939 research outputs found
Digging through the dirt: a general method for abstract discrete state estimation with limited prior knowledge
No full textAutonomous robots are often successfully deployed in controlled environments. Operation in uncontrolled situations remains challenging; it is hypothesized that the detection of abstract discrete states (ADS) can improve operation in these circumstances. ADS are high-level system states that are not directly detectable and influence system dynamics. An example of a typical ADS problem that is used in this thesis is that of a wheeled robot driving through puddles of mud that, when entered, alters the velocity of the robot. When the robot is in such a puddle, it is in an ADS 'mud', and when it is not, it is in an ADS 'free'. ADS can be indirectly inferred through the analysis of lower-level data such as the velocity of the robot. The goal of this thesis is to design a general abstract discrete state estimator (ADSE) operating with limited prior knowledge. An ADSE is a hierarchical system for detecting changes in ADS. The ADSE should be general; applicable to multiple ADSE problems. The ADSE should further operate under limited prior knowledge: only assuming that the amount of ADS and the ADS that describes the regular operation are known. The basis for the ADSE designed in this thesis is a Gaussian hidden Markov model (GHMM), a hidden Markov model enhanced with Gaussian emissions. Randomly generated experiments are done on a simple but general ADSE problem. Two unsupervised learning methods derived from Expectation Maximization are evaluated, namely Baum-Welch (BW) and forward extraction (FWE). FWE is introduced in this thesis and is a simpler implementation of Viterbi extraction, leveraging assumptions of ADSE to in theory gain computational efficiency. We found that both BW and FWE exhibit superior performance compared to a likelihood-based baseline estimator when the maximum score of the learning curve is considered. When the final score is considered, in some cases, FWE displays a deteriorating learning curve, resulting in worse final scores compared to the baseline. Furthermore, it was found that the lower the overlap coefficient (therefore the less similar the ADS), the higher the maximum reached score. It was further shown that BW exhibits better convergence than FWE to the true model parameters. Besides this, FWE obtained comparable or in some cases even superior scores compared to BW. In general, from the results, the diversity of the experiments conducted, and the assumptions made we can conclude that the GHMM can be a general method for an ADSE with limited prior knowledge. To quantify the suitability of the GHMM for ADSE, further research should include the evaluation of different ADSE methods on the same problem. There exists a tradeoff between the lower computational cost FWE and the more stable but more computationally intensive BW learning. Therefore, future research can include a combination of these methods. Other extensions include extending the GHMM to a Gaussian mixture hidden Markov model to allow for the modeling of more complex distributions, or the application to multiple states or a changing environment.https://github.com/Wouter-deBoer/adseMechanical Engineering | Vehicle Engineering | Cognitive Robotic
Polymer dynamics under tension: Mean first passage time for looping
Full text linkThis study deals with polymer looping, an important process in many chemical and biological systems. We investigate basic questions on the looping dynamics of a polymer under tension using the freely jointed chain (FJC) model. Previous theoretical approaches to polymer looping under tension have relied on barrier escape methods, which assume local equilibrium, an assumption that may not always hold. As a starting point, we use an analytical expression for the equilibrium looping probability as a function of the number of monomers and applied force, predicting an inverse relationship between looping time and looping probability. Using molecular dynamics simulations, the predictions of this theoretical approach are validated within the numerical precision achieved. We compare our predictions to those of the barrier escape approach by way of a calculation of the mean first passage time (MFPT) for the ends of a polymer to cross. For this purpose, we derive the exact free energy landscape, but the resulting temporal predictions do not agree with the observed inverse scaling. We conclude that the traditional barrier escape approach does not provide satisfactory predictions for polymer looping dynamics and that the inverse scaling with looping probability offers a more reliable alternative
Rigid Cluster Decomposition Reveals Criticality in Frictional Jamming
Full text linkJ. M. S. acknowledges useful discussions with Wouter Ellenbroek and Martin van Hecke and NSF-DMR-1507938 for support. Y. F. acknowledges support from NSF MRSEC, DMR-1420382.Peer reviewe
Dynamics of vitrimers: defects as a highway to stress relaxation: Defects as a Highway to Stress Relaxation
Full text linkWe propose a coarse-grained model to investigate stress relaxation in star-polymer networks induced by dynamic bond-exchange processes. We show how the swapping mechanism, once activated, allows the network to reconfigure, exploring distinct topological configurations, all of them characterized by complete extent of reaction. Our results reveal the important role played by topological defects in mediating the exchange reaction and speeding up stress relaxation. The model provides a representation of the dynamics in vitrimers, a new class of polymers characterized by bond-swap mechanisms which preserve the total number of bonds, as well as in other bond-exchange materials
embalming and reperfusion of porcine kidneys
No full text<p>These are the data of the following article:</p>
<p>Understanding Thiel embalming in pig kidneys to develop a new circulation model</p>
<p>First author: Wouter Willaert</p
Nederland op een kantelpunt: Interview met Wouter Veldhuis over het Stedelijk Netwerk Nederland en het sociaal netwerk van woonwijken
Full text linkDe stedenbouwkundige en architect Wouter Veldhuis en landschapsarchitect Jannemarie de Jonge zijn per 1 december 2020 Rijksadviseur voor de fysieke leefomgeving. Later in september 2021 komt daar de architect Francesco Veenstra bij als Rijksbouwmeester en dan is het nieuwe trio College van Rijksadviseurs weer compleet. De uitdagingen voor het college zijn groot. De ruimteclaims die er liggen in stad en land, de hooggestemde ambities om klimaatneutraal en circulair te zijn in 2050, de roep om een minister voor de fysieke leefomgeving en of wonen en weer een echt ministerie met budget. Het enorme probleem op de woningmarkt en de druk om één miljoen woningen ergens bij te bouwen. Op 24 april sprak het team van 1M Homes initiative van de TU Delft met de nieuw benoemde rijksadviseur voor de fysieke leefomgeving Wouter Veldhuis over de aanstaande veranderingen
Does Indonesia have a"low-pay"civil service?
Full text linkGovernment officials and polcy analysts maintain that Indonesia's civil servants are poorly paid and have been for decades. This conclusion is supported by anecdotal evidence and casual empiricism. The authors systematically analyze the realtionship between government and private compensation levels using data from two large household surveys carried out by Indonesia's Central Bureau of Statistics: the 1998 Sakernas and 1999 Susenas. The results suggest that government workers with a high school education or less, representing three-quarters of the civil service, earn a pay premium over their private sector counterparts. Civil servants with more than a high school education earn less than they would in the private sector but, on average, the premium is far smaller than commonly is alleged and is in keeping with public/private differentials in other countries. These results prove robust to varying econometric specifications and cast doubt on low pay as an explanation for government corruption.Decentralization,Public Health Promotion,Health Monitoring&Evaluation,National Governance,Knowledge Economy,Health Monitoring&Evaluation,NationalGovernance,Knowledge Economy,Education for the Knowledge Economy,Parliamentary Government
Optimization of the capacity of a rose sorting system using discrete event simulation
No full textIn Rose cultivation companies in the Netherlands, there is a demand for a higher sorting capacity on the existing sorting systems. The objective for this research is to advice which part of the sorting system needs to be adjusted to gain a higher sorting capacity. For the current sorting systems, five bottlenecks are defined, the bottlenecks limit the sorting capacity. To be able to forecast the effect of machine adjustments, a discrete event simulation model has been constructed, using Simulink and Matlab. This simulation model is verified, matched and validated using data of on an existing rose sorting system. Results of a single day validation showed that the time to process the roses can be simulated with a 97% accuracy. Subsequently, five different simulations are executed. In each simulation, one of the five bottlenecks is removed or reduced. With the results of these simulations the capacity limitation due to each bottleneck is quantified. However entirely removing a bottleneck is not feasible in reality for all bottlenecks. A last situation is simulated where all feasible bottleneck reductions are combined. This showed that the time to sort all roses is reduced by 35%.Marine Technology | Transport Engineering and Logistic
Associative bond swaps in molecular dynamics
Full text linkWe implement a three-body potential to model associative bond swaps, and release it as part of the HOOMD-blue software. The use of a three-body potential to model swaps has been proven to be effective and has recently provided useful insights into the mechanics and dynamics of adaptive network materials such as vitrimers. It is elegant because it can be used in plain molecular dynamics simulations without the need for topology-altering Monte Carlo steps, and naturally represents typical physical features such as slip-bond behavior. It is easily tunable with a single parameter to control the average swap rate. Here, we show how associative bond swaps can be used to speed up the equilibration of systems that self-assemble by avoiding traps and pitfalls, corresponding to long-lived metastable configurations. Our results demonstrate the possibilities of these swaps not only for modeling systems that are associative by nature, but also for increasing simulation efficiency in other systems that are modellable in HOOMD-blue
Single-component organic solar cells-Perspective on the importance of chemical precision in conjugated block copolymers
Full text linkThe author(s) declare financial support was received for the research, authorship, and/or publication of this article. The authors acknowledge financial support from Hasselt University, the Research Foundation-Flanders (FWO Vlaanderen; projects W000620N, I006320N, and 1S99620N), and the European Research Council (ERC; grant agreement 864625)
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