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A biologically inspired approach to feasible gait learning for a hexapod robot

A biologically inspired approach to feasible gait learning for a hexapod robot

The objective of this paper is to develop feasible gait patterns that could be used to control a real hexapod walking robot. These gaits should enable the fastest movement that is possible with the given robot's mechanics and drives on a flat terrain. Biological inspirations are commonly used in the design of walking robots and their control algorithms. However, legged robots differ significantly from their biological counterparts. Hence we believe that gait patterns should be learned using the robot or its simulation model rather than copied from insect behaviour. However, as we have found tahula rasa learning ineffective in this case due to the large and complicated search space, we adopt a different strategy: in a series of simulations we show how a progressive reduction of the permissible search space for the leg movements leads to the evolution of effective gait patterns. This strategy enables the evolutionary algorithm to discover proper leg co-ordination rules for a hexapod robot, using only simple dependencies between the states of the legs and a simple fitness function. The dependencies used are inspired by typical insect behaviour, although we show that all the introduced rules emerge also naturally in the evolved gait patterns. Finally, the gaits evolved in simulations are shown to be effective in experiments on a real walking robot.

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On Precision in Estimates of Change over Time where Samples are Positively Coordinated by Permanent Random Numbers

Method of Purposive Selection.” Journal of Royal Statistical Society 97: 558-606. DOI: http://dx.doi.org/10.2307/2342192. Nordberg, L. 2000. “On Variance Estimation for Measures of Change When Samples are Coordinated by the Use of Permanent Random Numbers.” Journal of Official Statistics 16: 363-378. Available at: http://www.jos.nu/Articles/abstract.asp?article¼164363 (accessed September 1, 2014). Ohlsson, E. 1992. SAMU - The System for Co-ordination of Samples from the Business Register at Statistics Sweden. R&D Report, Statistics

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Some Subclasses of Meromorphically Functions Associated with the Convolution Structure

, Michigan Math. J., 32, (1985), 185-195. [13] S. S. Miller and P. T. Mocanu, Differential Subordinations: Theory and Appli- cations, Series on Monographs and Texbooks in Pure and Applied Mathematics, 225, (2000.) [14] K. S. Padmanabhan and R. Parvatham, Some applications of differential sub- ordination, Bull. Aust. Math. Soc., 32, (1985), 321-330. [15] R. K. Raina and H. M. Srivastava, A new class of meromorphically multivalent functions with applications to generalized hypergeometric functions, Math. Comput. Model., 43

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Changing Industrial Classification to SIC (2007) at the UK Office for National Statistics

.1198/016214506000000320. McLaren, C. 2010. Classification Changes in Retail Sales. Newport: ONS. Available at: http://www.ons.gov.uk/ons/guide-method/method-quality/specific/economy/retailsales/classification-changes-in-retail-sales.pdf?format=hi-vis (accessed 9 January 2017). Ohlsson, E. 1995. Co-ordination of Samples Using Permanent Random Numbers. In Business Survey Methods, edited by B. Cox, D. Binder, B. Chinnappa, A. Christianson, M. Colledge, and P. Kott. 153-169. New York: Wiley. Doi: http://dx.doi.org/10.1002/9781118150504.ch9. ONS no date. SIC 2003

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Coordination of Conditional Poisson Samples

–1679. Doi: http://dx.doi.org/10.1198/016214506000000320 . Matei, A. and C. Skinner. 2009. “Optimal Sample Coordination Using Controlled Selection.” Journal of Statistical Planning and Inference 139: 3112–3121. Doi: http://dx.doi.org/10.1016/j.jspi.2009.02.012 . Matei, A. and Y. Tillé. 2005a. “Evaluation of Variance Approximations and Estimators In Maximum Entropy Sampling With Unequal Probability and Mixed Sample Size.” Journal of Official Statistics 21: 543–570. Matei, A. and Y. Tillé. 2005b. “Maximal and Minimal Sample Co-ordination.” Sankhyā

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On Certain Subclass of Meromorphic Close-to-Convex Functions

Abstract

In this paper we introduce and investigate a certain subclass of functions which are analytic in the punctured unit disk and meromorphically close-to-convex. The sub-ordination property, inclusion relationship, coefficient inequalities, distortion theorem and a sufficient condition for our subclass of functions are derived. The results presented here would provide extensions of those given in earlier works.

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