Auto sync: 2025-11-29 19:04:25 (10 files changed)
M Presentations/ERLM/bouncing_ball_hybrid.py A Presentations/ERLM/images/4_research_approach/procedure.png M Presentations/ERLM/main.aux M Presentations/ERLM/main.fdb_latexmk M Presentations/ERLM/main.fls M Presentations/ERLM/main.log M Presentations/ERLM/main.nav M Presentations/ERLM/main.pdf
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@ -256,8 +256,40 @@ def plot_simulation(t, y, states, ball, show_phase=True):
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cbar2.set_ticklabels(["Free Fall", "Spring-Damper"])
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if show_phase:
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# Plot 3: Phase Portrait
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# Plot 3: Vector Field / Phase Portrait
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ax3 = axes[0, 1]
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# Create vector field grid
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pos_range = np.linspace(0, max(y[:, 0]) * 1.1, 15)
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vel_range = np.linspace(min(y[:, 1]) * 1.1, max(y[:, 1]) * 1.1, 15)
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Pos, Vel = np.meshgrid(pos_range, vel_range)
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# Calculate vector field
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dPos = np.zeros_like(Pos)
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dVel = np.zeros_like(Vel)
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for i in range(Pos.shape[0]):
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for j in range(Pos.shape[1]):
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pos_val = Pos[i, j]
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vel_val = Vel[i, j]
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# Determine which dynamics to use
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if pos_val > ball.r:
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# Free fall dynamics
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dPos[i, j] = vel_val
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dVel[i, j] = -ball.g
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else:
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# Spring-damper dynamics
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dPos[i, j] = vel_val
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compression = ball.r - pos_val
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spring_force = ball.k * compression
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damping_force = ball.c * vel_val
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dVel[i, j] = (spring_force - damping_force - ball.m * ball.g) / ball.m
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# Plot vector field
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ax3.quiver(Pos, Vel, dPos, dVel, alpha=0.4, color='gray', scale=50)
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# Plot trajectory
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scatter3 = ax3.scatter(
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y[:, 0], y[:, 1], c=state_numeric, s=1, cmap="coolwarm", alpha=0.6
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)
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@ -267,7 +299,7 @@ def plot_simulation(t, y, states, ball, show_phase=True):
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ax3.axhline(y=0, color="gray", linestyle="-", linewidth=1, alpha=0.5)
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ax3.set_xlabel("Position (m)", fontsize=11)
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ax3.set_ylabel("Velocity (m/s)", fontsize=11)
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ax3.set_title("Phase Portrait", fontsize=12, fontweight="bold")
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ax3.set_title("Vector Field & Phase Portrait", fontsize=12, fontweight="bold")
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ax3.grid(True, alpha=0.3)
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ax3.legend(fontsize=9)
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BIN
Presentations/ERLM/images/4_research_approach/procedure.png
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Presentations/ERLM/images/4_research_approach/procedure.png
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After Width: | Height: | Size: 155 KiB |
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[23
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]) (./slides/5_Metrics_of_Success.tex) (./slides/6_Risks_and_Contingencies.tex) (./slides/7_Broader_Impacts.tex) (./slides/8_Money_Slide.tex)
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node[midway, below=0.5cm] {\textbf{Reactive Synthesis}};
|
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|
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\end{frame}
|
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|
||||
\begin{frame}{Finally, we will build continuous controllers to move between
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user