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Full-Text Articles in Science and Technology Studies
Collaborative Management Of Web Ontology Data With Flexible Access Control, Jie Lu, Chao Wang, Guangquan Zhang, Jun Ma
Collaborative Management Of Web Ontology Data With Flexible Access Control, Jie Lu, Chao Wang, Guangquan Zhang, Jun Ma
Faculty of Engineering and Information Sciences - Papers: Part A
The creation and management of ontology data on web sites (e.g. instance data that is used to annotate web pages) is important technical support for the growth of the semantic web. This study identifies some key issues for web ontology data management and describes an ontology data management system, called robinet, to perform the management. This paper presents the structure of the system and introduces a Web ontology data management model that enables a flexible access control mechanism. This model adds rules into the robinet system to utilize the semantics of ontology for controlling the access to ontology data. The …
Humanoid Human-Like Reaching Control Based On Movement Primitives, Minh Tuan Tran, Philippe Souères, Michel Taix, Manish Sreenivasa, Christophe Halgand
Humanoid Human-Like Reaching Control Based On Movement Primitives, Minh Tuan Tran, Philippe Souères, Michel Taix, Manish Sreenivasa, Christophe Halgand
Faculty of Engineering and Information Sciences - Papers: Part B
This paper deals with the problem of generating realistic human-like reaching movements from a small set of movement primitives. Two kinds of movement databases are used as reference. The first one is obtained numerically, by applying biological principles of motor control on the dynamic model of the robot arm. The second one is obtained by recording reaching movements of human subjects. From these databases, primitives are extracted and analyzed by using Principal Component Analysis. An original generalization method is then proposed for generating movements that did not belong to the initial database. We show that twenty primitives allow to produce …
Hrp-2 Plays The Yoyo: From Human To Humanoid Yoyo Playing Using Optimal Control, Katja Mombaur, Manish Sreenivasa
Hrp-2 Plays The Yoyo: From Human To Humanoid Yoyo Playing Using Optimal Control, Katja Mombaur, Manish Sreenivasa
Faculty of Engineering and Information Sciences - Papers: Part B
Yoyo playing may seem easy for a human, but it is a challenging problem for a humanoid robot. This paper presents an approach to generate yoyo motions for the humanoid robot, HRP-2, based on motion recorded from human yoyo playing, dynamical models and numerical optimal control techniques. We recorded vertical yoyo playing of 4 subjects measuring yoyo height and rotation angle as well as the corresponding hand motions. A detailed multi-phase yoyo model with impact collisions and control patterns of human yoyo playing were identified from these measurements. Based on this knowledge, reliable yoyo motions within the feasibility ranges of …
Harmonic Elimination Control Of A Five-Level Dc-Ac Cascaded H-Bridge Hybrid Inverter, Georgios S. Konstantinou, Sridhar R. Pulikanti, Vassilios G. Agelidis
Harmonic Elimination Control Of A Five-Level Dc-Ac Cascaded H-Bridge Hybrid Inverter, Georgios S. Konstantinou, Sridhar R. Pulikanti, Vassilios G. Agelidis
Faculty of Engineering and Information Sciences - Papers: Part A
A five-level hybrid cascaded inverter operating under selective harmonic elimination (SHE) pulse-width modulation (PWM) control is discussed in this paper. The topology is a cascaded connection of a conventional three-phase, two-level inverter and an H-bridge module for each phase with a single DC-source. The topology boosts the output voltage within limits and with no additional DC-DC converters. However, such boosting feature depends on the control of the floating capacitor voltage and the load power factor. The regulation of the floating capacitor for the given modulation strategy is also analyzed. Experimental results taken from a single-phase laboratory prototype are presented to …
Inverse Optimal Control As A Tool To Understand Human Yoyo Playing, Katja Mombaur, Manish Sreenivasa
Inverse Optimal Control As A Tool To Understand Human Yoyo Playing, Katja Mombaur, Manish Sreenivasa
Faculty of Engineering and Information Sciences - Papers: Part B
This paper presents an inverse optimal control approach to identify objective functions of human motion from motion capture measurements. We apply it to analyze human yoyo playing. Yoyo playing may seem easy to us to learn but it is a challenging problem from a mechanical point of view involving a hybrid dynamics model. We recorded vertical yoyo playing of humans measuring yoyo height and rotation angle as well as the corresponding hand motions. Results of inverse optimal control are presented showing a mixed criterion of cycle time and terms depending on yoyo and hand acceleration and velocity.