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AI based robot safe learning and control / Xuefeng Zhou (2020)  

Public Titre : AI based robot safe learning and control Type de document : Monographie Auteurs : Xuefeng Zhou, Auteur ; Shuai Li, Auteur ; et al., Auteur Editeur : Springer Nature Année de publication : 2020 Importance : 127 p. Format : 21 x 30 cm ISBN/ISSN/EAN : 978-981-1555039-- Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Intelligence artificielle [Termes IGN] optimisation (mathématiques) [Termes IGN] réseau neuronal récurrent [Termes IGN] robotique [Termes IGN] sécurité [Termes IGN] système de contrôle [Termes IGN] vitesse angulaire Résumé : (éditeur) This open access book mainly focuses on the safe control of robot manipulators. The control schemes are mainly developed based on dynamic neural network, which is an important theoretical branch of deep reinforcement learning. In order to enhance the safety performance of robot systems, the control strategies include adaptive tracking control for robots with model uncertainties, compliance control in uncertain environments, obstacle avoidance in dynamic workspace. The idea for this book on solving safe control of robot arms was conceived during the industrial applications and the research discussion in the laboratory. Most of the materials in this book are derived from the authors’ papers published in journals, such as IEEE Transactions on Industrial Electronics, neurocomputing, etc. This book can be used as a reference book for researcher and designer of the robotic systems and AI based controllers, and can also be used as a reference book for senior undergraduate and graduate students in colleges and universities. Note de contenu : 1- Adaptive Jacobian based trajectory tracking for redundant manipulators with model uncertainties in repetitive tasks 2- RNN based trajectory control for manipulators with uncertain kinematic parameters 3- RNN based adaptive compliance control for robots with model uncertainties 4- Deep RNN based obstacle avoidance control for redundant manipulators 5- Optimization-based compliant control for manipulators under dynamic obstacle constraints 6- RNN for motion-force control of redundant manipulators with optimal joint torque Numéro de notice : 28518 Affiliation des auteurs : non IGN Thématique : INFORMATIQUE/MATHEMATIQUE Nature : Monographie DOI : sans En ligne : https://directory.doabooks.org/handle/20.500.12854/32049 Format de la ressource électronique : url Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=97304

Alternative method for angular rate determination within the GOCE gradiometer processing / C. Stummer in Journal of geodesy, vol 85 n° 9 (September 2011)  

Public [article]  inJournal of geodesy > vol 85 n° 9 (September 2011) . - pp 585 - 596 Titre : Alternative method for angular rate determination within the GOCE gradiometer processing Type de document : Article/Communication Auteurs : C. Stummer, Auteur ; T. Fecher, Auteur ; Roland Pail, Auteur Année de publication : 2011 Article en page(s) : pp 585 - 596 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Géodésie physique [Termes IGN] champ de pesanteur terrestre [Termes IGN] données GOCE [Termes IGN] filtre de Wiener [Termes IGN] gradiométrie [Termes IGN] orientation du capteur [Termes IGN] vitesse angulaire Résumé : (Auteur) The most crucial part of the GOCE gradiometer processing is, besides the internal calibration of the gradiometer, the determination of the satellite’s inertial angular rate. This paper describes a new method for the angular rate determination. It is based on the stochastic properties of the GOCE star sensors and the gradiometer. The attitude information of both instrument types is combined at the level of angular rates. The combination is done in the spectral domain by Wiener filtering, and thus using an optimal relative weighting of the star sensor and gradiometer attitude information. Since the complete processing chain from raw measurements to gravity field solutions is performed, the results are not only analyzed at the level of gravity gradients, but also of gravity field solutions. Compared to the nominal method, already the resulting gravity gradients show a significantly improved performance for the frequencies (mainly) below the gradiometer measurement bandwidth. This can be verified by analysis of the gravity gradient trace. The improvement is propagated to the level of gravity field models, where a better accuracy can be observed for selected groups of coefficients at characteristic bands at orders k x 16, with integer k, up to high harmonic degrees. Numéro de notice : A2011-375 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1007/s00190-011-0461-3 Date de publication en ligne : 29/03/2019 En ligne : https://doi.org/10.1007/s00190-011-0461-3 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=31154 [article]

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The angular velocities of the plates and the velocity of Earth's centre from space geodesy / Donald F. Argus in Geophysical journal international, vol 180 n° 3 (March 2010)    

Public [article]  inGeophysical journal international > vol 180 n° 3 (March 2010) . - pp 913 - 960 Titre : The angular velocities of the plates and the velocity of Earth's centre from space geodesy Type de document : Article/Communication Auteurs : Donald F. Argus, Auteur ; Richard G. Gordon, Auteur ; Michael B. Heflin, Auteur ; Chopo Ma, Auteur ; Richard J. Eanes, Auteur ; Pascal Willis , Auteur ; W. Richard Peltier, Auteur ; Susan E. Owen, Auteur Année de publication : 2010 Article en page(s) : pp 913 - 960 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Applications de géodésie spatiale [Termes IGN] géocentre [Termes IGN] International Terrestrial Reference Frame [Termes IGN] tectonique des plaques [Termes IGN] vitesse angulaire Résumé : (auteur) Using space geodetic observations from four techniques (GPS, VLBI, SLR and DORIS), we simultaneously estimate the angular velocities of 11 major plates and the velocity of Earth's centre. We call this set of relative plate angular velocities GEODVEL (for GEODesy VELocity). Plate angular velocities depend on the estimate of the velocity of Earth's centre and on the assignment of sites to plates. Most geodetic estimates of the angular velocities of the plates are determined assuming that Earth's centre is fixed in an International Terrestrial Reference Frame (ITRF), and are therefore subject to errors in the estimate of the velocity of Earth's centre. In ITRF2005 and ITRF2000, Earth's centre is the centre of mass of Earth, oceans and atmosphere (CM); the velocity of CM is estimated by SLR observation of LAGEOS's orbit. Herein we define Earth's centre to be the centre of mass of solid Earth (CE); we determine the velocity of CE by assuming that the portions of plate interiors not near the late Pleistocene ice sheets move laterally as if they were part of a rigid spherical cap. The GEODVEL estimate of the velocity of CE is likely nearer the true velocity of CM than are the ITRF2005 and ITRF2000 estimates because (1) no phenomena can sustain a significant velocity between CM and CE, (2) the plates are indeed nearly rigid (aside from vertical motion) and (3) the velocity of CM differs between ITRF2005 and ITRF2000 by an unacceptably large speed of 1.8 mm yr−1. The velocity of Earth's centre in GEODVEL lies between that of ITRF2000 and that of ITRF2005, with the distance from ITRF2005 being about twice that from ITRF2000. Because the GEODVEL estimates of uncertainties in plate angular velocities account for uncertainty in the velocity of Earth's centre, they are more realistic than prior estimates of uncertainties. GEODVEL differs significantly from all prior global sets of relative plate angular velocities determined from space geodesy. For example, the 95 per cent confidence limits for the angular velocities of GEODVEL exclude those of REVEL (Sella et al.) for 34 of the 36 plate pairs that can be formed between any two of the nine plates with the best-constrained motion. The median angular velocity vector difference between GEODVEL and REVEL is 0.028° Myr−1, which is up to 3.1 mm yr−1 on Earth's surface. GEODVEL differs the least from the geodetic angular velocities that Altamimi et al. determine from ITRF2005. GEODVEL's 95 per cent confidence limits exclude 11 of 36 angular velocities of Altamimi et al., and the median difference is 0.015° Myr−1. GEODVEL differs significantly from nearly all relative plate angular velocities averaged over the past few million years, including those of NUVEL-1A. The difference of GEODVEL from updated 3.2 Myr angular velocities is statistically significant for all but two of 36 angular velocities with a median difference of 0.063° Myr−1. Across spreading centres, eight have slowed down while only two have sped up. We conclude that plate angular velocities over the past few decades differ significantly from the corresponding angular velocity averaged over the past 3.2 Myr. Numéro de notice : A2010-656 Affiliation des auteurs : LAREG+Ext (1991-2011) Thématique : POSITIONNEMENT Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1111/j.1365-246X.2009.04463.x Date de publication en ligne : 01/03/2010 En ligne : https://doi.org/10.1111/j.1365-246X.2009.04463.x Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=91734 [article]

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