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Safe and Effective Autonomous Decision Making in Mobile Robots
Published in Jitendra R. Raol, Ajith K. Gopal, Mobile Intelligent Autonomous Systems, 2016
RCS is a much-generalised architectural framework [25] and allows various control methods to be incorporated within its hierarchical layout. However, there is still room for modifications and improvement. One aspect of this improvement is an increase in robustness in the presence of uncertainty and a need for safety. Recommendations for increasing the robustness and reliability of RCS are enlisted next: RCS does not take into consideration safety in general but it is possible to introduce safety behaviours and management through the reasoning. There are several issues such as partial observability (and hence uncertainty), incomplete and inconsistent data, hazards, causes of hazards and so on which need to be taken into account when analysing a system’s safety, particularly if the system operates autonomously in an unpredictable and uncontrolled environment.The RCS framework on its own does not deal with uncertainty. It is the RCS designer’s job to implement suitable algorithms, but RCS does support the use of various algorithms within its framework. For a faithful representation of reality, uncertainty should be taken into consideration. The system has to model the external world effectively. The system should represent not only what it is certain about but also what it is uncertain about, along with the level of uncertainty (as well as how this uncertainty alters decisions). RCS provides a working architectural framework. But incorporating the uncertainties can make RCS more robust.
Model Checking of Distributed and Concurrent Systems
Published in Ivan Cibrario Bertolotti, Tingting Hu, Embedded Software Development, 2017
Ivan Cibrario Bertolotti, Tingting Hu
Since the model is written in a language different than the one used for the implementation of the original system, it is essential to ensure that the model is a faithful representation of the real system. In other words, the discrepancy between the model and the corresponding system should be kept to a minimum. Otherwise, the results of model checking are just meaningless.
Honeycomb-generated Reynolds-number-dependent wake turbulence
Published in Journal of Turbulence, 2021
L. C. Thijs, R. A. Dellaert, S. Tajfirooz, J. C. H. Zeegers, J. G. M. Kuerten
In this paper, the flow field and turbulence downstream of a honeycomb was investigated experimentally and numerically. For laminar flow inside the honeycomb cells the individual channel profiles downstream of the honeycomb gradually develop into one uniform velocity profile. This development corresponds with an increase in the velocity fluctuations which reaches its maximum and then starts to decay. For turbulent flow inside the honeycomb cells, larger velocity fluctuations occur already directly behind the walls of the honeycomb and the regions of high fluctuations deflect further downstream. The position and magnitude of the turbulence intensity peak depend on the Reynolds number. For increasing Reynolds number, the position of the turbulence intensity peak moves closer towards the honeycomb, until the flow in the honeycomb cells is turbulent. If the Reynolds number increases further in the turbulent regime the peak starts to move away from the honeycomb again. A somewhat similar behaviour can be seen for the maximum intensity. For increasing Reynolds number the maximum turbulence intensity grows until the flow in the honeycomb cells reaches the transition region, and then starts to decrease. The numerical model is a faithful representation of reality and can therefore be used to reproduce the 3D velocity field downstream of a honeycomb.
Applications of matroids in electric network theory
Published in Optimization Methods and Software, 2021
In order to handle this situation suppose that we replace each nonzero entry of the matrix (M1 | M2) by algebraically independent transcendentals and let (M1 | M2) denote the column space matroid of this new matrix. This matroid may differ from the column space matroid of the original matrix (M1 | M2). One may wish to find a faithful representation of the n-port, that is, such a nonsingular matrix T that (TM1 | TM2) = holds. It is even better if this representation is compact, that is, after a suitable permutation of the columns, the matrix (TM1 | TM2) contains an n×n unity submatrix, since then one can reduce the storage space of the description of the n-port by 50%.
Algebraic discrete variable representation approaches: application to interatomic effective potentials
Published in Molecular Physics, 2021
M. Rodríguez-Arcos, M. Bermúdez-Montaña, J. M. Arias, J. Gómez-Camacho, E. Orgaz, R. Lemus
Let us consider the commutation relation in dimensionless units and in matrix representation Here the equal sign ‘=’ is not expected to be satisfied because of the approximation involved in taking a finite space. On the other hand, we know that Tr=Tr and consequently we expect an apparent contradiction due to the fact that the matrix representation of the equality (20) has sense only for a faithful representation.