Learning for Advanced Motion Control

Iterative Learning Control (ILC) can achieve perfect tracking performance for mechatronic systems. The aim of this paper is to present an ILC design tutorial for industrial mechatronic systems. First, a preliminary analysis reveals the potential performance improvement of ILC prior to its actual implementation. Second, a frequency domain approach is presented, where fast learning is achieved through noncausal model inversion, and safe and robust learning is achieved by employing a contraction mapping theorem in conjunction with nonparametric frequency response functions. The approach is demonstrated on a desktop printer. Finally, a detailed analysis of industrial motion systems leads to several shortcomings that obstruct the widespread implementation of ILC algorithms. An overview of recently developed algorithms, including extensions using machine learning algorithms, is outlined that are aimed to facilitate broad industrial deployment.Comment: 8 pages, 15 figures, IEEE 16th International Workshop on Advanced Motion Control, 202

The learnability criterion and monetary policy

Expectations of the future play a large role in macroeconomics. The rational expectations assumption, which is commonly used in the literature, provides an important benchmark, but may be too strong for some applications. This paper reviews some recent research that has emphasized methods for analyzing models of learning, in which expectations are not initially rational but which may become rational eventually provided certain conditions are met. Many of the applications are in the context of popular models of monetary policy. The goal of the paper is to provide a largely nontechnical survey of some, but not all, of this work and to point out connections to some related research.Monetary policy ; Rational expectations (Economic theory)

Introduction: The Third International Conference on Epigenetic Robotics

This paper summarizes the paper and poster contributions to the Third International Workshop on Epigenetic Robotics. The focus of this workshop is on the cross-disciplinary interaction of developmental psychology and robotics. Namely, the general goal in this area is to create robotic models of the psychological development of various behaviors. The term "epigenetic" is used in much the same sense as the term "developmental" and while we could call our topic "developmental robotics", developmental robotics can be seen as having a broader interdisciplinary emphasis. Our focus in this workshop is on the interaction of developmental psychology and robotics and we use the phrase "epigenetic robotics" to capture this focus

Game of Frontier Orbitals: A View on the Rational Design of Novel Charge-Transfer Materials

Since the first application of frontier molecular orbitals (FMOs) to rationalize stereospecificity of pericyclic reactions, FMOs have remained at the forefront of chemical theory. Yet, the practical application of FMOs in the rational design and synthesis of novel charge transfer materials remains under-appreciated. In this Perspective, we demonstrate that molecular orbital theory is a powerful and universal tool capable of rationalizing the observed redox/optoelectronic properties of various aromatic hydrocarbons in the context of their application as charge-transfer materials. Importantly, the inspection of FMOs can provide instantaneous insight into the interchromophoric electronic coupling and polaron delocalization in polychromophoric assemblies, and therefore is invaluable for the rational design and synthesis of novel materials with tailored properties

Physical Interpretations of Negative Imaginary Systems Theory

This paper presents some physical interpretations of recent stability results on the feedback interconnection of negative imaginary systems. These interpretations involve spring mass damper systems coupled together by springs or RLC electrical networks coupled together via inductors or capacitors.Comment: To appear in the Proceedings of the 10th ASIAN CONTROL CONFERENCE 201