A5035264897- Robotic Mechanisms and Dynamics
- Robot Manipulation and Learning
- Bacteriophages and microbial interactions
- Monoclonal and Polyclonal Antibodies Research
- HIV Research and Treatment
- Adaptive Control of Nonlinear Systems
- Iterative Learning Control Systems
- Extremum Seeking Control Systems
- Advanced Control Systems Optimization
- Mechanics and Biomechanics Studies
- Robotic Path Planning Algorithms
- Hydraulic and Pneumatic Systems
Northeastern University
2022-2024
Johns Hopkins University
2023
University of California, Merced
2023
Abstract This paper addresses the problem of robust and high precision trajectory tracking control uncertain robot manipulators with prescribed performance. Time delay estimation (TDE) technique is employed to estimate system model, then a new self‐adjusting strategy (SAS) designed adjust TDE gain online. Prescribed performance (PPC) method used guarantee transient response speed steady‐state accuracy. Moreover, transform function PPC in this has unlimited domain, which greatly improves...
Abstract For retroviruses like HIV to proliferate, they must form virions shaped by the self-assembly of Gag polyproteins into a rigid lattice. This immature lattice has been structurally characterized and reconstituted in vitro , revealing sensitivity assembly multiple co-factors. Due this sensitivity, energetic criterion for forming stable lattices is unknown, as are their corresponding rates. Here, we use reaction-diffusion model designed from cryo-ET structure map phase diagram outcomes...
Dynamic Motion Primitives (DMP) is a trajectory coding method based on imitation learning, which achieves wide application owing to its robustness and generalization ability. However, the of DMP in some special cases not very satisfactory. For instance, when target point changes, similarity middle part also greatly affected. Moreover, scaling often followed by reduction endpoint accuracy. To solve above problems, following work carried out this paper: First, we reviewed basic framework...
This paper investigates the high-precision model-free control of robot manipulators. To this end, a robust prescribed performance controller with an improved fast nonsingular terminal sliding mode surface (IFNTSM) and unknown system dynamics estimator (USDE) has been designed. An USDE method is employed to estimate model informations further achieve control, which can avoid complex mathematical calculation. Compared some other methods like time-delay (TDC) neural-networks (NNC), USED does...
Dynamic movement primitives (DMP) has a wide range of applications in robot trajectory planning, and the improved DMP make up for some limitations original DMP. However, generalization stage, sometimes fails to converge target point stably when faced with problem that changes. This paper compensates this by finding relationship between spring coefficient transformation system scaling point, effectively improving convergence accuracy on change. Finally, method is verified simulation...