2014 IEEE International Symposium on Intelligent Control (ISIC)最新文献_第2页

Driving assistance using smartdevices 使用智能设备进行驾驶辅助

2014 IEEE International Symposium on Intelligent Control (ISIC) Pub Date : 2014-12-01 DOI: 10.1109/ISIC.2014.6967609

A. Buscarino, L. Fortuna, M. Frasca

引用次数: 4

Dual adaptive control of bimanual manipulation with online fuzzy parameter tuning 基于在线模糊参数整定的双手操作双自适应控制

2014 IEEE International Symposium on Intelligent Control (ISIC) Pub Date : 2014-12-01 DOI: 10.1109/ISIC.2014.6967605

Alex Smith, Chenguang Yang, Hongbin Ma, P. Culverhouse, A. Cangelosi, E. Burdet

引用次数: 4

Incremental learning of context-dependent dynamic internal models for robot control 机器人控制中情境依赖动态内部模型的增量学习

2014 IEEE International Symposium on Intelligent Control (ISIC) Pub Date : 2014-12-01 DOI: 10.1109/ISIC.2014.6967617

L. Jamone, B. Damas, J. Santos-Victor

{"title":"Incremental learning of context-dependent dynamic internal models for robot control","authors":"L. Jamone, B. Damas, J. Santos-Victor","doi":"10.1109/ISIC.2014.6967617","DOIUrl":"https://doi.org/10.1109/ISIC.2014.6967617","url":null,"abstract":"Accurate dynamic models can be very difficult to compute analytically for complex robots; moreover, using a precomputed fixed model does not allow to cope with unexpected changes in the system. An interesting alternative solution is to learn such models from data, and keep them up-to-date through online adaptation. In this paper we consider the problem of learning the robot inverse dynamic model under dynamically varying contexts: the robot learns incrementally and autonomously the model under different conditions, represented by the manipulation of objects of different weights, that change the dynamics of the system. The inverse dynamic mapping is modeled as a multi-valued function, in which different outputs for the same input query are related to different dynamic contexts (i.e. different manipulated objects). The mapping is estimated using IMLE, a recent online learning algorithm for multi-valued regression, and used for Computed Torque control. No information is given about the context switch during either learning or control, nor any assumption is made about the kind of variation in the dynamics imposed by a new contexts. Experimental results with the iCub humanoid robot are provided.","PeriodicalId":309111,"journal":{"name":"2014 IEEE International Symposium on Intelligent Control (ISIC)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124393332","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 26

Experimental results for distributed model predictive control applied to a water distribution system 分布式模型预测控制在配水系统中的应用实验结果

2014 IEEE International Symposium on Intelligent Control (ISIC) Pub Date : 2014-12-01 DOI: 10.1109/ISIC.2014.6967614

S. Hentzelt, A. Klingler, K. Graichen

引用次数: 7

Robust fault identification of a polytopic LPV system with neural network 基于神经网络的多面体LPV系统鲁棒故障识别

2014 IEEE International Symposium on Intelligent Control (ISIC) Pub Date : 2014-12-01 DOI: 10.1109/ISIC.2014.6967628

M. Luzar, M. Witczak, M. Mrugalski, Zbigniew Kanski

引用次数: 2

Outlier detection using optimal B-spline smoothing with application to data compression of digital-ink with pen-slip 基于最优b样条平滑的离群点检测及其在笔滑数字链路数据压缩中的应用

2014 IEEE International Symposium on Intelligent Control (ISIC) Pub Date : 2014-12-01 DOI: 10.1109/ISIC.2014.6967637

H. Fujioka, H. Kano

引用次数: 0

H∞ based stabilization and disturbance attenuation for nonlinear differential repetitive processes with an iterative learning control application 基于H∞的非线性微分重复过程镇定与扰动衰减与迭代学习控制

2014 IEEE International Symposium on Intelligent Control (ISIC) Pub Date : 2014-12-01 DOI: 10.1109/ISIC.2014.6967604

M. Emelianov, P. Pakshin, K. Gałkowski, E. Rogers

引用次数: 2

Control of physical interaction through tactile and force sensing during visually guided reaching 在视觉引导到达过程中，通过触觉和力感控制物理交互

2014 IEEE International Symposium on Intelligent Control (ISIC) Pub Date : 2014-12-01 DOI: 10.1109/ISIC.2014.6967621

L. Jamone, M. Fumagalli, L. Natale, F. Nori, G. Metta, G. Sandini

引用次数: 6

Opinion dynamics using Altafini's model with a time-varying directed graph 使用带有时变有向图的Altafini模型的意见动态

2014 IEEE International Symposium on Intelligent Control (ISIC) Pub Date : 2014-12-01 DOI: 10.1109/ISIC.2014.6967611

A. Proskurnikov, M. Cao

{"title":"Opinion dynamics using Altafini's model with a time-varying directed graph","authors":"A. Proskurnikov, M. Cao","doi":"10.1109/ISIC.2014.6967611","DOIUrl":"https://doi.org/10.1109/ISIC.2014.6967611","url":null,"abstract":"Distributed control policies (or protocols) for multi-agent consensus have been extensively studied in recent years, motivated by numerous applications in engineering and science. Most of these algorithms assume the agents to be mutually cooperative and “trustful” and correspondingly attractive couplings between the agents bring the values of the agents' states closer. Opinion dynamics of real social groups, however, require beyond conventional models of multi-agent consensus due to ubiquitous competition and distrust between some pairs of agents, which are usually characterized by the repulsive cou-pling. Antagonistic interactions prevent the averaging tendency of the opinions, which cooperative consensus protocols promote, and may lead to their polarization and clustering. A simple yet insightful model of opinion dynamics with both attractive and repulsive couplings was proposed recently by C. Altafini, who examined first-order consensus algorithms over static signed interaction graphs, where arcs of positive weights connect cooperating agents, and of negative weights correspond to antagonistic pairs. This protocol establishes modulus consensus, where the opinions become the same in modulus but may differ in sign. In the present paper, we extend the modulus consensus model to the case where the network topology is arbitrary time-varying, directed, signed graph. We show that under mild condition of uniform strong connectivity of the network, the protocol establishes agreement of opinions in moduli, whose signs may be opposite, so that the agents' opinions either reach consensus or polarize. This result is further extended to nonlinear consensus protocols. We show also that, unlike cooperative consensus algorithms, uniform strong connectivity cannot be relaxed to uniform quasi-strong connectivity (UQSC).","PeriodicalId":309111,"journal":{"name":"2014 IEEE International Symposium on Intelligent Control (ISIC)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117015039","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 17

Simple adaptive output control of linear systems 线性系统的简单自适应输出控制

2014 IEEE International Symposium on Intelligent Control (ISIC) Pub Date : 2014-12-01 DOI: 10.1109/ISIC.2014.6967606

D. Gerasimov, V. Nikiforov

引用次数: 4