ALBERT

Description: This paper presents recent advances in the design of an underactuated hand for applications in prosthetics. First, the design of the fingers is addressed. Based on previous experiments with prototypes developed in the past, new tendon routings are proposed that lead to a more effective transmission of the forces. A novel elastic tendon routing is also proposed for the passive opening of the hand. A simplified static analysis of the fingers is proposed to support the results. Then, a new kinematic design of the thumb is presented. The thumb is designed to perform out-of-the-plane motions in order to broaden the variety of possible grasps. A mechanism for the implementation of underactuation between the fingers is proposed that alleviates the friction problems encountered in earlier hand designs. Finally, a prototype of the hand is briefly described and typical grasps are shown. This paper was presented at the IFToMM/ASME International Workshop on Underactuated Grasping (UG2010), 19 August 2010, Montréal, Canada.

Description: In this paper, a novel approach of grasp planning is applied to find out the appropriate grasp points for a reconfigurable parallel robot called PARAGRIP (Parallel Gripping). This new handling system is able to manipulate objects in the six-dimensional Cartesian space by several robotic arms using only six actuated joints. After grasping, the contact elements at the end of the underactuated arm mechanisms are connected to the object which forms a closed loop mechanism similar to the architecture of parallel manipulators. As the mounting and grasp points of the arms can easily be changed, the manipulator can be reconfigured to match the user's preferences and needs. This paper raises the question, how and where these grasp points are to be placed on the object to perform well for a certain manipulation task. This paper was presented at the IFToMM/ASME International Workshop on Underactuated Grasping (UG2010), 19 August 2010, Montréal, Canada.

Description: It is shown that core-strahl electron system in the solar wind plasma is unstable with respect to excitation of the lower hybrid waves at anomalous Doppler resonance due to anisotropy of the strahl electron velocity distribution. Dynamics of the strahl electron distribution due to interaction with excited waves is studied.

Description: In this lecture, I will review some basic aspects of the mechanism of stochastic resonance, first introduced as a possible mechanism to explain long term climatic variation. Since then, there have been many applications of stochastic resonance in physical and biological systems. I will show that in complex system, stochastic resonance can substantially change as a function of the "system complexity". Also, I will briefly mention how to apply stochastic resonance for the case of Brownian motors.

Description: An artificial neural network (ANN) was developed to predict the depth-integrated alongshore suspended sediment transport rate using 4 input variables (water depth, wave height and period, and alongshore velocity). The ANN was trained and validated using a dataset obtained on the intertidal beach of Egmond aan Zee, the Netherlands. Root-mean-square deviation between observations and predictions was calculated to show that, for this specific dataset, the ANN (εrms=0.43) outperforms the commonly used Bailard (1981) formula (εrms=1.63), even when this formula is calibrated (εrms=0.66). Because of correlations between input variables, the predictive quality of the ANN can be improved further by considering only 3 out of the 4 available input variables (εrms=0.39). Finally, we use the partial derivatives method to "open and lighten" the generated ANNs with the purpose of showing that, although specific to the dataset in question, they are not "black-box" type models and can be used to analyze the physical processes associated with alongshore sediment transport. In this case, the alongshore component of the velocity, by itself or in combination with other input variables, has the largest explanatory power. Moreover, the behaviour of the ANN indicates that predictions can be unphysical and therefore unreliable when the input lies outside the parameter space over which the ANN has been developed. Our approach of combining the strong predictive power of ANNs with "lightening" the black box and testing its sensitivity, demonstrates that the use of an ANN approach can result in the development of generalized models of suspended sediment transport.

Description: The modelling of baroclinic tides generated in the northern South China Sea is studied using a fully-nonlinear non-hydrostatic numerical model. The focus of the modelling efforts was on the vertical structure of internal waves in the vicinity of the Luzon Strait. The barotropic tidal flow interacting with a two-ridge bottom topography in the area of the Luzon Strait produces a complex baroclinic tidal signal. A multimodal baroclinic bore with counter-phase displacement of isopycnals generated over the ridges and propagating westward disintegrates into a series of large-amplitude solitary internal waves. The leading first-mode solitary wave of depression is followed by a second mode solitary wave coupled with a packet of short-scale internal waves riding it. Scrutiny of the characteristics of the both wave forms, i.e. the carrier second-mode solitary wave and the packet of short waves, revealed that the short-scale waves are basically concentrated in the upper 500 m layer and attenuate exponentially below it. The short waves exist only thanks to a specific structure of horizontal velocity produced by the second-mode solitary wave. Having equal phase speeds and propagating together for a long distance, this coupled system produces quite a remarkable signal at the free surface, which can be detected by means of remote sensing technique. It was found in a series of sensitivity experiments that the eastern ridge is responsible for the generation of progressive first-mode tidal waves disintegrated into packets of first-mode ISWs. The western ridge produces quite a strong higher-mode signal. The waves generated over the eastern and western ridges interfere in the near-field, and their nonlinear superposition enhances the multimodal signal in the whole domain.

Description: Precipitation during the monsoon season over the Indian subcontinent occurs in form of enormously complex spatiotemporal patterns due to the underlying dynamics of atmospheric circulation and varying topography. Employing methods from nonlinear time series analysis, we study spatial structures of the rainfall field during the summer monsoon and identify principle regions where the dynamics of monsoonal rainfall is more coherent or homogenous. Moreover, we estimate the time delay patterns of rain events. Here we present an analysis of two separate high resolution gridded data sets of daily rainfall covering the Indian subcontinent. Using the method of event synchronization (ES), we estimate regions where heavy rain events during monsoon happen in some lag synchronised form. Further using the delay behaviour of rainfall events, we estimate the directionalities related to the progress of such type of rainfall events. The Active (break) phase of a monsoon is characterised by an increase(decrease) of rainfall over certain regions of the Indian subcontinent. We show that our method is able to identify regions of such coherent rainfall activity.

Description: Borehole logs provide geological information about the rocks crossed by the wells. Several properties of rocks can be interpreted in terms of lithology, type and quantity of the fluid filling the pores and fractures. Here, the logs are assumed to be nonhomogeneous Brownian motions (nhBms) which are generalized fractional Brownian motions (fBms) indexed by depth-dependent Hurst parameters H(z). Three techniques, the local wavelet approach (LWA), the average-local wavelet approach (ALWA), and Peltier Algorithm (PA), are suggested to estimate the Hurst functions (or the regularity profiles) from the logs. First, two synthetic sonic logs with different parameters, shaped by the successive random additions (SRA) algorithm, are used to demonstrate the potential of the proposed methods. The obtained Hurst functions are close to the theoretical Hurst functions. Besides, the transitions between the modeled layers are marked by Hurst values discontinuities. It is also shown that PA leads to the best Hurst value estimations. Second, we investigate the multifractional property of sonic logs data recorded at two scientific deep boreholes: the pilot hole VB and the ultra deep main hole HB, drilled for the German Continental Deep Drilling Program (KTB). All the regularity profiles independently obtained for the logs provide a clear correlation with lithology, and from each regularity profile, we derive a similar segmentation in terms of lithological units. The lithological discontinuities (strata' bounds and faults contacts) are located at the local extrema of the Hurst functions. Moreover, the regularity profiles are compared with the KTB estimated porosity logs, showing a significant relation between the local extrema of the Hurst functions and the fluid-filled fractures. The Hurst function may then constitute a tool to characterize underground heterogeneities.

Description: This paper addresses the use of the methods of nonlinear dynamics and chaos theory for building a predictive chaotic model from time series. The chaotic model predictions are made by the adaptive local models based on the dynamical neighbors found in the reconstructed phase space of the observables. We implemented the univariate and multivariate chaotic models with direct and multi-steps prediction techniques and optimized these models using an exhaustive search method. The built models were tested for predicting storm surge dynamics for different stormy conditions in the North Sea, and are compared to neural network models. The results show that the chaotic models can generally provide reliable and accurate short-term storm surge predictions.

Description: In the present study, the latitudinal aspect of chaotic behaviour of ionosphere during quiet and storm periods are analyzed and compared by using GPS TEC time series measured at equatorial trough, crest and outside crest stations over Indian subcontinent, by employing the chaotic quantifiers like Lyapunov exponent (LE), correlation dimension (CD), entropy and nonlinear prediction error (NPE). It is observed that the values of LE are low for storm periods compared to those of quiet periods for all the stations considered here. The lowest value of LE is observed at the trough station, Agatti (2.38° N, Geomagnetically), and highest at crest station, Mumbai (10.09° N, Geomagnetically) for both quiet and storm periods. The values of correlation dimension computed for TEC time series are in the range 2.23–2.74 for quiet period, which indicate that equatorial ionosphere may be described with three variables during quiet period. But the crest station Mumbai shows a higher value of CD (3.373) during storm time, which asserts that four variables are necessary to describe the system during storm period. The values of non linear prediction error (NPE) are lower for Agatti (2.38° N, Geomagnetically) and Jodhpur (18.3° N, Geomagnetically), during storm period, compared to those of quiet period, mainly because of the predominance of non linear aspects during storm periods The surrogate data test is carried out and on the basis of the significance of difference of the original data and surrogates for various aspects, the surrogate data test rejects the null hypothesis that the time series of TEC during storm and quiet times represent a linear stochastic process. It is also observed that using state space model, detrended TEC can be predicted, which reasonably reproduces the observed data. Based on the values of the above quantifiers, the features of chaotic behaviour of equatorial trough crest and outside the crest regions of ionosphere during geomagnetically quiet and disturbed periods are briefly discussed.