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Bimanual manipulation tasks require strong coordination between the two hands performing the task. Trajectories of both arms must be temporally synchronized while satisfying certain spatial constraints while performing the task. In this paper, control laws for the desired trajectory tracking and synchronization of multiple agents modeled using dynamic movement primitives (DMPs) are developed. The...
In this paper, an algorithm called transverse contracting dynamic system primitive (CDSP) to learn the dynamics of periodic motions from demonstrations is presented. Learning motion plans is essential in making robot programming possible by non-expert programmers as well as realizing human-robot collaboration. The complex periodic motion of the human arm is generated by an orbitally stable closed-loop...
Cooling load forecasting is beneficial for chiller plant operation as it can be used for energy efficient scheduling of chiller plant components (such as chillers, cooling towers etc.). This paper presents a method for forecasting next day's hourly cooling load for a chiller plant using the concepts of similar day selection, wavelet decomposition, and neural networks. Cooling load forecast is obtained...
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