Minimum jerk trajectory control for rehabilitation and haptic applications

Smooth trajectories are essential for safe interaction in between human and a haptic interface. Different methods and strategies have been introduced to create such smooth trajectories. This paper studies the creation of human-like movements in haptic interfaces, based on the study of human arm motion. These motions are intended to retrain the upper limb movements of patients that lose manipulation functions following stroke. We present a model that uses higher degree polynomials to define a trajectory and control the robot arm to achieve minimum jerk movements. It also studies different methods that can be driven from polynomials to create more realistic human-like movements for therapeutic purposes.

Multi-layer radial basis function networks: an extension to the radial basis function

This paper presents the initial research carried out into a new neural network called the multilayer radial basis function network (MRBF). The network extends the radial basis function (RBF) in a similar way to that in which the multilayer perceptron extends the perceptron. It is hoped that by connecting RBFs together in a layered fashion, an equivalent increase in ability can be gained, as is gained from using MLPs instead of single perceptrons. The results of a practical comparison between individual RBFs and MRBF's are also given.

Dynamic input/output linearization using recurrent neural networks

A dynamic recurrent neural network (DRNN) is used to input/output linearize a control affine system in the globally linearizing control (GLC) structure. The network is trained as a part of a closed loop that involves a PI controller, the goal is to use the network, as a dynamic feedback, to cancel the nonlinear terms of the plant. The stability of the configuration is guarantee if the network and the plant are asymptotically stable and the linearizing input is bounded.

Public Art Commission, 1x1 project, Tina O'Connell and Neal White

A significant development in the Washington DC arts and Humanities Commission programme, the 5x5 project represented the first publicly funded arts project of this type in the US Capital. Following an International call a panel selected 20 curators who in turn selected 5 artists. All curators programmes and research were presented and 5 curators projects selected. Research into control issues surrounding the import and export of water from Japan were used to set up a project in which public were invited to put one of one thousand small droplets of this imported water onto Cherry Blossom Trees. Many of the interactions were recorded onto the database that also included documentation of sites which have vested political or national interests in the Earthquake and Fukushima Diaichi disaster in Washington DC itself. Hundreds of participants took part in the project over one week.