By Robert D. Cook, David S. Malkus, Michael E. Plesha, Robert J. Witt
This e-book has been completely revised and up-to-date to mirror advancements because the 3rd variation, with an emphasis on structural mechanics. assurance is up to date with out making the therapy hugely really expert and mathematically tricky. uncomplicated idea is obviously defined to the reader, whereas complicated suggestions are left to millions of references to be had, that are mentioned within the textual content.
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Extra info for Concepts and Applications of Finite Element Analysis, 4th Edition
5 Discussion We report on the control of the robot Stumpy with the Pimax algorithm to obtain a self-organized behavioral exploration. Even though there is no speciﬁc goal, just the generic drive to locally maximize the predictive information of the sensor stream, the algorithm generates a variety of active behaviors that exploit the given embodiment. When the robot is upright, diﬀerent movements emerge Self-exploration of Stumpy with Pimax 41 s6 , top left-right Fig. 8. Stumpy rotating with an attached wok.
5. Time evolution of the weights of the controller and the forward model. (a) Movements classiﬁed visually into: rest, swinging, low, high, falling, and crawling see text. (b) Entries of the controller matrix C over time. The weights adapt constantly without making big jumps. In this way the controller is able to produce various motions, see (a). At about 15700 and 18000 the robot tips over. (c) Weights of the forward model (matrix V ). Update frequency was 23 Hz. of the controller parameters during an typical run is displayed in Fig 5(b).
After contact has been established, the agent uses its sensor to move the end effector along the surface in a single direction. Finally, when the sensor is disabled (trajectories turn grey again), the agent continues to move along the opposing side of the surface. While towards the end of the trial the agent begins to deviate from the surface, for a significant time after blackout the agent manages to follow it well. At first glance the observed behaviour might not seem remarkable. However, the agent has control only over the position of the arm in joint space.