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48172 results in Computer Science

Page 715 of 2409

Algorithmic Aspects of Machine Learning
  • Ankur Moitra
  • Published online:
    28 September 2018
    Print publication:
    27 September 2018
  • This book bridges theoretical computer science and machine learning by exploring what the two sides can teach each other. It emphasizes the need for flexible, tractable models that better capture not what makes machine learning hard, but what makes it easy. Theoretical computer scientists will be introduced to important models in machine learning and to the main questions within the field. Machine learning researchers will be introduced to cutting-edge research in an accessible format, and gain familiarity with a modern, algorithmic toolkit, including the method of moments, tensor decompositions and convex programming relaxations. The treatment beyond worst-case analysis is to build a rigorous understanding about the approaches used in practice and to facilitate the discovery of exciting, new ways to solve important long-standing problems.

  • Improved RBF network torque control in flexible manipulator actuated by PMAs

  • Kai Liu, Yang Wu, Tianming Zhu, Yining Chen, Yonghua Lu, Dongbiao Zhao
  • Journal:
    Robotica / Volume 37 / Issue 2 / February 2019
    Published online by Cambridge University Press:
    28 September 2018, pp. 264-280

  • A Pneumatic Muscle Actuator (PMA) is a new pneumatic component sharing similar characteristics with biological muscles, and the flexible manipulator actuated by PMAs can better reflect the flexibility of the mechanism. First and foremost, based on the study of the characteristics of human shoulder joints, the configuration design of the flexible manipulator is analyzed, and its kinematics and dynamics models are established. Furthermore, with regard to the nonlinearity, time-invariance and uncertainty of the control system, three aspects of improvement are proposed, which are based on the Radial Basis Function (RBF) network torque control algorithm. The Genetic Algorithm is used to optimize the initial values of RBF network parameters; RBF network parameters are adjusted dynamically by using the additional momentum method; the Levenberg--Marquardt (LM) algorithm, instead of the gradient descent method, is adopted to adjust Proportion Integration Differentiation (PID) parameters online in real time. At last, to test the effects that the improved algorithm exerts on the flexible manipulator control system, some physical platform experiments are carried out. It turns out that the control accuracy and robustness of the improved algorithm are well improved, and the mechanism can be controlled better to track the circular arc trajectory. It lays fundamental importance to the practical application for the working environment.

  • 1 - Topological Spaces

  • from Part I - Topological Preliminaries
  • Jean-Daniel Boissonnat, Frédéric Chazal, Mariette Yvinec
  • Book:
    Geometric and Topological Inference
    Published online:
    14 September 2018
    Print publication:
    27 September 2018, pp 3-9
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  • Modelling, trajectory optimisation and prototyping of sequentially actuated manipulators

  • David Harton, Thierry Laliberté, Clément Gosselin
  • Journal:
    Robotica / Volume 37 / Issue 2 / February 2019
    Published online by Cambridge University Press:
    27 September 2018, pp. 281-299

  • This paper presents a concept of sequentially actuated multi-degree-of-freedom (DOF) robot with only one motor. A switching mechanism allowing to actuate sequentially the different joints–or combinations of the joints–of the robot is also proposed. Potential actuation schemes (joint combinations) are presented and their properties are discussed. Cartesian pick-and-place trajectories are then considered using different actuation schemes. An optimisation algorithm is presented in order to provide the best possible sequence by minimising the amplitude of the joint rotations for a given actuation combination. A simple planar two-DOF and the SCARA architectures are used to illustrate the concept. Finally, a prototype is developed with the aim of demonstrating the sequentially actuated manipulator concept.

Page 715 of 2409