Analyzing and improving the reproducibility of shots taken by a soccer robot
|
|
|
- Jack Glenn
- 5 years ago
- Views:
Transcription
1 Analyzing and improving the reproducibility of shots taken by a soccer robot
2 Overview Introduction Capacitor analysis Lever positioning analysis Validation Conclusion and recommendations
3 Introduction Shots of TURTLE not reproducible Variation capacitor voltage Leads to variation in force exerted Variation -> reproducibility Duty cycle (KK) End position Desired Variation
4 Introduction Lever setting control (In)accuracy Variation -> reproducibility Lever setting (LL) End position Desired Accuracy Mean Variation
5 Research questions What is the variation in discharge of the capacitor over the coil and what is the effect due to this factor on the reproducibility of shots? What is the variation and accuracy of the positioning of the lever, what is the effect of these factors on the reproducibility and accuracy of shots and how can this be improved?
6 Capacitor analysis Voltage measured by logging Voltage before shot small variation, discharge large variation Model of duty cycle (KK) versus discharge voltage (UU dddd ) U c [V] Voltage Voltage at start discharge Voltage after discharge Measurement time [s]
7 Capacitor analysis Variation in UU dddd to find bounds of KK KK [-] UU dddd mmmmmmmm [VV] UU dddd vvvvvvvvvvvvvvvvvv [VV] ± ± ±8.46 KK [-] KK mmmmmm [VV] KK mmmmmm [VV]
8 Trajectory determination Interested in influence on shots KK and LL coupled Model of relation between KK and LL versus initial angle (αα 0 ) and velocity (vv 0 ) vv 0 = cc 1 + cc 2 KK + cc 3 LL + cc 4 KKKK + cc 5 KK 2 + cc 6 LL 2 (1) αα 0 = cc 7 + cc 8 KK + cc 9 LL + cc 10 KKKK (2)
9 Trajectory determination Trajectory off point mass with initial velocity and angle yy = vv 0 cccccc(αα 0 )tt zz = vv 0 ssssss αα 0 tt ggtt2 + zz 0 yy = vv 0 cccccc(αα 0 ) zz = vv 0 ssssss(αα 0 ) + gggg
10 Trajectory determination End position for inconsitent KK = 0.2, 0.5 and 0.8 with a constant LL = 0 tttt 1 with steps of 0.2 Largest position error
![End position variation due to KK KK [-] Largest variation of end position (yy) due to variation of KK [cm] 0.2 8 0.5 13 0.](/docs-images/94/120062738/images/11-2.jpg "8 34 Variation in capacitor discharge voltage should be lowered, as it causes an end position error of three times the ball s radius!")
11 End position variation due to KK KK [-] Largest variation of end position (yy) due to variation of KK [cm] Variation in capacitor discharge voltage should be lowered, as it causes an end position error of three times the ball s radius! Larger variation at higher KK
12 Lever analysis Current lever positioning Not reaching reference position Spike in controller output
13 Lever analysis End position error of inconsistent and inaccurate LL = 0 to 1 with steps of 0.2 at constant KK = 0.2, 0.5 and 0.8 Variation up to one time radius of the ball Inaccuracy up to three times radius of the ball KK [-] Largest variation of end position (yy) due to variation of LL [cm] Largest inaccuracy of end position (yy) due to variation of LL [cm] 0.2 ± ± ±5 30
14 Lever analysis Improved reference position No spike Better following behavior
15 Capacitor analysis 1000 mmmm to study steady-state error Required controller output when lever is at a standstill (due to gravity and/or friction) Model as a feed-forward dependent on LL
16 Capacitor analysis 8 th degree polynomial Second degree power function
17 Capacitor analysis Error window to 500 counts
18 Capacitor analysis KK [-] Largest variation of end position (yy) due to variation of LL [cm] Largest inaccuracy of end position (yy) due to variation of LL [cm] 0.2 ± ± ±2 2 Acceptable Only smart part of ball s radius
19 Validation Video measurements
20 Validation Video measurements Setting Mean end position [m] LL = 1, KK = 0.5 (1) 8.68 ±47 LL = 0.2, K = 0.8 (2) 4.85 ±93 LL = 0.4, KK = 0.8 (3) 8.81 ±137 Variation in end position [cm] Setting End position at lower bound [m] End position at higher bound [m]
21 Validation Bad results Plotting 2 nd degree polynomial zz versus tttttttt zz = gg 22 tt2 + vv 0 ssssss αα 0 tt + zz 0 (1) zz = gg (2) Setting Mean gg 2 [mm/ss2 ] Variation gg 2 [mm/ss2 ] ± ± ±0.89 Model validated before -> still correct results
22 Conclusion and reccommendations Reproduciblity and accuracy improved, but reproduciblity not yet optimal Variation in discharge capacitor Feed-forward model for every TURTLE Ball handling not optimal Duty cyle and lever setting coupled Testing with control on during shot
23 Questions?
Rotational Motion. Chapter 10 of Essential University Physics, Richard Wolfson, 3 rd Edition
Rotational Motion Chapter 10 of Essential University Physics, Richard Wolfson, 3 rd Edition 1 We ll look for a way to describe the combined (rotational) motion 2 Angle Measurements θθ ss rr rrrrrrrrrrrrrr
Gravitation. Chapter 8 of Essential University Physics, Richard Wolfson, 3 rd Edition
Gravitation Chapter 8 of Essential University Physics, Richard Wolfson, 3 rd Edition 1 What you are about to learn: Newton's law of universal gravitation About motion in circular and other orbits How to
Coulomb s Law and Coulomb s Constant
Pre-Lab Quiz / PHYS 224 Coulomb s Law and Coulomb s Constant Your Name: Lab Section: 1. What will you investigate in this lab? 2. Consider a capacitor created when two identical conducting plates are placed
Work, Energy, and Power. Chapter 6 of Essential University Physics, Richard Wolfson, 3 rd Edition
Work, Energy, and Power Chapter 6 of Essential University Physics, Richard Wolfson, 3 rd Edition 1 With the knowledge we got so far, we can handle the situation on the left but not the one on the right.
Secondary 3H Unit = 1 = 7. Lesson 3.3 Worksheet. Simplify: Lesson 3.6 Worksheet
Secondary H Unit Lesson Worksheet Simplify: mm + 2 mm 2 4 mm+6 mm + 2 mm 2 mm 20 mm+4 5 2 9+20 2 0+25 4 +2 2 + 2 8 2 6 5. 2 yy 2 + yy 6. +2 + 5 2 2 2 0 Lesson 6 Worksheet List all asymptotes, holes and
TECHNICAL NOTE AUTOMATIC GENERATION OF POINT SPRING SUPPORTS BASED ON DEFINED SOIL PROFILES AND COLUMN-FOOTING PROPERTIES
COMPUTERS AND STRUCTURES, INC., FEBRUARY 2016 TECHNICAL NOTE AUTOMATIC GENERATION OF POINT SPRING SUPPORTS BASED ON DEFINED SOIL PROFILES AND COLUMN-FOOTING PROPERTIES Introduction This technical note
SECTION 7: STEADY-STATE ERROR. ESE 499 Feedback Control Systems
SECTION 7: STEADY-STATE ERROR ESE 499 Feedback Control Systems 2 Introduction Steady-State Error Introduction 3 Consider a simple unity-feedback system The error is the difference between the reference
Worksheets for GCSE Mathematics. Algebraic Expressions. Mr Black 's Maths Resources for Teachers GCSE 1-9. Algebra
Worksheets for GCSE Mathematics Algebraic Expressions Mr Black 's Maths Resources for Teachers GCSE 1-9 Algebra Algebraic Expressions Worksheets Contents Differentiated Independent Learning Worksheets
SECTION 7: FAULT ANALYSIS. ESE 470 Energy Distribution Systems
SECTION 7: FAULT ANALYSIS ESE 470 Energy Distribution Systems 2 Introduction Power System Faults 3 Faults in three-phase power systems are short circuits Line-to-ground Line-to-line Result in the flow
Quantum Mechanics. An essential theory to understand properties of matter and light. Chemical Electronic Magnetic Thermal Optical Etc.
Quantum Mechanics An essential theory to understand properties of matter and light. Chemical Electronic Magnetic Thermal Optical Etc. Fall 2018 Prof. Sergio B. Mendes 1 CHAPTER 3 Experimental Basis of
Chapter 22 : Electric potential
Chapter 22 : Electric potential What is electric potential? How does it relate to potential energy? How does it relate to electric field? Some simple applications What does it mean when it says 1.5 Volts
Chapter 10. Simple Harmonic Motion and Elasticity
Chapter 10 Simple Harmonic Motion and Elasticity 10.1 The Ideal Spring and Simple Harmonic Motion F Applied x = k x spring constant Units: N/m FF SSSSSSSSSSSS = kkkk 10.1 The Ideal Spring and Simple Harmonic
CHAPTER 5 Wave Properties of Matter and Quantum Mechanics I
CHAPTER 5 Wave Properties of Matter and Quantum Mechanics I 1 5.1 X-Ray Scattering 5.2 De Broglie Waves 5.3 Electron Scattering 5.4 Wave Motion 5.5 Waves or Particles 5.6 Uncertainty Principle Topics 5.7
(1) Correspondence of the density matrix to traditional method
(1) Correspondence of the density matrix to traditional method New method (with the density matrix) Traditional method (from thermal physics courses) ZZ = TTTT ρρ = EE ρρ EE = dddd xx ρρ xx ii FF = UU
Control of Mobile Robots
Control of Mobile Robots Regulation and trajectory tracking Prof. Luca Bascetta (luca.bascetta@polimi.it) Politecnico di Milano Dipartimento di Elettronica, Informazione e Bioingegneria Organization and
3. Mathematical Modelling
3. Mathematical Modelling 3.1 Modelling principles 3.1.1 Model types 3.1.2 Model construction 3.1.3 Modelling from first principles 3.2 Models for technical systems 3.2.1 Electrical systems 3.2.2 Mechanical
Physics 141 Second Mid-Term Examination Spring 2015 March 31, 2015
Physics 141 Second Mid-Term Examination Spring 2015 March 31, 2015 Your Number Solutions LAST Name (print) FIRST Name (print) Signature: UIN #: Your Section: Barkan 9 am Barkan 11 am Goeckner 3 pm PROBLEM
Simple Harmonic Motion
[International Campus Lab] Objective Investigate simple harmonic motion using an oscillating spring and a simple pendulum. Theory ----------------------------- Reference -------------------------- Young
National 5 Mathematics. Practice Paper E. Worked Solutions
National 5 Mathematics Practice Paper E Worked Solutions Paper One: Non-Calculator Copyright www.national5maths.co.uk 2015. All rights reserved. SQA Past Papers & Specimen Papers Working through SQA Past
Exam 2 Fall 2015
1 95.144 Exam 2 Fall 2015 Section instructor Section number Last/First name Last 3 Digits of Student ID Number: Show all work. Show all formulas used for each problem prior to substitution of numbers.
Analog Circuits Part 1 Circuit Theory
Introductory Medical Device Prototyping Analog Circuits Part 1 Circuit Theory, http://saliterman.umn.edu/ Department of Biomedical Engineering, University of Minnesota Concepts to be Covered Circuit Theory
PHL424: Nuclear Shell Model. Indian Institute of Technology Ropar
PHL424: Nuclear Shell Model Themes and challenges in modern science Complexity out of simplicity Microscopic How the world, with all its apparent complexity and diversity can be constructed out of a few
Q. 1 Q. 25 carry one mark each.
Q. 1 Q. 25 carry one mark each. Q.1 Given ff(zz) = gg(zz) + h(zz), where ff, gg, h are complex valued functions of a complex variable zz. Which one of the following statements is TUE? (A) If ff(zz) is
Prof. Dr. Rishi Raj Design of an Impulse Turbine Blades Hasan-1
Prof. Dr. Rishi Raj Design of an Impulse Turbine Blades Hasan-1 The main purpose of this project, design of an impulse turbine is to understand the concept of turbine blades by defining and designing the
University of North Georgia Department of Mathematics
Instructor: Berhanu Kidane Course: Precalculus Math 13 University of North Georgia Department of Mathematics Text Books: For this course we use free online resources: See the folder Educational Resources
Name: Discussion Section:
CBE 141: Chemical Engineering Thermodynamics, Spring 2018, UC Berkeley Midterm 2 March 22, 2018 Time: 80 minutes, closed-book and closed-notes, one-sided 8 ½ x 11 equation sheet allowed Please show all
CHAPTER 2 Special Theory of Relativity
CHAPTER 2 Special Theory of Relativity Fall 2018 Prof. Sergio B. Mendes 1 Topics 2.0 2.1 2.2 2.3 2.4 2.5 2.6 2.7 2.8 2.9 2.10 2.11 2.12 2.13 2.14 Inertial Frames of Reference Conceptual and Experimental
SECTION 5: CAPACITANCE & INDUCTANCE. ENGR 201 Electrical Fundamentals I
SECTION 5: CAPACITANCE & INDUCTANCE ENGR 201 Electrical Fundamentals I 2 Fluid Capacitor Fluid Capacitor 3 Consider the following device: Two rigid hemispherical shells Separated by an impermeable elastic
RETA Book 1 Chapter 1 Fundamental Items
RETA Book 1 Chapter 1 Fundamental Items Peter Thomas, P.E. Resource Compliance RETA Certification Levels CARO Certified Assistant Refrigeration Operator CARO is an entry-level credential that is designed
A new procedure for sensitivity testing with two stress factors
A new procedure for sensitivity testing with two stress factors C.F. Jeff Wu Georgia Institute of Technology Sensitivity testing : problem formulation. Review of the 3pod (3-phase optimal design) procedure
SECTION 8: ROOT-LOCUS ANALYSIS. ESE 499 Feedback Control Systems
SECTION 8: ROOT-LOCUS ANALYSIS ESE 499 Feedback Control Systems 2 Introduction Introduction 3 Consider a general feedback system: Closed-loop transfer function is KKKK ss TT ss = 1 + KKKK ss HH ss GG ss
SECTION 4: ULTRACAPACITORS. ESE 471 Energy Storage Systems
SECTION 4: ULTRACAPACITORS ESE 471 Energy Storage Systems 2 Introduction Ultracapacitors 3 Capacitors are electrical energy storage devices Energy is stored in an electric field Advantages of capacitors
Unit WorkBook 2 Level 4 ENG U13 Fundamentals of Thermodynamics and Heat Engines UniCourse LTD. All Rights Reserved. Sample
Pearson BTEC Levels 4 Higher Nationals in Engineering (RQF) Unit 13: Fundamentals of Thermodynamics and Heat Engines Unit Workbook 2 in a series of 4 for this unit Learning Outcome 2 Plant Equipment Page
Review for Exam Hyunse Yoon, Ph.D. Assistant Research Scientist IIHR-Hydroscience & Engineering University of Iowa
57:020 Fluids Mechanics Fall2013 1 Review for Exam3 12. 11. 2013 Hyunse Yoon, Ph.D. Assistant Research Scientist IIHR-Hydroscience & Engineering University of Iowa 57:020 Fluids Mechanics Fall2013 2 Chapter
Summer Assignment 2018 IB Physics Year 1
Summer Assignment 2018 IB Physics Year 1 Contact with questions: Mr. Seidenberg, dpseidenberg@fcps.edu Dear future IB Physics Year 1 Student, June 11, 2018 Welcome to IB Physics Year 1! I m looking forward
Math 171 Spring 2017 Final Exam. Problem Worth
Math 171 Spring 2017 Final Exam Problem 1 2 3 4 5 6 7 8 9 10 11 Worth 9 6 6 5 9 8 5 8 8 8 10 12 13 14 15 16 17 18 19 20 21 22 Total 8 5 5 6 6 8 6 6 6 6 6 150 Last Name: First Name: Student ID: Section:
CHAPTER 4 Structure of the Atom
CHAPTER 4 Structure of the Atom Fall 2018 Prof. Sergio B. Mendes 1 Topics 4.1 The Atomic Models of Thomson and Rutherford 4.2 Rutherford Scattering 4.3 The Classic Atomic Model 4.4 The Bohr Model of the
Influence of Code Size Variation on the Performance of 2D Hybrid ZCC/MD in OCDMA System
MATEC Web of Conferences 5, 68 (8) MUCET 7 https://doiorg/5/matecconf/8568 Influence of Code Size Variation on the Performance of D Hybrid ZCC/MD in OCDMA System Rima Matem,*, S A Aljunid, M N Junita,
Solid Rocket Motor Combustion Instability Modeling in COMSOL Multiphysics
Solid Rocket Motor Combustion Instability Modeling in COMSOL Multiphysics Sean R. Fischbach Mashall Space Flight Center / Qualis Corp. / Jacobs ESSSA Group *MSFC Huntsville sean.r.fischbach@nasa.gov Outline
Physics 371 Spring 2017 Prof. Anlage Review
Physics 71 Spring 2017 Prof. Anlage Review Special Relativity Inertial vs. non-inertial reference frames Galilean relativity: Galilean transformation for relative motion along the xx xx direction: xx =
overcomingchallengeschanginglives
overcomingchallengeschanginglives Upper Extremity Team Jamie Samuel Moore Emma Sarles Amy Hughes Hannah Folby Elizabeth Nicolas Robert Henry Guide: Gerald Garavuso Presentation Agenda 2 Catch&Launch Strike
Random Vectors Part A
Random Vectors Part A Page 1 Outline Random Vectors Measurement of Dependence: Covariance Other Methods of Representing Dependence Set of Joint Distributions Copulas Common Random Vectors Functions of
Lecture No. 1 Introduction to Method of Weighted Residuals. Solve the differential equation L (u) = p(x) in V where L is a differential operator
Lecture No. 1 Introduction to Method of Weighted Residuals Solve the differential equation L (u) = p(x) in V where L is a differential operator with boundary conditions S(u) = g(x) on Γ where S is a differential
Answers to Practice Test Questions 2 Atoms, Isotopes and Nuclear Chemistry
Answers to Practice Test Questions 2 Atoms, Isotopes and Nuclear Chemistry. Fluine has only one stable isotope. Its mass number is _9_. A neutral atom of fluine has 9 protons, 0 neutrons and 9 electrons.
Unit WorkBook 4 Level 4 ENG U8 Mechanical Principles 2018 UniCourse Ltd. All Rights Reserved. Sample
2018 UniCourse Ltd. A Rights Reserved. Pearson BTEC Levels 4 Higher Nationals in Engineering (RQF) Unit 8: Mechanical Principles Unit Workbook 4 in a series of 4 for this unit Learning Outcome 4 Translational
KINEMATICS REVIEW VECTOR ALGEBRA - SUMMARY
1 KINEMATICS REVIEW VECTOR ALGEBRA - SUMMARY Magnitude A numerical value with appropriate units. Scalar is a quantity that is completely specified by magnitude. Vector requires both, magnitude and direction
Review for Exam Hyunse Yoon, Ph.D. Adjunct Assistant Professor Department of Mechanical Engineering, University of Iowa
Review for Exam3 12. 9. 2015 Hyunse Yoon, Ph.D. Adjunct Assistant Professor Department of Mechanical Engineering, University of Iowa Assistant Research Scientist IIHR-Hydroscience & Engineering, University
Wave Motion. Chapter 14 of Essential University Physics, Richard Wolfson, 3 rd Edition
Wave Motion Chapter 14 of Essential University Physics, Richard Wolfson, 3 rd Edition 1 Waves: propagation of energy, not particles 2 Longitudinal Waves: disturbance is along the direction of wave propagation
The impact of hot charge carrier mobility on photocurrent losses
Supplementary Information for: The impact of hot charge carrier mobility on photocurrent losses in polymer-based solar cells Bronson Philippa 1, Martin Stolterfoht 2, Paul L. Burn 2, Gytis Juška 3, Paul
Worksheets for GCSE Mathematics. Solving Equations. Mr Black's Maths Resources for Teachers GCSE 1-9. Algebra
Worksheets for GCSE Mathematics Solving Equations Mr Black's Maths Resources for Teachers GCSE 1-9 Algebra Equations Worksheets Contents Differentiated Independent Learning Worksheets Solving Equations
Rational Expressions and Functions
Rational Expressions and Functions In the previous two chapters we discussed algebraic expressions, equations, and functions related to polynomials. In this chapter, we will examine a broader category
(1) Introduction: a new basis set
() Introduction: a new basis set In scattering, we are solving the S eq. for arbitrary VV in integral form We look for solutions to unbound states: certain boundary conditions (EE > 0, plane and spherical
Grover s algorithm. We want to find aa. Search in an unordered database. QC oracle (as usual) Usual trick
Grover s algorithm Search in an unordered database Example: phonebook, need to find a person from a phone number Actually, something else, like hard (e.g., NP-complete) problem 0, xx aa Black box ff xx
Magnetic Force and Current Balance
Pre-Lab Quiz / PHYS 224 Magnetic Force and Current Balance Name Lab Section 1. What do you investigate in this lab? 2. Consider two parallel straight wires carrying electric current in opposite directions
Simple Harmonic Motion
1. Object Simple Harmonic Motion To determine the period of motion of objects that are executing simple harmonic motion and to check the theoretical prediction of such periods. 2. Apparatus Assorted weights
Mathematics Paper 2 Grade 12 Preliminary Examination 2017
Mathematics Paper 2 Grade 12 Preliminary Examination 2017 DURATION: 180 min EXAMINER: R. Obermeyer MARKS: 150 MODERATOR: A. Janisch Date: 15 September 2017 External Moderator: I. Atteridge INSTRUCTIONS:
Preparing for the HNC Electrical Maths Components. online learning. Page 1 of 15
online learning Preparing for the HNC Electrical Maths Components Page 1 of 15 Contents INTRODUCTION... 3 1 Algebraic Methods... 4 1.1 Indices and Logarithms... 4 1.1.1 Indices... 4 1.1.2 Logarithms...
Anthropometry Formulas
Anthropometry Formulas W. Rose KAAP47/67 Segment Dimensions FF = mmmm, dddd dddd = FF mm ττ = IIII, dddd dddd = ττ II Length of body segments is often obtainable by direct measurement. If not, the segment
Lecture 3 Transport in Semiconductors
EE 471: Transport Phenomena in Solid State Devices Spring 2018 Lecture 3 Transport in Semiconductors Bryan Ackland Department of Electrical and Computer Engineering Stevens Institute of Technology Hoboken,
SECTION 5: POWER FLOW. ESE 470 Energy Distribution Systems
SECTION 5: POWER FLOW ESE 470 Energy Distribution Systems 2 Introduction Nodal Analysis 3 Consider the following circuit Three voltage sources VV sss, VV sss, VV sss Generic branch impedances Could be
Deflection Control of SMA-actuated Beam-like Structures in Nonlinear Large Deformation Mode
American Journal of Computational and Applied Mathematics 214, 4(5): 167-185 DOI: 1.5923/j.ajcam.21445.3 Deflection Control of SMA-actuated Beam-like Structures in Nonlinear Large Deformation Mode Mohammad
Elastic light scattering
Elastic light scattering 1. Introduction Elastic light scattering in quantum mechanics Elastic scattering is described in quantum mechanics by the Kramers Heisenberg formula for the differential cross
Specialist Mathematics 2019 v1.2
Examination (15%) This sample has been compiled by the QCAA to assist and support teachers in planning and developing assessment instruments for individual school settings. The examination must ensure
Module 7 (Lecture 27) RETAINING WALLS
Module 7 (Lecture 27) RETAINING WALLS Topics 1.1 RETAINING WALLS WITH METALLIC STRIP REINFORCEMENT Calculation of Active Horizontal and vertical Pressure Tie Force Factor of Safety Against Tie Failure
Acceleration due to Gravity
1. Object Acceleration due to Gravity To determine the acceleration due to gravity by different methods. 2. Apparatus Balance, ball bearing, clamps, electric timers, meter stick, paper strips, precision
Terms of Use. Copyright Embark on the Journey
Terms of Use All rights reserved. No part of this packet may be reproduced, stored in a retrieval system, or transmitted in any form by any means - electronic, mechanical, photo-copies, recording, or otherwise
Physics Circular Motion
FACULTY OF EDUCATION Department of Curriculum and Pedagogy Physics Circular Motion Science and Mathematics Education Research Group Supported by UBC Teaching and Learning Enhancement Fund 2012-2015 Question
r/lt.i Ml s." ifcr ' W ATI II. The fnncrnl.icniccs of Mr*. John We mil uppn our tcpiiblicnn rcprc Died.
$ / / - (\ \ - ) # -/ ( - ( [ & - - - - \ - - ( - - - - & - ( ( / - ( \) Q & - - { Q ( - & - ( & q \ ( - ) Q - - # & - - - & - - - $ - 6 - & # - - - & -- - - - & 9 & q - / \ / - - - -)- - ( - - 9 - - -
7 ( - ( - < Q & > & ) 
9 Q - - W i n t e r r e m e m b e r t h e W O O L L E N S. W rite to the M anageress RIDGE LAUNDRY, ST. H E LE N S. A uction Sale.
> 7? 8 «> ««0? [ -! ««! > - ««>« ------------ - 7 7 7 = - Q9 8 7 ) [ } Q ««
1. Fluid properties and concept of continuum
1. Fluid properties and concept of continuum Fluid: a substance that deforms continuously under an applied shear stress (e.g., air, water, upper mantle...) Not practical/possible to treat fluid mechanics
Gibbs Sampler Derivation for Latent Dirichlet Allocation (Blei et al., 2003) Lecture Notes Arjun Mukherjee (UH)
Gibbs Sampler Derivation for Latent Dirichlet Allocation (Blei et al., 2003) Lecture Notes Arjun Mukherjee (UH) I. Generative process, Plates, Notations II. The joint distribution: PP (WW, ZZ; αα; ββ)
CHEMISTRY Spring, 2018 QUIZ 1 February 16, NAME: HANS ZIMMER Score /20
QUIZ 1 February 16, 018 NAME: HANS ZIMMER Score /0 [Numbers without decimal points are to be considered infinitely precise. Show reasonable significant figures and proper units. In particular, use generally
QUIZ 1 September 4, NAME: ACETONE Score: /10
QUIZ 1 September 4, 2015 NAME: AETONE Score: /10 Be sure to show proper units in every case.] 1. (5 points) Draw structures for the following molecules to the right of each name. 2 N O O 2S p-aminobenzoic
7.3 The Jacobi and Gauss-Seidel Iterative Methods
7.3 The Jacobi and Gauss-Seidel Iterative Methods 1 The Jacobi Method Two assumptions made on Jacobi Method: 1.The system given by aa 11 xx 1 + aa 12 xx 2 + aa 1nn xx nn = bb 1 aa 21 xx 1 + aa 22 xx 2
Free energy dependence along the coexistence curve
Free energy dependence along the coexistence curve In a system where two phases (e.g. liquid and gas) are in equilibrium the Gibbs energy is G = GG l + GG gg, where GG l and GG gg are the Gibbs energies
Lecture No. 5. For all weighted residual methods. For all (Bubnov) Galerkin methods. Summary of Conventional Galerkin Method
Lecture No. 5 LL(uu) pp(xx) = 0 in ΩΩ SS EE (uu) = gg EE on ΓΓ EE SS NN (uu) = gg NN on ΓΓ NN For all weighted residual methods NN uu aaaaaa = uu BB + αα ii φφ ii For all (Bubnov) Galerkin methods ii=1
Lecture 6. Notes on Linear Algebra. Perceptron
Lecture 6. Notes on Linear Algebra. Perceptron COMP90051 Statistical Machine Learning Semester 2, 2017 Lecturer: Andrey Kan Copyright: University of Melbourne This lecture Notes on linear algebra Vectors
Analysis and Design of Control Dynamics of Manipulator Robot s Joint Drive
Journal of Mechanics Engineering and Automation 8 (2018) 205-213 doi: 10.17265/2159-5275/2018.05.003 D DAVID PUBLISHING Analysis and Design of Control Dynamics of Manipulator Robot s Joint Drive Bukhar
Lecture 22 Highlights Phys 402
Lecture 22 Highlights Phys 402 Scattering experiments are one of the most important ways to gain an understanding of the microscopic world that is described by quantum mechanics. The idea is to take a
Impact of Chamber Pressure on Sputtered Particle Energy
Wilmert De Bosscher Chief Technology Officer +32 9381 6177 wilmert.debosscher@soleras.com Impact of Chamber Pressure on Sputtered Particle Energy Tampa, October 18 th, 2017 Background Why Sputtering at
Discrete Structures Lecture Solving Congruences. mathematician of the eighteenth century). Also, the equation gggggg(aa, bb) =
First Introduction Our goal is to solve equations having the form aaaa bb (mmmmmm mm). However, first we must discuss the last part of the previous section titled gcds as Linear Combinations THEOREM 6
Multiple Regression Prediction & Confidence Intervals Demystified Stacy Dean The Boeing Company
Multiple Regression Prediction & Confidence Intervals Demystified Stacy Dean The Boeing Company Agenda History What are Confidence & Prediction Intervals Bivariate Regression Intervals Multivariate Regression
Angular Momentum, Electromagnetic Waves
Angular Momentum, Electromagnetic Waves Lecture33: Electromagnetic Theory Professor D. K. Ghosh, Physics Department, I.I.T., Bombay As before, we keep in view the four Maxwell s equations for all our discussions.
After successfully answering these questions, the students will be able to
Pre-Lab Questions 4 Topic: Simple Pendulum Objective: 1. To enable the students to identify the physical parameters of a simple pendulum. 2. To enable the students to identify the independent and dependant
THE SCREW GAUGE. AIM: To learn to use a Screw Gauge and hence use it to find the dimensions of various regular materials given.
EXPERIMENT NO: DATE: / /0 THE SCREW GAUGE AIM: To learn to use a Screw Gauge and hence use it to find the dimensions of various regular materials given. APPARUTUS:Given a Screw Gauge, cylindrical glass
Chemical Engineering 693R
Chemical Engineering 693R Reactor Design and Analysis Lecture 4 Reactor Flow and Pump Sizing Spiritual Thought 2 Rod Analysis with non-constant q 3 Now q = qq zz = qqq mmmmmm sin ππzz Steady state Know
Classical RSA algorithm
Classical RSA algorithm We need to discuss some mathematics (number theory) first Modulo-NN arithmetic (modular arithmetic, clock arithmetic) 9 (mod 7) 4 3 5 (mod 7) congruent (I will also use = instead
M.5 Modeling the Effect of Functional Responses
M.5 Modeling the Effect of Functional Responses The functional response is referred to the predation rate as a function of the number of prey per predator. It is recognized that as the number of prey increases,
Power of Adiabatic Quantum Computation
Power of Adiabatic Quantum Computation Itay Hen Information Sciences Institute, USC Physics Colloquium, USC February 10, 2014 arxiv preprints: 1207.1712, 1301.4956, 1307.6538, 1401.5172 Motivation in what
Free Fall and Projectile Motion
[International Campus] Free Fall and Projectile Motion Objective Investigate the motions of a freely falling body and a projectile under the influence of gravity. Find the acceleration due to gravity.
Review for Exam Hyunse Yoon, Ph.D. Adjunct Assistant Professor Department of Mechanical Engineering, University of Iowa
Review for Exam2 11. 13. 2015 Hyunse Yoon, Ph.D. Adjunct Assistant Professor Department of Mechanical Engineering, University of Iowa Assistant Research Scientist IIHR-Hydroscience & Engineering, University
Heat, Work, and the First Law of Thermodynamics. Chapter 18 of Essential University Physics, Richard Wolfson, 3 rd Edition
Heat, Work, and the First Law of Thermodynamics Chapter 18 of Essential University Physics, Richard Wolfson, 3 rd Edition 1 Different ways to increase the internal energy of system: 2 Joule s apparatus
Revision : Thermodynamics
Revision : Thermodynamics Formula sheet Formula sheet Formula sheet Thermodynamics key facts (1/9) Heat is an energy [measured in JJ] which flows from high to low temperature When two bodies are in thermal
ME5286 Robotics Spring 2017 Quiz 2
Page 1 of 5 ME5286 Robotics Spring 2017 Quiz 2 Total Points: 30 You are responsible for following these instructions. Please take a minute and read them completely. 1. Put your name on this page, any other
Mathematics Ext 2. HSC 2014 Solutions. Suite 403, 410 Elizabeth St, Surry Hills NSW 2010 keystoneeducation.com.
Mathematics Ext HSC 4 Solutions Suite 43, 4 Elizabeth St, Surry Hills NSW info@keystoneeducation.com.au keystoneeducation.com.au Mathematics Extension : HSC 4 Solutions Contents Multiple Choice... 3 Question...
Lise Meitner, Otto Hahn. Nuclear Fission Hans-Jürgen Wollersheim
Lise Meitner, Otto Hahn Nuclear Fission Hans-Jürgen Wollersheim Details of the 252 Cf decay α s: 96.9% SF: 3.1% T 1/2 = 2.647 a Q α = 6.217 MeV E α = 6.118 MeV α α α α α-decay of 252 Cf Mass data: nucleardata.nuclear.lu.se/database/masses/
Lecture 11: Nucleon-Nucleon Interaction Basic properties The deuteron NN scattering Meson exchange model
Lecture 11: Nucleon-Nucleon Interaction Basic properties The deuteron NN scattering Meson exchange model Lecture 11: Ohio University PHYS7501, Fall 2017, Z. Meisel (meisel@ohio.edu) Zach Weinersmith (SMBC)
International Standard Atmosphere Web Application
International Standard Atmosphere Web Application Keith Atkinson 6 February 2016 Atkinson Science welcomes your comments on this Theory Guide. Please send an email to keith.atkinson@atkinsonscience.co.uk.