A generalized global adaptive tracking control scheme for robot manipulators with bounded inputs

In this work, a generalized adaptive scheme for the global motion control of robot manipulators with constrained inputs is proposed. It gives rise to various families of bounded adaptive controllers defined through a general class of saturation functions. Compared with adaptive tracking control algorithms previously developed in a bounded input context, the proposed adaptive approach guarantees the motion control objective for any initial condition, avoiding discontinuities throughout the scheme, preventing the inputs to reach their natural saturation bounds, and permitting innovation on the saturating structure through its generalized form, giving a wide range of possibilities for performance improvement. Experimental results corroborate the efficiency of the proposed scheme. Copyright © 2014 John Wiley & Sons, Ltd.     

Dual three-phase induction motor drive with digital current control in the stationary reference frame

Among different multiphase motor drive solutions, one of the most widely discussed is the voltage source inverter (VSI) fed dual three-phase induction machine. Over the years, various topics pertinent to this specific motor drive system have been investigated in considerable depth and, more recently, various reports on real-world applications have emerged. In this paper, a drive system that has been developed specifically for electrical vehicles is described. For vector control purposes, the drive was modeled using an approach that is based on the vector space decomposition technique since it directly leads to the proposed current control method in the stationary reference frame.     

Treatment of Point Defects in Nanowire MOSFETs Using the Nonequilibrium Green’s Function Formalism

A program to numerically simulate point defects in nanowire metal-oxide-semiconductor field-effect transistors is described. The simulation scheme is based on the non-equilibrium Green’s function method self-consistently being obtained via the resolution of 3D Poisson’s equation. A tight-binding hamiltonian is used and the point defect is characterized by a macroscopic coulombic tail treated in the mode-space approach, plus a short range on-site perturbation potential energy, treated exactly. The effect on internal quantities and on the transistor characteristics is studied as a function of the strength and the location of the defect potential. Subthreshold current is found to vary in a factor 10 according to the position of the impurity.Also With Institut Universitaire De France (IUF).     

Adaptive tracking control of Euler–Lagrange systems with bounded controls

We solve the simultaneous closed‐loop identification and tracking‐control problems for fully‐actuated Euler–Lagrange systems under input constraints. We use a nonlinear adaptive controller reminiscent of computed‐torque‐type controllers in which linear correction terms are saturated in order to comply with the imposed bounds on the control inputs. Adaptation, reminiscent of gradient methods, is used also with saturation. With respect to related literature, our contribution consists in establishing uniform global asymptotic stability. Therefore, our control scheme ensures robustness with respect to bounded perturbations and uniform convergence of the estimation errors for any initial conditions. Copyright © 2016 John Wiley & Sons, Ltd.     

Immunochemical or fluorescent labeling of vesicular subcellular fractions for microscopy imaging

We describe a procedure for the labeling of membranous vesicular purified subcellular fractions, to image them, typically by confocal laser scanning microscopy. Being intracellular organelles, these fractions, once purified cannot be attached to glass slides as for cells. Fractions are labeled “in batch” without prior embedding or freezing. Each labeling step performed by passages of resuspension/centrifugation is followed by washings. Then samples are dispersed on the glass slides. Mammalian retinal rod outer segment disks, intact brain stem myelin vesicles, and brain synaptosomes were chosen, as these subcellular fractions can be purified by well established procedures. These fractions were immunolabeled with specific antibodies. Moreover, by the earlier procedure, we show that the mitochondrial vital membrane potential probe MitoTracker Deep Red 633 stains myelin vesicles and rod disks before fixation, consistently with our previous reports of a respiring capacity of these membranes. Therefore, the technique seems adequate to become an instrument to study the structure and the function of these and other subcellular fractions. Microsc. Res. Tech. 73:1086–1090, 2010. © 2010 Wiley‐Liss, Inc.     

Indoor robot gardening: design and implementation

This paper describes the architecture and implementation of a distributed autonomous gardening system with applications in urban/indoor precision agriculture. The garden is a mesh network of robots and plants. The gardening robots are mobile manipulators with an eye-in-hand camera. They are capable of locating plants in the garden, watering them, and locating and grasping fruit. The plants are potted cherry tomatoes enhanced with sensors and computation to monitor their well-being (e.g. soil humidity, state of fruits) and with networking to communicate servicing requests to the robots. By embedding sensing, computation, and communication into the pots, task allocation in the system is de-centrally coordinated, which makes the system scalable and robust against the failure of a centralized agent. We describe the architecture of this system and present experimental results for navigation, object recognition, and manipulation as well as challenges that lie ahead toward autonomous precision agriculture with multi-robot teams.     

Optimal self assembly of modular manipulators with active and passive modules

In this paper, we develop self-assembling robot systems composed of active modular robots and passive bars. The target structure is modeled as a dynamic graph. We present two provably correct algorithms for creating the structure. A decentralized optimal algorithm for the navigation of multiple modular robots on a partial truss structure is used to guide the robots to their location on the target structure. A decentralized algorithm for scheduling the transportation and placement of truss elements is used to coordinate the creation of the target structure. Both algorithms rely on locally optimal matching. The truss self-assembly algorithm has quadratic competitive ratio for static as well as dynamic graph representation. We show simulation results and results for experiments with two 3DOF robots and passive bars that can create and control a 6DOF manipulation.     

Exploring design trade-offs for achieving social inclusion in multi-tiered design problems

ABSTRACT

The digital age of the future is ‘not out there to be discovered’, but it needs to be ‘designed’. The design challenge has to address questions about how we want to live, work, and learn (as individuals and as communities) and what we value and appreciate, e.g.: reflecting on quality of life and creating inclusive societies. An overriding design trade-off for the digital age is whether new developments will increase the digital divide or will create more inclusive societies. Sustaining inclusive societies means allowing people of all ages and all abilities to exploit information technologies for personally meaningful activities. Meta-design fosters the design of socio-technical environments that end-user developers can modify and evolve at use time to improve their quality of life and favour their inclusion in the society. This paper describes three case studies in the domain of assistive technologies in which end users themselves cannot act as end-user developers, but someone else (e.g.: a caregiver or a clinician) must accept this role requiring multi-tiered architectures. The design trade-offs and requirements for meta-design identified in the context of the case studies and other researchers’ projects are described to inform the development of future socio-technical environments focused on social inclusion.