Improved Algorithm for Solving Inverse Kinematics of Biped Robots

Mobile Networks and Applications - Inverse kinematics is an important basic theory in walking control of biped robot. This study focuses on the parameter setting using the improved algorithm in...     

The short- and long-run efficiency of energy,precious metals,and base metals markets: Evidence from the exponential smooth transition autoregressive models

The aim of this paper is to investigate the long and short-run relationship between spot and futures prices of the energy, precious metals, and base metals markets. We analyze daily data from January 1985 to February 2019. The empirical findings based on the cointegration test, which follows a nonlinear process, suggest that the spot prices of energy and metals assets have long-run relationships with their futures prices. Nonparametric Granger causality test results also indicate bi-directional causality among futures and spot prices. These findings indicate that the energy and metals markets are informationally efficient in the sense of Fama (1970).     

Stochastic free vibration analyses of composite shallow doubly curved shells – A Kriging model approach

This paper presents the Kriging model approach for stochastic free vibration analysis of composite shallow doubly curved shells. The finite element formulation is carried out considering rotary inertia and transverse shear deformation based on Mindlin’s theory. The stochastic natural frequencies are expressed in terms of Kriging surrogate models. The influence of random variation of different input parameters on the output natural frequencies is addressed. The sampling size and computational cost is reduced by employing the present method compared to direct Monte Carlo simulation. The convergence studies and error analysis are carried out to ensure the accuracy of present approach. The stochastic mode shapes and frequency response function are also depicted for a typical laminate configuration. Statistical analysis is presented to illustrate the results using Kriging model and its performance.     

Questioning numerical integration methods for microsphere (and microplane) constitutive equations

In the last few years, more and more complex microsphere models have been proposed to predict the mechanical response of various polymers. Similarly than for microplane models, they consist in deriving a one-dimensional force vs. stretch equation and to integrate it over the unit sphere to obtain a three-dimensional constitutive equation. In this context, the focus of authors is laid on the physics of the one-dimensional relationship, but in most of the case the influence of the integration method on the prediction is not investigated.Here we compare three numerical integration schemes: a classical Gaussian scheme, a method based on a regular geometric meshing of the sphere, and an approach based on spherical harmonics. Depending on the method, the number of integration points may vary from 4 to 983,040! Considering simple quantities, i.e. principal (large) strain invariants, it is shown that the integration method must be carefully chosen. Depending on the quantities retained to described the one-dimensional equation and the required error, the performances of the three methods are discussed. Consequences on stress–strain prediction are illustrated with a directional version of the classical Mooney–Rivlin hyperelastic model. Finally, the paper closes with some advices for the development of new microsphere constitutive equations.     

Monomer casting nylon-6-b-polyether amine copolymers: Synthesis and properties

MC nylon-6-b-polyether amine copolymers were prepared with macro-initiator based on amino-terminated polyether amine functionalized with isocyanate via in-situ polymerization. It was found that the introduction of polyether amine delayed the polymerization process of caprolactam by increasing apparent activation energy and pre-exponential factor, resulting in the decrease of molecular weight of nylon-6. The motion of molecular chain of the copolymers was easy because of the decreased hydrogen bonds and weakened inter-molecular forces. The physical entanglement of molecular chains of the copolymers was significant and strong which increased the entanglement density. Only the nylon-6 phase crystallized in the copolymers and the crystal grain size, spherulite size and crystallinity of the copolymers decreased. A small amount of γ crystal formed at high polyether amine content. The copolymers presented obvious strain hardening behavior in stress-strain curves and the loss factor dramatically increased while the glass transition temperature and storage module decreased. The fracture surface of the copolymers became rough and presented hairy structure, indicating that the toughening mechanism of the copolymers corresponded to the multi-layer crack extension mechanism.     

On the local behavior of spaces of range image patches

We focus on the quantitative and local topological properties of range images. We consider the spaces M_m of m × m high-contrast patches of range images for m=?3, 5, 7, 9, 11. Using computational topological tools to analyze range image patches, we detect that M₃ (M₉, M₁₁) has core subsets with the topology of a circle, M₃, M₅, M₇, M₉ and that M₁₁ have some subspaces with the topology of a Klein bottle. We also discover that the largest subspace with the Klein bottle’s topology decreases as the measurements of patches increase, which generalizes the results in the paper of H. Adams and G. Carlsson, and demonstrates properties among optical images and range image patches, which are more similar than those established by Lee et al.

     

An adaptive image steganographic scheme based on Noise Visibility Function and an optimal chaotic based encryption method

Steganography is the science of hiding secret message in an appropriate digital multimedia in such a way that the existence of the embedded message should be invisible to anyone apart from the sender or the intended recipient. This paper presents an irreversible scheme for hiding a secret image in the cover image that is able to improve both the visual quality and the security of the stego-image while still providing a large embedding capacity. This is achieved by a hybrid steganography scheme incorporates Noise Visibility Function (NVF) and an optimal chaotic based encryption scheme. In the embedding process, first to reduce the image distortion and to increase the embedding capacity, the payload of each region of the cover image is determined dynamically according to NVF. NVF analyzes the local image properties to identify the complex areas where more secret bits should be embedded. This ensures to maintain a high visual quality of the stego-image as well as a large embedding capacity. Second, the security of the secret image is brought about by an optimal chaotic based encryption scheme to transform the secret image into an encrypted image. Third, the optimal chaotic based encryption scheme is achieved by using a hybrid optimization of Particle Swarm Optimization (PSO) and Genetic Algorithm (GA) which is allowing us to find an optimal secret key. The optimal secret key is able to encrypt the secret image so as the rate of changes after embedding process be decreased which results in increasing the quality of the stego-image. In the extracting process, the secret image can be extracted from the stego-image losslessly without referring to the original cover image. The experimental results confirm that the proposed scheme not only has the ability to achieve a good trade-off between the payload and the stego-image quality, but also can resist against the statistics and image processing attacks.     

A novel quasi-oppositional harmony search algorithm and fuzzy logic controller for frequency stabilization of an isolated hybrid power system

The intermittent wind power in isolated hybrid distributed generation (IHDG) may cause serious problems associated with frequency (f) and power (P) fluctuation. Energy storage devices such as battery, super capacitor, and superconducting magnetic energy storage (SMES) may be used to reduce these fluctuations associated with f and P. This paper presents a study of IHDG power system for improving both f and P deviation profiles with the help of SMES. The studied IHDG power system is consisted of wind turbine generator and diesel engine generator. Both f and P control problems of the studied power system model are addressed in presence or absence of SMES. Fuzzy logic based proportional–integral–derivative (PID) controller with SMES is used for the purpose of minimization of f and P deviations. The different tunable parameters of the PID controller and those of the SMES are tuned by a novel quasi-oppositional harmony search algorithm. Performance study of the IHDG power system model is carried out under different perturbation conditions. The results demonstrate minimum f and P deviations may be achieved by using the proposed fuzzy logic based PID controller along with SMES.