895 research outputs found

    Implementation of a neural network-based electromyographic control system for a printed robotic hand

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    3D printing has revolutionized the manufacturing process reducing costs and time, but only when combined with robotics and electronics, this structures could develop their full potential. In order to improve the available printable hand designs, a control system based on electromyographic (EMG) signals has been implemented, so that different movement patterns can be recognized and replicated in the bionic hand in real time. This control system has been developed in Matlab/ Simulink comprising EMG signal acquisition, feature extraction, dimensionality reduction and pattern recognition through a trained neural-network. Pattern recognition depends on the features used, their dimensions and the time spent in signal processing. Finding balance between this execution time and the input features of the neural network is a crucial step for an optimal classification.Ingeniería Biomédic

    Tools for Real-Time Control Systems Co-Design : A Survey

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    This report presents a survey of current simulation tools in the area of integrated control and real-time systems design. Each tool is presented with a quick overview followed by a more detailed section describing comparative aspects of the tool. These aspects describe the context and purpose of the tool (scenarios, development stages, activities, and qualities/constraints being addressed) and the actual tool technology (tool architecture, inputs, outputs, modeling content, extensibility and availability). The tools presented in the survey are the following; Jitterbug and TrueTime from the Department of Automatic Control at Lund University, Sweden, AIDA and XILO from the Department of Machine Design at the Royal Institute of Technology, Sweden, Ptolemy II from the Department of Electrical Engineering and Computer Sciences at Berkeley, California, RTSIM from the RETIS Laboratory, Pisa, Italy, and Syndex and Orccad from INRIA, France. The survey also briefly describes some existing commercial tools related to the area of real-time control systems

    FPGAs in Industrial Control Applications

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    The aim of this paper is to review the state-of-the-art of Field Programmable Gate Array (FPGA) technologies and their contribution to industrial control applications. Authors start by addressing various research fields which can exploit the advantages of FPGAs. The features of these devices are then presented, followed by their corresponding design tools. To illustrate the benefits of using FPGAs in the case of complex control applications, a sensorless motor controller has been treated. This controller is based on the Extended Kalman Filter. Its development has been made according to a dedicated design methodology, which is also discussed. The use of FPGAs to implement artificial intelligence-based industrial controllers is then briefly reviewed. The final section presents two short case studies of Neural Network control systems designs targeting FPGAs

    MATLAB

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    This excellent book represents the final part of three-volumes regarding MATLAB-based applications in almost every branch of science. The book consists of 19 excellent, insightful articles and the readers will find the results very useful to their work. In particular, the book consists of three parts, the first one is devoted to mathematical methods in the applied sciences by using MATLAB, the second is devoted to MATLAB applications of general interest and the third one discusses MATLAB for educational purposes. This collection of high quality articles, refers to a large range of professional fields and can be used for science as well as for various educational purposes

    Realistic Guidance Performance during Lunar Rendezvous with Third Body Perturbation

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    The paper describes the performance of a guidance law based on the Adjoint and SDRE methods in presence of reality representative models of sensors and actuators during the rendezvous phase of the proposed Heracles mission to the Moon. In recent years, the increased interest in returning to the Moon has motivated the necessity to develop accurate models for the analysis of missions that takes into account realistic system components. The paper reviews the mission’s details, the rendezvous/berthing guidance algorithm with third body perturbation, and sensor’s and actuators state of the art models. A Montecarlo analysis is used to validate the models in order to satisfy the safety of the trajectory. The results show that the proposed guidance and control are capable of maintaining safe relative motion between the vehicles

    Engineering Education and Research Using MATLAB

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    MATLAB is a software package used primarily in the field of engineering for signal processing, numerical data analysis, modeling, programming, simulation, and computer graphic visualization. In the last few years, it has become widely accepted as an efficient tool, and, therefore, its use has significantly increased in scientific communities and academic institutions. This book consists of 20 chapters presenting research works using MATLAB tools. Chapters include techniques for programming and developing Graphical User Interfaces (GUIs), dynamic systems, electric machines, signal and image processing, power electronics, mixed signal circuits, genetic programming, digital watermarking, control systems, time-series regression modeling, and artificial neural networks

    Reinforcement Learning Algorithms in Humanoid Robotics

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    Activity Report 1996-97

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    Iterative learning control: algorithm development and experimental benchmarking

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    This thesis concerns the general area of experimental benchmarking of Iterative Learning Control (ILC) algorithms using two experimental facilities. ILC is an approach which is suitable for applications where the same task is executed repeatedly over the necessarily finite time duration, known as the trial length. The process is reset prior to the commencement of each execution. The basic idea of ILC is to use information from previously executed trials to update the control input to be applied during the next one. The first experimental facility is a non-minimum phase electro-mechanical system and the other is a gantry robot whose basic task is to pick and place objects on a moving conveyor under synchronization and in a fixed finite time duration that replicates many tasks encountered in the process industries. Novel contributions are made in both the development of new algorithms and, especially, in the analysis of experimental results both of a single algorithm alone and also in the comparison of the relative performance of different algorithms. In the case of non-minimum phase systems, a new algorithm, named Reference Shift ILC (RSILC) is developed that is of a two loop structure. One learning loop addresses the system lag and another tackles the possibility of a large initial plant input commonly encountered when using basic iterative learning control algorithms. After basic algorithm development and simulation studies, experimental results are given to conclude that performance improvement over previously reported algorithms is reasonable. The gantry robot has been previously used to experimentally benchmark a range of simple structure ILC algorithms, such as those based on the ILC versions of the classical proportional plus derivative error actuated controllers, and some state-space based optimal ILC algorithms. Here these results are extended by the first ever detailed experimental study of the performance of stochastic ILC algorithms together with some modifications necessary to their configuration in order to increase performance. The majority of the currently reported ILC algorithms mainly focus on reducing the trial-to-trial error but it is known that this may come at the cost of poor or unacceptable performance along the trial dynamics. Control theory for discrete linear repetitive processes is used to design ILC control laws that enable the control of both trial-to-trial error convergence and along the trial dynamics. These algorithms can be computed using Linear Matrix Inequalities (LMIs) and again the results of experimental implementation on the gantry robot are given. These results are the first ever in this key area and represent a benchmark against which alternatives can be compared. In the concluding chapter, a critical overview of the results presented is given together with areas for both short and medium term further researc
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