methods, Experimental Techniques – Numerical Simulation, Optical Methods and Image Processing, Measurements in Biomechanics, Sensor Techniques for Micro- and Nano-Applications, Measurement Methods for Forensic Engineering. Keywords: experimental mechanics; fluid mechanics; mechanics of solids Fulltext is available at external website.
Book of Abstracts. 18th Youth Symposium on Experimental Solid Mechanics

The YSESM symposium provides a forum for young researchers and engineers, PhD students and students dealing with subjects of experimental mechanics. The Symposium concentrates on current work in all ...

Kytýř, Daniel; Doktor, Tomáš; Zlámal, Petr
Ústav teoretické a aplikované mechaniky, 2023

Estimation of EDZ zones in great depths by elastic-plastic models
Sysala, Stanislav
2023 - English
This contribution is devoted to modeling damage zones caused by the excavation of tunnels and boreholes (EDZ zones) in connection with the issue of deep storage of spent nuclear fuel in crystalline rocks. In particular, elastic-plastic models with Mohr-Coulomb or Hoek-Brown yield criteria are considered. Selected details of the numerical solution to the corresponding problems are mentioned. Possibilities of elastic and elastic-plastic approaches are illustrated by a numerical example. Keywords: tunnel stability; EDZ zones; elasto-plasticity; finite element method Fulltext is available at external website.
Estimation of EDZ zones in great depths by elastic-plastic models

This contribution is devoted to modeling damage zones caused by the excavation of tunnels and boreholes (EDZ zones) in connection with the issue of deep storage of spent nuclear fuel in crystalline ...

Sysala, Stanislav
Ústav geoniky, 2023

Spherical basis function approximation with particular trend functions
Segeth, Karel
2023 - English
The paper is concerned with the measurement of scalar physical quantities at nodes on the $(d-1)$-dimensional unit sphere surface in the hbox{$d$-dimensional} Euclidean space and the spherical RBF interpolation of the data obtained. In particular, we consider $d=3$. We employ an inverse multiquadric as the radial basis function and the corresponding trend is a polynomial of degree 2 defined in Cartesian coordinates. We prove the existence of the interpolation formula of the type considered. The formula can be useful in the interpretation of many physical measurements. We show an example concerned with the measurement of anisotropy of magnetic susceptibility having extensive applications in geosciences and present numerical difficulties connected with the high condition number of the matrix of the system defining the interpolation. Keywords: spherical interpolation; spherical radial basis function; inverse multiquadric Available in digital repository of the ASCR
Spherical basis function approximation with particular trend functions

The paper is concerned with the measurement of scalar physical quantities at nodes on the $(d-1)$-dimensional unit sphere surface in the hbox{$d$-dimensional} Euclidean space and the spherical RBF ...

Segeth, Karel
Matematický ústav, 2023

Semantic segmentation using support vector machine classifier
Pecha, Marek; Langford, Z.; Horák, David; Tran Mills, R.
2023 - English
This paper deals with wildfire identification in the Alaska regions as a semantic segmentation task using support vector machine classifiers. Instead of colour information represented by means of BGR channels, we proceed with a normalized reflectance over 152 days so that such time series is assigned to each pixel. We compare models associated with $\mathcal{l}1$-loss and $\mathcal{l}2$-loss functions and stopping criteria based on a projected gradient and duality gap in the presented benchmarks. Keywords: wildfire identification; semantic segmentation; support vector machines; distributed training Fulltext is available at external website.
Semantic segmentation using support vector machine classifier

This paper deals with wildfire identification in the Alaska regions as a semantic segmentation task using support vector machine classifiers. Instead of colour information represented by means of BGR ...

Pecha, Marek; Langford, Z.; Horák, David; Tran Mills, R.
Ústav geoniky, 2023

Numerical implementation of incremental minimization principle for materials with multiple rate-independent dissipative mechanisms
Frost, Miroslav; Moskovka, Alexej; Sedlák, Petr; Valdman, Jan
2023 - English
The incremental energy minimization approach is a compact variational formulation of the evolutionary boundary value problem for constitutive models of materials with a rate-independent response. Although it can be easily applied to many conventional models, its main advantages arise when applied to models with multiple strongly coupled dissipation mechanisms, where the direct construction of the coupled yield conditions and flow rules may be challenging. However, this usually requires a more complex numerical treatment of the resulting sequence of time-incremental boundary value problems resolved via the finite element method. This contribution presents, compares and discusses two genuine minimization approaches - the staggered solution procedure relying on alternating minimization and the monolithic approach employing global minimization - for an advanced constitutive model of shape memory alloys. Keywords: variational approach; constitutive modeling; numerical implementation Fulltext is available at external website.
Numerical implementation of incremental minimization principle for materials with multiple rate-independent dissipative mechanisms

The incremental energy minimization approach is a compact variational formulation of the evolutionary boundary value problem for constitutive models of materials with a rate-independent response. ...

Frost, Miroslav; Moskovka, Alexej; Sedlák, Petr; Valdman, Jan
Ústav termomechaniky, 2023

Astrophysical black holes embedded in organized magnetic fields
Karas, Vladimír
2023 - English
Large-scale magnetic fields pervade the cosmic environment where the astrophysical black holes are often embedded and influenced by mutual interaction. In thiscontribution, we outline the appropriate mathematical framework to describe magnetized black holes within General Relativity, and we show several examples of how these can be employed in the astrophysical context. In particular, we examine the magnetized black hole metric in terms of an exact solution of electro-vacuum Einstein-Maxwell equations under the influence of a non-vanishing electric charge. New effects emerge: the expulsion of the magnetic flux out of the black-hole horizon depends on the intensity of the imposed magnetic field. Keywords: black holes; electromagnetic fields; general relativity Fulltext is available at external website.
Astrophysical black holes embedded in organized magnetic fields

Large-scale magnetic fields pervade the cosmic environment where the astrophysical black holes are often embedded and influenced by mutual interaction. In thiscontribution, we outline the appropriate ...

Karas, Vladimír
Astronomický ústav, 2023

Thermal and creep analysis of VVER-1000 reactor pressure vessel at high temperatures caused by fuel melting during severe accident
Gabriel, Dušan; Gál, P.; Kotouč, M.; Dymáček, Petr; Masák, Jan; Kopačka, Ján
2023 - English
Thermal and creep analysis of the VVER-1000 reactor pressure vessel (RPV) was performed at high temperatures caused by fuel melting during severe accident. First, the integral code ASTEC was applied simulating severe accident evolution since an initiating event up to a hypothetical radioactive release into the environment. The ASTEC outputs including the remaining RPV wall thickness, the heat flux achieved and the temperature profile in the ablated vessel wall served as boundary conditions for the consequent assessment of RPV integrity carried out with the aid of finite element method (FEM). The FEM analysis was performed including the creep behaviour of RPV material using a complex creep probabilistic exponential model with damage. The objective of the analysis was to computationally assess emergency condition and, on this basis, to propose a general methodology for evaluating the integrity of RPV at high temperatures due to fuel melting during severe accident. Keywords: integrity of reactor pressure vessel; severe accident; ASTEC; creep; FEM Fulltext is available at external website.
Thermal and creep analysis of VVER-1000 reactor pressure vessel at high temperatures caused by fuel melting during severe accident

Thermal and creep analysis of the VVER-1000 reactor pressure vessel (RPV) was performed at high temperatures caused by fuel melting during severe accident. First, the integral code ASTEC was applied ...

Gabriel, Dušan; Gál, P.; Kotouč, M.; Dymáček, Petr; Masák, Jan; Kopačka, Ján
Ústav termomechaniky, 2023

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