Pub Date : 2013-10-01DOI: 10.1109/ICCAS.2013.6703953
G. Koo, Jin Bae Park, Y. Joo
This paper presents a intelligent digital redesign technique for the fuzzy dynamic output-feedback controller of the nonlinear system. A Takagi-Sugeno fuzzy model is adopted for the nonlinear system and the discretized models of the analog and digital closed-loop system with fuzzy dynamic output-feedback controllers, respectively. Sufficient conditions are derived for both the stabilization of the digital closed-loop system and minimization of the matrix norm distance between the analog and digital closed-loop system matrices. Its sufficient conditions are formulated in terms of linear matrix inequalities. Finally, a numerical example is provided to verify the effectiveness of the proposed technique.
{"title":"Intelligent digital redesign for fuzzy systems with the fuzzy dynamic output-feedback controller","authors":"G. Koo, Jin Bae Park, Y. Joo","doi":"10.1109/ICCAS.2013.6703953","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6703953","url":null,"abstract":"This paper presents a intelligent digital redesign technique for the fuzzy dynamic output-feedback controller of the nonlinear system. A Takagi-Sugeno fuzzy model is adopted for the nonlinear system and the discretized models of the analog and digital closed-loop system with fuzzy dynamic output-feedback controllers, respectively. Sufficient conditions are derived for both the stabilization of the digital closed-loop system and minimization of the matrix norm distance between the analog and digital closed-loop system matrices. Its sufficient conditions are formulated in terms of linear matrix inequalities. Finally, a numerical example is provided to verify the effectiveness of the proposed technique.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133221222","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}
Pub Date : 2013-10-01DOI: 10.1109/ICCAS.2013.6703881
H. Yun, Ho-Chan Kim
Recently, robot technologies are applying to the multidisciplinary fields of study due to the development of robot technology. To operate like a human being, many robot technologies need devices that can receive exterior stimulus, temperature, visual data, and the sense of smell, etc. The robot's hand needs the sensor devices that can receive exterior stimulus to operate like a human skin. The flexible tactile sensor for the robot has to be manufactured alike to a shape of human skin. This research studied characteristics of synthesis of photopolymer resin which has an electric conductivity and nozzle for the development of the sensor.
{"title":"Feature of nozzle for manufacturing flexbile tactile sensor skin","authors":"H. Yun, Ho-Chan Kim","doi":"10.1109/ICCAS.2013.6703881","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6703881","url":null,"abstract":"Recently, robot technologies are applying to the multidisciplinary fields of study due to the development of robot technology. To operate like a human being, many robot technologies need devices that can receive exterior stimulus, temperature, visual data, and the sense of smell, etc. The robot's hand needs the sensor devices that can receive exterior stimulus to operate like a human skin. The flexible tactile sensor for the robot has to be manufactured alike to a shape of human skin. This research studied characteristics of synthesis of photopolymer resin which has an electric conductivity and nozzle for the development of the sensor.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133777809","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}
Pub Date : 2013-10-01DOI: 10.1109/ICCAS.2013.6704216
Changhyun Park, Homoon Bae, J. Yun, SungWok Yun
The inspection for hot slab is an important issue to quality operators in steel industry. This paper introduces the automated inspection system for hot slab using interlaced lighting technology. We extract the depth information from surface images so that it make easier to overcome the unclear and noisy backgrounds and detect defects. The test results show 100% and 86% for crack and corner burst defects respectively. The false detection rate is less than 0.1% for each defect. The results imply that the proposed inspection system is very effective and promising method for inspecting hot slab.
{"title":"The automated surface inspection system for hot slab","authors":"Changhyun Park, Homoon Bae, J. Yun, SungWok Yun","doi":"10.1109/ICCAS.2013.6704216","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6704216","url":null,"abstract":"The inspection for hot slab is an important issue to quality operators in steel industry. This paper introduces the automated inspection system for hot slab using interlaced lighting technology. We extract the depth information from surface images so that it make easier to overcome the unclear and noisy backgrounds and detect defects. The test results show 100% and 86% for crack and corner burst defects respectively. The false detection rate is less than 0.1% for each defect. The results imply that the proposed inspection system is very effective and promising method for inspecting hot slab.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114326709","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}
Pub Date : 2013-10-01DOI: 10.1109/ICCAS.2013.6704034
Hyun-Soo Yoon, Jiun Jeon, J. Chung, B. Yi
This work deals with error compensation for a 2 DOF bendable endoscope mechanism that employs a spring as a backbone. Due to the nature of the spring's flexibility, there exists uncertainty in the kinematic model. Using a magnetic type external sensor, the output error of the bendable mechanism is measured and it is compensated by using an error compensation algorithm. Through experimentation, we showed that the error was compensated up to 95 percent.
{"title":"Error compensation for a 2 DOF bendable endoscope mechanism","authors":"Hyun-Soo Yoon, Jiun Jeon, J. Chung, B. Yi","doi":"10.1109/ICCAS.2013.6704034","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6704034","url":null,"abstract":"This work deals with error compensation for a 2 DOF bendable endoscope mechanism that employs a spring as a backbone. Due to the nature of the spring's flexibility, there exists uncertainty in the kinematic model. Using a magnetic type external sensor, the output error of the bendable mechanism is measured and it is compensated by using an error compensation algorithm. Through experimentation, we showed that the error was compensated up to 95 percent.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114329865","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}
Pub Date : 2013-10-01DOI: 10.1109/ICCAS.2013.6704111
Hyung‐Soon Park, Jungwon Yoon, Amanda Sudduth, Jonghyun Kim, Yeoun-Seung Kang
A Virtual Reality (VR)-based treadmill interface is developed for practicing turning skills in a linear treadmill. The interface incorporates self-paced speed control of treadmill and view angle control of virtual environment. The self-paced speed control allows users to voluntarily change walking speed so that they can reduce walking speed in a natural way near the corner of virtual corridors and increase walking speed while walking through straight virtual corridors. Based on the turning biomechanics in the literature, the VR interface implements voluntary control of view angle by user's head orientation for realistic turning in a linear treadmill. Through the pilot experiments with healthy volunteers, the realism of VR turning was evaluated by comparing the gait parameters in VR-based turning with respect to those of overground turning. Users controlled their head orientation angle properly without any prior instruction of how to walk through curved VR corridors in a straight treadmill. The head rotation angle during overground turning and VR turning was similar, and all users reduced walking speed and stride length near the virtual corners which is the same strategy of turning in the real world walking. The VR-based turning interface cannot implement exactly same biomechanics of turning in the real world walking because the linear treadmill does not allow lower body turning; however, it will be still useful in clinical settings for patients with neurological disorders to practice turning skills such as proper control of head orientation and overcoming hesitating behavior prior to turn.
{"title":"Simulating overground turning in a VR-based linear treadmill","authors":"Hyung‐Soon Park, Jungwon Yoon, Amanda Sudduth, Jonghyun Kim, Yeoun-Seung Kang","doi":"10.1109/ICCAS.2013.6704111","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6704111","url":null,"abstract":"A Virtual Reality (VR)-based treadmill interface is developed for practicing turning skills in a linear treadmill. The interface incorporates self-paced speed control of treadmill and view angle control of virtual environment. The self-paced speed control allows users to voluntarily change walking speed so that they can reduce walking speed in a natural way near the corner of virtual corridors and increase walking speed while walking through straight virtual corridors. Based on the turning biomechanics in the literature, the VR interface implements voluntary control of view angle by user's head orientation for realistic turning in a linear treadmill. Through the pilot experiments with healthy volunteers, the realism of VR turning was evaluated by comparing the gait parameters in VR-based turning with respect to those of overground turning. Users controlled their head orientation angle properly without any prior instruction of how to walk through curved VR corridors in a straight treadmill. The head rotation angle during overground turning and VR turning was similar, and all users reduced walking speed and stride length near the virtual corners which is the same strategy of turning in the real world walking. The VR-based turning interface cannot implement exactly same biomechanics of turning in the real world walking because the linear treadmill does not allow lower body turning; however, it will be still useful in clinical settings for patients with neurological disorders to practice turning skills such as proper control of head orientation and overcoming hesitating behavior prior to turn.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114419752","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}
Pub Date : 2013-10-01DOI: 10.1109/ICCAS.2013.6703923
S. Choi, Hee Chan Kim, H. Kang, Seongjun Kim, Jaesoon Choi
Robot surgery needs measures for safety and dexterous control of the surgical instrument for wider application, in spite of evident clinical efficacy in diverse surgery areas. Integration of the advanced human machine interface technologies including haptic rendering and augmented reality in surgeon console for robot-assisted laparoscopic surgery to provide enhanced safety and easier system control has been tried in this study. The surgeon console is composed of various hardware and software modules for endoscope video signal capture, image/vision signal processing, 3D deformable model handling, haptic and graphic rendering, and interface to displays and haptic devices. Intra-operative endoscopic video signal is processed to extract information for the tracking of “Object-Of-Interest (OOI)”s such as anatomic structure that needs cautious handling, bleeding site and the relative position of the surgical instruments, and displayed with overlaid image of 3D-reconstructed preoperative medical imaging data. Parts of the extracted or user-defined OOIs can be transformed into a deformable 3D model and interactively manipulated by the surgeon during the operation for intuitive information utilization. The haptic rendering provides virtual force field experience for the surgeon to have safer handling of the surgical instruments and dexterous execution of surgical task. The surgeon console framework has been implemented on a PC integrated in a laparoscopic surgery robot system under development. The system showed successfully the feasibility of the concept and further development for enhanced usability and graphical contents quality is underway.
{"title":"A haptic augmented reality surgeon console for a laparoscopic surgery robot system","authors":"S. Choi, Hee Chan Kim, H. Kang, Seongjun Kim, Jaesoon Choi","doi":"10.1109/ICCAS.2013.6703923","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6703923","url":null,"abstract":"Robot surgery needs measures for safety and dexterous control of the surgical instrument for wider application, in spite of evident clinical efficacy in diverse surgery areas. Integration of the advanced human machine interface technologies including haptic rendering and augmented reality in surgeon console for robot-assisted laparoscopic surgery to provide enhanced safety and easier system control has been tried in this study. The surgeon console is composed of various hardware and software modules for endoscope video signal capture, image/vision signal processing, 3D deformable model handling, haptic and graphic rendering, and interface to displays and haptic devices. Intra-operative endoscopic video signal is processed to extract information for the tracking of “Object-Of-Interest (OOI)”s such as anatomic structure that needs cautious handling, bleeding site and the relative position of the surgical instruments, and displayed with overlaid image of 3D-reconstructed preoperative medical imaging data. Parts of the extracted or user-defined OOIs can be transformed into a deformable 3D model and interactively manipulated by the surgeon during the operation for intuitive information utilization. The haptic rendering provides virtual force field experience for the surgeon to have safer handling of the surgical instruments and dexterous execution of surgical task. The surgeon console framework has been implemented on a PC integrated in a laparoscopic surgery robot system under development. The system showed successfully the feasibility of the concept and further development for enhanced usability and graphical contents quality is underway.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"18 6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116865700","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}
Pub Date : 2013-10-01DOI: 10.1109/ICCAS.2013.6704188
Young-Ung Park, Y. Min, Yoon-Gyung Sung
In this paper, deflection-limiting commands are presented with 1st-order actuators to reduce the transient and residual deflection for flexible systems during rest-to-rest operations. The effects of nonlinear actuators are resulting from electrical driver, mechanical inertia, friction, or etc. The command profiles are developed with a vector diagram approach by adjusting the final command magnitude for start motion to reduce the transient deflection. They are described by closed-form functions with the system frequency, deflection-limiting ratios, actuator maximum velocity and actuator time constants. The proposed controller is evaluated with respect to pulse durations, deflection-limiting ratios and sensitivity. The performance of the proposed commands is numerically illustrated with a benchmark system and is experimentally evaluated on a mini bridge crane.
{"title":"Deflection-limiting commands with 1st-order actuators","authors":"Young-Ung Park, Y. Min, Yoon-Gyung Sung","doi":"10.1109/ICCAS.2013.6704188","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6704188","url":null,"abstract":"In this paper, deflection-limiting commands are presented with 1st-order actuators to reduce the transient and residual deflection for flexible systems during rest-to-rest operations. The effects of nonlinear actuators are resulting from electrical driver, mechanical inertia, friction, or etc. The command profiles are developed with a vector diagram approach by adjusting the final command magnitude for start motion to reduce the transient deflection. They are described by closed-form functions with the system frequency, deflection-limiting ratios, actuator maximum velocity and actuator time constants. The proposed controller is evaluated with respect to pulse durations, deflection-limiting ratios and sensitivity. The performance of the proposed commands is numerically illustrated with a benchmark system and is experimentally evaluated on a mini bridge crane.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"315 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116257106","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}
Pub Date : 2013-10-01DOI: 10.1109/ICCAS.2013.6704193
M. A. Kamran, K. Hong
Functional near infrared spectroscopy (fNIRS) is an emerging non-invasive brain imaging technique based on estimation of blood chromosomes. The change in the concentration of oxy-hemoglobin (HbO) and de-oxy hemoglobin (HbR) gives indirect measure of brain activation. fNIRS measures the change in HbO and HbR depending on the absorption of near infrared (NIR) light. It uses the NIR light of two wave lengths, 760 nm and 830 nm. NIRS is a newly developed neuro imaging modality with high temporal resolution. NIRS systems have great potential for brain computer interface due to its low cost, portability and safety. The scalp remains intact throughout the experiment. In this study we present a method for estimation of brain activation by using fNIRS data collected during arithmetic task. The general linear model has been used in this study with predicted hemodynamic response function, its derivatives and physiological noises as regressors. The normalized least mean square (NLMS) algorithm has been used for estimation of activity strength parameters in the model recursively. A one way t-test has been performed for detection of brain activation at different channels.
{"title":"Indirect measurement of brain activation using fNIRS","authors":"M. A. Kamran, K. Hong","doi":"10.1109/ICCAS.2013.6704193","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6704193","url":null,"abstract":"Functional near infrared spectroscopy (fNIRS) is an emerging non-invasive brain imaging technique based on estimation of blood chromosomes. The change in the concentration of oxy-hemoglobin (HbO) and de-oxy hemoglobin (HbR) gives indirect measure of brain activation. fNIRS measures the change in HbO and HbR depending on the absorption of near infrared (NIR) light. It uses the NIR light of two wave lengths, 760 nm and 830 nm. NIRS is a newly developed neuro imaging modality with high temporal resolution. NIRS systems have great potential for brain computer interface due to its low cost, portability and safety. The scalp remains intact throughout the experiment. In this study we present a method for estimation of brain activation by using fNIRS data collected during arithmetic task. The general linear model has been used in this study with predicted hemodynamic response function, its derivatives and physiological noises as regressors. The normalized least mean square (NLMS) algorithm has been used for estimation of activity strength parameters in the model recursively. A one way t-test has been performed for detection of brain activation at different channels.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116848333","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}
Pub Date : 2013-10-01DOI: 10.1109/ICCAS.2013.6703880
I. Lee, Sang-Gu Woo
Researches on the flexible sensors have been actively conducted to mimic human tactile-sensation. However, many of these sensors were fabricated through a series of complex processes. Furthermore, economically available sensors are cost ineffective. Recently, simple tactile sensor was proposed using flexible material and conductive material. That is, the direct injection technique discharges conductive material on the flexible polymer substrate. And the conductive material is dispensed by a nozzle. When the external pressure is applied to the sensor, the electrical signal of the conductive lines is changed. Consequently, to implement this kind of sensor, it is essential to examine dispensing conditions on the line fabrication. In this regards, we examined the conductive line fabrication characteristics by nozzle dispensing conditions. And it was found that the conductive material lines width decreases as the flow rate decreases and the nozzle moving speed increases. Further researches are required to implement this kind of sensors.
{"title":"Dispensing characteristics of conductive material for the flexible tactile sensor","authors":"I. Lee, Sang-Gu Woo","doi":"10.1109/ICCAS.2013.6703880","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6703880","url":null,"abstract":"Researches on the flexible sensors have been actively conducted to mimic human tactile-sensation. However, many of these sensors were fabricated through a series of complex processes. Furthermore, economically available sensors are cost ineffective. Recently, simple tactile sensor was proposed using flexible material and conductive material. That is, the direct injection technique discharges conductive material on the flexible polymer substrate. And the conductive material is dispensed by a nozzle. When the external pressure is applied to the sensor, the electrical signal of the conductive lines is changed. Consequently, to implement this kind of sensor, it is essential to examine dispensing conditions on the line fabrication. In this regards, we examined the conductive line fabrication characteristics by nozzle dispensing conditions. And it was found that the conductive material lines width decreases as the flow rate decreases and the nozzle moving speed increases. Further researches are required to implement this kind of sensors.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"390 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117090896","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}
Pub Date : 2013-10-01DOI: 10.1109/ICCAS.2013.6703895
Shou-Han Zhou, Y. Tan, B. Zhao, D. Oetomo
For tasks which require a robot to track some particular points along a trajectory (instead of the whole trajectory), there exists redundancy. This redundancy results in an increase in the feasibility in the controller design, enabling the possibility of the robot to obtain better performance by satisfying secondary objectives whilst performing the primary objective of tracking the target points. This paper addresses the task redundancy by using point-to-point learning control. It is shown to be an effective tool to accommodate trajectory redundancy since it has the ability to fully explore the increased feasibility resulting from such redundancy. Following the similar idea widely used in kinematic redundancy, a decomposition technique is used. This leads to a simplification of constrained optimization and provides a suboptimal performance in terms of secondary task while the primary task is always achieved. As an example, the formulation is implemented in an on-line fashion to enable a non-redundant robot to track a target point whilst avoiding an obstacle. Simulation results shows good performance from the proposed online algorithms.
{"title":"Trajectory redundancy iterative learning control","authors":"Shou-Han Zhou, Y. Tan, B. Zhao, D. Oetomo","doi":"10.1109/ICCAS.2013.6703895","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6703895","url":null,"abstract":"For tasks which require a robot to track some particular points along a trajectory (instead of the whole trajectory), there exists redundancy. This redundancy results in an increase in the feasibility in the controller design, enabling the possibility of the robot to obtain better performance by satisfying secondary objectives whilst performing the primary objective of tracking the target points. This paper addresses the task redundancy by using point-to-point learning control. It is shown to be an effective tool to accommodate trajectory redundancy since it has the ability to fully explore the increased feasibility resulting from such redundancy. Following the similar idea widely used in kinematic redundancy, a decomposition technique is used. This leads to a simplification of constrained optimization and provides a suboptimal performance in terms of secondary task while the primary task is always achieved. As an example, the formulation is implemented in an on-line fashion to enable a non-redundant robot to track a target point whilst avoiding an obstacle. Simulation results shows good performance from the proposed online algorithms.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"384 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117113905","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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