50,936 research outputs found
Cooperative Adaptive Control for Cloud-Based Robotics
This paper studies collaboration through the cloud in the context of
cooperative adaptive control for robot manipulators. We first consider the case
of multiple robots manipulating a common object through synchronous centralized
update laws to identify unknown inertial parameters. Through this development,
we introduce a notion of Collective Sufficient Richness, wherein parameter
convergence can be enabled through teamwork in the group. The introduction of
this property and the analysis of stable adaptive controllers that benefit from
it constitute the main new contributions of this work. Building on this
original example, we then consider decentralized update laws, time-varying
network topologies, and the influence of communication delays on this process.
Perhaps surprisingly, these nonidealized networked conditions inherit the same
benefits of convergence being determined through collective effects for the
group. Simple simulations of a planar manipulator identifying an unknown load
are provided to illustrate the central idea and benefits of Collective
Sufficient Richness.Comment: ICRA 201
Monostability and multistability of genetic regulatory networks with different types of regulation functions
The official published version of the article can be found at the link below.Monostability and multistability are proven to be two important topics in synthesis biology and system biology. In this paper, both monostability and multistability are analyzed in a unified framework by applying control theory and mathematical tools. The genetic regulatory networks (GRNs) with multiple time-varying delays and different types of regulation functions are considered. By putting forward a general sector-like regulation function and utilizing up-to-date techniques, a novel Lyapunov–Krasovskii functional is introduced for achieving delay dependence to ensure less conservatism. A new condition is then proposed for the general stability of a GRN in the form of linear matrix inequalities (LMIs) that are dependent on the upper and lower bounds of the delays. Our general stability conditions are applicable to several frequently used regulation functions. It is shown that the existing results for monostability of GRNs are special cases of our main results. Five examples are employed to illustrate the applicability and usefulness of the developed theoretical results.This work was supported in part by the Biotechnology and Biological Sciences Research Council (BBSRC) of the U.K. under Grant BB/C506264/1, the Royal Society of the U.K., the National Natural Science Foundation of China under Grants 60504008 and 60804028, the Program for New Century Excellent Talents in Universities of China, and the Alexander von Humboldt Foundation of Germany
Detection of synchronization from univariate data using wavelet transform
A method is proposed for detecting from univariate data the presence of
synchronization of a self-sustained oscillator by external driving with varying
frequency. The method is based on the analysis of difference between the
oscillator instantaneous phases calculated using continuous wavelet transform
at time moments shifted by a certain constant value relative to each other. We
apply our method to a driven asymmetric van der Pol oscillator, experimental
data from a driven electronic oscillator with delayed feedback and human
heartbeat time series. In the latest case, the analysis of the heart rate
variability data reveals synchronous regimes between the respiration and slow
oscillations in blood pressure.Comment: 10 pages, 9 figure
Time-delayed models of gene regulatory networks
We discuss different mathematical models of gene regulatory networks as relevant to the onset and development of cancer. After discussion of alternativemodelling approaches, we use a paradigmatic two-gene network to focus on the role played by time delays in the dynamics of gene regulatory networks. We contrast the dynamics of the reduced model arising in the limit of fast mRNA dynamics with that of the full model. The review concludes with the discussion of some open problems
Push recovery with stepping strategy based on time-projection control
In this paper, we present a simple control framework for on-line push
recovery with dynamic stepping properties. Due to relatively heavy legs in our
robot, we need to take swing dynamics into account and thus use a linear model
called 3LP which is composed of three pendulums to simulate swing and torso
dynamics. Based on 3LP equations, we formulate discrete LQR controllers and use
a particular time-projection method to adjust the next footstep location
on-line during the motion continuously. This adjustment, which is found based
on both pelvis and swing foot tracking errors, naturally takes the swing
dynamics into account. Suggested adjustments are added to the Cartesian 3LP
gaits and converted to joint-space trajectories through inverse kinematics.
Fixed and adaptive foot lift strategies also ensure enough ground clearance in
perturbed walking conditions. The proposed structure is robust, yet uses very
simple state estimation and basic position tracking. We rely on the physical
series elastic actuators to absorb impacts while introducing simple laws to
compensate their tracking bias. Extensive experiments demonstrate the
functionality of different control blocks and prove the effectiveness of
time-projection in extreme push recovery scenarios. We also show self-produced
and emergent walking gaits when the robot is subject to continuous dragging
forces. These gaits feature dynamic walking robustness due to relatively soft
springs in the ankles and avoiding any Zero Moment Point (ZMP) control in our
proposed architecture.Comment: 20 pages journal pape
Computer simulation of a pilot in V/STOL aircraft control loops
The objective was to develop a computerized adaptive pilot model for the computer model of the research aircraft, the Harrier II AV-8B V/STOL with special emphasis on propulsion control. In fact, two versions of the adaptive pilot are given. The first, simply called the Adaptive Control Model (ACM) of a pilot includes a parameter estimation algorithm for the parameters of the aircraft and an adaption scheme based on the root locus of the poles of the pilot controlled aircraft. The second, called the Optimal Control Model of the pilot (OCM), includes an adaption algorithm and an optimal control algorithm. These computer simulations were developed as a part of the ongoing research program in pilot model simulation supported by NASA Lewis from April 1, 1985 to August 30, 1986 under NASA Grant NAG 3-606 and from September 1, 1986 through November 30, 1988 under NASA Grant NAG 3-729. Once installed, these pilot models permitted the computer simulation of the pilot model to close all of the control loops normally closed by a pilot actually manipulating the control variables. The current version of this has permitted a baseline comparison of various qualitative and quantitative performance indices for propulsion control, the control loops and the work load on the pilot. Actual data for an aircraft flown by a human pilot furnished by NASA was compared to the outputs furnished by the computerized pilot and found to be favorable
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