Compliant mechanisms actuated by pneumatic loads are receiving increasing attention due to their direct applicability as soft robots that perform tasks using their flexible bodies. Using multiple materials to build them can further improve their performance and efficiency. Due to developments in additive manufacturing, the fabrication of multi-material soft robots is becoming a real possibility. To exploit this opportunity, there is a need for a dedicated design approach. This paper offers a systematic approach to developing such mechanisms using topology optimization. The extended SIMP scheme is employed for multi-material modeling. The design-dependent nature of the pressure load is modeled using the Darcy law with a volumetric drainage term. Flow coefficient of each element is interpolated using a smoothed Heaviside function. The obtained pressure field is converted to consistent nodal loads. The adjoint-variable approach is employed to determine the sensitivities. A robust formulation is employed, wherein a min-max optimization problem is formulated using the output displacements of the eroded and blueprint designs. Volume constraints are applied to the blueprint design, whereas the strain energy constraint is formulated with respect to the eroded design. The efficacy and success of the approach are demonstrated by designing pneumatically actuated multi-material gripper and contractor mechanisms. A numerical study confirms that multiple-material mechanisms perform relatively better than their single-material counterparts.
相關內容
In many practical control applications, the performance level of a closed-loop system degrades over time due to the change of plant characteristics. Thus, there is a strong need for redesigning a controller without going through the system modeling process, which is often difficult for closed-loop systems. Reinforcement learning (RL) is one of the promising approaches that enable model-free redesign of optimal controllers for nonlinear dynamical systems based only on the measurement of the closed-loop system. However, the learning process of RL usually requires a considerable number of trial-and-error experiments using the poorly controlled system that may accumulate wear on the plant. To overcome this limitation, we propose a model-free two-step design approach that improves the transient learning performance of RL in an optimal regulator redesign problem for unknown nonlinear systems. Specifically, we first design a linear control law that attains some degree of control performance in a model-free manner, and then, train the nonlinear optimal control law with online RL by using the designed linear control law in parallel. We introduce an offline RL algorithm for the design of the linear control law and theoretically guarantee its convergence to the LQR controller under mild assumptions. Numerical simulations show that the proposed approach improves the transient learning performance and efficiency in hyperparameter tuning of RL.
Many approaches have been proposed to use diffusion models to augment training datasets for downstream tasks, such as classification. However, diffusion models are themselves trained on large datasets, often with noisy annotations, and it remains an open question to which extent these models contribute to downstream classification performance. In particular, it remains unclear if they generalize enough to improve over directly using the additional data of their pre-training process for augmentation. We systematically evaluate a range of existing methods to generate images from diffusion models and study new extensions to assess their benefit for data augmentation. Personalizing diffusion models towards the target data outperforms simpler prompting strategies. However, using the pre-training data of the diffusion model alone, via a simple nearest-neighbor retrieval procedure, leads to even stronger downstream performance. Our study explores the potential of diffusion models in generating new training data, and surprisingly finds that these sophisticated models are not yet able to beat a simple and strong image retrieval baseline on simple downstream vision tasks.
In inverse scattering problems, a model that allows for the simultaneous recovery of both the domain shape and an impedance boundary condition covers a wide range of problems with impenetrable domains, including recovering the shape of sound-hard and sound-soft obstacles and obstacles with thin coatings. This work develops an optimization framework for recovering the shape and material parameters of a penetrable, dissipative obstacle in the multifrequency setting, using a constrained class of curvature-dependent impedance function models proposed by Antoine, Barucq, and Vernhet. We find that this constrained model improves the robustness of the recovery problem, compared to more general models, and provides meaningfully better obstacle recovery than simpler models. We explore the effectiveness of the model for varying levels of dissipation, for noise-corrupted data, and for limited aperture data in the numerical examples.
Positron Emission Tomography (PET) enables functional imaging of deep brain structures, but the bulk and weight of current systems preclude their use during many natural human activities, such as locomotion. The proposed long-term solution is to construct a robotic system that can support an imaging system surrounding the subject's head, and then move the system to accommodate natural motion. This requires a system to measure the motion of the head with respect to the imaging ring, for use by both the robotic system and the image reconstruction software. We report here the design, calibration, and experimental evaluation of a parallel string encoder mechanism for sensing this motion. Our results indicate that with kinematic calibration, the measurement system can achieve accuracy within 0.5mm, especially for small motions.
Studies of the human brain during natural activities, such as locomotion, would benefit from the ability to image deep brain structures during these activities. While Positron Emission Tomography (PET) can image these structures, the bulk and weight of current scanners are not compatible with the desire for a wearable device. This has motivated the design of a robotic system to support a PET imaging system around the subject's head and to move the system to accommodate natural motion. We report here the design and experimental evaluation of a prototype robotic system that senses motion of a subject's head, using parallel string encoders connected between the robot-supported imaging ring and a helmet worn by the subject. This measurement is used to robotically move the imaging ring (coarse motion correction) and to compensate for residual motion during image reconstruction (fine motion correction). Minimization of latency and measurement error are the key design goals, respectively, for coarse and fine motion correction. The system is evaluated using recorded human head motions during locomotion, with a mock imaging system consisting of lasers and cameras, and is shown to provide an overall system latency of about 80 ms, which is sufficient for coarse motion correction and collision avoidance, as well as a measurement accuracy of about 0.5 mm for fine motion correction.
Inverse imaging problems that are ill-posed can be encountered across multiple domains of science and technology, ranging from medical diagnosis to astronomical studies. To reconstruct images from incomplete and distorted data, it is necessary to create algorithms that can take into account both, the physical mechanisms responsible for generating these measurements and the intrinsic characteristics of the images being analyzed. In this work, the sparse representation of images is reviewed, which is a realistic, compact and effective generative model for natural images inspired by the visual system of mammals. It enables us to address ill-posed linear inverse problems by training the model on a vast collection of images. Moreover, we extend the application of sparse coding to solve the non-linear and ill-posed problem in microwave tomography imaging, which could lead to a significant improvement of the state-of-the-arts algorithms.
統計理論
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We consider M-estimators and derive supremal-inequalities of exponential-or polynomial type according as a boundedness- or a moment-condition is fulfilled. This enables us to derive rates of r-complete convergence and also to show r-qick convergence in the sense of Strasser.
Numerical shock instability is a complexity which may occur in supersonic simulations. Riemann solver is usually the crucial factor that affects both the computation accuracy and numerical shock stability. In this paper, several classical Riemann solvers are discussed, and the intrinsic mechanism of shock instability is especially concerned. It can be found that the momentum perturbation traversing shock wave is a major reason that invokes instability. Furthermore, slope limiters used to depress oscillation across shock wave is also a key factor for computation stability. Several slope limiters can cause significant numerical errors near shock waves, and make the computation fail to converge. Extra dissipation of Riemann solvers and slope limiters can be helpful to eliminate instability, but reduces the computation accuracy. Therefore, to properly introduce numerical dissipation is critical for numerical computations. Here, pressure based shock indicator is used to show the position of shock wave and tunes the numerical dissipation. Overall, the presented methods are showing satisfactory results in both the accuracy and stability.
We construct explicit easily implementable polynomial approximations of sufficiently high accuracy for locally constant functions on the union of disjoint segments. This problem has important applications in several areas of numerical analysis, complexity theory, quantum algorithms, etc. The one, most relevant for us, is the amplification of approximation method: it allows to construct approximations of higher degree $M$ and better accuracy from the approximations of degree $m$.
Linear regression and classification methods with repeated functional data are considered. For each statistical unit in the sample, a real-valued parameter is observed over time under different conditions. Two regression methods based on fusion penalties are presented. The first one is a generalization of the variable fusion methodology based on the 1-nearest neighbor. The second one, called group fusion lasso, assumes some grouping structure of conditions and allows for homogeneity among the regression coefficient functions within groups. A finite sample numerical simulation and an application on EEG data are presented.
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