Robot learning through task identification

The operation of an autonomous mobile robot in a semi-structured environment is a complex, usually non-linear and partly unpredictable process. Lacking a theory of robot–environment interaction that allows the design of robot control code based on theoretical analysis, roboticists still have to resort to trial-and-error methods in mobile robotics.The RobotMODIC project aims to develop a theoretical understanding of a robot’s interaction with its environment, and uses system identification techniques to identify the system robot–task–environment. In this paper, we present two practical examples of the RobotMODIC process: mobile robot self-localisation and mobile robot training to achieve door traversal.In both examples, a transparent mathematical function is obtained that maps inputs–sensory perception in both cases–to output — location and steering velocity respectively. Analysis of the obtained models reveals further information about the way in which a task is achieved, the relevance of individual sensors, possible ways of obtaining more parsimonious models, etc.     

Simulation of humidity control and greenhouse temperature tracking in a growth chamber using a passive air conditioning unit

In this paper, we define a dynamic discrete model of a passive air conditioning unit, without the more typical compression or absorption-refrigeration cycle. The unit is composed of heat exchangers, a positioning system and humid corrugated pads. The aim of the study was to follow the temperature in a greenhouse and to replicate it with a desired and stable relative humidity in a ventilated growth chamber. A control law, based on a quadratic criterion and dynamic programming, taking output error and energy consumption minimisation into account, was used to control the behaviour of the unit in spite of air intake disturbances. The results of the simulation indicate that the air conditioning unit can produce a variable climate in the growth chamber, with a wide range of relative humidity setpoints.     

Genetic programming of conventional features to detect seizure precursors

This paper presents an application of genetic programming (GP) to optimally select and fuse conventional features (C-features) for the detection of epileptic waveforms within intracranial electroencephalogram (IEEG) recordings that precede seizures, known as seizure precursors. Evidence suggests that seizure precursors may localize regions important to seizure generation on the IEEG and epilepsy treatment. However, current methods to detect epileptic precursors lack a sound approach to automatically select and combine C-features that best distinguish epileptic events from background, relying on visual review predominantly. This work suggests GP as an optimal alternative to create a single feature after evaluating the performance of a binary detector that uses: (1) genetically programmed features; (2) features selected via GP; (3) forward sequentially selected features; and (4) visually selected features. Results demonstrate that a detector with a genetically programmed feature outperforms the other three approaches, achieving over 78.5% positive predictive value, 83.5% sensitivity, and 93% specificity at the 95% level of confidence.     

Priority mix planning for semiconductor fabrication by fuzzy AHP ranking

With today’s keen competition, semiconductor market has changed from producer-oriented to customer-oriented. To be successful, companies need to consider both customer satisfaction in demand and the ultimate profit goal of companies. Semiconductor fabricators today must face an environment with multi-product types and multi-priority orders. Since semiconductor fabrication has a very complicated production process, the production planning of different products types and priority levels is an even more difficult task to experts. The objective of this study is to construct an analytical approach under a fuzzy subjective judgment environment, in which fuzzy analytic hierarchy process (AHP) method with entropy weight is utilized to deal with uncertainty, to generate performance ranking of different priority mixes. The results provide guidance to experts in a fab regarding strategies for accepting orders with the consideration of manufacturing efficiency in the aspects of product, equipment efficiency and finance.     

An anti-windup strategy for active vibration isolation systems

An anti-windup augmentation technique for active vibration isolation systems is considered in this paper and shown to lead to high-performance vibration isolation through simulations and experiments. First, the anti-windup construction is described and desirable properties of the augmented closed-loop system are illustrated. Then, the anti-windup technique is tested on a simulation example and finally shown to perform excellently on a commercial vibration isolation device: Newport Corporation's Elite 3^TM active vibration isolation system which has been patented and is now commercialized with this architecture. Both simulation and experimental results confirm the effectiveness of the anti-windup scheme.     

Experimental investigation of the normal spectral emissivity and other thermophysical properties of pulse-heated Ni-Ti and Au-Ni alloys into the liquid phase

1. Introduction Metal working industry needs accurate thermo- physical properties of liquid metals and alloys as input data for different simulation routines to im- prove the performance of their products. Within this paper we continue the systematic investigation of the dependence of emissivity of binary alloys on the relative concentration of the constituent elements (for a previous paper see [1]). 2. Experimental method A fast ohmic pulse heating technique is applied to heat metallic wire-s…     

Sensor fault tolerant control using sliding mode observers

Previous work has considered the use of sliding mode observers for fault detection and isolation (FDI) in uncertain linear systems whereby the unknown faults are reconstructed by appropriate processing of the so-called equivalent output error injection. The paper builds on this work and considers such a scheme within the broader context of fault tolerant control. Specifically, by correcting the faulty measurement by an estimate of the fault obtained from the sliding mode FDI scheme, good closed-loop performance is still maintained. An example of such a scheme, which has been implemented in real-time on a laboratory dc motor rig, is described.     

Stability analysis for discrete linear systems with state saturation by a saturation-dependent Lyapunov functional

This paper concerns the stability analysis problem of discrete linear systems with state saturation using a saturation-dependent Lyapunov functional.We introduce a free matrix characterized by the sum of the absolute value of each elements for each row less than 1,which makes the state with saturation constraint reside in a convex polyhedron.A saturation-dependent Lyapunov functional is then designed to obtain a sufficient condition for such systems to be globally asymptotically stable.Based on this stability criterion,the state feedback control law synthesis problem is also studied.The obtained results are formulated in terms of bilinear matrix inequalities that can be solved by the presented iterative linear matrix inequality algorithm.Two numerical examples are used to demonstrate the effectiveness of the proposed method.