Filetype
Robotic trajectory generation is reformulated as a controller design problem. For minimum-jerk trajectories, an optimal controller using the Hamilton-Jacobi-Bellman equation is derived. The controller instantaneously updates the trajectory in a closed-loop system as a result of the changes in the reference signal. The resulting trajectories coincide with piece-wise fifth-order polynomial trajector
ne of the main limiting factors in improving glucose control for T1DM subjects is the lack of a precise description of meal and insulin intake effects on blood glucose. Knowing magnitude and duration of such effects would be useful not only for patients and physicians but also for the development of a controller targeting glycemia regulation. Therefore, in this paper we focus on estimating low-com
The paper describes the design and verification of a self-adaptive system, composed of multiple smart cameras connected to a monitoring station, that determines the allocation of network bandwidth to the cameras. The design of such a system poses significant challenges, since multiple control strategies are active in the system simultaneously. In fact, the cameras adjust the quality of their strea
This contribution reviews theory, algorithms, and validation results for system identification of continuous-time state-space models from finite input- output sequences. The algorithms developed are autoregressive methods, methods of subspace-based model identification and stochastic realization adapted to the continuous-time context. The resulting model can be decomposed into an input-output mode
Y. Hashimoto, D. Yatou, T. Yamada, H. Yamamoto, R. Johansson, , , pp. 2P1-W06:1-4.
This paper discusses static stability of a planar object grasped by multifingers with three joints. Each individual joint (prismatic joint or revolute joint) is modeled as a linear spring stiffness. The object mass and the link masses are also included. We consider not only pure rolling contact but also frictionless sliding contact. The grasp stability is investigated using the potential energy me
In the tropical moist semi-deciduous forests of West Africa, soil catenas with extremely gravel-rich soil horizons at the summits and upper slopes and largely gravel-free profiles at the lower slope are common. Previous investigations have suggested that these gravel layers are the result of macro-invertebrates mining of fine-grained soil material from the subsoil leaving behind the gravel, to bu
Here, we propose a new procedure for output feedback design for systems with nonlinearities satisfying quadratic constraints. It provides an alternative for the classical observer-based design and relies on transformation of the closed-loop system with a dynamic controller of particular structure into a special block form. Asymptotic stability is shown using Lyapunov theory with strictly positive
In this research, it is shown that robot joint torques can be used to recognize contact force transients induced during robotic manipulation, thus detecting when a task is completed. The approach does not assume any external sensor, which is a benefit compared to the state of the art. The joint torque data are used as input to a recurrent neural network (RNN), and the output of the RNN indicates w
In this paper, it is shown that temporally coupled dynamical movement primitives (DMPs), used to model and execute robot movements, are globally exponentially stable. It follows that DMPs converge to their goal configurations, which is necessary to accomplish most tasks. The convergence is proven mathematically, and then verified in simulations as well as experimentally on an industrial robot.
This report describes a method to estimate the video bandwidth for IP cameras using the H.264 standard. The precise determination of bandwidth allows us to model the network access as a scheduling problem and/or estimate the amount of data that would traverse it during different periods. The paper is written to be as didactic as possible and presents a set of experiments, conducted in an industria
A new and freely available model-based PID design tool for Matlab is introduced. It can be used to solve Maximal Integral Gain Optimization (MIGO) and (load) Integral Absolute Error (IAE) problems. Robustness is ensured through H-inf constraints on the closed-loop transfer functions. A Youla parameter (Q design) method for comparison with the optimal linear time-invariant (LTI) controller for the
This paper highlights recent development of fuel cell hybrid vehicle (FCHV) models using the Fuel Cell Library (FCL), the Vehicle Dynamics Library (VDL), and Electrification Library (EL) from Modelon. A flexible model architecture is implemented to support physical modeling of such large scale, multi-domain vehicle system. The top-level model consists of a hydrogen fuel cell subsystem with detaile
Aerosol-cloud interactions (ACI) constitute the single largest uncertainty in anthropogenic radiative forcing. To reduce the uncertainties and gain more confidence in the simulation of ACI, models need to be evaluated against observations, in particular against measurements of cloud condensation nuclei (CCN). Here we present a data set - ready to be used for model validation - of long-term observa
When local control strategies are used to arrange a platoon into a string like formation, there is mounting evidence that a poorly regulated accordion like motion will emerge. In this paper we prove that this is an inevitable consequence of using local distance measurements to design the control. More specifically we demonstrate that no controller, irrespective of its dynamical complexity, sparsit
