Stability analysis and time-varying walking control for an under-actuated planar biped robot

This paper presents two walking controllers for a planar biped robot with unactuated point feet. The control is based on the tracking of reference motions expressed as a function of time. First, the reference motions are adapted at each step in order to create a hybrid zero dynamic (HZD) system. Next, the stability of the walking gait under closed-loop control is evaluated with the linearization of the restricted Poincaré map of the HZD. When the controlled outputs are selected to be the actuated coordinates, most periodic walking gaits for this robot are unstable, that is, the eigenvalues of the linearized Poincaré map (ELPM) is larger than one. Therefore, two control strategies are explored to produce stable walking. The first strategy uses an event-based feedback controller to modify the ELPM and the second one is based on the choice of controlled outputs. The stability analysis show that, for the same robot and for the same reference trajectory, the stability of the walking (or ELPM) can be modified by some pertinent choices of controlled outputs. Moreover, by studying some walking characteristics of many stable cases, a necessary condition for stable walking is proposed. It is that the height of swing foot is nearly zero at the desired moment of impact. Based on this condition, the duration of the step is almost constant in presence of initial error, so a method for choosing controlled outputs for the second controller is given. By using this method, two stable domains for the controlled outputs selection are obtained.     

ARMAX modelling of international tourism demand

Box–Jenkins (1970) models are often used to capture the autoregressive moving average of past observations of tourist arrivals from Japan to Taiwan and New Zealand. However, other explanatory variables, such as real income in the origin country, have also affected the demand for international travel. The purpose of this paper is to use the ARMAX model to investigate the dynamic relationship between tourism demand and real income of Japan, and to compare the findings with the single-equation model. Unit root tests and diagnostics are performed before estimating the income elasticity of travel demand by Japan for New Zealand and Taiwan based on seasonally unadjusted quarterly data for 1980(1) to 2004(2). The empirical results of the ARMAX model support the economic theory that the demand for international travel is positively related to income of the origin country.     

Experimental analysis and numerical modelling of the forming process of polypropylene replicas of micro-cavities using hot embossing

Numerical modelling of the deformation of a polymer using the finite elements method in axisymetrical mode was performed using the LsDyna^® software to describe the filling of micro-cavities during the forming process of the material using the hot embossing. These simulations firstly allow verifying whether the chosen forming process conditions promote or not an optimized filling of the superficial cavities in order to achieve precise replicas which best reproduce the superficial topography of the mould. The simulations were carried out to evaluate the filling of the cavities taking into account the mechanical behaviour of the selected polymer into the model. Moreover, these models were developed to verify the effect of the distribution of the mould cavities on their filling. The influence of the mobility of non deformable rigid plates on the filling of the cavities represents an auxiliary variable. In the approach presented, the compression plates are assumed to be parallel and non deformable, whereas the polymer disk follows a rubbery behaviour around a temperature equal to 140°C. Globally the modelling results are satisfactory for they are rather close to the experimental observations conducted. In summary, the effect of the normal stress as also the distribution of micro-cavities at the mould surface seem to prevail in the case of the forming process by hot embossing.     

On the relationship between subjective and objective measures of fatigue

Objective: Objective and subjective methods have been used in the past to assess workplace fatigue, but little is known about correlations between them. We examine correlations between subjective and objective measures, including measures collected in a workplace scenario. Methods: 15 young and 17 older participants were assessed before and after work with four types of fatigue measure: objective physical (posturography), objective mental (psychomotor vigilance task), subjective physical and mental (self-assessment), objective and subjective realistic (oculomotor behaviour, observer-rated facial expression, typing performance). Results: Pre- and post-test scores were analysed with an ANOVA, significant differences were submitted to a factor analysis. It yielded three factors: one representing posturography, the second self-rated mental and physical fatigue and the third observer-rated facial expression. Conclusions: Results advocate the existence of three independent fatigue components: Objective physical fatigue, introspective and extrospective fatigue.

Practitioner Summary: This study analyses correlations between different subjective and objective fatigue markers to better understand the complex nature of workplace fatigue. Measurements were conducted directly at the workplace. Results reveal that fatigue comprises three independent fatigue components: Objective physical fatigue, introspective and extrospective fatigue.     

Certainty equivalence adaptation combined with super-twisting sliding-mode control

ABSTRACT

In this paper, a Lyapunov-based control concept is presented that combines variable structure and adaptive control. The considered system class consists of nonlinear single input systems which are affected by matched structured and unstructured uncertainties. Resorting to the certainty equivalence principle, the controller exploits advantages of both the sliding-mode and the adaptive control methodology. It is demonstrated that the gains of the discontinuous control action may be reduced remarkably when compared with pure sliding-mode-based approaches. The efficiency of the presented concept is demonstrated in detail, using results of numerical simulations.     

Using knowledge structures to redesign an instructor-operator station

Frequently, user interface (UI) designers must choose between modifying an established, but suboptimal and familiar, UI or to avoid such changes. Changing the UI’s, organization may frustrate users who have become familiar with the original design, whereas failing to make changes may force users to perform at an unsatisfactory level. This paper presents two studies that investigate whether users familiar with a poorly designed UI would find items faster, and prefer a reorganized UI that conformed to domain expert knowledge, or would their familiarity with the original UI yield faster performance and higher satisfaction.This paper describes activities to redesign a menu structure in a simulator instructor–operator station (IOS) using hierarchical card sorting and cluster analysis (Romesburg, 2004). This analysis was used to reorganize the menu structure to reflect the knowledge representations of domain experts in accordance with the principle of proximity compatibility (Wickens and Carswell, 1995, Rothrock et al., 2006). The new design was validated with a separate set of users by a reaction time experiment and preference selection.     

Robust estimators and tests for bivariate copulas based on likelihood depth

Estimators and tests based on likelihood depth for one-parametric copulas are given. For the Gaussian and Gumbel copulas, it is shown that the maximum depth estimators are biased. They can be corrected and the new estimators are robust against contamination. For testing, simplicial likelihood depth is considered. Because of the bias of the maximum depth estimator, simplicial likelihood depth is not a degenerated U-statistic so that easily asymptotic α-level tests can be derived for arbitrary hypotheses. Tests are in particular investigated for the one-sided alternatives. Simulation studies for the Gaussian and Gumbel copulas show that the power of the first test is rather good, but the latter one has to be improved, which is also done here. The new tests are robust against contamination.     

On benefits and drawbacks of aging strategies for randomized search heuristics

Quite different search heuristics make use of the concept of assigning an age to search points and systematically remove search points that are too old from the search process. In evolutionary computation one defines some finite maximal lifespan and assigns age 0 to each new search point. In artificial immune systems static pure aging is used. There a finite maximal lifespan is defined but new search points inherit the age of their origin if they do not excel in function value. Both aging mechanisms are supposed to increase the capabilities of the respective search heuristics. A rigorous analysis for two typical difficult situations sheds light on similarities and differences. Considering the behavior on plateaus of constant function values and in local optima both methods are shown to have their strengths and weaknesses. A third aging operator is introduced that provably shares the advantages of both aging mechanisms. Experimental supplements are provided to point out practical implications of the theoretical results and discuss further issues concerning the considered aging strategies.     

Analyzing different variants of immune inspired somatic contiguous hypermutations

Artificial immune systems can be applied to a variety of very different tasks including function optimization. There are even artificial immune systems tailored specifically for this task. In spite of their successful application there is little knowledge and hardly any theoretical investigation about how and why they perform well. Here rigorous analyses for a specific class of mutation operators introduced for function optimization called somatic contiguous hypermutation is presented. Different concrete instantiations of this operator are considered and shown to behave quite differently in general. While there are serious limitations to the performance of this type of operator even for simple optimization tasks it is proven that for some types of optimization problems it performs much better than standard bit mutations most often used in evolutionary algorithms.     

Efficient search of combinatorial maps using signatures

In this paper, we address the problem of computing canonical representations of n-dimensional combinatorial maps and of using them for efficiently searching for a map in a database. We define two combinatorial map signatures: the first one has a quadratic space complexity and may be used to decide an isomorphism with a new map in linear time whereas the second one has a linear space complexity and may be used to decide an isomorphism in quadratic time. We show that these signatures can be used to efficiently search for a map in a database.