6,197 research outputs found
Control of a flexible bracing manipulator: Integration of current research work to realize the bracing manipulator
All research results about flexible manipulator control were integrated to show a control scenario of a bracing manipulator. First, dynamic analysis of a flexible manipulator was done for modeling. Second, from the dynamic model, the inverse dynamic equation was derived, and the time domain inverse dynamic method was proposed for the calculation of the feedforward torque and the desired flexible coordinate trajectories. Third, a tracking controller was designed by combining the inverse dynamic feedforward control with the joint feedback control. The control scheme was applied to the tip position control of a single link flexible manipulator for zero and non-zero initial condition cases. Finally, the contact control scheme was added to the position tracking control. A control scenario of a bracing manipulator is provided and evaluated through simulation and experiment on a single link flexible manipulator
Baseline CNN structure analysis for facial expression recognition
We present a baseline convolutional neural network (CNN) structure and image
preprocessing methodology to improve facial expression recognition algorithm
using CNN. To analyze the most efficient network structure, we investigated
four network structures that are known to show good performance in facial
expression recognition. Moreover, we also investigated the effect of input
image preprocessing methods. Five types of data input (raw, histogram
equalization, isotropic smoothing, diffusion-based normalization, difference of
Gaussian) were tested, and the accuracy was compared. We trained 20 different
CNN models (4 networks x 5 data input types) and verified the performance of
each network with test images from five different databases. The experiment
result showed that a three-layer structure consisting of a simple convolutional
and a max pooling layer with histogram equalization image input was the most
efficient. We describe the detailed training procedure and analyze the result
of the test accuracy based on considerable observation.Comment: 6 pages, RO-MAN2016 Conferenc
Enumerations of finite topologies associated with a finite graph
The number of topologies and non-homeomorphic topologies on a fixed finite
set are now known up to , but still no complete formula yet
(Sloane). There are one to one correspondence among topologies, preorder and
digraphs. In this article, we enumerate topologies and non-homeomorphic
topologies whose underlying graph is a given finite graph.Comment: 2 figure
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