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On a stepladder model walking (with and without a decorator)
Polach, P.; Prokýšek, R.; Papáček, Štěpán
2023 - English
This work is related to our previous studies on underactuated biped robot models and has been motivated by the need to implement the previously developed sensor and control algorithms for the real-time movement of the laboratory walking robot, designed and built at the Department of Control Theory of the Institute of Information Theory and Automation of the Czech Academy of Sciences [1, 6, 7]. Underactuated biped robots with an upper body form a subclass of legged robots, see, e.g., [4] for a review on the control of underactuated mechanical systems and [2] for a study of an asymptotically stable walking for biped robots. It is obvious that in general, the walking control of underactuated walking robots is a more challenging problem than walking control of fully actuated walking robots. As follows, we examine the well-known mechanical system of the stepladder model with and without a decorator, whose role is substituted by an external inertial force according to the D’Alembert principle. It is well known, that stepladder walking is possible due to the periodic movement (pendulating) of an operator – decorator1 The rigorous dynamical analysis of stable cyclic walking of a class of stepladder models is presented in the next section.
Keywords:
Underactuated biped robot models; Control algorithms; Legged robots
Fulltext is available at external website.
On a stepladder model walking (with and without a decorator)
This work is related to our previous studies on underactuated biped robot models and has been motivated by the need to implement the previously developed sensor and control algorithms for the ...
Hidden symmetry in turbulence and analytic study of shell models
Caggio, Matteo
2023 - English
This short communication concerns symmetries in developed turbulence and analytic study of shell models. However scale-invariance is broken due to the intermittency phenomenon, is possible to established a hidden self-similarity in turbulent flows. Using a shell model, the author in [18] (see also [19]) addressed the problem deriving a scaling symmetry for the inviscid equations. Here, first we discuss the analysis presented in [18], then, from the mathematical perspective, we propose an analytic study for the shell model with the presence of the viscous terms. This brief paper should be understood as an introductory note to this new scaling symmetry with implications for mathematical analysis [5].
Keywords:
turbulence; scale-invariance symmetry; intermittency; shell-models
Available in digital repository of the ASCR
Hidden symmetry in turbulence and analytic study of shell models
This short communication concerns symmetries in developed turbulence and analytic study of shell models. However scale-invariance is broken due to the intermittency phenomenon, is possible to ...
Calibrated finite volume method-based simulation framework for laser shock peening
Isoz, Martin; Gruber, Pavel; Schmidt, Jaroslav; Kubíčková, Lucie; Štefan, Jan; Kaufman, Jan; Brajer, Jan; Gabriel, Dušan
2023 - English
Modern and highly competitive industry seeks components with high strength and fatigue resistance. Both of these properties may be improved by peening of the component surface and the standard peening processes, such as the shot peening, are widely used in both automotive and aerospace industries. The laser shock\npeening (LSP), i.e. hardening of the material surface by a laser-induced shock wave, is a modern alternative to the standard peening. Concurrently, the industrial applications of LSP are promoted by recently emerged affordable high power-density lasers. However, the nascent LSP applications are still mostly a trial-and-error\nprocesses based on an extensive experimental testing. Consequently, we focused on a highly application-driven development of a framework for LSP modeling, and the internal workings and results of which are the focus of the present contribution.
Keywords:
laser shock peening; modeling; finite volume method; OpenFOAM
Fulltext is available at external website.
Calibrated finite volume method-based simulation framework for laser shock peening
Modern and highly competitive industry seeks components with high strength and fatigue resistance. Both of these properties may be improved by peening of the component surface and the standard peening ...
Mixing characteristics of a magnetically driven Rushton turbine in an unbaffled stirred tank reactor
Idžakovičová, Kristýna; Haidl, Jan; Gebouský, Ondřej; Isoz, Martin
2023 - English
The standard and well-researched stirred vessel configuration comprises a tank equipped with one or more impellers positioned in the vessel’s axis and multiple wall-mounted baffles preventing the central vortex creation. However, particular industries, such as biotechnology, have an increased need for a sterile environment that often results in the usage of atypical stirred vessel configurations. An example of a commonly equipped atypical stirred vessel is an unbaffled stirred tank with an eccentric magnetically driven impeller. However, there is only a little knowledge about the mixing characteristics of such designs. In this work, we list experimental results for both the standard and atypical stirred vessel configurations. Furthermore, we present a CFD model of the atypical configuration. The model is used to calculate its mixing characteristics that are subsequently compared against our experimental results. It is shown that for the liquid height (H) to the vessel diameter (T) ratio H/T ≲ 1.2, the characteristics of both the standard and atypical designs coincide. For higher liquid heights (i) the characteristics of the atypical design decrease dramatically, and (ii) the characteristics estimates based on approaches developed for the standard configuration become unreliable.
Keywords:
stirred vessel; eccentric impeller; unbaffled tank; CFD; OpenFOAM; experiment
Fulltext is available at external website.
Mixing characteristics of a magnetically driven Rushton turbine in an unbaffled stirred tank reactor
The standard and well-researched stirred vessel configuration comprises a tank equipped with one or more impellers positioned in the vessel’s axis and multiple wall-mounted baffles preventing the ...
Average Reward Optimality in Semi-Markov Decision Processes with Costly Interventions
Sladký, Karel
2023 - English
In this note we consider semi-Markov reward decision processes evolving on finite state spaces. We focus attention on average reward models, i.e. we establish explicit formulas for the growth rate of the total expected reward. In contrast to the standard models we assume that the decision maker can also change the running process by some (costly) intervention. Recall that the result for optimality criteria for the classical Markov decision chains in discrete and continuous time setting turn out to be a very specific case of the considered model. The aim is to formulate optimality conditions for semi-Markov models with interventions and present algorithmical procedures for finding optimal solutions.
Keywords:
controlled semi-Markov reward processes; long-run optimality; intervention of the decision maker
Fulltext is available at external website.
Average Reward Optimality in Semi-Markov Decision Processes with Costly Interventions
In this note we consider semi-Markov reward decision processes evolving on finite state spaces. We focus attention on average reward models, i.e. we establish explicit formulas for the growth rate of ...
Permutation Flip Processes
Hladký, Jan; Řada, Hanka
2023 - English
We introduce a broad class of stochastic processes on permutations which we call flip processes. A single step in these processes is given by a local change on a randomly chosen fixed-sized tuple of the domain. We use the theory of permutons to describe the typical evolution of any such flip process started from any initial permutation. More specifically, we construct trajectories in the space of permutons with the property that if a finite permutation is close to a permuton then for any time it stays with high probability is close to this predicted trajectory. This view allows to study various questions inspired by dynamical systems.
Keywords:
permutation; permuton; sorting dynamics; flip process
Available in digital repository of the ASCR
Permutation Flip Processes
We introduce a broad class of stochastic processes on permutations which we call flip processes. A single step in these processes is given by a local change on a randomly chosen fixed-sized tuple of ...
Modeling the spread of loanwords in South-East Asia using sailing navigation software and Bayesian networks
Kratochvíl, F.; Kratochvíl, Václav; Saad, G.; Vomlel, Jiří
2022 - English
A loanword is a word permanently adopted from one language and incorporated into another language without translation. In this paper, we study loanwords in the South-East Asia Archipelago, home to a large number of languages. Our paper is inspired by the works of Hoffmann et al. (2021) Bayesian methods are applied to probabilistic modeling of family trees representing the history of language families and by Haynie et al. (2014) modeling the diffusion of a special class of loanwords, so-called Wanderw ̈orter in languages of Australia, North America, and South America. We assume that in the South-East Asia Archipelago Wanderwörter spread along specific maritime trade routes whose geographical characteristics can help unravel the history of Wanderwörter diffusion in the area. For millennia trade was conducted using sailing ships which were constrained by the monsoon system and in certain areas also by strong sea currents. Therefore rather than the geographical distances, the travel times of sailing ships should be considered as a major factor determining the intensity of contact among cultures. We use sailing navigation software to estimate travel times between different ports and show that the estimated travel times correspond well to the travel times of a Chinese map of the sea trade routes from the early seventeenth century. We model the spread of loanwords using a probabilistic graphical model - a Bayesian network. We design a novel heuristic Bayesian network structure learning algorithm that learns the structure as a union of spanning trees for graphs of all loanwords in the training dataset. We compare this algorithm with BIC optimal Bayesian networks by measuring how well these models predict the true presence/absence of a loanword. Interestingly, Bayesian networks learned by our heuristic spanning tree-based algorithm provide better results than the BIC optimal Bayesian networks.
Keywords:
loanwords; Bayesian methods; probabilistic graphical model
Fulltext is available at external website.
Modeling the spread of loanwords in South-East Asia using sailing navigation software and Bayesian networks
A loanword is a word permanently adopted from one language and incorporated into another language without translation. In this paper, we study loanwords in the South-East Asia Archipelago, home to a ...
Automation of metallographic sample cleaning process
Čermák, Jan; Ambrož, Ondřej; Jozefovič, Patrik; Mikmeková, Šárka
2022 - English
Specimen cleaning and drying are critical processes following any metallographic preparation steps. The paper focuses on automation by reason of absence of the process repeatability during manual sample handling. An etchant or electrolyte results in inhomogeneous surface quality because the solution runs off the specimen surface during its removal from the beaker. High-quality specimen cleaning is absolutely crucial for the acquisition of the specimen suitable for characterization by a scanning electron microscope operated at very low landing energies of the primary electrons (SLEEM). The SLEEM technique is a powerful tool for the characterization of advanced steels, as described by many scientific papers. The SLEEM requires the specimen absolutely free of water and any organic residues on the surface. This work presents a novel unique apparatus enabling automatic specimen cleaning and drying after the etching or electropolishing processes. Automation reduces the influence of dependent variables that would be introduced into the process by the metallographer. These variables include cleaning time, kinematics, and motion dynamics, but the process can also be affected by variables that are not obvious. Performed experiments clearly demonstrate our in-house designed apparatus as a useful tool improving efficiency and consistency of the sample cleaning process. The high quality of the specimen surface is verified using a light optical microscope, an electron scanning microscope, and above mentioned SLEEM technique.
Keywords:
metallography; sample cleaning; process automation; repeatability
Fulltext is available at external website.
Automation of metallographic sample cleaning process
Specimen cleaning and drying are critical processes following any metallographic preparation steps. The paper focuses on automation by reason of absence of the process repeatability during manual ...
16th Multinational Congress on Microscopy, 16MCM, 04-09 September 2022, Brno, Czech Republic. Book of abstracts
Krzyžánek, Vladislav; Hrubanová, Kamila; Hozák, Pavel; Müllerová, Ilona; Šlouf, Miroslav
2022 - English
Fulltext is available at external website.
16th Multinational Congress on Microscopy, 16MCM, 04-09 September 2022, Brno, Czech Republic. Book of abstracts
Innovative device for the simulation of environmental conditions and testing of building materials
Cacciotti, Riccardo; Wolf, Benjamin; Macháček, Michael; Frankl, Jiří
2022 - English
Excessive humidity influences the performance of building envelopes and the safety of their occupants. Moisture related problems can indeed impose significant health risks for buildings’ users and even lead, under extreme scenarios, to structural failures. This paper investigates an innovative experimental setup for evaluating the influence of changing environmental conditions on the performance of building materials. It stems out from a broader ongoing research aimed at studying the trends of mould growth on wooden building components. The presented results include the design, construction and numerical validation of a small-scale climatic wind tunnel (2m x 1.8m ca.) to be used for the simulation of natural ventilation and daily humidity and temperature fluctuations. Key findings include the final design of a low cost, modular construction which allows gathering reliable data on the response of building materials exposed to changing boundary conditions, intended for improving current mould growth models. Future work is also suggested.
Keywords:
building envelope; moisture; building material; wind tunnel; performance
Available in digital repository of the ASCR
Innovative device for the simulation of environmental conditions and testing of building materials
Excessive humidity influences the performance of building envelopes and the safety of their occupants. Moisture related problems can indeed impose significant health risks for buildings’ users and ...
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