Force Sensorless Admittance Control with Neural Learning for Robots with Actuator Saturation

© 1982-2012 IEEE. In this paper, we present a sensorless admittance control scheme for robotic manipulators to interact with unknown environments in the presence of actuator saturation. The external environment is defined as linear models with unknown dynamics. Using admittance control, the robotic manipulator is controlled to be compliant with external torque from the environment. The external torque acted on the end-effector is estimated by using a disturbance observer based on generalized momentum. The model uncertainties are solved by using radial basis neural networks (NNs). To guarantee the tracking performance and tackle the effect of actuator saturation, an adaptive NN controller integrating an auxiliary system is designed to handle the actuator saturation. By employing Lyapunov stability theory, the stability of the closed-loop system is achieved. The experiments on the Baxter robot are implemented to verify the effectiveness of the proposed method

Neural-learning-based force sensorless admittance control for robots with input deadzone

This paper presents a neural networks based admittance control scheme for robotic manipulators when interacting with the unknown environment in the presence of the actuator deadzone without needing force sensing. A compliant behaviour of robotic manipulators in response to external torques from the unknown environment is achieved by admittance control. Inspired by broad learning system (BLS), a flatted neural network structure using Radial Basis Function (RBF) with incremental learning algorithm is proposed to estimate the external torque, which can avoid retraining process if the system is modelled insufficiently. To deal with uncertainties in the robot system, an adaptive neural controller with dynamic learning framework is developed to ensure the tracking performance. Experiments on the Baxter robot have been implemented to test the effectiveness of the proposed method

Force Sensorless Admittance Control for Teleoperation of Uncertain Robot Manipulator Using Neural Networks

In this paper, a force sensorless control scheme based on neural networks (NNs) is developed for interaction between robot manipulators and human arms in physical collision. In this scheme, the trajectory is generated by using geometry vector method with Kinect sensor. To comply with the external torque from the environment, this paper presents a sensorless admittance control approach in joint space based on an observer approach, which is used to estimate external torques applied by the operator. To deal with the tracking problem of the uncertain manipulator, an adaptive controller combined with the radial basis function NN (RBFNN) is designed. The RBFNN is used to compensate for uncertainties in the system. In order to achieve the prescribed tracking precision, an error transformation algorithm is integrated into the controller. The Lyapunov functions are used to analyze the stability of the control system. The experiments on the Baxter robot are carried out to demonstrate the effectiveness and correctness of the proposed control scheme

Neural networks enhanced adaptive admittance control of optimized robot-environment interaction

In this paper, an admittance adaptation method has been developed for robots to interact with unknown environments. The environment to be interacted with is modeled as a linear system. In the presence of the unknown dynamics of environments, an observer in robot joint space is employed to estimate the interaction torque, and admittance control is adopted to regulate the robot behavior at interaction points. An adaptive neural controller using the radial basis function is employed to guarantee trajectory tracking. A cost function that defines the interaction performance of torque regulation and trajectory tracking is minimized by admittance adaptation. To verify the proposed method, simulation studies on a robot manipulator are conducted

MICA: A fast short-read aligner that takes full advantage of Many Integrated Core Architecture (MIC)

Background: Short-read aligners have recently gained a lot of speed by exploiting the massive parallelism of GPU. An uprising alterative to GPU is Intel MIC; supercomputers like Tianhe-2, currently top of TOP500, is built with 48,000 MIC boards to offer ~55 PFLOPS. The CPU-like architecture of MIC allows CPU-based software to be parallelized easily; however, the performance is often inferior to GPU counterparts as an MIC card contains only ~60 cores (while a GPU card typically has over a thousand cores). Results: To better utilize MIC-enabled computers for NGS data analysis, we developed a new short-read aligner MICA that is optimized in view of MIC's limitation and the extra parallelism inside each MIC core. By utilizing the 512-bit vector units in the MIC and implementing a new seeding strategy, experiments on aligning 150 bp paired-end reads show that MICA using one MIC card is 4.9 times faster than BWA-MEM (using 6 cores of a top-end CPU), and slightly faster than SOAP3-dp (using a GPU). Furthermore, MICA's simplicity allows very efficient scale-up when multiple MIC cards are used in a node (3 cards give a 14.1-fold speedup over BWA-MEM). Summary: MICA can be readily used by MIC-enabled supercomputers for production purpose. We have tested MICA on Tianhe-2 with 90 WGS samples (17.47 Tera-bases), which can be aligned in an hour using 400 nodes. MICA has impressive performance even though MIC is only in its initial stage of development. Availability and implementation: MICA's source code is freely available at http://sourceforge.net/projects/mica-aligner under GPL v3. Supplementary information: Supplementary information is available as "Additional File 1". Datasets are available at www.bio8.cs.hku.hk/dataset/mica.published_or_final_versio

De novo assembly of a haplotype-resolved human genome

The human genome is diploid, and knowledge of the variants on each chromosome is important for the interpretation of genomic information. Here we report the assembly of a haplotype-resolved diploid genome without using a reference genome. Our pipeline relies on fosmid pooling together with whole-genome shotgun strategies, based solely on next-generation sequencing and hierarchical assembly methods. We applied our sequencing method to the genome of an Asian individual and generated a 5.15-Gb assembled genome with a haplotype N50 of 484 kb. Our analysis identified previously undetected indels and 7.49 Mb of novel coding sequences that could not be aligned to the human reference genome, which include at least six predicted genes. This haplotype-resolved genome represents the most complete de novo human genome assembly to date. Application of our approach to identify individual haplotype differences should aid in translating genotypes to phenotypes for the development of personalized medicine

Erratum to "SOAPdenovo2: An empirically improved memory-efficient short-read de novo assembler" [GigaScience, (2012), 1, 18]

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