The performance of the state-of-the-art Deep Reinforcement algorithms such as Proximal Policy Optimization, Twin Delayed Deep Deterministic Policy Gradient, and Soft Actor-Critic for generating a quadruped walking gai...The performance of the state-of-the-art Deep Reinforcement algorithms such as Proximal Policy Optimization, Twin Delayed Deep Deterministic Policy Gradient, and Soft Actor-Critic for generating a quadruped walking gait in a virtual environment was presented in previous research work titled “A Comparison of PPO, TD3, and SAC Reinforcement Algorithms for Quadruped Walking Gait Generation”. We demonstrated that the Soft Actor-Critic Reinforcement algorithm had the best performance generating the walking gait for a quadruped in certain instances of sensor configurations in the virtual environment. In this work, we present the performance analysis of the state-of-the-art Deep Reinforcement algorithms above for quadruped walking gait generation in a physical environment. The performance is determined in the physical environment by transfer learning augmented by real-time reinforcement learning for gait generation on a physical quadruped. The performance is analyzed on a quadruped equipped with a range of sensors such as position tracking using a stereo camera, contact sensing of each of the robot legs through force resistive sensors, and proprioceptive information of the robot body and legs using nine inertial measurement units. The performance comparison is presented using the metrics associated with the walking gait: average forward velocity (m/s), average forward velocity variance, average lateral velocity (m/s), average lateral velocity variance, and quaternion root mean square deviation. The strengths and weaknesses of each algorithm for the given task on the physical quadruped are discussed.展开更多
In this study, the propagation of electromagnetic waves in one-dimensional plasma photonic crystals （PPCs）, namely, superlattice structures consisting alternately of a homogeneous unmagnetized plasma and dielectric ...In this study, the propagation of electromagnetic waves in one-dimensional plasma photonic crystals （PPCs）, namely, superlattice structures consisting alternately of a homogeneous unmagnetized plasma and dielectric material, is simulated numerically using the finite-difference time-domain （FDTD） algorithm. A perfectly matched layer （PML） absorbing technique is used in this simulation. The reflection and transmission coefficients of electromagnetic （EM） waves through PPCs are calculated. The characteristics of the photonic band gap （PBG） are discussed in terms of plasma density, dielectric constant ratios, number of periods, and introduced layer defect. These may provide some useful information for designing plasma photonic crystal devices.展开更多
Computations for air gap response of a semisubmersible platform based on a 3D numerical wave tank approach are presented.The developed method is in time domain and can consider nonlinearities associated with incident ...Computations for air gap response of a semisubmersible platform based on a 3D numerical wave tank approach are presented.The developed method is in time domain and can consider nonlinearities associated with incident wave and hydrostatic forces exactly in determining the body response, but the interaction hydrodynamics of radiation and diffraction are based on simplified linearization assumptions. The incident wave can be defined by any suitable wave theory and here defined by a fully nonlinear numerical wave model. After verifying the present computations results in its degenerated linearized version against the usual linear 3D Green function–based frequency-domain results for air gap predictions, systematic comparative studies are undertaken between linear and the approximate nonlinear solutions. It is found that nonlinear computations can yield considerably conservative predictions as compared to fully linear calculations, amounting to a difference of up to 30%–40% in the minimum air gap in steep ambient incident waves at high and moderate frequencies.展开更多
The factors affecting one dimensional （1D） and two dimensional （2D） photonic crystals （PhCs） are systemically analyzed in this paper by numerical simulation. Transfer matrix method （TMM） is employed for 1D PCs...The factors affecting one dimensional （1D） and two dimensional （2D） photonic crystals （PhCs） are systemically analyzed in this paper by numerical simulation. Transfer matrix method （TMM） is employed for 1D PCs, both finite difference time domain method （FDTD） and plane wave expansion method （PWE） are employed for 2D PCs. The result shows that the photonic bandgaps （PBG） are directly affected by crystal type, crystal lattice constant, modulation of refractive index and periodicity, and it is should be useful for design of different type photonic crystals with the required PBG and functional devices. Finally, as an example, a near-IR 1D PCs narrow filter was designed.展开更多
A three-dimensional time-domain potential flow model is developed and applied to simulate the wave resonance in a gap between two side-by-side rectangular barges. A fourth-order predict-correct method is implemented t...A three-dimensional time-domain potential flow model is developed and applied to simulate the wave resonance in a gap between two side-by-side rectangular barges. A fourth-order predict-correct method is implemented to update free surface boundary conditions. The response of an up-wave barge is predicted by solving the motion equation with the Newmark-β method. Following the validation of the developed numerical model for wave radiation and diffraction around two side-by-side barges, the influence of up-wave barge motion on the gap surfaceresonance is investigated in two different locations of the up-wave barge relative to the back-wave barge at various frequencies. The results reveal that the freely floating up-wave barge significantly influences the resonance frequency and the resonance wave amplitude. Simultaneously, the up-wave barge located in the middle of the back-wave barge leads to a reduction in the resonance wave amplitude and motion response when compared with other configurations.展开更多
Strong hydrodynamic interactions during the side-by-side offloading operation between floating liquefied natural gas(FLNG) and liquefied natural gas carrier(LNGC) can induce high risks of collision. The weather vane e...Strong hydrodynamic interactions during the side-by-side offloading operation between floating liquefied natural gas(FLNG) and liquefied natural gas carrier(LNGC) can induce high risks of collision. The weather vane effect of a single-point mooring system normally results in the satisfactory hydrodynamic performance of the side-by-side configuration in head seas. Nevertheless, the changes in wave directions in real sea conditions can significantly influence the relative motions. This article studies the relative motions of the side-by-side system by using the theoretical analysis method and the numerical calculation method. Based on the three-dimensional potential theory modified by artificial damping-lid method, the frequency-domain hydrodynamic coefficients can be improved to calculate the retardation functions for the multi-body problem. An in-house code is then developed to perform the time-domain simulation of two vessels, through which the relative motions are subsequently obtained. A range of oblique waves are chosen for the extensive calculation of relative motions between the two vessels, which are further analyzed in terms of the phase shift of motion responses induced by specific resonant wave patterns. Investigation results show that wave directions have a significant influence on the relative sway, roll, and yaw motions. Under the circumstance that the absolute phase shift between the roll motions of two vessels approaches 180°, stronger relative motions are induced when LNGC is on the weather side.Moreover, the gap water resonances at high frequencies tend to cause the dangerous opposed oscillation of two vessels in the sway and yaw modes, whereas FLNG reduces the gap water resonances and relative motions when located on the weather side.展开更多
文摘The performance of the state-of-the-art Deep Reinforcement algorithms such as Proximal Policy Optimization, Twin Delayed Deep Deterministic Policy Gradient, and Soft Actor-Critic for generating a quadruped walking gait in a virtual environment was presented in previous research work titled “A Comparison of PPO, TD3, and SAC Reinforcement Algorithms for Quadruped Walking Gait Generation”. We demonstrated that the Soft Actor-Critic Reinforcement algorithm had the best performance generating the walking gait for a quadruped in certain instances of sensor configurations in the virtual environment. In this work, we present the performance analysis of the state-of-the-art Deep Reinforcement algorithms above for quadruped walking gait generation in a physical environment. The performance is determined in the physical environment by transfer learning augmented by real-time reinforcement learning for gait generation on a physical quadruped. The performance is analyzed on a quadruped equipped with a range of sensors such as position tracking using a stereo camera, contact sensing of each of the robot legs through force resistive sensors, and proprioceptive information of the robot body and legs using nine inertial measurement units. The performance comparison is presented using the metrics associated with the walking gait: average forward velocity (m/s), average forward velocity variance, average lateral velocity (m/s), average lateral velocity variance, and quaternion root mean square deviation. The strengths and weaknesses of each algorithm for the given task on the physical quadruped are discussed.
基金supported by the Program for New Century Excellent Talents in University(No.NCET-05-0575)the Education Science Foundation of Jiangxi Province(No.Z-03510)
文摘In this study, the propagation of electromagnetic waves in one-dimensional plasma photonic crystals （PPCs）, namely, superlattice structures consisting alternately of a homogeneous unmagnetized plasma and dielectric material, is simulated numerically using the finite-difference time-domain （FDTD） algorithm. A perfectly matched layer （PML） absorbing technique is used in this simulation. The reflection and transmission coefficients of electromagnetic （EM） waves through PPCs are calculated. The characteristics of the photonic band gap （PBG） are discussed in terms of plasma density, dielectric constant ratios, number of periods, and introduced layer defect. These may provide some useful information for designing plasma photonic crystal devices.
文摘Computations for air gap response of a semisubmersible platform based on a 3D numerical wave tank approach are presented.The developed method is in time domain and can consider nonlinearities associated with incident wave and hydrostatic forces exactly in determining the body response, but the interaction hydrodynamics of radiation and diffraction are based on simplified linearization assumptions. The incident wave can be defined by any suitable wave theory and here defined by a fully nonlinear numerical wave model. After verifying the present computations results in its degenerated linearized version against the usual linear 3D Green function–based frequency-domain results for air gap predictions, systematic comparative studies are undertaken between linear and the approximate nonlinear solutions. It is found that nonlinear computations can yield considerably conservative predictions as compared to fully linear calculations, amounting to a difference of up to 30%–40% in the minimum air gap in steep ambient incident waves at high and moderate frequencies.
基金Sponsored by the Ministerial Level Advanced Research Foundation (1006513002060)
文摘The factors affecting one dimensional （1D） and two dimensional （2D） photonic crystals （PhCs） are systemically analyzed in this paper by numerical simulation. Transfer matrix method （TMM） is employed for 1D PCs, both finite difference time domain method （FDTD） and plane wave expansion method （PWE） are employed for 2D PCs. The result shows that the photonic bandgaps （PBG） are directly affected by crystal type, crystal lattice constant, modulation of refractive index and periodicity, and it is should be useful for design of different type photonic crystals with the required PBG and functional devices. Finally, as an example, a near-IR 1D PCs narrow filter was designed.
基金The Research Innovation Foundation of Tianjin Research Institute for Water Transportation Engineering of China under contract No.TKS 170215the Research Foundation of State Key Laboratory of Coastal and Offshore Engineering of Dalian University of Technology of China under contract No.TKS 170215
文摘A three-dimensional time-domain potential flow model is developed and applied to simulate the wave resonance in a gap between two side-by-side rectangular barges. A fourth-order predict-correct method is implemented to update free surface boundary conditions. The response of an up-wave barge is predicted by solving the motion equation with the Newmark-β method. Following the validation of the developed numerical model for wave radiation and diffraction around two side-by-side barges, the influence of up-wave barge motion on the gap surfaceresonance is investigated in two different locations of the up-wave barge relative to the back-wave barge at various frequencies. The results reveal that the freely floating up-wave barge significantly influences the resonance frequency and the resonance wave amplitude. Simultaneously, the up-wave barge located in the middle of the back-wave barge leads to a reduction in the resonance wave amplitude and motion response when compared with other configurations.
基金supported by the China National Scientific and Technology Major Project(2016ZX05028-002-004)
文摘Strong hydrodynamic interactions during the side-by-side offloading operation between floating liquefied natural gas(FLNG) and liquefied natural gas carrier(LNGC) can induce high risks of collision. The weather vane effect of a single-point mooring system normally results in the satisfactory hydrodynamic performance of the side-by-side configuration in head seas. Nevertheless, the changes in wave directions in real sea conditions can significantly influence the relative motions. This article studies the relative motions of the side-by-side system by using the theoretical analysis method and the numerical calculation method. Based on the three-dimensional potential theory modified by artificial damping-lid method, the frequency-domain hydrodynamic coefficients can be improved to calculate the retardation functions for the multi-body problem. An in-house code is then developed to perform the time-domain simulation of two vessels, through which the relative motions are subsequently obtained. A range of oblique waves are chosen for the extensive calculation of relative motions between the two vessels, which are further analyzed in terms of the phase shift of motion responses induced by specific resonant wave patterns. Investigation results show that wave directions have a significant influence on the relative sway, roll, and yaw motions. Under the circumstance that the absolute phase shift between the roll motions of two vessels approaches 180°, stronger relative motions are induced when LNGC is on the weather side.Moreover, the gap water resonances at high frequencies tend to cause the dangerous opposed oscillation of two vessels in the sway and yaw modes, whereas FLNG reduces the gap water resonances and relative motions when located on the weather side.
