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Full-Text Articles in Engineering
Response To Changes In Key Stimuli Through The Co-Evolution Of Sensor Morphology And Control, Gary Parker, Pramod J. Nathan
Response To Changes In Key Stimuli Through The Co-Evolution Of Sensor Morphology And Control, Gary Parker, Pramod J. Nathan
Computer Science Faculty Publications
Co-evolving a robot’s sensor morphology and control program increases the potential that it can effectively complete its tasks and provides a means for adapting to changes in the environment. In previous work, we presented a learning system where the angle, range, and type of sensors on a hexapod robot, along with the control program, were evolved. Although three sensor stimuli were detectable by the system, it used only two due to the relative importance of these two stimuli in completing the task. In the research presented in this paper, we used the same system, but reduced the availability of a …
Motion Segmentation For Humanoid Control Planning, Matthew Field, David A. Stirling, Fazel Naghdy, Zengxi Pan
Motion Segmentation For Humanoid Control Planning, Matthew Field, David A. Stirling, Fazel Naghdy, Zengxi Pan
Faculty of Engineering - Papers (Archive)
The discovery of major management behaviours from human motion data and uncovering their underlying components is investigated. A range of methods for segmenting major shifts in multidimensional time series are compared in inducing plausible behaviours from motion data. These behaviours are considered as supersets of motion primitives that define a repertoire of manoeuvres available to the human. The resulting multilayered symbolic model is used as a framework for humanoid imitation and control. It is hoped that with appropriate matching and scaling of degrees of freedom, models can be tested by extracting a trajectory for a simulation of the Nao soccer …
Online Optimal Control Of The Central Chilling System In A Super High-Rise Commercial Building, Shengwei Wang, Zhenjun Ma
Online Optimal Control Of The Central Chilling System In A Super High-Rise Commercial Building, Shengwei Wang, Zhenjun Ma
Faculty of Engineering - Papers (Archive)
This paper presents the online optimal control strategies of the central chilling system in a super high-rise building in Hong Kong. The work presented aims at developing a package of optimal control strategies and evaluating their energy saving potentials and finally implementing these strategies in the building to enhance its energy efficiency. Based on testing the effects of interactions within the cooling water system and chilled water system on the system operation performance, the optimal control strategies for the cooling water system and variable speed pumps with different installations in the secondary chilled water system are developed. These strategies are …
A Novel Dynamic Absorber Using Enhanced Magnetorheological Elastomers For Powertrain Vibration Control, Nong Zhang, Nga Hoang, Haiping Du
A Novel Dynamic Absorber Using Enhanced Magnetorheological Elastomers For Powertrain Vibration Control, Nong Zhang, Nga Hoang, Haiping Du
Faculty of Engineering and Information Sciences - Papers: Part A
This paper presents a novel Adaptive Tuned Vibration Absorber (ATVA) using the enhanced magnetorheological elastomers (MREs) for powertrain vibration reduction. The MRE material used in this application includes micro-sized iron particles enhanced by adding nano-sized magnetic powders. With the enhancement, MRE's elastic modulus significantly increases due to the MR effect. In the new ATVA, the MRE plays a role as a torsional spring whose stiffness coefficient can be varied with an external magnetic field. Additionally, this ATVA could operate in shear-squeeze mode rather than shear mode. Thus, the frequency range is much wider than that of general MREs. Such property …
Robust Adaptive Control Of Conjugated Polymer Actuators, Yang Fang, Xiaobo Tan, Gursel Alici
Robust Adaptive Control Of Conjugated Polymer Actuators, Yang Fang, Xiaobo Tan, Gursel Alici
Faculty of Engineering - Papers (Archive)
Conjugated polymers are promising actuation materials for bio- and micromanipulation systems, biomimetic robots, and biomedical devices. Sophisticated electrochemomechanical dynamics in these materials, however, poses significant challenges in ensuring their consistent, robust performance in applications. In this paper, an effective adaptive control strategy is proposed for conjugated polymer actuators. A self-tuning regulator is designed based on a simple actuator model, which is obtained through reduction of an infinite-dimensional physical model and captures the essential actuation dynamics. The control scheme is made robust against unmodeled dynamics and measurement noises with parameter projection, which forces the parameter estimates to stay within physically meaningful …
Electric-Powered Wheelchairs As An Assistive Technology, Aidan O'Dwyer, Malabika Basu, Eugene Coyle
Electric-Powered Wheelchairs As An Assistive Technology, Aidan O'Dwyer, Malabika Basu, Eugene Coyle
Conference papers
This paper briefly outlines recent work done, particularly in control systems, for electric powered wheelchairs. These mobility aids, first developed in the 1950’s [1], were improved with the incorporation of microprocessors. The requirement for mobility aids in general is rising; for example, it is reckoned that 1.5% of the U.K. population require such aids. As an assistive technology, electric powered wheelchairs have many benefits. Nevertheless, a reliable and robust such wheelchair has still to evolve.