In this article, we use the renormalization group method to study the approximate solution of stochastic differential equations (SDEs) driven by fractional Brownian motion with Hurst parameter H∈12,1. We derive a related reduced system, which we use to construct the separate scale approximation solutions. It is shown that the approximate solutions remain valid with high probability on large time scales. We also expect that our general approach can be applied to the fields of physics, finance, and engineering, etc.
{"title":"Renormalization Group Method for Singular Perturbed Systems Driven by Fractional Brownian Motion","authors":"Lihong Guo, S. Shi, Y. Chen","doi":"10.1115/detc2019-98258","DOIUrl":"https://doi.org/10.1115/detc2019-98258","url":null,"abstract":"\u0000 In this article, we use the renormalization group method to study the approximate solution of stochastic differential equations (SDEs) driven by fractional Brownian motion with Hurst parameter H∈12,1. We derive a related reduced system, which we use to construct the separate scale approximation solutions. It is shown that the approximate solutions remain valid with high probability on large time scales. We also expect that our general approach can be applied to the fields of physics, finance, and engineering, etc.","PeriodicalId":166402,"journal":{"name":"Volume 9: 15th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"83 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132965346","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Nowadays, different kinds of problems such as modeling, optimal control, and machine learning can be formulated as an optimization problem. Gradient descent is the most popular method to solve such problem and many accelerated gradient descents have been designed to improve the performance. In this paper, we will analyze the basic gradient descent, momentum gradient descent, and Nesterov accelerated gradient descent from the system perspective and it is found that all of them can be formulated as a feedback control problem for tracking an extreme point. On this basis, a unified gradient descent design procedure is given, where a high order transfer function is considered. Furthermore, as an extension, both a fractional integrator and a general fractional transfer function are considered, which resulting in the fractional gradient descent. Due to the infinite-dimensional property of fractional order systems, numerical inverse Laplace transform and Matlab command stmcb() are used to realize a finite-order implementation for the fractional gradient descent. Besides the simplified design procedure, it is found that the convergence rate of fractional gradient descent is more robust to the step size by simulating results.
{"title":"On the Unified Design of Accelerated Gradient Descent","authors":"Yuquan Chen, Yiheng Wei, Yong Wang, Yangquan Chen","doi":"10.1115/detc2019-97624","DOIUrl":"https://doi.org/10.1115/detc2019-97624","url":null,"abstract":"\u0000 Nowadays, different kinds of problems such as modeling, optimal control, and machine learning can be formulated as an optimization problem. Gradient descent is the most popular method to solve such problem and many accelerated gradient descents have been designed to improve the performance. In this paper, we will analyze the basic gradient descent, momentum gradient descent, and Nesterov accelerated gradient descent from the system perspective and it is found that all of them can be formulated as a feedback control problem for tracking an extreme point. On this basis, a unified gradient descent design procedure is given, where a high order transfer function is considered. Furthermore, as an extension, both a fractional integrator and a general fractional transfer function are considered, which resulting in the fractional gradient descent. Due to the infinite-dimensional property of fractional order systems, numerical inverse Laplace transform and Matlab command stmcb() are used to realize a finite-order implementation for the fractional gradient descent. Besides the simplified design procedure, it is found that the convergence rate of fractional gradient descent is more robust to the step size by simulating results.","PeriodicalId":166402,"journal":{"name":"Volume 9: 15th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"13 8","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133140205","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
A kinematic controller for a dual-arm system able to cope with kinematic constraints is presented in this paper. The kinematic controller is designed according to the Relative Jacobian method to achieve cooperation of a couple of 7 DOF robotic arms. The kinematic redundancy obtained from cooperation is exploited to execute other subtasks along the main task. The concept of virtual joint space proposed in the General Weighted Least Norm (GWLN) method is employed in order to include the constraints in the problem. Firstly, the GWLN is reformulated for a dual-arm system, including only the joint limit avoidance subtask. Then, the obstacle avoidance subtask is also considered and a new version of the kinematic controller is derived when the number of constraints is larger than the number of joints. Simulation are performed on the model of the Baxter Robot, in the Matlab-Simulink environment.
{"title":"Dual-Arm Manipulators Kinematic Control Under Multiple Constraints via Virtual Joints Approach","authors":"D. P. Pagnotta, A. Freddi, S. Longhi, A. Monteriù","doi":"10.1115/detc2019-98048","DOIUrl":"https://doi.org/10.1115/detc2019-98048","url":null,"abstract":"\u0000 A kinematic controller for a dual-arm system able to cope with kinematic constraints is presented in this paper. The kinematic controller is designed according to the Relative Jacobian method to achieve cooperation of a couple of 7 DOF robotic arms. The kinematic redundancy obtained from cooperation is exploited to execute other subtasks along the main task. The concept of virtual joint space proposed in the General Weighted Least Norm (GWLN) method is employed in order to include the constraints in the problem. Firstly, the GWLN is reformulated for a dual-arm system, including only the joint limit avoidance subtask. Then, the obstacle avoidance subtask is also considered and a new version of the kinematic controller is derived when the number of constraints is larger than the number of joints. Simulation are performed on the model of the Baxter Robot, in the Matlab-Simulink environment.","PeriodicalId":166402,"journal":{"name":"Volume 9: 15th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122225930","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Active disturbance rejection control (ADRC) is a quickly developing practical control technology while its ability to reject external disturbance is necessary to investigate deeply. Focusing on the simple case that the plant is an exactly known second order plant, this paper investigates the external disturbance rejection of linear ADRC. It reveals a separation diagram, in which the external disturbance goes into the output via a bandpass filter. That is the reason why linear ADRC can reject both low-frequency and high-frequency external disturbance.
{"title":"On External Disturbance Rejection of Linear ADRC","authors":"Huiyu Jin, Yang Chen, Weiyao Lan","doi":"10.1115/detc2019-97831","DOIUrl":"https://doi.org/10.1115/detc2019-97831","url":null,"abstract":"\u0000 Active disturbance rejection control (ADRC) is a quickly developing practical control technology while its ability to reject external disturbance is necessary to investigate deeply. Focusing on the simple case that the plant is an exactly known second order plant, this paper investigates the external disturbance rejection of linear ADRC. It reveals a separation diagram, in which the external disturbance goes into the output via a bandpass filter. That is the reason why linear ADRC can reject both low-frequency and high-frequency external disturbance.","PeriodicalId":166402,"journal":{"name":"Volume 9: 15th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130104512","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Cuckoo search (CS), as one of the recent nature-inspired metaheuristic algorithms, has proved to be an efficient approach due to the combination of Lévy flights, local search capabilities and guaranteed global convergence. CS uses Lévy flights in global random walk to explore the search space. The Lévy step is taken from the Lévy distribution which is a heavy-tailed probability distribution. In this case, a fraction of large steps are generated, which plays an important role in enhancing search capability of CS. Besides, although many foragers and wandering animals have been shown to follow a Lévy distribution of steps, investigation into the impact of other different heavy-tailed probability distributions on CS is still insufficient up to now. Based on the above considerations, we are motivated to apply the well-known Mittag-Leffler distribution to the standard CS algorithm, and proposed an improved cuckoo search algorithm (CSML) in this paper, where a more efficient search is supposed to take place in the search space thanks to the long jumps. In order to verify the performance of CSML, experiments are carried out on a test suite of 20 benchmark functions. In terms of the observations and results analysis, CSML can be regarded as a new potentially promising algorithm for solving optimization problems.
{"title":"Improving Cuckoo Search Algorithm With Mittag-Leffler Distribution","authors":"Jiamin Wei, Yangquan Chen, Yongguang Yu, Yuquan Chen","doi":"10.1115/detc2019-97709","DOIUrl":"https://doi.org/10.1115/detc2019-97709","url":null,"abstract":"\u0000 Cuckoo search (CS), as one of the recent nature-inspired metaheuristic algorithms, has proved to be an efficient approach due to the combination of Lévy flights, local search capabilities and guaranteed global convergence. CS uses Lévy flights in global random walk to explore the search space. The Lévy step is taken from the Lévy distribution which is a heavy-tailed probability distribution. In this case, a fraction of large steps are generated, which plays an important role in enhancing search capability of CS. Besides, although many foragers and wandering animals have been shown to follow a Lévy distribution of steps, investigation into the impact of other different heavy-tailed probability distributions on CS is still insufficient up to now. Based on the above considerations, we are motivated to apply the well-known Mittag-Leffler distribution to the standard CS algorithm, and proposed an improved cuckoo search algorithm (CSML) in this paper, where a more efficient search is supposed to take place in the search space thanks to the long jumps. In order to verify the performance of CSML, experiments are carried out on a test suite of 20 benchmark functions. In terms of the observations and results analysis, CSML can be regarded as a new potentially promising algorithm for solving optimization problems.","PeriodicalId":166402,"journal":{"name":"Volume 9: 15th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"84 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134579137","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pei-Heng Li, Juo-Wei Lin, Yi-lun Huang, Ting-Lan Lin
The octree coding has been used extensively for 3D point cloud compression. For encoding, the recursive octree partition is used for the 3D point cloud frame until only one point is contained in the cube bin, and the representative bits are recorded. For decoding, the reversal procedure is performed to reconstruct the 3D point cloud frame. During the reconstruction, the reconstructed point in a particular bin is usually quantized to a particular corner of the bin for the reconstructed 3D point cloud frame; this introduces coding distortion in the point location. In this paper, nine reconstructed locations are tested to distinguish their distortion results, and the bit cost is also analyzed.
{"title":"Analysis of Octree Coding for 3D Point Cloud Frame","authors":"Pei-Heng Li, Juo-Wei Lin, Yi-lun Huang, Ting-Lan Lin","doi":"10.1115/detc2019-97328","DOIUrl":"https://doi.org/10.1115/detc2019-97328","url":null,"abstract":"\u0000 The octree coding has been used extensively for 3D point cloud compression. For encoding, the recursive octree partition is used for the 3D point cloud frame until only one point is contained in the cube bin, and the representative bits are recorded. For decoding, the reversal procedure is performed to reconstruct the 3D point cloud frame. During the reconstruction, the reconstructed point in a particular bin is usually quantized to a particular corner of the bin for the reconstructed 3D point cloud frame; this introduces coding distortion in the point location. In this paper, nine reconstructed locations are tested to distinguish their distortion results, and the bit cost is also analyzed.","PeriodicalId":166402,"journal":{"name":"Volume 9: 15th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134070470","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
A low-cost and multi-functional ground mobile robot is presented for precision agricultural application. A modified toy car is used as the hardware platform, and robotic operating system (ROS) as the software platform. By adding sensors and end effector, the robot can be controlled remotely. Our vision is to build an autonomous in-field service robot to realize some specific tasks instead of farmers.
{"title":"Smart Agricultural In-Field Service Robot: From Toy to Tool","authors":"Peng Wang, Junwei Tian, Haoyu Niu, Y. Chen","doi":"10.1115/detc2019-97497","DOIUrl":"https://doi.org/10.1115/detc2019-97497","url":null,"abstract":"\u0000 A low-cost and multi-functional ground mobile robot is presented for precision agricultural application. A modified toy car is used as the hardware platform, and robotic operating system (ROS) as the software platform. By adding sensors and end effector, the robot can be controlled remotely. Our vision is to build an autonomous in-field service robot to realize some specific tasks instead of farmers.","PeriodicalId":166402,"journal":{"name":"Volume 9: 15th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115042578","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Danop Rajabhandharaks, Robert T. Mcdonald, M. Neumann, C. Kitts
Multirobot adaptive navigation maneuvers a multi-vehicle system based on characteristics of the environment to autonomously localize features of interest. This navigation method can be more time and energy efficient than conventional navigation methods. Most work in this area explores scalar fields, where a single characteristic value is associated with every point in the environment. This work is an initial testbed exploration of adaptive navigation for vector fields, where every point in the environment is associated with a multi-parameter value. A vector field can represent a single physical quantity such as water/air flow or multiple simultaneous and collocated scalar quantities such as temperature and gas concentration. The contribution of this work is the extension of an existing adaptive navigation testbed to support vector field representations, navigation, and further research. Vector fields are generated using a large-format printer to print 8-bit colored floor mats. Mobile robots, equipped with RGB sensors, sense the color and, through calibration, estimate the underlying vector field. This paper will walk through our process of generating vector fields and a calibration method to be used for adaptive navigation. Successful results from two adaptive navigation experiments are shown in the paper: finding a source with a single robot and using a two-robot formation to straddle a crest of high velocity flow in a vector field.
{"title":"Indoor Testbed for Vector Field Multirobot Adaptive Navigation: Feasibility Study","authors":"Danop Rajabhandharaks, Robert T. Mcdonald, M. Neumann, C. Kitts","doi":"10.1115/detc2019-97974","DOIUrl":"https://doi.org/10.1115/detc2019-97974","url":null,"abstract":"\u0000 Multirobot adaptive navigation maneuvers a multi-vehicle system based on characteristics of the environment to autonomously localize features of interest. This navigation method can be more time and energy efficient than conventional navigation methods. Most work in this area explores scalar fields, where a single characteristic value is associated with every point in the environment. This work is an initial testbed exploration of adaptive navigation for vector fields, where every point in the environment is associated with a multi-parameter value. A vector field can represent a single physical quantity such as water/air flow or multiple simultaneous and collocated scalar quantities such as temperature and gas concentration. The contribution of this work is the extension of an existing adaptive navigation testbed to support vector field representations, navigation, and further research. Vector fields are generated using a large-format printer to print 8-bit colored floor mats. Mobile robots, equipped with RGB sensors, sense the color and, through calibration, estimate the underlying vector field. This paper will walk through our process of generating vector fields and a calibration method to be used for adaptive navigation. Successful results from two adaptive navigation experiments are shown in the paper: finding a source with a single robot and using a two-robot formation to straddle a crest of high velocity flow in a vector field.","PeriodicalId":166402,"journal":{"name":"Volume 9: 15th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127743894","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
M. Palpacelli, L. Carbonari, G. Palmieri, M. Callegari
This paper presents the mechanical design and prototyping of a reconfigurable universal joint. An electronically actuated mechanical switch allows to change joint’s configuration so that two different universal pairs can be obtained. One of the two revolute axes rotates freely whereas the other is driven by a servomotor: its direction can be chosen by the user, providing two different mechanical arrangements. It can be demonstrated that the use of this reconfigurable joint in a specific parallel kinematic manipulator equipped with three identical legs allows to change the mobility of its moving platform. The design proposed in the current work has been driven by analytical analyses and multibody simulations. A finite element analysis demonstrates the effectiveness of the mechanical design.
{"title":"Mechanical Design and Prototype of a Reconfigurable Actuated Universal Joint","authors":"M. Palpacelli, L. Carbonari, G. Palmieri, M. Callegari","doi":"10.1115/detc2019-97916","DOIUrl":"https://doi.org/10.1115/detc2019-97916","url":null,"abstract":"\u0000 This paper presents the mechanical design and prototyping of a reconfigurable universal joint. An electronically actuated mechanical switch allows to change joint’s configuration so that two different universal pairs can be obtained. One of the two revolute axes rotates freely whereas the other is driven by a servomotor: its direction can be chosen by the user, providing two different mechanical arrangements. It can be demonstrated that the use of this reconfigurable joint in a specific parallel kinematic manipulator equipped with three identical legs allows to change the mobility of its moving platform. The design proposed in the current work has been driven by analytical analyses and multibody simulations. A finite element analysis demonstrates the effectiveness of the mechanical design.","PeriodicalId":166402,"journal":{"name":"Volume 9: 15th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126124807","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper considers the least solutions of linear matrix inequalities (LMIs) in criteria of admissibility for continuous singular fractional order systems (FOS). The new criteria are given which are strict LMIs and do not involve equality constraint and with the less LMI decision variables. With brief and simple results of this paper, the numbers of solved matrices are reduced from a pair of matrices to just a matrix in which we can analyze singular fractional order systems with completely consistent format as normal systems.
{"title":"Improvement of Admissibility of Linear Singular Fractional Order Systems","authors":"Xuefeng Zhang, Yingbo Zhang","doi":"10.1115/detc2019-98329","DOIUrl":"https://doi.org/10.1115/detc2019-98329","url":null,"abstract":"\u0000 This paper considers the least solutions of linear matrix inequalities (LMIs) in criteria of admissibility for continuous singular fractional order systems (FOS). The new criteria are given which are strict LMIs and do not involve equality constraint and with the less LMI decision variables. With brief and simple results of this paper, the numbers of solved matrices are reduced from a pair of matrices to just a matrix in which we can analyze singular fractional order systems with completely consistent format as normal systems.","PeriodicalId":166402,"journal":{"name":"Volume 9: 15th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132452433","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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