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Full-Text Articles in Physical Sciences and Mathematics
Data-Driven Learning For Robot Physical Intelligence, Leidi Zhao
Data-Driven Learning For Robot Physical Intelligence, Leidi Zhao
Dissertations
The physical intelligence, which emphasizes physical capabilities such as dexterous manipulation and dynamic mobility, is essential for robots to physically coexist with humans. Much research on robot physical intelligence has achieved success on hyper robot motor capabilities, but mostly through heavily case-specific engineering. Meanwhile, in terms of robot acquiring skills in a ubiquitous manner, robot learning from human demonstration (LfD) has achieved great progress, but still has limitations handling dynamic skills and compound actions. In this dissertation, a composite learning scheme which goes beyond LfD and integrates robot learning from human definition, demonstration, and evaluation is proposed. This method tackles …
Perturbed Spherical Objects In Acoustic And Fluid Flow Fields, Manmeet Kaur
Perturbed Spherical Objects In Acoustic And Fluid Flow Fields, Manmeet Kaur
Dissertations
In this study, the time averaged acoustic radiation force and drag on a small, nearly spherical object suspended freely in a stationary sound wave field in a compressible, low viscosity fluid is to be calculated. This problem has been solved for a spherical object, and it has many important engineering applications related to segregation and separation processes for particles in fluids such as water. Small but significant errors have occurred in the predicted behavior of the particles using the existing approximate solutions based on perfect spheres. The classical approach has been extended in this research to objects that deviate slightly …