Solving optimization and scheduling problems with neural network methods

This article is published in Chinese

Solução de problemas de otimização linear por redes neurais associadas a metodos de pontos interiores

Orientadores : Christiano Lyra Filho, Aurelio Ribeiro Leite de OliveiraTese (doutorado) - Universidade Estadual de Campinas, Faculdade de Engenharia Eletrica e de ComputaçãoDoutorad

Recurrent neural networks for force optimization of multi-fingered robotic hands.

Fok Lo Ming.Thesis (M.Phil.)--Chinese University of Hong Kong, 2002.Includes bibliographical references (leaves 133-135).Abstracts in English and Chinese.Chapter 1. --- Introduction --- p.1Chapter 1.1 --- Multi-fingered Robotic Hands --- p.1Chapter 1.2 --- Grasping Force Optimization --- p.2Chapter 1.3 --- Neural Networks --- p.6Chapter 1.4 --- Previous Work for Grasping Force Optimization --- p.9Chapter 1.5 --- Contributions of this work --- p.10Chapter 1.6 --- Organization of this thesis --- p.12Chapter 2. --- Problem Formulations --- p.13Chapter 2.1 --- Grasping Force Optimization without Joint Torque Limits --- p.14Chapter 2.1.1 --- Linearized Friction Cone Approach --- p.15Chapter i. --- Linear Formulation --- p.17Chapter ii. --- Quadratic Formulation --- p.18Chapter 2.1.2 --- Nonlinear Friction Cone as Positive Semidefinite Matrix --- p.19Chapter 2.1.3 --- Constrained Optimization with Nonlinear Inequality Constraint --- p.20Chapter 2.2 --- Grasping Force Optimization with Joint Torque Limits --- p.21Chapter 2.2.1 --- Linearized Friction Cone Approach --- p.23Chapter 2.2.2 --- Constrained Optimization with Nonlinear Inequality Constraint --- p.23Chapter 2.3 --- Grasping Force Optimization with Time-varying External Wrench --- p.24Chapter 2.3.1 --- Linearized Friction Cone Approach --- p.25Chapter 2.3.2 --- Nonlinear Friction Cone as Positive Semidefinite Matrix --- p.25Chapter 2.3.3 --- Constrained Optimization with Nonlinear Inequality Constraint --- p.26Chapter 3. --- Recurrent Neural Network Models --- p.27Chapter 3.1 --- Networks for Grasping Force Optimization without Joint Torque LimitsChapter 3.1.1 --- The Primal-dual Network for Linear Programming --- p.29Chapter 3.1.2 --- The Deterministic Annealing Network for Linear Programming --- p.32Chapter 3.1.3 --- The Primal-dual Network for Quadratic Programming --- p.34Chapter 3.1.4 --- The Dual Network --- p.35Chapter 3.1.5 --- The Deterministic Annealing Network --- p.39Chapter 3.1.6 --- The Novel Network --- p.41Chapter 3.2 --- Networks for Grasping Force Optimization with Joint Torque LimitsChapter 3.2.1 --- The Dual Network --- p.43Chapter 3.2.2 --- The Novel Network --- p.45Chapter 3.3 --- Networks for Grasping Force Optimization with Time-varying External WrenchChapter 3.3.1 --- The Primal-dual Network for Quadratic Programming --- p.48Chapter 3.3.2 --- The Deterministic Annealing Network --- p.50Chapter 3.3.3 --- The Novel Network --- p.52Chapter 4. --- Simulation Results --- p.54Chapter 4.1 --- Three-finger Grasping Example of Grasping Force Optimization without Joint Torque Limits --- p.54Chapter 4.1.1 --- The Primal-dual Network for Linear Programming --- p.57Chapter 4.1.2 --- The Deterministic Annealing Network for Linear Programming --- p.59Chapter 4.1.3 --- The Primal-dual Network for Quadratic Programming --- p.61Chapter 4.1.4 --- The Dual Network --- p.63Chapter 4.1.5 --- The Deterministic Annealing Network --- p.65Chapter 4.1.6 --- The Novel Network --- p.57Chapter 4.1.7 --- Network Complexity Analysis --- p.59Chapter 4.2 --- Four-finger Grasping Example of Grasping Force Optimization without Joint Torque Limits --- p.73Chapter 4.2.1 --- The Primal-dual Network for Linear Programming --- p.75Chapter 4.2.2 --- The Deterministic Annealing Network for Linear Programming --- p.77Chapter 4.2.3 --- The Primal-dual Network for Quadratic Programming --- p.79Chapter 4.2.4 --- The Dual Network --- p.81Chapter 4.2.5 --- The Deterministic Annealing Network --- p.83Chapter 4.2.6 --- The Novel Network --- p.85Chapter 4.2.7 --- Network Complexity Analysis --- p.87Chapter 4.3 --- Three-finger Grasping Example of Grasping Force Optimization with Joint Torque Limits --- p.90Chapter 4.3.1 --- The Dual Network --- p.93Chapter 4.3.2 --- The Novel Network --- p.95Chapter 4.3.3 --- Network Complexity Analysis --- p.97Chapter 4.4 --- Three-finger Grasping Example of Grasping Force Optimization with Time-varying External Wrench --- p.99Chapter 4.4.1 --- The Primal-dual Network for Quadratic Programming --- p.101Chapter 4.4.2 --- The Deterministic Annealing Network --- p.103Chapter 4.4.3 --- The Novel Network --- p.105Chapter 4.4.4 --- Network Complexity Analysis --- p.107Chapter 4.5 --- Four-finger Grasping Example of Grasping Force Optimization with Time-varying External Wrench --- p.109Chapter 4.5.1 --- The Primal-dual Network for Quadratic Programming --- p.111Chapter 4.5.2 --- The Deterministic Annealing Network --- p.113Chapter 4.5.3 --- The Novel Network --- p.115Chapter 5.5.4 --- Network Complexity Analysis --- p.117Chapter 4.6 --- Four-finger Grasping Example of Grasping Force Optimization with Nonlinear Velocity Variation --- p.119Chapter 4.5.1 --- The Primal-dual Network for Quadratic Programming --- p.121Chapter 4.5.2 --- The Deterministic Annealing Network --- p.123Chapter 4.5.3 --- The Novel Network --- p.125Chapter 5.5.4 --- Network Complexity Analysis --- p.127Chapter 5. --- Conclusions and Future Work --- p.129Publications --- p.132Bibliography --- p.133Appendix --- p.13