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Learning Control for a Robotic Manipulator with Input Saturation

IFAC Proceedings Volumes 2013年第20期46卷 74-79页

作者： Wei He Shengtao Xiao Sijia Yu Robotics Institute and School of Automation Engineering University of Electronic Science and Technology of China Chengdu 611731 China Department of Electrical & Computer Engineering National University of Singapore Singapore 117576 Robotics Institute and School of Mechanical Engineering University of Electronic Science and Technology of China Chengdu 611731 China

In this paper, adaptive neural-network control is designed for an n-DOF robotic manipulator system. In the tracking control design, both uncertainties and input saturation are considered. Stability of the closed-loop system is analyzed via the Lyapunov's direct method. The uncertain system is approximated by the radial basis function neural-networks (RBFNN) and the input saturation is solved by adding an auxiliary signal. Simulation studies are conducted to examine the effectiveness of the proposed model-based and RBFNN control.

关键词： Input saturation radial basis function (RBFNN) robotic manipulator Lyapunov stability

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11th German Conference on Chemoinformatics (GCC 2015) Abstracts

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JOURNAL OF CHEMINFORMATICS 2016年第SUPPL 1期8卷 1-27页

作者： [Anonymous] GDCh-CIC Division Associated Board Member Beilstein-Institut zur Förderung der Chemischen Wissenschaften Trakehner Str. 7-9 60487 Frankfurt Germany. ufechner@beilstein-institut.de. Division Medicinal Chemistry Amsterdam Institute for Molecules Medicines and Systems (AIMMS) VU University Amsterdam The Netherlands. Centre for Bioinformatics Uni Hamburg Bundesstr. 43 20146 Hamburg Germany. Sanofi-Aventis Deutschland GmbH 65926 Frankfurt am Main Germany. stefan.guessregen@***. Sanofi-Aventis Deutschland GmbH 65926 Frankfurt am Main Germany. GlaxoSmithKline Stevenage SG1 2NY UK. nicola.j.richmond@***. Discngine Paris 75011 France. Organisch-Chemisches Institut Westfälische Wilhelms-Universität Münster Germany. marwin.segler@wwu.de. Organisch-Chemisches Institut Westfälische Wilhelms-Universität Münster Germany. Bundeskriminalamt Wiesbaden Central Analytics II 65173 Wiesbaden Germany. Department of Chemistry and Biochemistry University of California Santa Barbara CA 93111 USA. shea@chem.ucsb.edu. Department of Chemistry and Biochemistry University of California Santa Barbara CA 93111 USA. Chemistry Department Ludwig-Maximilians-Universität München Butenandtstr. 7 81377 Munich Germany. Inorganic Chemistry and Center for Nanointegration University of Duisburg-Essen Essen Germany. CAM-D Technologies Essen Germany. Institute for Bioinformatics and Chemoinformatics Westphalian University of Applied Sciences Recklinghausen Germany. Institute for Bioinformatics and Chemoinformatics Westphalian University of Applied Sciences Recklinghausen Germany. achim.zielesny@w-hs.de. Leiden University Leiden Netherlands. j.fraaije@chem.leidenuniv.nl. Culgi BV Berlin Germany. Physikalische Chemie III TU Dortmund 44227 Dortmund Germany. stefan.kast@tu-dortmund.de. Centre for Molecular Informatics Department of Chemistry University of Cambridge Lensfield Road Cambridge CB2 1EW United Kingdom. kcb27@cam.ac.uk. Centre for Molecular Informatics Department of Chemistry

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Behavior imagery system for online-control of humanoid robot

Behavior imagery system for online-control of humanoid robot

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中国神经科学学会第十届全国学术会议

作者： Jing ZHAO Mengfan LI Wei LI Qinghao MENG Qi LI Guoxin ZHAO Institute of Robotics and Autonomous Systems School of Electronic Engineering and AutomationTianjin University Computer & Electrical Engineering and Computer Science California State University

In this paper,we investigate a system for on-line controlling a humanoid robot through brainwaves based on non-invasive BCI *** system consists of a NAO humanoid robot and a CerebusTM Data Acquisition System with a 64 microelectrodes *** develop the experiment procedures for acquiring the neural signals during subjects’ mental activities corresponding to robot’s six *** collecting signals,we use some video clips of robot walking behaviors to train subjects so that they are able to memorize the pictures of robot’s *** experiments,the subjects are instructed to imagine the pictures which represent the subject’s intended *** use a steady-state Kalman Filter to estimate subjects’ imaginations by using phase relationships between the delta waves recorded at specific *** results show that all the four subjects can control the six behaviors of a humanoid robot:walking forward,walking backward,walking leftward,walking rightward,turning left and turning *** also report the problems we face during our experiments.

关键词： behavior imagery brain-computer interface humanoid robot online control system

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Software engineering Education via the Use of Corporate-Sponsored Projects: A Panel Discussion of the Approaches, Benefits, and Challenges for Industry-Academic Collaboration

Software Engineering Education via the Use of Corporate-Spon...

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IEEE Conference on Software engineering Education and Training

作者： Linda Werner Geoff Kuenning Mark Sebern James Vallino W. Eric Wong Department of Computer Science Senior Design Projects Program Jack Baskin School of Engineering University of California Department of Computer Science Clinic Program Harvey Mudd College Department of Electrical Engineering and Computer Science Software Engineering Program Milwaukee School of Engineering Department of Software Engineering Senior Projects Program Rochester Institute of Technology Department of Computer Science Software Engineering Project University of Texas at Dallas

ISBN: (纸本)9781467351386

In this panel, we will address questions regarding the development and execution of one type of industry-academic collaboration - corporate-sponsored projects. As representatives of programs at both public and private institutions, we will address a set of questions related to these programs. We have prepared an initial list that will be augmented with questions submitted and voted on by conference participants in advance of the session. After we have presented our prepared responses, the balance of the session will be dedicated to open discussion with audience members.

关键词： Device Panel engineering education Software engineering Legislators Legal Executions advance Debates Education

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Neural Control of Unknown Non-Affine Systems by State and Output Feedback

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IFAC Proceedings Volumes 2013年第20期46卷 224-229页

作者： Wei He Dan Deng Zhong-Liang Tang Robotics institute and School of Automation Engineering University of Electronic Science and Technology of China Chengdu 611731 China Institute of Intelligent Systems and Information Technology and School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 611731 China

In this paper, we consider the unknown non-affine nonlinear systems with the input deadzone and external disturbance. To solve the deadzone effects, a Radial Basis Function Neural Network (RBFNN) is introduced to approximate the deadzone effects and improve the robustness of the system. Moreover, we estimate the disturbance in another RBFNN. Based on the Lyapunov stability analysis and the support of high-gain observer, the adaptive neural network control is developed via both full-state feedback and output feedback. Simulation studies are proposed to illustrate the control performance. The semiglobally uniform boundedness is guaranteed in the closed-loop systems under the proposed control.

关键词： Non-affine nonlinear system Input Deadzone Radial Basis Function Neural Network (RBFNN) Lyapunov direct method

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End-point regulation of a flexible robotic manipulator under the unknown spatiotemporally varying disturbance

End-point regulation of a flexible robotic manipulator under...

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3rd IFAC Conference on Intelligent Control and Automation science, ICONS 2013

作者： Zhang, Shuang He, Wei Liu, Chang Huang, Deqing Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Robotics Institute School of Automation Engineering University of Electronic Science and Technology of China Chengdu 611731 China School of Automation Engineering University of Electronic Science and Technology of China Chengdu 611731 China Department of Aeronautics Imperial College London London SW7 2AZ United Kingdom

ISBN: (纸本)9783902823458

In this paper, the end-point regulation problem is investigated for a flexible robotic manipulator under the spatiotemporally varying disturbance. By using the Hamilton's principle, the dynamics of the flexible robotic manipulator are represented by one partial differential equation (PDE) and five ordinary differential equations (ODEs). Boundary control is developed to drive the manipulator to the desired set-point and simultaneously suppress the vibrations of the flexible link. Considering the unknown spatiotemporally varying disturbance, the developed boundary control schemes achieve uniform boundedness of the steady state error between the boundary payload and the desired position. Simulations are provided to illustrate the applicability and effectiveness of the proposed control. Copyright © 2013 IFAC.

关键词： Ordinary differential equations

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Approximation-based Control of an Uncertain Robot with Output Constraints

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IFAC Proceedings Volumes 2013年第20期46卷 51-56页

作者： Shuang Zhang Shengtao Xiao Weiliang Ge Department of Electrical & Computer Engineering National University of Singapore Singapore 117576 Robotics Institute and School of Automation Engineering University of Electronic Science and Technology of China Chengdu 611731 China

In this paper, we consider the problem of tracking a desired trajectory for an uncertain robot in the presence of constraints and uncertainties. The dynamics of the uncertain robot are represented by an n-link rigid robotic manipulator. To deal with the system uncertainties and disturbances, the adaptive neural networks are used to approximate the unknown model of the robot and handle the unknown disturbance. Uniform ultimate boundedness of the closed loop system is guaranteed by using a Barrier Lyapunov Function (BLF). Extensive simulations for a robot with constraints are carried out to illustrate the effectiveness of the proposed control.

关键词： Adaptive neural network control Robot Output constraints Barrier Lyapunov Function

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Control of a Three-Dimensional String System

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IFAC Proceedings Volumes 2013年第20期46卷 730-736页

作者： Wei He Shuang Zhang Robotics Institute and School of Automation Engineering University of Electronic Science and Technology of China Chengdu 611731 China Department of Electrical and Computer Engineering National University of Singapore Singapore 117576

In this paper, the control design and stability analysis are presented for a three-dimensional string system with the payload dynamics. A set of partial-ordinary differential equations (PDEs-ODEs) are developed by using the Hamilton's principle to describe the motion of the three-dimensional string system. The dynamic model considers the comprehensive effects of environmental loads, which are critical for the analysis of a string system. Based on the Lyapunov's direct method and the properties of the string system dynamics, three boundary control inputs are applied at the boundary to suppress the vibrations of the system under the external disturbances. Uniformly boundedness of the three-dimensional dynamics with the proposed control is achieved. Exponential stability is proved via the Lyapunov's direct method when there is no distributed disturbance. Simulation examples are provided by using the finite difference method, and some useful conclusions are drawn.

关键词： Partial differential equations (PDEs) boundary control distributed parameter system Lyapunov's direct method

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Implementation of a low cost home energy saver based on OpenWrt

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International Conference on IT Convergence and Security, ICITCS 2012

作者： Park, Se-Hwan Shin, Hyun-Jun Kim, Myoung-Seo Kim, Cheong-Ghil ReSEAT Program Korea Institute of Science and Technology Information Daejeon Korea Republic of Department of Computer Science Namseoul University Cheonan Korea Republic of Department of EECS Henry Samueli School of Engineering University of California Irvine CA United States

ISBN: (纸本)9789400758599

This paper introduces a system that can effectively save home energy by applying a small embedded system through remote control. We used a wireless router based on OpenWrt for the platform to develop an embedded system and a smart phone for the remote LED light control. The system was implemented by connecting a wireless router with an OS of OpenWrt installed and an interface board with an LED attached. The smart phone, which was the remote control device, was implemented by TCP/IP programming. The operation of the remote control system was verified by socket communication between the smart phone and the wireless router, and by USB communication between the wireless router and the interface board. © 2013 Springer science+Business Media.

关键词： Energy conservation

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Manipulation of Deformable Objects Without Modeling and Simulating Deformation

Manipulation of Deformable Objects Without Modeling and Simu...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Dmitry Berenson Department of Computer Science and the Robotics Engineering Program Worcester Polytechnic Institute (WPI) 100 Institute Road Worcester MA 01609 USA

ISBN: (纸本)9781467363563

We present a method to manipulate deformable objects that does not require modeling and simulating deformation. Our method is based on the concept of diminishing rigidity, which we use to quickly compute an approximation to the Jacobian of the deformable object. This Jacobian is used to drive the points within the deformable object towards a set of targets. However, this Jacobian alone is insufficient to avoid stretching the object beyond its allowed length and to avoid gripper collision with obstacles. Thus a key part of our approach is incorporating techniques to avoid collision and excessive stretching. Our experiments show how to perform several interesting tasks for one and two-dimensional deformable objects using our method. They also show how the method can be applied to collaborative tasks, where the robot and a user simultaneously manipulate the deformable object. Our experiments are conducted in simulation but we emphasize that our method does not have access to the model of the deformable object used by the simulator, although we assume we are able to sense the geometry of the object. While our method is local, we find that it is quite versatile in the range of tasks it can perform, especially since it has no knowledge of the model of the deformable object.

关键词： Jacobian Modeling simulating Religious Missions Collisions

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