Global vs. local nonlinear optimization techniques for human-like movement of an anthropomorphic robot

In this paper a comparison between using global and local optimization techniques for solving the problem of generating human-like arm and hand movements for an anthropomorphic dual arm robot is made. Although the objective function involved in each optimization problem is convex, there is no evidence that the admissible regions of these problems are convex sets. For the sequence of movements for which the numerical tests were done there were no significant differences between the optimal solutions obtained using the global and the local techniques. This suggests that the optimal solution obtained using the local solver is indeed a global solution.

Nonlinear optimization for human-like synchronous movements of a dual arm-hand robotic system

In previous work we have presented a model capable of generating human-like movements for a dual arm-hand robot involved in human-robot cooperative tasks. However, the focus was on the generation of reach-to-grasp and reach-to-regrasp bimanual movements and no synchrony in timing was taken into account. In this paper we extend the previous model in order to accomplish bimanual manipulation tasks by synchronously moving both arms and hands of an anthropomorphic robotic system. Specifically, the new extended model has been designed for two different tasks with different degrees of difficulty. Numerical results were obtained by the implementation of the IPOPT solver embedded in our MATLAB simulator.

Towards human-like bimanual movements in anthropomorphic robots: a nonlinear optimization approach

Previously we have presented a model for generating human-like arm and hand movements on an unimanual anthropomorphic robot involved in human-robot collaboration tasks. The present paper aims to extend our model in order to address the generation of human-like bimanual movement sequences which are challenged by scenarios cluttered with obstacles. Movement planning involves large scale nonlinear constrained optimization problems which are solved using the IPOPT solver. Simulation studies show that the model generates feasible and realistic hand trajectories for action sequences involving the two hands. The computational costs involved in the planning allow for real-time human robot-interaction. A qualitative analysis reveals that the movements of the robot exhibit basic characteristics of human movements.

Testing Nelder-Mead based repulsion algorithms for multiple roots of nonlinear systems via a two-level factorial design of experiments

This paper addresses the challenging task of computing multiple roots of a system of nonlinear equations. A repulsion algorithm that invokes the Nelder-Mead (N-M) local search method and uses a penalty-type merit function based on the error function, known as 'erf', is presented. In the N-M algorithm context, different strategies are proposed to enhance the quality of the solutions and improve the overall efficiency. The main goal of this paper is to use a two-level factorial design of experiments to analyze the statistical significance of the observed differences in selected performance criteria produced when testing different strategies in the N-M based repulsion algorithm. The main goal of this paper is to use a two-level factorial design of experiments to analyze the statistical significance of the observed differences in selected performance criteria produced when testing different strategies in the N-M based repulsion algorithm.

Nonlinear behavior of gelatin networks reveals a hierarchical structure

We investigate the strain hardening behavior of various gelatin networks-namely physical gelatin gel, chemically cross-linked gelatin gel, and a hybrid gel made of a combination of the former two-under large shear deformations using the pre-stress, strain ramp, and large amplitude oscillations shear protocols. Further, the internal structures of physical gelatin gels and chemically cross-linked gelatin gels were characterized by small angle neutron scattering (SANS) to enable their internal structures to be correlated with their nonlinear rheology. The Kratky plots of SANS data demonstrate the presence of small cross-linked aggregates within the chemically cross-linked network whereas, in the physical gelatin gels, a relatively homogeneous structure is observed. Through model fitting to the scattering data, we were able to obtain structural parameters, such as the correlation length (ξ), the cross-sectional polymer chain radius (Rc) and the fractal dimension (df) of the gel networks. The fractal dimension df obtained from the SANS data of the physical and chemically cross-linked gels is 1.31 and 1.53, respectively. These values are in excellent agreement with the ones obtained from a generalized nonlinear elastic theory that has been used to fit the stress-strain curves. The chemical cross-linking that generates coils and aggregates hinders the free stretching of the triple helix bundles in the physical gels.

An evolutionary approach to the use of Petri net based models: from parallel controllers to HW/SW co-design

"A workshop within the 19th International Conference on Applications and Theory of Petri Nets - ICATPN’1998"

Estrategias para el mejoramiento de la producción de maní mediante la inoculación de microorganismos biofertilizantes y controladores de enfermedades fúngicas. Strategies to the Improvement of the peanut productivity through of inoculation with microorganism biofertilizers and controllers of fungal diseases.

El cultivo de maní es de gran importancia en la provincia de Córdoba. En los últimos años, la pérdida de rendimiento del cultivo en la región centro debido a la degradación de los suelos, la incidencia de enfermedades causadas por hongos y la erosión hídrica y eólica ha desplazado el área de siembra hacia el sur de la provincia. La hipótesis planteada en este proyecto es que la diversidad de bacterias que habitan la rizósfera y/o los tejidos de maní constituye una fuente para la selección de aquéllos que, por sus propiedades fisiológicas y metabólicas, permitan mejorar el rendimiento del cultivo, actuando como biocontroladores de fitopatógenos o biofertilizantes. Los objetivos propuestos son: 1) Evaluar y caracterizar la actividad antifúngica en una población previamente seleccionada de microorganismos del suelo del área manisera de Córdoba para su utilización en el desarrollo de prácticas sustentables tendientes a optimizar la producción de dicho cultivo mediante funciones biocontroladoras. 2) Seleccionar bacterias nativas nodulantes de maní competitivas y eficientes en la fijación y asimilación de nitrógeno en maní para ser utilizadas como un inoculante potencial. La metodología a utilizar consistirá en ensayos de interacción planta-microorganismos usando técnicas moleculares y bioquímicas. Los estudios sobre el conocimiento de la biodiversidad del suelo en el área manisera aportarán herramientas para una transición hacia una agricultura sustentable, generándose un catálogo de bacterias simbióticas y de vida libre que muestran actividad PGPR y que podrían ser empleadas como biofertilizantes o biocontroladoras de fitopatógenos. Ello podría constituir un importante impulso en la economía regional, la cual se basa principalmente en la explotación agrícola.

Evaluation of the determinism of the actuator sensor interface (ASI) on programmable logic controllers (PLC), personal computers (PC) and real-time operating systems (RTOS)

The purpose of this study was to evaluate the determinism of the AS-lnterface network and the 3 main families of control systems, which may use it, namely PLC, PC and RTOS. During the course of this study the PROFIBUS and Ethernet field level networks were also considered in order to ensure that they would not introduce unacceptable latencies into the overall control system. This research demonstrated that an incorrectly configured Ethernet network introduces unacceptable variable duration latencies into the control system, thus care must be exercised if the determinism of a control system is not to be compromised. This study introduces a new concept of using statistics and process capability metrics in the form of CPk values, to specify how suitable a control system is for a given control task. The PLC systems, which were tested, demonstrated extremely deterministic responses, but when a large number of iterations were introduced in the user program, the mean control system latency was much too great for an AS-I network. Thus the PLC was found to be unsuitable for an AS-I network if a large, complex user program Is required. The PC systems, which were tested were non-deterministic and had latencies of variable duration. These latencies became extremely exaggerated when a graphing ActiveX was included in the control application. These PC systems also exhibited a non-normal frequency distribution of control system latencies, and as such are unsuitable for implementation with an AS-I network. The RTOS system, which was tested, overcame the problems identified with the PLC systems and produced an extremely deterministic response, even when a large number of iterations were introduced in the user program. The RTOS system, which was tested, is capable of providing a suitable deterministic control system response, even when an extremely large, complex user program is required.

Nonlinear analysis and control of PEM fuel cells

Magdeburg, Univ., Fak. für Elektrotechnik und Informationstechnik, Diss., 2010

Approximations of the Fisher information for the construction of efficient experimental designs in nonlinear mixed effects models

Magdeburg, Univ., Fak. für Mathematik, Diss., 2012

equivalence of almost bent and almost perfect nonlinear functions and their generalizations

Vectorial Boolean function, almost bent, almost perfect nonlinear, affine equivalence, CCZ-equivalence

Theory and application of nonlinear wave propagation phenomena in combined reaction/separation processes

Reaction separation processes, reactive distillation, chromatographic reactor, equilibrium theory, nonlinear waves, process control, observer design, asymptoticaly exact input/output-linearization

Sparse nonlinear discriminants

Kernel-Functions, Machine Learning, Least Squares, Speech Recognition, Classification, Regression

Analysis of the potential of nonlinear solvent gradients in preparative chromatography

Magdeburg, Univ., Fak. für Verfahrens- und Systemtechnik, Diss., 2010

Nonlinear frequency response analysis for the diagnosis of polymer electrolyte membrane fuel cells

Magdeburg, Univ., Fak. für Verfahrens- und Systemtechnik, Diss., 2012