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The goal of multidimensional independent component analysis (MICA) lies in the linear separation of data into statistically independent groups of signals. In this work, we give an elementary proof for the uniqueness of this problem in the case of equally sized subspaces, showing that the separation matrix is essentially unique except for row permutation and scaling. The proof is based on the reinterpretation...
We consider a variant of the time-optimal control of the acrobot and term it sub time-optimal. By exploiting the partially linearized structure obtained through a feedback linearization technique, we swing up the first link to the vertically upright position in optimal time and then stabilize the second link around its vertical equilibrium position. Rate constraints are imposed on the actuator and...
We investigate how unmanned aerial vehicles (UAVs) with flexible wings can be designed to exploit the aeroelasticity of wing deformation that is present in bat wings, with a view to improve the efficiency of flight. We constructed a robotic bat wing with fully passive elastic wing-folding properties. The robotic wing is powered by a gearbox running two synchronised motors, effectively providing one...
Autoregressive (AR) and time-varying AR (TVAR) models are widely used in various applications, from speech processing to biomedical signal analysis. Various dissimilarity measures such as the Itakura divergence have been proposed to compare two AR models. However, they do not take into account the variances of the driving processes and only apply to stationary processes. More generally, the comparison...
Due to the dynamic interaction, the motion of the arms alters the attitude and position of the base. To stabilize the centroid position of the base during on-orbital manipulation, we proposed the modeling concept of the "Base Centroid Virtual Manipulator (BCVM)" for free-floating multi-arm space robotic systems. Correspondingly, the trajectory planning method of the balance arm was addressed...
This paper employs sparse Bayesian approach to enable the Probabilistic Classification Vector Machine (PCVM) to select a relevant subset of features. Because of probabilistic outputs and the ability to automatically optimize the regularization items, the sparse Bayesian framework has shown great advantages in real-world applications. However, the Gaussian priors that introduce the same prior to different...
We studied the joint replenishment problem with deterministic resource restriction. A differential evolution (DE) algorithm that uses indirect grouping strategy to solve constrained joint replenishment is presented. The procedure and structure of the DE algorithm is proposed. Extensive computational experiments are performed to compare the performances of the DE algorithm with results of genetic algorithm...
This paper presents the application of a humanoid robot as an evaluator of assistive devices; we propose a framework of the evaluation by utilizing identification of the mechanical properties of a humanoid robot. The accurate estimation of joint torque with the identification can enhance the performance to estimate the supporting effect of the devices. We evaluate a passive assistive wear "Smart...
This paper investigates the possibility and fundamental properties of limit cycle walking on slippery road surface. First, we develop the mathematical model of a planar underactauted biped robot with an upper body that walks while sliding on oily/ice floor. Second, we conduct numerical simulations to show that stable gait generation can be achieved by applying a simple output following control to...
This article describes the implementation and use of a two-accelerometer system to measure the angle formed between lower joints of weightlifters during the execution of the technical gesture. Being aware of movement between joints will allow identifying bad moves and prevent injuries in athletes. Likewise, it will help in turn to rehabilitation for people with problems in the movement of their joints...
In this paper, a state feedback controller is designed via polynomial method for a double inverted pendulum. The polynomial method is first extended into state space. Then based on the equations of motion, the linearized state space model of double inverted pendulum is derived near the upright balance position. The state feedback controller is designed via polynomial method where Ackermann's formula...
This paper describes a novel approach to construct a mapping function between a given speaker pair using probability density functions (PDF) of matrix variate. In voice conversion studies, two important functions should be realized: 1) precise modeling of both the source and target feature spaces, and 2) construction of a proper transform function between these spaces. Voice conversion based on Gaussian...
Learning motor skills for robots is a hard task. In particular, a high number of degrees-of-freedom in the robot can pose serious challenges to existing reinforcement learning methods, since it leads to a high-dimensional search space. However, complex robots are often intrinsically redundant systems and, therefore, can be controlled using a latent manifold of much smaller dimensionality. In this...
This paper describes the identification of HRP-2 foot's dynamics. It is expected that a humanoid robot will work in the same environment as man. For that purpose, safety of operation is important. Although a simulator is used for confirming safe conditions of operation, an error may arise in a dynamic parameter by the robot of a simulator, and an actual robot. In this paper, it identified about the...
The article presents the process of designing a mathematical model of the human arm. Modelling arm consists of two joints connected by the rotational link. Each of them is represented as a rectangular prism which changes shape during the movement. The moment of shape change depends on the two-state coordinates: the angular displacement q1 and q2. Based on the analysis of the arm movement, a mathematical...
Snake robots are biomimetic robots highly suited for traversing challenging terrain where traditional robots have difficulty moving. A key aspect is obstacle-aided locomotion, where the snake pushes against the environment to achieve the desired propulsion. The main focus of this work is to optimally determine how to use the motor torque inputs that result in obstacle forces suitable to achieve some...
This paper discusses a way of simulating of foot-ground contact for bipedal robots. For walking robots the most fundamental issue is maintaining contact between the foot and the ground. During simulation, the most common approach is to assume rigid contact between the foot and the ground. However this kind of contact cannot model sliding, foot rotation and deformation. That can create inaccurate results...
Legged systems are potentially expected to have outstanding mobility. However, they have shown only modest levels of capability to traverse on flat ground. This paper introduces a biped robot inspired by the hind limbs of cats. We present the characteristics of the system and conduct a position analysis based on vector loop equations. Afterwards, the ground clearance and parallel movement of the robotic...
Living organisms are characterized by their smooth adaptability to environmental changes and their robustness against morphological modifications. To investigate the computational mechanisms behind such learning scheme, we proposed tacit learning as a novel learning method. In tacit learning, there are no clear distinctions between learning and motor control: learning is a simple accumulation process...
This paper presents the forward kinematics analysis for the Mitsubishi Melfa RV-2AJ industrial robot with a five degree of freedom (DOF) revolute joints. The kinematics problem is defined as the transformation from the joint space to the Cartesian space and vice versa. An analytical solution using Denavit-Hartenberg (D-H) representation to describe the position and orientation of the robot end-effector...
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