A scheme to randomly generate surface dust points for the 3D complex variable boundary element method (CVBEM)

A scheme to randomly generate dust points on the surface of a three-dimensional (3D) object is proposed. This scheme will potentially eliminate the bias of a density of points which are approximately equally spaced on the surface, as well as eliminate possible weighting requirements for areas of higher density. This method has the potential to reduce computational effort, as fewer points might be required to define the surface area. The global trial function vector can be assigned to these dust points and then entered into the complex variable boundary element method (CVBEM) commercial code. This scheme can be applied to each piece of a system that is comprised of a connected multiple geometry. A noticeable benefit of this approach is that the same problem can be studied several times, using a new random distribution of surface points each time. The smallest error can then be determined and that run selected. The Mathematica code used to generate the scheme is attached as an appendix.     

AV通信产业面临的全球性机遇

我今天很高兴能来到这里与你们一起讨论关于AV通信产业所面临的全球性机遇以及中国AV通信产业如何随着世界市场共同成长的问题。从某种意义上讲，我们所面临的机遇是无限的，因为对于政府、商务、教育和几乎其他所有机构的未来通信基础构造而言，AV通信将是极其关键的。     

Formation of hydrophilic starch coatings on polyethylene films

Thin starch coatings were deposited onto polyethylene (PE) film surfaces when PE films were immersed in 1% jet cooked starch solutions and the hot solutions were allowed to cool. Normal cornstarch, waxy cornstarch, high amylose cornstarch, and solvent‐extracted normal cornstarch (to remove native lipid) were used in these experiments. Amounts of adsorbed starch varied from about 0.03–0.05 mg per cm² of PE, and these starch coatings imparted hydrophilic properties to film surfaces, as evidenced by contact angle measurements. Although starch could be removed by gently rubbing water‐wet PE surfaces, air‐dried coatings were more firmly attached, and did not separate from the PE surface when films were bent or flexed. SEM images of starch‐coated film surfaces showed that starch was deposited as particles less than 1 μm in diameter, and also as aggregates of these submicron particles. Despite the fact that some starch samples contained only very small amounts of amylose and native lipid, surface‐deposited starch in all experiments contained 90–100% amylose; and exhibited the same V_h X‐ray diffraction pattern, indicative of helical inclusion complex formation. © 2002 Wiley Periodicals, Inc. J Appl Polym Sci 84: 1781–1788, 2002; DOI 10.1002/app.10589     

Characterization of a nylon 6/poly(methyl acrylate) copolymer produced by radiation grafting

Acrylic acid has been grafted onto nylon 6 by the mutual γ-irradiation technique. Methods are described for removing poly(acrylic acid) homopolymer and ungrfted nylon, the latter involving intermediate conversion to the calcium ionomer. The pure graft copolymer in its methylated form, viz., nylon 6/poly(methyl acrylate), NY/PMA, was characterized by light scattering in mixed solvents to yield the true molecular weight (3.2 × 10⁶) as well as the molecular weights M_PMA(domain) and M_NY(domain) of the PMA and NY portions, respectively. The molecular weight M_PMA of the grafts was measured after hydrolysis of the backbone, and the molecular weight M_NY of the backbone was determined via a previously devised indirect procedure. Comparisons of M_PMA(domain) with M_PMA and of M_NY(domain) with M_NY gave ? 7 nylon chains and ? 17 poly(methyl acrylate) chains per copolymer molecule. Chain transfer and bimolecular terminatin during grafting are proposed as probable contributory factors to the branched structure of the copolymer.     

2009 CAV award announcement

The 2009 CAV (Computer-Aided Verification) award was presented to seven individuals who made major advances in creating high-performance Boolean satisfiability solvers. This annual award recognizes a specific fundamental contribution or series of outstanding contributions to the CAV field.     

Multiple UAV Coalitions for a Search and Prosecute Mission

Unmanned aerial vehicles (UAVs) have the potential to carry resources in support of search and prosecute operations. Often to completely prosecute a target, UAVs may have to simultaneously attack the target with various resources with different capacities. However, the UAVs are capable of carrying only limited resources in small quantities, hence, a group of UAVs (coalition) needs to be assigned that satisfies the target resource requirement. The assigned coalition must be such that it minimizes the target prosecution delay and the size of the coalition. The problem of forming coalitions is computationally intensive due to the combinatorial nature of the problem, but for real-time applications computationally cheap solutions are required. In this paper, we propose decentralized sub-optimal (polynomial time) and decentralized optimal coalition formation algorithms that generate coalitions for a single target with low computational complexity. We compare the performance of the proposed algorithms to that of a global optimal solution for which we need to solve a centralized combinatorial optimization problem. This problem is computationally intensive because the solution has to (a) provide a coalition for each target, (b) design a sequence in which targets need to be prosecuted, and (c) take into account reduction of UAV resources with usage. To solve this problem we use the Particle Swarm Optimization (PSO) technique. Through simulations, we study the performance of the proposed algorithms in terms of mission performance, complexity of the algorithms and the time taken to form the coalition. The simulation results show that the solution provided by the proposed algorithms is close to the global optimal solution and requires far less computational resources.     

Transverse shear and pressurization effects in the bending of plates with reinforced cracks

The authors develop an eigth-order model for bending of transversally isotropic plates and use integral transforms and a collocation method to form a line-spring model for a cracked plate. The eigth-order model allows satisfaction of the three standard plate bending boundary conditions; the normal moment, twisting moment, and transverse shear force, and an additional shear stress resultant that allows analysis of transverse normal stresses near the crack tip. The line-spring model is used to develop geometry correction factors for bending of finite-thickness plates, accounting for transverse shear deformation and pressurization of the plate near the crack tip. The line-spring model is then applied to the problem of a plate with a reinforced crack, and the results are used to validate an interpolation solution based on an energy method. While not explicitly analysed, the models are applicable to many problems, including bending of bonded repairs, fracture and fatigue of composite and layered materials, surface cracks, crack tip plasticity and crack closure or crack face interaction.     

Learning Dextrous Manipulation Skills for Multifingered Robot Hands Using the Evolution Strategy

We present a method for autonomous learning of dextrous manipulation skills with multifingered robot hands. We use heuristics derived from observations made on human hands to reduce the degrees of freedom of the task and make learning tractable. Our approach consists of learning and storing a few basic manipulation primitives for a few prototypical objects and then using an associative memory to obtain the required parameters for new objects and/or manipulations. The parameter space of the robot is searched using a modified version of the evolution strategy, which is robust to the noise normally present in real-world complex robotic tasks. Given the difficulty of modeling and simulating accurately the interactions of multiple fingers and an object, and to ensure that the learned skills are applicable in the real world, our system does not rely on simulation; all the experimentation is performed by a physical robot, in this case the 16-degree-of-freedom Utah/MIT hand. Experimental results show that accurate dextrous manipulation skills can be learned by the robot in a short period of time. We also show the application of the learned primitives to perform an assembly task and how the primitives generalize to objects that are different from those used during the learning phase.     

A complete parameterization of clf‐based input‐to‐state stabilizing control laws

Sontag's formula proves constructively that the existence of a control Lyapunov function implies asymptotic stabilizability. A similar result can be obtained for systems subject to unknown disturbances via input‐to‐state stabilizing control Lyapunov functions (ISS‐clfs) and the input‐to‐state analogue of Sontag's formula. The present paper provides a generalization of the ISS version of Sontag's formula by completely parameterizing all continuous ISS control laws that can be generated by a known ISS‐clf. When a simple inner‐product constraint is satisfied, this parameterization also conveniently describes a large family of ISS controls that solve the inverse‐optimal gain assignment problem, and it is proved that these controls possess Kalman‐type gain margins. Copyright © 2004 John Wiley & Sons, Ltd.