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This paper examines the tracking property of nonlinear delayed multi-agent systems with impulsive effects. The strengths and locations of the stabilizing impulses, as well as the number of the controlled nodes are all assumed to be time-varying. Some sufficient criteria are established such that the considered system can exponentially track the dynamical reference state based on the given impulsive...
In response to the problems that exist in adaptive Japanese teaching, this paper, after describing the characteristics of adaptive Japanese teaching by the attenuation function introduced, an optimization model based on the classification regression tree is proposed and further to abstract the method of classification of feature identification set. Based on that, a model of adaptive optimization of...
Optimization of anti-windup controller design is achieved for non-linear systems with actuator saturation. The systems are represented as Euler-Lagrange systems, and the proportional and integral (PI) controller, in which the gravity term is cancelled by a non-linear compensation technique, is used. The goal of optimization is to minimize the saturated input, i.e., the difference between the control...
Dishwashers are owned by less households than many of other home appliances in Japan. One of the reasons is that it is difficult and troublesome to decide the layout of dishes in a compact dishwasher rack. We develop an anytime algorithm with a genetic algorithm (GA) for optimization of dishwasher loading. This system shows the temporary best layout to human users with 3D graphics. The developed algorithm...
Biomimetic robotic fish has potential applications in underwater tasks. To control its swimming, Center Pattern Generator (CPG) models are widely used in its locomotion controllers. The CPG model can generate multiple swimming patterns with the same CPG network. However, there are many parameters to be tuned in a CPG model. In this paper, a parameter optimization method based on particle swarm optimization...
Approximations and redundancies allow mobile and distributed applications to produce answers or outcomes of lesser quality at lower costs. This paper introduces RAPID, a new programming framework and methodology for service-based applications with approximations and redundancies. Finding the best service configuration under a given resource budget becomes a constrained, dual-weight graph optimization...
Optimization of dynamic anti-windup is achieved for non-linear planner robot systems with actuator saturation. The static anti-windup scheme is expanded to a dynamic scheme based on passivity. The systems are represented as Euler-Lagrange systems without the gravity term, and the proportional and integral (PI) controller is used. The goal of optimization is to minimize the saturated input, i.e., the...
In this paper we address the problem of online trajectory optimization and cooperative collision avoidance when multiple mobile service robots are operating in close proximity to each other. Using cooperative trajectory optimization to obtain smooth transitions in multi-agent path crossing scenarios applies to the demand for more flexibility and efficiency in industrial autonomous guided vehicle (AGV)...
For the optimal robot-arm multi-point manufacturing sequence (RAMMS) problem, the best sequence needs to be explored to efficiently visit each task point just once and return back to the start one finally. It is the known travel salesman problem (TSP). Furthermore, in each task point, the optimal joint configuration is also a difficult problem because it involves an inverse kinematics (IK) computation...
Considering the connection between black-box optimization problem and reinforcement learning (RL) problem, we can solve a RL problem by black-box optimization algorithm. Especially, extremum seeking (ES) is a notable black-box optimization algorithm, but there exist two studies which employs ES to solve a specific RL problem. In this study, we formulate such a general RL problem as which has a stochastic...
This paper presents the implementation and experimental validation of a central control framework. The presented framework addresses the need for a controller, which provides high performance combined with a low-computational load while being on-line adaptable to changes in the control scenario. Examples for such scenarios are cooperative control, task-based control and fault-tolerant control, where...
We perform a comparative analysis of energy-based performance criteria for the dynamics-based optimization of robot trajectories. The performance criteria considered include minimum torque, electrical power loss, approximation to mechanical work, and energy loss due to friction. Our dynamics model takes into account rotor inertias and gearing, and also considers robots subject to a range of motion...
This paper proposes a method for state estimation that incorporates norm- and linear-inequality constraints using Linear Matrix Inequalities (LMIs). This is accomplished by adopting a prediction-correction filter form and calculating the observer gain matrix by solving a convex optimization problem with LMI constraints where the state constraints are expressed as LMIs. The state constraints considered...
In manufacturing, the increasing involvement of autonomous robots in production processes poses new challenges on the production management. In this paper we report on the usage of Optimization Modulo Theories (OMT) to solve certain multi-robot scheduling problems in this area. Whereas currently existing methods are heuristic, our approach guarantees optimality for the computed solution. We do not...
One of the main challenges in the use of a powered lower limb exoskeleton (LLE) is to ensure that balance is maintained throughout the operation of the device. Since no control strategy has yet been implemented that prevents falls in the case of a loss of balance, head or other serious injuries may occur during independent use of LLEs in the event of a fall. These safety concerns limit LLEs in the...
This paper presents a solution for global optimized path planning with respect to finding the shortest distance for autonomous robotic system, particularly in two-dimensional space with a set of obstacles. The proposed approach is based on visibility-graph and the literature review of path planning is presented in details to explain why this approach is used. Through pros, cons, and complexity in...
This paper presents the Vector Field Map PSO (VFM-PSO) as a collective search algorithm for aerial micro-robots in environments with unknown external dynamics (such as wind). The proposed method is based on a multi-swarm approach and allows to cope with unknown disturbances arising by the vector fields in which the positions and the movements of the particles are highly affected. VFM-PSO requires...
A wrist joint is important for positioning hands to desired position and orientation. It is necessary for prosthetic arms to develop a wrist joint with multi-DoF and light-weight. An ellipsoid joint of a human wrist is suitable for light multi-DoF prosthetic arms, but has limited RoM. In this research, RoM of the ellipsoid joint was improved by optimizing design parameters. The optimized paths of...
The paper reports on the energy consumption of smooth trajectories for stop-and-go navigation of aerial robots. We consider a decimeter-scale quadrotor tasked to travel on straight line, constant height trajectories from an initial hover configuration to another hover configuration. We investigate three prominent types of smooth trajectories (minimum acceleration, minimum jerk and minimum snap), and...
In this paper, we study a simple hyper-heuristic that functions by sampling solution chains. A solution chain in this algorithm is formed by successively applying a randomly chosen heuristic to the previous solution to generate the next solution. Operating in this way, the algorithm can benefit from the accumulated effect of applying multiple heuristics. A key factor in this algorithm is the strategy...
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