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Data-driven based ultrasonics analysis for evaluating the bond strength of concrete layers
Khademi, P

Cataloging brief

Data-driven based ultrasonics analysis for evaluating the bond strength of concrete layers
Author :   Khademi, P
Publisher :  
Pub. Year  :   2024
Subjects :   Ultrasound test 3D printing Bond strength (materials) Concrete testing Convolution ...
Call Number :  

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  • Title Page (1)
  • Graduate Committee Approval (2)
  • Author's declaration (3)
  • Abstract (4)
  • Acknowledgments (6)
  • Table of Contents (8)
  • List of Figures (10)
  • List of tables (13)
  • 1 Introduction and Literature (14)
    • 1.1 Hexapod Walking Robot (15)
    • 1.2 Comparison of Wheeled, Tracked and Legged Locomotion (15)
      • 1.2.1 Wheeled Locomotion (16)
      • 1.2.2 Tracked Locomotion (16)
      • 1.2.3 Legged Locomotion (17)
    • 1.3 Legged Robot Configurations (18)
      • 1.3.1 Static Stability and Dynamic Stability (18)
      • 1.3.2 Walking Speed of Legged Robots (19)
      • 1.3.3 6 Legged Gait Diagrams (20)
      • 1.3.4 Existing Hexapod Robots (23)
    • 1.4 Robot Control (27)
      • 1.4.1 Learning Control (29)
    • 1.5 Summary (31)
  • 2 Designing and Building the Prototype of Hexapod Robot "SiWaRel" (32)
    • 2.1 Actuators (32)
    • 2.2 Body Parts and Rapid Prototyping (35)
    • 2.3 Servo-motor Drive Board (Servo Shield) (37)
    • 2.4 Power Supply (38)
    • 2.5 Low Level control of the Robot (38)
    • 2.6 Summary (39)
  • 3 Modular View Kinematic Analysis of Hexapod (42)
    • 3.1 Introduction (42)
    • 3.2 Kinematic Analysis (43)
      • 3.2.1 Inverse Kinematic of Hexagonal Hexapod Robot (43)
      • 3.2.2 Forward and Inverse Kinematic Analysis of one Leg (47)
    • 3.3 Gait Analysis of Hexapod Robot (51)
      • 3.3.1 Simulations of Gait Analysis (53)
      • 3.3.2 Implementation Gait Analysis and Inverse Kinematic Formulations on SiWaReL Prototype (56)
    • 3.4 Summary (59)
  • 4 Dynamic Modeling of SiWaReL Hexapod Robot (60)
    • 4.1 Hexapod Robot Model in Dynamic Simulation Environments (61)
      • 4.1.1 V-rep, Coppelia Robotics (61)
      • 4.1.2 Webots, Cyberbotics (62)
    • 4.2 Dynamic Modeling of Hexapod Robot in MATLAB© SimMechanics (63)
      • 4.2.1 Leg Design (64)
      • 4.2.2 Hexapod Design (64)
    • 4.3 Summary (68)
  • 5 Reinforcement Learning in Hexapod Walking (69)
    • 5.1 Reinforcement Learning Problem Architecture (70)
    • 5.2 State and Actions Specification in SiWaReL for Walking (71)
    • 5.3 Fuzzy Reward (76)
    • 5.4 Action Selection (80)
    • 5.5 Learning algorithm (82)
    • 5.6 Results (86)
      • 5.6.1 Random Action Selection (86)
      • 5.6.2 -greedy Action Selection (89)
      • 5.6.3 Decision making (92)
    • 5.7 Summary (92)
  • 6 Conclusion (95)
  • References (96)
  • Index (99)
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