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Norm Optimal Iterative Learning control with Auxiliary Optimization: A Switching Approach

IFAC Proceedings Volumes 2013年第11期46卷 140-145页

作者： David H. Owens Chris T. Freeman Bing Chu Department of Automatic Control and Systems Engineering University of Sheffield Mappin Street Sheffield S1 3JD UK Electronics and Computer Science University of Southampton Highfield Southampton SO17 1BJ UK (Department of) Advanced Robotics Instituto Italiano di Tecnologia via Morego 30 16163 Genova

The paper describes a substantial extension of Norm Optimal Iterative Learning control (NOILC) that permits tracking of a class of finite dimensional reference signals whilst simultaneously minimizing a quadratic cost function. Motivated by practical problems in automation and control, this enables point-to-point motion tasks to be performed whilst reducing effects such as payload spillage, vibration tendencies and actuator wear. Solutions combine feedforward and feedback actions, and are experimentally tested using a robotic arm.

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Norm Optimal Iterative Learning control for Planar Tracking Tasks

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IFAC Proceedings Volumes 2013年第11期46卷 683-688页

The Iterative Learning control (ILC) problem in which tracking is only required at a subset of isolated time points along the trial duration has recently gained significant attention since it addresses the practical needs of many *** paper extends the framework by embedding simultaneous iterative convergence of subsets of outputs to reference trajectories on subintervals. This enables it to tackle tasks which mix ‘point to point’ movements with linear tracking requirements, which substantially broadens the application domain (e.g. to include automation tasks which include welding or cutting movements, or human motion control where the movement is restricted by the task to straight line and/or planar segments). A solution to the problem is presented in the framework of Norm Optimal ILC (NOILC), providing well-defined convergence properties, design guidelines and supporting experimental results.

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Highly flexible self-reconfigurable systems for rapid layout formation to offer manufacturing services

Highly flexible self-reconfigurable systems for rapid layout...

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IEEE International Conference on systems, Man, and Cybernetics

作者： Victor M. Cedeno-Campos Paul A. Trodden Tony J. Dodd Jim Heley Department of Automatic Control and Systems Engineering University of Sheffield Mappin Street Sheffield UK AMRC with Boeing. Factory of the Future. Advanced Manufacturing Park Wallis Way Catcliffe Rotherham S60 5TZ UK

ISBN: (纸本)9781479906505

Due to the changing trend in manufacturing field from mass production to mass customization it is important to offer new products at low cost and fast time to market to keep competitive. This paper addresses the problem of manufacturing services with fast production time, for multiple products and capacity for low and high production volumes. To provide these services, a novel framework, INTREPID, is proposed based on the idea of Self-Reconfigurable Manufacturing systems (S-RMS). A factory that facilitates manufacturing layout reconfiguration and mobile production resources that can self-reconfigure depending on the product is proposed. The full scope of this framework is to provide global services through the cloud and a public manufacturing network. This will allow production in any country without huge investment for entities like SMEs, startups and even entrepreneurships.

关键词： Reconfigurable manufacturing systems production layout self-reconfiguration service-oriented manufacturing cloud manufacturing fast time to market customized make-to-order products robots self-organization robotic mobile manipulator Mass production Legal Services layouts Reconfigurable manufacturing manufacturing SUPERCONDUCTING MAGNETIC ENERGY STORAGE New products

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A positive tensions PID controller for a planar cable robot: An experimental study

A positive tensions PID controller for a planar cable robot:...

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RSI/ISM International Conference on Robotics and Mechatronics (ICROM)

作者： Mohammad A. Khosravi Hamid D. Taghirad Reza Oftadeh Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of Excellence (ICCE) Faculty of Electrical and Computer Engineering K. N. Toosi University of Technology Tehran Iran Intelligent Hydraulics and Automation Department (lHA) Tampere University of Technology Finland

In this paper design and control of planar cable-driven parallel robots are studied in an experimental prospective. Since in this class of manipulators, cable tensionability conditions must be met, feedback control of such robots becomes more challenging than for conventional robots. To meet these conditions, internal force control structure is introduced and used in addition to a PID control scheme to ensure that all cables remain in tension. A robust PID controller is proposed for partial knowledge of the robot, to keep the tracking errors bounded. Finally, the effectiveness of the proposed control algorithm is examined through experiments on K.N. Toosi planar cable-driven robot and it is shown that the proposed control structure is able to provide suitable performance in practice.

关键词： PD control Assembly Logic gates Servomotors Force

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Human genome meeting 2016 : Houston, TX, USA. 28 February - 2 March 2016

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Human genomics 2016年第1期10 Suppl 1卷 12页

作者： A. K. Srivastava Y. Wang R. Huang C. Skinner T. Thompson L. Pollard T. Wood F. Luo R. Stevenson R. Polimanti J. Gelernter X. Lin I. Y. Lim Y. Wu A. L. Teh L. Chen I. M. Aris S. E. Soh M. T. Tint J. L. MacIsaac F. Yap K. Kwek S. M. Saw M. S. Kobor M. J. Meaney K. M. Godfrey Y. S. Chong J. D. Holbrook Y. S. Lee P. D. Gluckman N. Karnani A. Kapoor D. Lee A. Chakravarti C. Maercker F. Graf M. Boutros G. Stamoulis F. Santoni P. Makrythanasis A. Letourneau M. Guipponi N. Panousis M. Garieri P. Ribaux E. Falconnet C. Borel S. E. Antonarakis S. Kumar J. Curran J. Blangero S. Chatterjee J. Akiyama D. Auer C. Berrios L. Pennacchio T. R. Donti G. Cappuccio M. Miller P. Atwal A. Kennedy A. Cardon C. Bacino L. Emrick J. Hertecant F. Baumer B. Porter M. Bainbridge P. Bonnen B. Graham R. Sutton Q. Sun S. Elsea Z. Hu P. Wang Y. Zhu J. Zhao M. Xiong David A. Bennett A. Hidalgo-Miranda S. Romero-Cordoba S. Rodriguez-Cuevas R. Rebollar-Vega E. Tagliabue M. Iorio E. D’Ippolito S. Baroni B. Kaczkowski Y. Tanaka H. Kawaji A. Sandelin R. Andersson M. Itoh T. Lassmann Y. Hayashizaki P. Carninci A. R. R. Forrest C. A. Semple E. A. Rosenthal B. Shirts L. Amendola C. Gallego M. Horike-Pyne A. Burt P. Robertson P. Beyers C. Nefcy D. Veenstra F. Hisama R. Bennett M. Dorschner D. Nickerson J. Smith K. Patterson D. Crosslin R. Nassir N. Zubair T. Harrison U. Peters G. Jarvik F. Menghi K. Inaki X. Woo P. Kumar K. Grzeda A. Malhotra H. Kim D. Ucar P. Shreckengast K. Karuturi J. Keck J. Chuang E. T. Liu B. Ji A. Tyler G. Ananda G. Carter H. Nikbakht M. Montagne M. Zeinieh A. Harutyunyan M. Mcconechy N. Jabado P. Lavigne J. Majewski J. B. Goldstein M. Overman G. Varadhachary R. Shroff R. Wolff M. Javle A. Futreal D. Fogelman L. Bravo W. Fajardo H. Gomez C. Castaneda C. Rolfo J. A. Pinto K. C. Akdemir L. Chin S. Patterson C. Statz S. Mockus S. N. Nikolaev X. I. Bonilla L. Parmentier B. King F. Bezrukov G. Kaya V. Zoete V. Seplyarskiy H. Sharpe T. McKee K. Popadin N. Basset-Seguin R. Ben Chaabene M. Andrianova C. Verdan K. Grosdemange O. Sumara M. E JCSRI Greenwood Genetic Center Greenwood USA School of Computing Clemson University Clemson USA Biochemical Genetics Laboratory Greenwood Genetic Center Greenwood USA Department Psychiatry Yale Sch Med and VA CT Healthcare Center West Haven USA Department Genetics Yale Sch Med and VA CT Healthcare Center West Haven USA Department Neurobiology Yale Sch Med and VA CT Healthcare Center West Haven USA Singapore Institute for Clinical Sciences Singapore Singapore National University of Singapore Singapore Singapore University of British Columbia Vancouver Canada KK Women’s and Children’s Hospital Singapore Singapore University of Southampton and University Hospital Southampton NHS Foundation Trust Southampton UK University of Auckland Auckland New Zealand McKusick-Nathans Institute of Genetic Medicine Johns Hopkins University School of Medicine Baltimore USA Esslingen University of Applied Sciences Esslingen Germany German Cancer Research Center Heidelberg Germany Department of Genetic Medicine and Development University of Geneva Medical School Geneva Switzerland Geneva University Hospitals-HUG Service of Genetic Medicine Geneva Switzerland GE3 Institute of Genetics and Genomics of Geneva University of Geneva Medical School Geneva Switzerland South Texas Diabetes and Obesity Institute School of Medicine University of Texas Rio-Grande Valley Edinburg USA South Texas Diabetes and Obesity Institute School of Medicine University of Texas Rio-Grande Valley Brownsville USA Institute of Genetic Medicine Johns Hopkins University Baltimore USA Genomics Division Lawrence Berkeley National Laboratory Berkeley USA Molecular and Human Genetics Baylor College of Medicine Houston USA Department of Translational Medical Sciences Federico II University Naples Italy Metabolon Inc Durham USA Section of Pediatric Neurology and Neuroscience Baylor College of Medicine Houston USA Tawam Hospital Abu Dhabi United Arab Emirates Stanford Medical School Stanford USA Sch

O1 The metabolomics approach to autism: identification of biomarkers for early detection of autism spectrum disorder A. K. Srivastava, Y. Wang, R. Huang, C. Skinner, T. Thompson, L. Pollard, T. Wood, F. Luo, R. Stevenson O2 Phenome-wide association study for smoking- and drinking-associated genes in 26,394 American women with African, Asian, European, and Hispanic descents R. Polimanti, J. Gelernter O3 Effects of prenatal environment, genotype and DNA methylation on birth weight and subsequent postnatal outcomes: findings from GUSTO, an Asian birth cohort X. Lin, I. Y. Lim, Y. Wu, A. L. Teh, L. Chen, I. M. Aris, S. E. Soh, M. T. Tint, J. L. MacIsaac, F. Yap, K. Kwek, S. M. Saw, M. S. Kobor, M. J. Meaney, K. M. Godfrey, Y. S. Chong, J. D. Holbrook, Y. S. Lee, P. D. Gluckman, N. Karnani, GUSTO study group O4 High-throughput identification of specific qt interval modulating enhancers at the SCN5A locus A. Kapoor, D. Lee, A. Chakravarti O5 Identification of extracellular matrix components inducing cancer cell migration in the supernatant of cultivated mesenchymal stem cells C. Maercker, F. Graf, M. Boutros O6 Single cell allele specific expression (ASE) IN T21 and common trisomies: a novel approach to understand DOWN syndrome and other aneuploidies G. Stamoulis, F. Santoni, P. Makrythanasis, A. Letourneau, M. Guipponi, N. Panousis, M. Garieri, P. Ribaux, E. Falconnet, C. Borel, S. E. Antonarakis O7 Role of microRNA in LCL to IPSC reprogramming S. Kumar, J. Curran, J. Blangero O8 Multiple enhancer variants disrupt gene regulatory network in Hirschsprung disease S. Chatterjee, A. Kapoor, J. Akiyama, D. Auer, C. Berrios, L. Pennacchio, A. Chakravarti O9 Metabolomic profiling for the diagnosis of neurometabolic disorders T. R. Donti, G. Cappuccio, M. Miller, P. Atwal, A. Kennedy, A. Cardon, C. Bacino, L. Emrick, J. Hertecant, F. Baumer, B. Porter, M. Bainbridge, P. Bonnen, B. Graham, R. Sutton, Q. Sun, S. Elsea O10 A novel causal methylation network approach to Alzheimer’s

关键词： Pulmonary Arterial Hypertension Oral Squamous Cell Carcinoma Deep Neural Network Autosomal Recessive Polycystic Kidney Disease Whole Genome Bisulfite Sequencing

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Automatic detection of photic evoked spikes contaminated with slow burst by use of morphological filter and similarity coefficient

Automatic detection of photic evoked spikes contaminated wit...

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6th International Conference on Complex Medical engineering, CME 2012

作者： Nishida, Shigeto Sugi, Takenao Ikeda, Akio Nagamine, Takashi Shibasaki, Hiroshi Nakamura, Masatoshi Department of Computer and Communication Engineering Fukuoka Institute of Technology Fukuoka Japan Department of Advanced Systems Control Engineering Saga University Saga Japan Department of Neurology Kyoto University School of Medicine Kyoto Japan Department of System Neuroscience Sapporo Medical University Sapporo Japan Takeda General Hospital Kyoto Japan Research Institute of Systems Control Saga Japan

ISBN: (纸本)9781467316163

A method for detecting spikes and slow burst in photic evoked electroencephalogram (EEG) was proposed. The spikes were detected by combining methods of the morphological filter and the similarity coefficient in the time domain. The slow burst was detected by using pole of AR model (auto-regressive model) in the frequency domain. The proposed method was applied for the photic evoked EEG data containing spikes and slow burst, and brought satisfactory coincidence with the results interpreted by a qualified electroencephalographer. © 2012 IEEE.

关键词： Electroencephalography

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Automatic sleep level evaluation based on conditional probability for day time nap sleep evaluation

Automatic sleep level evaluation based on conditional probab...

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6th International Conference on Complex Medical engineering, CME 2012

作者： Wang, Bei Wang, Xingyu Nakamura, Masatoshi Department of Automation School of Information Science and Engineering East China University of Science and Technology Shanghai China Research Institute of Systems Control Institute for Advanced Research and Education Saga University Saga Japan

ISBN: (纸本)9781467316163

In this study, the automatic technique for the continuous light sleep level estimation and prediction is developed. The ultimate purpose is to realize the automatic sleep level evaluation for short-term day time nap sleep. The main method is based on the conditional probability obtained according to the characteristics of neuro-physiological signals including EEG, EOG and EMG. The estimated and predicted sleep level are compared with the visual inspection. The obtained results showed that the presented automatic technique is practicable to be an assistant subjective evaluation tool for sleep level analysis. © 2012 IEEE.

关键词： Sleep research

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Coordinated dynamic mission planning scheme for intelligent multi-agent systems

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Journal of Central South University 2012年第11期19卷 3170-3179页

作者：彭军文孟飞谢国祺张晓勇 Kuo-chi LIN School of Information Science and Engineering Central South UniversityChangsha 410075China Hunan Engineering Laboratory for Advanced Control and Intelligent Automation(Central South University) Changsha 410075China Embedded Systems and Networking Laboratory Hunan Provincial Key Laboratory of Network and Information Security(Hunan University)Changsha 410075China Department of Mechanical and Aerospace Engineering University of Central FloridaOrlandoFL 32816USA

Mission planning was thoroughly studied in the areas of multiple intelligent agent systems,such as multiple unmanned air vehicles,and multiple processor ***,it still faces challenges due to the system complexity,the execution order constraints,and the dynamic environment *** address it,a coordinated dynamic mission planning scheme is proposed utilizing the method of the weighted AND/OR tree and the *** the scheme,the mission is decomposed into a time-constraint weighted AND/OR tree,which is converted into an AOE-Network for mission ***,a dynamic planning algorithm is designed which uses task subcontracting and dynamic re-decomposition to coordinate *** scheme can reduce the task complexity and its execution time by implementing real-time dynamic *** simulation proves the effectiveness of this approach.

关键词： weighted AND/OR tree multiple intelligent agent coordinated dynamic mission planning AOE-Network

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Micro-organic light-emitting devices fabricated by room-temperature curing nanoimprint lithography using diamond molds

Micro-organic light-emitting devices fabricated by room-temp...

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2011 MRS Fall Meeting

作者： Ishikawa, Ippei Okuno, Taisuke Kiyohara, Shuji Taguchi, Yoshio Sugiyama, Yoshinari Omata, Yukiko Kurashima, Yuichi Electric and Control System Engineering Course Faculty of Advanced Engineering Maizuru National College of Technology 234 Shiroya Maizuru Kyoto 625-8511 Japan Application and Technical Section Elionix Inc. 3-7-6 Motoyokoyama Hachioji Tokyo 192-0063 Japan Department of Mechanical System Engineering University of Yamanashi 4-3-11 Takeda Kofu Yamanashi 400-8511 Japan

ISBN: (纸本)9781605113722

Organic light-emitting devices (OLEDs) have attracted a lot of attention as a next generation display. In this study, we fabricated the micro-OLEDs by room-temperature curing nanoimprint lithography (RTC-NIL) using diamond molds. The diamond has superior durability and was used as mold material for RTC-NIL. The diamond molds have been fabricated by electron cyclotron resonance (ECR) oxygen ion shower with polysiloxane oxide mask in the electron beam (EB) lithography technology. We fabricated the diamond mold pattern with 10 μm-square dot. The diamond molds have been used to form an insulating layer in micro-OLEDs. The optimum thickness of N,N′-Diphenyl-N,N′-di(m- tolyl)benzidine (TPD) [hole transport layer], Tris(8-quinolinolato)aluminum (Alq3) [electron transport layer] and aluminum (Al) [cathode] were 40 nm, 40 nm and 200 nm, respectively. We succeeded in formation of insulating layer in micro-OLEDs and operation of micro-OLEDs with 10 μm-square-dot by RTC-NIL using diamond molds. © 2012 Materials Research Society.

关键词： Silicones

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Fabrication of diamond nanopit arrays by room-temperature curing nanoimprint lithography using glass-like carbon molds

Fabrication of diamond nanopit arrays by room-temperature cu...

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2011 MRS Fall Meeting

作者： Kiyohara, Shuji Ito, Chigaya Ishikawa, Ippei Takikawa, Hirofumi Taguchi, Yoshio Sugiyama, Yoshinari Omata, Yukiko Kurashima, Yuichi Electric and Control System Engineering Course Faculty of Advanced Engineering Maizuru National College of Technology 234 Aza Shiroya Maizuru Kyoto 625-8511 Japan Department of Electrical and Electronic Information Engineering Toyohashi University of Technology Toyohashi Aichi 441-8580 Japan Application and Technical Section Elionix Inc. 3-7-6 Motoyokoyama Hachioji Tokyo 192-0063 Japan Department of Mechanical System Engineering University of Yamanashi 4-3-11 Takeda Kofu Yamanashi 400-8511 Japan

ISBN: (纸本)9781605113722

We have proposed the use of glass-like carbon (GC), as mold material because the 27-maximum etching selectivity of polysiloxane film against GC, which was approximately six times larger than that of polysiloxane film against chemical vapor deposited (CVD) diamond film. We have investigated the fabrication of diamond nanopit arrays by room-temperature curing nanoimprint lithography (RTC-NIL) using GC mold, as applications to the emitter and the micro-gear. The polysiloxane has in the state of sticky liquid at room-temperature and negative-exposure characteristic. Therefore, the polysiloxane was used as RTC-imprint resist material, and also used as electron beam (EB) resist (oxide mask) material in EB lithography. We have fabricated the cylindrical GC nanodot mold with 500 nm-diameter, 600 nm-height and 2 μm-pitch. We carried out RTC-NIL using GC mold under the following optimum conditions: time from spin-coating to imprint of 1 min, imprinting pressure of 0.5 MPa and imprinting time of 5 min. Then, we have processed the diamond film with an electron cyclotron resonance (ECR) oxygen ion shower. We have fabricated diamond nanopit array with 250 nm-depth and 500 nm-diameter. The diameter of diamond nanopit pattern was in good agreement with that of GC mold. Moreover, the depth of the diamond nanopit patterns fabricated by RTC-NIL using cylindrical GC mold was three times larger than that using conical diamond mold. © 2012 Materials Research Society.

关键词： Chemical vapor deposition

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