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Second-order optimization methods for time-delay Autoregressive eXogenous models: Nature gradient descent method and its two modified methods (2022)
Journal Article

This article proposes several second-order optimization methods for time-delay ARX model. Since the time-delay in the information vector makes the traditional identification algorithms be inefficient, a redundant rule based method is utilized to tran... Read More about Second-order optimization methods for time-delay Autoregressive eXogenous models: Nature gradient descent method and its two modified methods.

Numerical simulation and experimental investigation of the effect of three-layer annular coaxial shroud on gas-powder flow in laser cladding (2022)
Journal Article

Laser cladding is a notable metal additive manufacturing (AM). The outstanding benefit of laser cladding is that the cladding process is more flexible and it can be completed in an open environment. However, oxidation phenomenon of active metals such... Read More about Numerical simulation and experimental investigation of the effect of three-layer annular coaxial shroud on gas-powder flow in laser cladding.

Greedy search method for separable nonlinear models using stage Aitken gradient descent and least squares algorithms (2022)
Journal Article

Aitken gradient descent (AGD) algorithm takes some advantages over the standard gradient descent (SGD) and Newton methods: (1) can achieve at least quadratic convergence in general; (2) does not require the Hessian matrix inversion; (3) has less comp... Read More about Greedy search method for separable nonlinear models using stage Aitken gradient descent and least squares algorithms.

Fixed-time adaptive neural control for robot manipulators with input saturation and disturbance (2022)
Presentation / Conference Contribution

A fixed-time adaptive neural network control scheme is designed for an unknown model manipulator system with input saturation and external environment disturbance, so that the system convergence time can be parameterized and not affected by the initi... Read More about Fixed-time adaptive neural control for robot manipulators with input saturation and disturbance.

Novel gripper-like exoskeleton design for robotic grasping based on learning from demonstration (2022)
Presentation / Conference Contribution

Learning from demonstration (LfD) has been developed and proved to be a promising method for transferring skill knowledge from human to robot. It is desired to have a demonstration device that can effectively map demonstrations to the robot's motion... Read More about Novel gripper-like exoskeleton design for robotic grasping based on learning from demonstration.

Optical fiber angle sensors for the PrHand prosthesis: Development and application in grasp types recognition with machine learning (2022)
Presentation / Conference Contribution

This work presents the instrumentation of the PrHand upper-limb prosthesis with optical fiber sensors to measure the angle of the proximal interphalangeal joint. The angle sensors are based on bending-induced loss and are fabricated with polymer opti... Read More about Optical fiber angle sensors for the PrHand prosthesis: Development and application in grasp types recognition with machine learning.

Non-singular fixed-time sliding mode control for unknown-dynamics manipulators interacting with environment (2022)
Presentation / Conference Contribution

In this paper, a robust fixed-time controller is de-signed for manipulators with unknown dynamics while interacting with environment. To realize compliance of the manipulator to the environment, an admittance model is adopted in the system. In the co... Read More about Non-singular fixed-time sliding mode control for unknown-dynamics manipulators interacting with environment.