We have been trying to induce a quadruped robot to walk with medium walking speed on irregular terrain based on biological concepts. We propose the essential conditions for stable dynamic walking on irregular terrain in general, and we design the mechanical system and the neural system by comparing biological concepts with those essential conditions described in physical terms. PD-controller at...

We present fixed domain asymptotic results that establish consistent estimates of the variance and scale parameters for a Gaussian random field with a geometric anisotropic Matérn autocovariance in dimension d > 4. When d < 4 this is impossible due to the mutual absolute continuity of Matérn Gaussian random fields with different scale and variance (see Zhang [33]). Informally, when d > 4, we sh...

We have developed a simulation capability to model multiscale flow and transport in complex biological systems based on algorithms and software infrastructure developed under the SciDAC APDEC CET. The foundation of this work is a new hybrid fluid-particle method for modeling polymer fluids in irregular microscale geometries that enables long-time simulation of validation experiments. Both conti...

The no-fit polygon is a construct that can be used between pairs of shapes for fast and efficient handling of geometry within irregular two-dimensional stock cutting problems. Previously, the no-fit polygon (NFP) has not been widely applied because of the perception that it is difficult to implement and because of the lack of generic approaches that can cope with all problem cases without speci...

This paper presents a complete modeling system that extracts complex building structures with irregular shapes and surfaces. Our modeling approach is based on the use of airborne LiDAR which offers a fast and effective way to acquire models for a large urban environment. To verify and refine the reconstructed ragged model, we present a primitive-based model refinement approach that requires min...

Geometric routing using source–destination locations has been suggested as a scalable alternative to conventional routing approaches in mobile ad hoc networks. Prior studies have shown that the location of a destination can be found efficiently in large/dense ad hoc networks using intelligent location management schemes by recruiting nodes in specific unit regions of the terrain as location ser...

This study investigates the effects of geometric irregularity and surface roughness on the single-scattering properties of randomly oriented dielectric particles. Starting from a regular crystal with smooth faces, effects of roughening are compared with effects of perturbing the regular configuration of the smooth faces. Using the same slope distribution for small roughness facets and tilted fa...

We present fixed domain asymptotic results that establish consistent estimates of the variance and scale parameters for a Gaussian random field with a geometric anisotropic Matérn autocovariance in dimension d > 4. When d < 4 this is impossible due to the mutual absolute continuity of Matérn Gaussian random fields with different scale and variance (see Zhang [J. Amer. Statist. Assoc. 99 (2004) ...