A robust adaptive hybrid force/position control scheme of two planar manipulators handling an unknown object interacting with an environment

This paper presents a robust hybrid force/position control scheme of two cooperative manipulators handling an unknown object interacting with an unknown environment. The uncertainty of the object is considered in the weight, length, and the position of centre of mass (COM). The environment is assumed to have an unknown but high stiffness. A hybrid force/position control algorithm is designed for the known system and environment case. The exponential convergence of the position and the interaction force with the environment is proved using the Lyapunov direct method. Similarly, in the unknown object and environment case, and in the presence of bounded disturbances on the robots and the object, an adaptive sliding mode hybrid force/position control scheme is designed. The asymptotic convergence of the object's position and the constraint force is guaranteed using the proposed control methodology. The internal forces and moments between the object and robots are controlled independently of the object's motion and environmental interaction forces. Simulation results confirm the performance and effectiveness of the suggested control methodologies.

Spatial coordinated medium sharing: Optimal access control management in drive-thru internet

Driven by the ever-growing expectation of ubiquitous connectivity and the widespread adoption of IEEE 802.11 networks, it is not only highly demanded but also entirely possible for in-motion vehicles to establish convenient Internet access to roadside WiFi access points (APs) than ever before, which is referred to as Drive-Thru Internet. The performance of Drive-Thru Internet, however, would suffer from the high vehicle mobility, severe channel contentions, and instinct issues of the IEEE 802.11 MAC as it was originally designed for static scenarios. As an effort to address these problems, in this paper, we develop a unified analytical framework to evaluate the performance of Drive-Thru Internet, which can accommodate various vehicular traffic flow states, and to be compatible with IEEE 802.11a/b/g networks with a distributed coordination function (DCF). We first develop the mathematical analysis to evaluate the mean saturated throughput of vehicles and the transmitted data volume of a vehicle per drive-thru. We show that the throughput performance of Drive-Thru Internet can be enhanced by selecting an optimal transmission region within an AP's coverage for the coordinated medium sharing of all vehicles. We then develop a spatial access control management approach accordingly, which ensures the airtime fairness for medium sharing and boosts the throughput performance of Drive-Thru Internet in a practical, efficient, and distributed manner. Simulation results show that our optimal access control management approach can efficiently work in IEEE 802.11b and 802.11g networks. The maximal transmitted data volume per drive-thru can be enhanced by 113.1% and 59.5% for IEEE 802.11b and IEEE 802.11g networks with a DCF, respectively, compared with the normal IEEE 802.11 medium access with a DCF.

Navigating control and illusion: functional interactivity versus ‘faux-interactivity’ in transmedia dance performance

Interactivity – a networked loop in which a performer’s live data feeds a digital system – can bridge the divide between live performance and digital entities in transmedia dance performances. In the ‘entanglement scene’ of Australian Dance Theatre’s Multiverse (2014), choreographer Garry Stewart and the creative coders and animators at the Deakin Motion.Lab utilise ‘faux-interactivity’, or a perceived relationship between the dancers and digital entities that exists only from the perspective of the audience. The spectre of ‘faux-interactivity’ challenges the spontaneity in live, embodied performance art because it both integrates live performance with prerendered digital content and offers a potential structure for a shared, dispersed creative and choreographic process across numerous and shared artistic and technological platforms. This paper investigates the concept of ‘faux-interactivity’, suggesting that its use can be a catalyst for moving beyond the limitations and values of ‘real’, or functional interactive systems within a theatrical context, and positing that definitions of ‘interactivity’ might be further expanded to accommodate the shifting timelines inherent in the disparate creative processes of human performance and coding.

Predictive motion planning for AUVs subject to strong time-varying currents and forecasting uncertainties

This paper presents a novel path planning method for minimizing the energy consumption of an autonomous underwater vehicle subjected to time varying ocean disturbances and forecast model uncertainty. The algorithm determines 4-Dimensional path candidates using Nonlinear Robust Model Predictive Control (NRMPC) and solutions optimised using A∗-like algorithms. Vehicle performance limits are incorporated into the algorithm with disturbances represented as spatial and temporally varying ocean currents with a bounded uncertainty in their predictions. The proposed algorithm is demonstrated through simulations using a 4-Dimensional, spatially distributed time-series predictive ocean current model. Results show the combined NRMPC and A∗ approach is capable of generating energy-efficient paths which are resistant to both dynamic disturbances and ocean model uncertainty.

Optimizing time delay feedback for active vibration control of a cantilever beam using a genetic algorithm

Active vibration control using time delay for a cantilever beam is developed in this paper. The equation of motion of the system is developed using the discrete standard formulation, and the discrete quadratic function is used to design the controller. The original contribution in this paper is using a genetic algorithm to determine the optimal time delay feedback for active vibration control of a cantilever beam. Simulations of the beam demonstrated that the genetic algorithm correctly identified the time delay which produced the quickest attenuation of unwanted vibrations for both mode one and mode two. In terms of frequency response, the optimal time delay for both modes reduced the resonant amplitude. In a mixed mode situation, the simulation demonstrated that an optimal time delay could be identified.