A comparative analysis of such methods of defuzzification of fuzzy numbers as WABL (Weighted Averaging Based on Levels), centroid, and mean of maxima (MOM) is presented in the study. Analytic formulas are presented for calculating the defuzzification values for parametrically represented fuzzy numbers of triangular and trapezoidal form. 相似文献
Autonomous use of legged robots in unstructured, outdoor settings requires dynamically dexterous behaviors to achieve sufficient
speed and agility without overly complex and fragile mechanics and actuation. Among such behaviors is the relatively under-studied
pronking (aka. stotting), a dynamic gait in which all legs are used in synchrony, usually resulting in relatively slow speeds but
long flight phases and large jumping heights. Instantiations of this gait for robotic systems have been mostly limited to
open-loop strategies, suffering from severe pitch instability for underactuated designs due to the lack of active feedback.
However, both the kinematic simplicity of this gait and its dynamic nature suggest that the Spring-Loaded Inverted Pendulum
model (SLIP) would be a good basis for the implementation of a more robust feedback controller for pronking. In this paper,
we describe how template-based control, a controller structure based on the embedding of a simple dynamical “template” within a more complex “anchor” system, can
be used to achieve very stable pronking for a planar, underactuated hexapod robot. In this context, high-level control of
the gait is regulated through speed and height commands to the SLIP template, while the embedding controller ensures the stability
of the remaining degrees of freedom. We use simulation studies to show that unlike existing open-loop alternatives, the resulting
control structure provides explicit gait control authority and significant robustness against sensor and actuator noise. 相似文献
Engineering design has great importance in the cost and safety of engineering structures. Rock mass rating (RMR) system has
become a reliable and widespread pre-design system for its ease of use and variety in engineering applications such as tunnels,
foundations, and slopes. In RMR system, six parameters are employed in classifying a rock mass: uniaxial compressive strength
of intact rock material (UCS), rock quality designation (RQD), spacing of discontinuities (SD), condition of discontinuities
(CD), condition of groundwater (CG), and orientation of discontinuities (OD). The ratings of the first three parameters UCS,
RQD, and SD are determined via graphic readings where the last three parameters CD, CG, and OD are estimated by the tables
that are composed of interval valued linguistic expressions. Because of these linguistic expresions, the estimated rating
values of the last three become fuzzy especially when the related conditions are close to border of any two classes. In such
cases, these fuzzy situations could lead up incorrect rock class estimations. In this study, an empirical database based on
the linguistic expressions for CD, CG, and OD is developed for training Artificial Neural Network (ANN) classifiers. The results
obtained from graphical readings and ANN classifiers are unified in a simulation model (USM). The data obtained from five
different tunnels, which were excavated for derivation purpose, are used to evaluate classification results of conventional
method and proposed model. Finally, it is noted that more accurate and realistic ratings are reached by means of proposed
model. 相似文献
An image analysis method and its validation are presented for tracking the displacements of parallel mechanical force sensors. Force is measured using a combination of beam theory, optical microscopy, and image analysis. The primary instrument is a calibrated polymeric microbeam array mounted on a micromanipulator with the intended purpose of measuring traction forces on cell cultures or cell arrays. One application is the testing of hypotheses involving cellular mechanotransduction mechanisms. An Otsu-based image analysis code calculates displacement and force on cellular or other soft structures by using edge detection and image subtraction on digitally captured optical microscopy images. Forces as small as 250+/-50 nN and as great as 25+/-2.5 microN may be applied and measured upon as few as one or as many as hundreds of structures in parallel. A validation of the method is provided by comparing results from a rigid glass surface and a compliant polymeric surface. 相似文献
We formulate the signal-to-noise ratio (SNR) for free-space optical links. Upon inserting typical operating parameters, it is seen that SNR well approximates to the inverse of aperture averaged scintillation parameter. By adopting a common source beam power of 10 mW, we select three different source sizes of Gaussian, annular Gaussian (AG), and cosh-Gaussian beams. We then evaluate the SNR of these beams. Our results indicate that when fixed aperture opening is used, fully and partially coherent beams yield almost the same SNR performance. On the other hand, however, focusing and lowering wavelength of operation appear to be quite instrumental in improving the SNR performance. In this context, medium-sized AGB seems to exhibit the best performance. 相似文献
By making use of new Lyapunov type inequalities, we establish disconjugacy and stability criteria for discrete Hamiltonian systems. The stability criteria are given when the system is periodic. 相似文献
Objectives: The aim of this in vitro study was to evaluate the effect of different desensitizers’ application on the microleakage of previously restored Class V composite resin restorations.
Materials and methods: Class V cavities were prepared on the buccal surfaces of 40 extracted human third molars. Forty box-shaped cavities were divided into four groups, based on the desensitizers used (n = 10). All teeth were restored with the same bonding agent and composite material. No desensitizer was applied in the control group. In the experimental groups, BisBlock, Gluma and Universal bonding agents were the desensitizers. The desensitizers were applied after completion of composite restorations according to manufacturers’ instructions. All specimens were then thermocycled at 5–55 °C, with a 10-s dwell time for 500 cycles. The samples were then immersed in 0.5% methylene blue dye for 24 h, sectioned into two equal halves, evaluated for microleakage using a stereomicroscope at 30× magnification and scored on a scale of 0–3. The data were analysed using the Kruskal–Wallis test at the significance level p < 0.05.
Results: There were no significant differences in microleakage after desensitizer application (p > 0.05). However, based on the obtained numerical values in our study, while the BisBlock and bonding groups showed lower microleakage at the occlusal margin, BisBlock, Gluma and bonding group showed lower microleakage at the gingival margin compared to the control group.
Conclusions: The application of desensitizers as a post-treatment option could be considered an advisable procedure to minimize microleakage. 相似文献