11 skills found
Jonas-Nicodemus / PINNs Based MPCWe discuss nonlinear model predictive control (NMPC) for multi-body dynamics via physics-informed machine learning methods. Physics-informed neural networks (PINNs) are a promising tool to approximate (partial) differential equations. PINNs are not suited for control tasks in their original form since they are not designed to handle variable control actions or variable initial values. We thus present the idea of enhancing PINNs by adding control actions and initial conditions as additional network inputs. The high-dimensional input space is subsequently reduced via a sampling strategy and a zero-hold assumption. This strategy enables the controller design based on a PINN as an approximation of the underlying system dynamics. The additional benefit is that the sensitivities are easily computed via automatic differentiation, thus leading to efficient gradient-based algorithms. Finally, we present our results using our PINN-based MPC to solve a tracking problem for a complex mechanical system, a multi-link manipulator.
SajadAHMAD1 / Chaotic GSA For Engineering Design ProblemsAll nature-inspired algorithms involve two processes namely exploration and exploitation. For getting optimal performance, there should be a proper balance between these processes. Further, the majority of the optimization algorithms suffer from local minima entrapment problem and slow convergence speed. To alleviate these problems, researchers are now using chaotic maps. The Chaotic Gravitational Search Algorithm (CGSA) is a physics-based heuristic algorithm inspired by Newton's gravity principle and laws of motion. It uses 10 chaotic maps for global search and fast convergence speed. Basically, in GSA gravitational constant (G) is utilized for adaptive learning of the agents. For increasing the learning speed of the agents, chaotic maps are added to gravitational constant. The practical applicability of CGSA has been accessed through by applying it to nine Mechanical and Civil engineering design problems which include Welded Beam Design (WBD), Compression Spring Design (CSD), Pressure Vessel Design (PVD), Speed Reducer Design (SRD), Gear Train Design (GTD), Three Bar Truss (TBT), Stepped Cantilever Beam design (SCBD), Multiple Disc Clutch Brake Design (MDCBD), and Hydrodynamic Thrust Bearing Design (HTBD). The CGSA has been compared with seven state of the art stochastic algorithms particularly Constriction Coefficient based Particle Swarm Optimization and Gravitational Search Algorithm (CPSOGSA), Standard Gravitational Search Algorithm (GSA), Classical Particle Swarm Optimization (PSO), Biogeography Based Optimization (BBO), Continuous Genetic Algorithm (GA), Differential Evolution (DE), and Ant Colony Optimization (ACO). The experimental results indicate that CGSA shows efficient performance as compared to other seven participating algorithms.
Hazrat-Ali9 / Static Work🚢 Static Work the core 🚁 concepts behind 🛳 structures forces 🚀and equilibrium Perfect civil ☂ engineers mechanical 🚛 engineers architecture 🚌 students interested in 🚂 the science of stability 🕌 theory notes solved 🚞 diagrams and practice 🥎 problems statics 🏈 principles in engineering 🥊 design analysis 🎳 project development 🧸
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attaoveisi / Coupling ABAQUS MATLABwe introduce a new framework for running the finite element (FE) packages inside an online Loop together with MATLAB. Contrary to the Hardware-in-the-Loop techniques (HiL), in the proposed Software-in-the-Loop framework (SiL), the FE package represents a simulation platform replicating the real system which can be out of access due to several strategic reasons, e.g., costs and accessibility. Practically, SiL for sophisticated structural design and multi-physical simulations provides a platform for preliminary tests before prototyping and mass production. This feature may reduce the new product’s costs significantly and may add several flexibilities in implementing different instruments with the goal of shortlisting the most cost-effective ones before moving to real-time experiments for the civil and mechanical systems. The proposed SiL interconnection is not limited to ABAQUS as long as the host FE package is capable of executing user-defined commands in FORTRAN language. The focal point of this research is on using the compiled FORTRAN subroutine as a messenger between ABAQUS/CAE kernel and MATLAB Engine. In order to show the generality of the proposed scheme, the limitations of the available SiL schemes in the literature are addressed in this paper. Additionally, all technical details for establishing the connection between FEM and MATLAB are provided for the interested reader. Finally, two numerical sub-problems are defined for offline and online post-processing, i.e., offline optimization and closed-loop system performance analysis in control theory. Keywords: software-in-the-loop; finite element; optimal placement; structural optimization; vibration control.
thieu1995 / EnoppyENOPPY: A Python Library for Engineering Optimization Problems
muhammadsohaib60 / Urdu OCROur project is based on one of the most important application of machine learning i.e. pattern recognition. Optical character recognition or optical character reader is the electronic or mechanical conversion of images of typed, handwritten or printed text into machine-encoded text, whether from a scanned document, a photo of a document, a scene-photo or from subtitle text superimposed on an image. We are working on developing an OCR for URDU. We studied a couple of research papers related to our project. So far, we have found that Both Arabic and Urdu are written in Perso-Arabic script; at the written level, therefore, they share similarities. The styles of Arabic and Persian writing have a heavy influence on the Urdu script. There are 6 major styles for writing Arabic, Persian and Pashto as well. Urdu is written in Naskh writing style which is most famous of all. Optical character recognition (OCR) is the process of converting an image of text, such as a scanned paper document or electronic fax file, into computer-editable text [1]. The text in an image is not editable: the letters are made of tiny dots (pixels) that together form a picture of text. During OCR, the software analyzes an image and converts the pictures of the characters to editable text based on the patterns of the pixels in the image. After OCR, the converted text can be exported and used with a variety of word-processing, page layout and spreadsheet applications [2]. One of the main aims of OCR is to emulate the human ability to read at a much faster rate by associating symbolic identities with images of characters. Its potential applications include Screen Readers, Refreshable Braille Displays [3], reading customer filled forms, reading postal address off envelops, archiving and retrieving text etc. OCR’s ultimate goal is to develop a communication interface between the computer and its potential users. Urdu is the national language of Pakistan. It is a language that is understood by over 300 million people belonging to Pakistan, India and Bangladesh. Due to its historical database of literature, there is definitely a need to devise automatic systems for conversion of this literature into electronic form that may be accessible on the worldwide web. Although much work has been done in the field of OCR, Urdu and other languages using the Arabic script like Farsi, Urdu and Arabic, have received least attention. This is due in part to a lack of interest in the field and in part to the intricacies of the Arabic script. Owing to this state of indifference, there remains a huge amount of Urdu and Arabic literature unattended and rotting away on some old shelves. The proposed research aims to develop workable solutions to many of the problems faced in realization of an OCR designed specifically for Urdu Noori Nastaleeq Script, which is widely used in Urdu newspapers, governmental documents and books. The underlying processes first isolate and classify ligatures based on certain carefully chosen special, contour and statistical features and eventually recognize them with the aid of Feed-Forward Back Propagation Neural Networks. The input to the system is a monochrome bitmap image file of Urdu text written in Noori Nastaleeq and the output is the equivalent text converted to an editable text file.
marcelprasetyo / LinefollowingrobotcarThis was done for a 2D (a term peculiar to my school meaning: across subjects) project for my university course Systems & Control (PID basically), at Singapore University of Technology and Design. We were required to record and upload a video recording to YouTube. Basically it's a line-following robot with 4 IR sensors and motors (for wheels), where the wheel speed and direction is determined by a PD error function, subtracting left sensor readings from right sensor readings to give the error value, where 0 = white and 1000 = black for raw sensor values. This error function is fed into a simple PD (no Integral) function to give the calibration number (negative or positive) subtracted and added to the left and right (base motor speed) wheels respectively. An additional All White logic is added because the error function can't tell the difference between equal black values (detect black lines on both sides) and equal white values (detect white paper on both sides), where this All White logic (activated when sum of sensor values is below a certain threshold) saves the previous loop's left and right motor speeds and freezes the robot car in this state (e.g. keep turning right; keep pivoting left) until the sensors find enough black tape to surpass the white threshold, when PID behavior resumes to normal. This All White logic is critical in helping the robot nail 90 degree turns, which often give the problem of reading all white very quickly (thus under normal conditions would make the robot go straight out or go haywire). This track is based on one of the Bowser's Castle tracks (unfortunately I couldn't find the original track again after searching the wiki), modified for our paper dimensions. This track is actually pretty challenging (I sketched it and laid out the black tape) and would be very difficult to do at a higher base car speed. The intersections are not difficult but are dangerous if the car doesn't stabilize by the time it reaches an intersection. Some lines are intentionally put closer together for added challenge, while the Y-junction at Robo-Browser was taken from the original track, to my surprise it works well at giving the illusion of an autonomous choice (left or right) to the car, which originally I thought would follow only the left or right leg programmatically. The Y-junction also gives us problems because it can often cause our car to turn around through the other leg and go backwards *facepalm*. Bowser's Fire is unstable in general but we got lucky this time, because usually if the oscillating motion sways the car to the right at the start of Bowser's Fire (notice the closest curve there) the car will take a shortcut to Boos Arena (I don't think this is allowed per the project rules but heck yeah for actual racing games). You can see this shortcut happening in our fourth lap though (we got a cheater here..). Actually there's only some requirements we needed to complete for our custom designed tracks: two 90 degree turns, 30 cm discontinuous lines, total 8 turns, the whole track length spanning minimum 8 meters (ours about 10 m). No intersections or Y-junctions required or even the whole Mario Kart theme. We just wanted some challenge and some fun *wink* *wink*. To get an A grade for this project the car must run the track for at least 3 minutes and at least 3 laps. We didn't have to submit the Arduino code as well so technically it's possible to hardcode certain things. Disclaimer: Siti Nurbaya, my groupmate, has already uploaded an earlier version that she edited, on top of which I inserted the place names and pictures to make it livelier. Of course kudos to the Nintendo dudes for most of the creative assets. Please spare us any criticism about the project 🥺 (it's just a school project). Raw footage recorded by my awesome groupmate Li Jiang Yan Special thanks to Siti who edited the earlier version, to Kelvin Ng Chao Yong for his Malaysian Arduino code and testing, to Johannes Brian for the mechanical equipment and assembly of the robot car.
MohammedQaraad / CL SSA AlgorithmLarge-scale Competitive learning-based Salp Swarm for global optimization and solving Constrained mechanical and engineering design problems
Yogesh768 / HydroPower FuzzyMany factors related to river runoff are vague, subjective and difficult to quantify. The fuzzy logic method is very useful for such problem solving approach such as small hydro power generation. The rule base and membership functions have a great influence on the performance and efficacy of the plant and also to optimize the small hydro power generation in the high altitude region particularly in India. The fuzzy linguistic variable performance can be easily characterized by common terms. The paper initially presents a new Fuzzy Logic Controller (FLC) method for safe reservoir control of dams through spillway gates. Finally it presents FLC method for turbine valve to control the water flow through turbine for hydro power generation. Thus it shows overall effective control and operation of the mechanical equipments in a hydro electric power generation project with FLC and its usefulness. The hardware of control system for fuzzifiers and defuzzifiers can be designed according to the need of system. All above proposed simplified models uses " Tabu Search Algorithm " , " Fuzzy Delphi Method " and " Mamdani Inference Method " to evaluate using manual " C.O.G. Defuzzification " and MATLAB FIS editor validation.
eyobghiday / Mechanical VibrationThis repo is a project for the analysis, study and design of mechanical vibrations. The topics include one dimensional motion of elastic continuum, traveling waves, standing waves, energy flux, and the use of Fourier integrals. Problem statement in dynamic elasticity, uniqueness of solution, basic solution of elastodynamics, integral representations, steady state time harmonic response. Elastic waves in unbounded medium, plane harmonic waves in elastic half-spaces, reflection and transmission at interfaces, Rayleigh waves, Stoneley waves, slowness diagrams, dispersive waves in waveguides and phononic composites, thermal effects and effects of viscoelasticity, anisotropy, and nonlinearity on wave propagation.
