The Experts below are selected from a list of 75 Experts worldwide ranked by ideXlab platform
Mehta, Prashant G. - One of the best experts on this subject based on the ideXlab platform.
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Controlling a CyberOctopus Soft Arm with Muscle-like Actuation
2021Co-Authors: Chang Heng-sheng, Halder Udit, Gribkova Ekaterina, Tekinalp Arman, Naughton Noel, Gazzola Mattia, Mehta, Prashant G.Abstract:This paper presents an application of the energy shaping methodology to control a flexible, elastic Cosserat rod model of a single octopus arm. The novel contributions of this work are two-fold: (i) a control-oriented modeling of the anatomically realistic internal muscular architecture of an octopus arm; and (ii) the integration of these muscle models into the energy shaping control methodology. The control-oriented modeling takes inspiration in equal parts from theories of nonlinear elasticity and energy shaping control. By introducing a stored energy function for muscles, the difficulties associated with explicitly solving the matching conditions of the energy shaping methodology are avoided. The overall control design problem is posed as a bilevel optimization problem. Its solution is obtained through iterative algorithms. The methodology is numerically implemented and demonstrated in a full-scale Dynamic Simulation Environment Elastica. Two bio-inspired numerical experiments involving the control of octopus arms are reported
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Optimal Control of a Soft CyberOctopus Arm
2021Co-Authors: Wang Tixian, Chang Heng-sheng, Halder Udit, Gazzola Mattia, Mehta, Prashant G.Abstract:In this paper, we use the optimal control methodology to control a flexible, elastic Cosserat rod. An inspiration comes from stereotypical movement patterns in octopus arms, which are observed in a variety of manipulation tasks, such as reaching or fetching. To help uncover the mechanisms underlying these observed morphologies, we outline an optimal control-based framework. A single octopus arm is modeled as a Hamiltonian control system, where the continuum mechanics of the arm is modeled after the Cosserat rod theory, and internal, distributed muscle forces and couples are considered as controls. First order necessary optimality conditions are derived for an optimal control problem formulated for this infinite dimensional system. Solutions to this problem are obtained numerically by an iterative forward-backward algorithm. The state and adjoint equations are solved in a Dynamic Simulation Environment, setting the stage for studying a broader class of optimal control problems. Trajectories that minimize control effort are demonstrated and qualitatively compared with observed behaviors
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Optimal Control of a Soft CyberOctopus Arm
2020Co-Authors: Wang Tixian, Chang Heng-sheng, Halder Udit, Gazzola Mattia, Mehta, Prashant G.Abstract:In this paper, we use the optimal control methodology to control a flexible, elastic Cosserat rod. An inspiration comes from stereotypical movement patterns in octopus arms, which are observed in a variety of manipulation tasks, such as reaching or fetching. To help uncover the mechanisms underlying these observed behaviors, we outline an optimal control-based framework. A single octopus arm is modeled as a Hamiltonian control system, where the continuum mechanics of the arm is captured by the Cosserat rod theory, and internal, distributed muscle forces and couples are considered as controls. First order necessary optimality conditions are derived for an optimal control problem formulated for this infinite dimensional system. Solutions to this problem are obtained numerically by an iterative forward-backward algorithm. The state and adjoint equations are solved in a Dynamic Simulation Environment, setting the stage for studying a broader class of optimal control problems. Trajectories that minimize control effort are demonstrated and qualitatively compared with observed behaviors
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Energy Shaping Control of a CyberOctopus Soft Arm
2020Co-Authors: Chang Heng-sheng, Halder Udit, Gribkova Ekaterina, Tekinalp Arman, Gazzola Mattia, Shih Chia-hsien, Parthasarathy Tejaswin, Chowdhary Girish, Gillette Rhanor, Mehta, Prashant G.Abstract:This paper entails application of the energy shaping methodology to control a flexible, elastic Cosserat rod model. Recent interest in such continuum models stems from applications in soft robotics, and from the growing recognition of the role of mechanics and embodiment in biological control strategies: octopuses are often regarded as iconic examples of this interplay. Here, the Dynamics of the Cosserat rod, modeling a single octopus arm, are treated as a Hamiltonian system and the internal muscle actuators are modeled as distributed forces and couples. The proposed energy shaping control design procedure involves two steps: (1) a potential energy is designed such that its minimizer is the desired equilibrium configuration; (2) an energy shaping control law is implemented to reach the desired equilibrium. By interpreting the controlled Hamiltonian as a Lyapunov function, asymptotic stability of the equilibrium configuration is deduced. The energy shaping control law is shown to require only the deformations of the equilibrium configuration. A forward-backward algorithm is proposed to compute these deformations in an online iterative manner. The overall control design methodology is implemented and demonstrated in a Dynamic Simulation Environment. Results of several bio-inspired numerical experiments involving the control of octopus arms are reported
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Controlling a CyberOctopus Soft Arm with Muscle-like Actuation
2020Co-Authors: Chang Heng-sheng, Halder Udit, Gribkova Ekaterina, Tekinalp Arman, Naughton Noel, Gazzola Mattia, Mehta, Prashant G.Abstract:This paper entails the application of the energy shaping methodology to control a flexible, elastic Cosserat rod model of a single octopus arm. The principal focus and novel contribution of this work is two-fold: (i) reduced order control oriented modeling of the realistic internal muscular architecture in an octopus arm; and (ii) incorporation of such models into the energy shaping methodology, extending our prior work by formally accounting for muscle constraints. Extension of the control scheme to the under-actuated muscle control case involves two steps: (i) design of a desired potential energy function whose static minimizer solves a given control task; and (ii) implementing the resulting energy shaping control input into the Dynamic model. Due to the muscle actuator constraints, the desired potential energy function may not be arbitrarily chosen. Indeed, the desired energy must now satisfy a partial differential equation, known as the matching condition, which is derived for the infinite dimensional Hamiltonian control system. A particular solution to those matching conditions is described, paving the way to the application of energy shaping methodology. The overall control design methodology including muscle models is implemented and demonstrated in a Dynamic Simulation Environment. Results of several bio-inspired numerical experiments involving the control of octopus arms are reported
Chang Heng-sheng - One of the best experts on this subject based on the ideXlab platform.
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Controlling a CyberOctopus Soft Arm with Muscle-like Actuation
2021Co-Authors: Chang Heng-sheng, Halder Udit, Gribkova Ekaterina, Tekinalp Arman, Naughton Noel, Gazzola Mattia, Mehta, Prashant G.Abstract:This paper presents an application of the energy shaping methodology to control a flexible, elastic Cosserat rod model of a single octopus arm. The novel contributions of this work are two-fold: (i) a control-oriented modeling of the anatomically realistic internal muscular architecture of an octopus arm; and (ii) the integration of these muscle models into the energy shaping control methodology. The control-oriented modeling takes inspiration in equal parts from theories of nonlinear elasticity and energy shaping control. By introducing a stored energy function for muscles, the difficulties associated with explicitly solving the matching conditions of the energy shaping methodology are avoided. The overall control design problem is posed as a bilevel optimization problem. Its solution is obtained through iterative algorithms. The methodology is numerically implemented and demonstrated in a full-scale Dynamic Simulation Environment Elastica. Two bio-inspired numerical experiments involving the control of octopus arms are reported
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Optimal Control of a Soft CyberOctopus Arm
2021Co-Authors: Wang Tixian, Chang Heng-sheng, Halder Udit, Gazzola Mattia, Mehta, Prashant G.Abstract:In this paper, we use the optimal control methodology to control a flexible, elastic Cosserat rod. An inspiration comes from stereotypical movement patterns in octopus arms, which are observed in a variety of manipulation tasks, such as reaching or fetching. To help uncover the mechanisms underlying these observed morphologies, we outline an optimal control-based framework. A single octopus arm is modeled as a Hamiltonian control system, where the continuum mechanics of the arm is modeled after the Cosserat rod theory, and internal, distributed muscle forces and couples are considered as controls. First order necessary optimality conditions are derived for an optimal control problem formulated for this infinite dimensional system. Solutions to this problem are obtained numerically by an iterative forward-backward algorithm. The state and adjoint equations are solved in a Dynamic Simulation Environment, setting the stage for studying a broader class of optimal control problems. Trajectories that minimize control effort are demonstrated and qualitatively compared with observed behaviors
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Optimal Control of a Soft CyberOctopus Arm
2020Co-Authors: Wang Tixian, Chang Heng-sheng, Halder Udit, Gazzola Mattia, Mehta, Prashant G.Abstract:In this paper, we use the optimal control methodology to control a flexible, elastic Cosserat rod. An inspiration comes from stereotypical movement patterns in octopus arms, which are observed in a variety of manipulation tasks, such as reaching or fetching. To help uncover the mechanisms underlying these observed behaviors, we outline an optimal control-based framework. A single octopus arm is modeled as a Hamiltonian control system, where the continuum mechanics of the arm is captured by the Cosserat rod theory, and internal, distributed muscle forces and couples are considered as controls. First order necessary optimality conditions are derived for an optimal control problem formulated for this infinite dimensional system. Solutions to this problem are obtained numerically by an iterative forward-backward algorithm. The state and adjoint equations are solved in a Dynamic Simulation Environment, setting the stage for studying a broader class of optimal control problems. Trajectories that minimize control effort are demonstrated and qualitatively compared with observed behaviors
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Energy Shaping Control of a CyberOctopus Soft Arm
2020Co-Authors: Chang Heng-sheng, Halder Udit, Gribkova Ekaterina, Tekinalp Arman, Gazzola Mattia, Shih Chia-hsien, Parthasarathy Tejaswin, Chowdhary Girish, Gillette Rhanor, Mehta, Prashant G.Abstract:This paper entails application of the energy shaping methodology to control a flexible, elastic Cosserat rod model. Recent interest in such continuum models stems from applications in soft robotics, and from the growing recognition of the role of mechanics and embodiment in biological control strategies: octopuses are often regarded as iconic examples of this interplay. Here, the Dynamics of the Cosserat rod, modeling a single octopus arm, are treated as a Hamiltonian system and the internal muscle actuators are modeled as distributed forces and couples. The proposed energy shaping control design procedure involves two steps: (1) a potential energy is designed such that its minimizer is the desired equilibrium configuration; (2) an energy shaping control law is implemented to reach the desired equilibrium. By interpreting the controlled Hamiltonian as a Lyapunov function, asymptotic stability of the equilibrium configuration is deduced. The energy shaping control law is shown to require only the deformations of the equilibrium configuration. A forward-backward algorithm is proposed to compute these deformations in an online iterative manner. The overall control design methodology is implemented and demonstrated in a Dynamic Simulation Environment. Results of several bio-inspired numerical experiments involving the control of octopus arms are reported
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Controlling a CyberOctopus Soft Arm with Muscle-like Actuation
2020Co-Authors: Chang Heng-sheng, Halder Udit, Gribkova Ekaterina, Tekinalp Arman, Naughton Noel, Gazzola Mattia, Mehta, Prashant G.Abstract:This paper entails the application of the energy shaping methodology to control a flexible, elastic Cosserat rod model of a single octopus arm. The principal focus and novel contribution of this work is two-fold: (i) reduced order control oriented modeling of the realistic internal muscular architecture in an octopus arm; and (ii) incorporation of such models into the energy shaping methodology, extending our prior work by formally accounting for muscle constraints. Extension of the control scheme to the under-actuated muscle control case involves two steps: (i) design of a desired potential energy function whose static minimizer solves a given control task; and (ii) implementing the resulting energy shaping control input into the Dynamic model. Due to the muscle actuator constraints, the desired potential energy function may not be arbitrarily chosen. Indeed, the desired energy must now satisfy a partial differential equation, known as the matching condition, which is derived for the infinite dimensional Hamiltonian control system. A particular solution to those matching conditions is described, paving the way to the application of energy shaping methodology. The overall control design methodology including muscle models is implemented and demonstrated in a Dynamic Simulation Environment. Results of several bio-inspired numerical experiments involving the control of octopus arms are reported
Halder Udit - One of the best experts on this subject based on the ideXlab platform.
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Controlling a CyberOctopus Soft Arm with Muscle-like Actuation
2021Co-Authors: Chang Heng-sheng, Halder Udit, Gribkova Ekaterina, Tekinalp Arman, Naughton Noel, Gazzola Mattia, Mehta, Prashant G.Abstract:This paper presents an application of the energy shaping methodology to control a flexible, elastic Cosserat rod model of a single octopus arm. The novel contributions of this work are two-fold: (i) a control-oriented modeling of the anatomically realistic internal muscular architecture of an octopus arm; and (ii) the integration of these muscle models into the energy shaping control methodology. The control-oriented modeling takes inspiration in equal parts from theories of nonlinear elasticity and energy shaping control. By introducing a stored energy function for muscles, the difficulties associated with explicitly solving the matching conditions of the energy shaping methodology are avoided. The overall control design problem is posed as a bilevel optimization problem. Its solution is obtained through iterative algorithms. The methodology is numerically implemented and demonstrated in a full-scale Dynamic Simulation Environment Elastica. Two bio-inspired numerical experiments involving the control of octopus arms are reported
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Optimal Control of a Soft CyberOctopus Arm
2021Co-Authors: Wang Tixian, Chang Heng-sheng, Halder Udit, Gazzola Mattia, Mehta, Prashant G.Abstract:In this paper, we use the optimal control methodology to control a flexible, elastic Cosserat rod. An inspiration comes from stereotypical movement patterns in octopus arms, which are observed in a variety of manipulation tasks, such as reaching or fetching. To help uncover the mechanisms underlying these observed morphologies, we outline an optimal control-based framework. A single octopus arm is modeled as a Hamiltonian control system, where the continuum mechanics of the arm is modeled after the Cosserat rod theory, and internal, distributed muscle forces and couples are considered as controls. First order necessary optimality conditions are derived for an optimal control problem formulated for this infinite dimensional system. Solutions to this problem are obtained numerically by an iterative forward-backward algorithm. The state and adjoint equations are solved in a Dynamic Simulation Environment, setting the stage for studying a broader class of optimal control problems. Trajectories that minimize control effort are demonstrated and qualitatively compared with observed behaviors
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Optimal Control of a Soft CyberOctopus Arm
2020Co-Authors: Wang Tixian, Chang Heng-sheng, Halder Udit, Gazzola Mattia, Mehta, Prashant G.Abstract:In this paper, we use the optimal control methodology to control a flexible, elastic Cosserat rod. An inspiration comes from stereotypical movement patterns in octopus arms, which are observed in a variety of manipulation tasks, such as reaching or fetching. To help uncover the mechanisms underlying these observed behaviors, we outline an optimal control-based framework. A single octopus arm is modeled as a Hamiltonian control system, where the continuum mechanics of the arm is captured by the Cosserat rod theory, and internal, distributed muscle forces and couples are considered as controls. First order necessary optimality conditions are derived for an optimal control problem formulated for this infinite dimensional system. Solutions to this problem are obtained numerically by an iterative forward-backward algorithm. The state and adjoint equations are solved in a Dynamic Simulation Environment, setting the stage for studying a broader class of optimal control problems. Trajectories that minimize control effort are demonstrated and qualitatively compared with observed behaviors
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Energy Shaping Control of a CyberOctopus Soft Arm
2020Co-Authors: Chang Heng-sheng, Halder Udit, Gribkova Ekaterina, Tekinalp Arman, Gazzola Mattia, Shih Chia-hsien, Parthasarathy Tejaswin, Chowdhary Girish, Gillette Rhanor, Mehta, Prashant G.Abstract:This paper entails application of the energy shaping methodology to control a flexible, elastic Cosserat rod model. Recent interest in such continuum models stems from applications in soft robotics, and from the growing recognition of the role of mechanics and embodiment in biological control strategies: octopuses are often regarded as iconic examples of this interplay. Here, the Dynamics of the Cosserat rod, modeling a single octopus arm, are treated as a Hamiltonian system and the internal muscle actuators are modeled as distributed forces and couples. The proposed energy shaping control design procedure involves two steps: (1) a potential energy is designed such that its minimizer is the desired equilibrium configuration; (2) an energy shaping control law is implemented to reach the desired equilibrium. By interpreting the controlled Hamiltonian as a Lyapunov function, asymptotic stability of the equilibrium configuration is deduced. The energy shaping control law is shown to require only the deformations of the equilibrium configuration. A forward-backward algorithm is proposed to compute these deformations in an online iterative manner. The overall control design methodology is implemented and demonstrated in a Dynamic Simulation Environment. Results of several bio-inspired numerical experiments involving the control of octopus arms are reported
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Controlling a CyberOctopus Soft Arm with Muscle-like Actuation
2020Co-Authors: Chang Heng-sheng, Halder Udit, Gribkova Ekaterina, Tekinalp Arman, Naughton Noel, Gazzola Mattia, Mehta, Prashant G.Abstract:This paper entails the application of the energy shaping methodology to control a flexible, elastic Cosserat rod model of a single octopus arm. The principal focus and novel contribution of this work is two-fold: (i) reduced order control oriented modeling of the realistic internal muscular architecture in an octopus arm; and (ii) incorporation of such models into the energy shaping methodology, extending our prior work by formally accounting for muscle constraints. Extension of the control scheme to the under-actuated muscle control case involves two steps: (i) design of a desired potential energy function whose static minimizer solves a given control task; and (ii) implementing the resulting energy shaping control input into the Dynamic model. Due to the muscle actuator constraints, the desired potential energy function may not be arbitrarily chosen. Indeed, the desired energy must now satisfy a partial differential equation, known as the matching condition, which is derived for the infinite dimensional Hamiltonian control system. A particular solution to those matching conditions is described, paving the way to the application of energy shaping methodology. The overall control design methodology including muscle models is implemented and demonstrated in a Dynamic Simulation Environment. Results of several bio-inspired numerical experiments involving the control of octopus arms are reported
Gazzola Mattia - One of the best experts on this subject based on the ideXlab platform.
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Controlling a CyberOctopus Soft Arm with Muscle-like Actuation
2021Co-Authors: Chang Heng-sheng, Halder Udit, Gribkova Ekaterina, Tekinalp Arman, Naughton Noel, Gazzola Mattia, Mehta, Prashant G.Abstract:This paper presents an application of the energy shaping methodology to control a flexible, elastic Cosserat rod model of a single octopus arm. The novel contributions of this work are two-fold: (i) a control-oriented modeling of the anatomically realistic internal muscular architecture of an octopus arm; and (ii) the integration of these muscle models into the energy shaping control methodology. The control-oriented modeling takes inspiration in equal parts from theories of nonlinear elasticity and energy shaping control. By introducing a stored energy function for muscles, the difficulties associated with explicitly solving the matching conditions of the energy shaping methodology are avoided. The overall control design problem is posed as a bilevel optimization problem. Its solution is obtained through iterative algorithms. The methodology is numerically implemented and demonstrated in a full-scale Dynamic Simulation Environment Elastica. Two bio-inspired numerical experiments involving the control of octopus arms are reported
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Optimal Control of a Soft CyberOctopus Arm
2021Co-Authors: Wang Tixian, Chang Heng-sheng, Halder Udit, Gazzola Mattia, Mehta, Prashant G.Abstract:In this paper, we use the optimal control methodology to control a flexible, elastic Cosserat rod. An inspiration comes from stereotypical movement patterns in octopus arms, which are observed in a variety of manipulation tasks, such as reaching or fetching. To help uncover the mechanisms underlying these observed morphologies, we outline an optimal control-based framework. A single octopus arm is modeled as a Hamiltonian control system, where the continuum mechanics of the arm is modeled after the Cosserat rod theory, and internal, distributed muscle forces and couples are considered as controls. First order necessary optimality conditions are derived for an optimal control problem formulated for this infinite dimensional system. Solutions to this problem are obtained numerically by an iterative forward-backward algorithm. The state and adjoint equations are solved in a Dynamic Simulation Environment, setting the stage for studying a broader class of optimal control problems. Trajectories that minimize control effort are demonstrated and qualitatively compared with observed behaviors
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Optimal Control of a Soft CyberOctopus Arm
2020Co-Authors: Wang Tixian, Chang Heng-sheng, Halder Udit, Gazzola Mattia, Mehta, Prashant G.Abstract:In this paper, we use the optimal control methodology to control a flexible, elastic Cosserat rod. An inspiration comes from stereotypical movement patterns in octopus arms, which are observed in a variety of manipulation tasks, such as reaching or fetching. To help uncover the mechanisms underlying these observed behaviors, we outline an optimal control-based framework. A single octopus arm is modeled as a Hamiltonian control system, where the continuum mechanics of the arm is captured by the Cosserat rod theory, and internal, distributed muscle forces and couples are considered as controls. First order necessary optimality conditions are derived for an optimal control problem formulated for this infinite dimensional system. Solutions to this problem are obtained numerically by an iterative forward-backward algorithm. The state and adjoint equations are solved in a Dynamic Simulation Environment, setting the stage for studying a broader class of optimal control problems. Trajectories that minimize control effort are demonstrated and qualitatively compared with observed behaviors
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Energy Shaping Control of a CyberOctopus Soft Arm
2020Co-Authors: Chang Heng-sheng, Halder Udit, Gribkova Ekaterina, Tekinalp Arman, Gazzola Mattia, Shih Chia-hsien, Parthasarathy Tejaswin, Chowdhary Girish, Gillette Rhanor, Mehta, Prashant G.Abstract:This paper entails application of the energy shaping methodology to control a flexible, elastic Cosserat rod model. Recent interest in such continuum models stems from applications in soft robotics, and from the growing recognition of the role of mechanics and embodiment in biological control strategies: octopuses are often regarded as iconic examples of this interplay. Here, the Dynamics of the Cosserat rod, modeling a single octopus arm, are treated as a Hamiltonian system and the internal muscle actuators are modeled as distributed forces and couples. The proposed energy shaping control design procedure involves two steps: (1) a potential energy is designed such that its minimizer is the desired equilibrium configuration; (2) an energy shaping control law is implemented to reach the desired equilibrium. By interpreting the controlled Hamiltonian as a Lyapunov function, asymptotic stability of the equilibrium configuration is deduced. The energy shaping control law is shown to require only the deformations of the equilibrium configuration. A forward-backward algorithm is proposed to compute these deformations in an online iterative manner. The overall control design methodology is implemented and demonstrated in a Dynamic Simulation Environment. Results of several bio-inspired numerical experiments involving the control of octopus arms are reported
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Controlling a CyberOctopus Soft Arm with Muscle-like Actuation
2020Co-Authors: Chang Heng-sheng, Halder Udit, Gribkova Ekaterina, Tekinalp Arman, Naughton Noel, Gazzola Mattia, Mehta, Prashant G.Abstract:This paper entails the application of the energy shaping methodology to control a flexible, elastic Cosserat rod model of a single octopus arm. The principal focus and novel contribution of this work is two-fold: (i) reduced order control oriented modeling of the realistic internal muscular architecture in an octopus arm; and (ii) incorporation of such models into the energy shaping methodology, extending our prior work by formally accounting for muscle constraints. Extension of the control scheme to the under-actuated muscle control case involves two steps: (i) design of a desired potential energy function whose static minimizer solves a given control task; and (ii) implementing the resulting energy shaping control input into the Dynamic model. Due to the muscle actuator constraints, the desired potential energy function may not be arbitrarily chosen. Indeed, the desired energy must now satisfy a partial differential equation, known as the matching condition, which is derived for the infinite dimensional Hamiltonian control system. A particular solution to those matching conditions is described, paving the way to the application of energy shaping methodology. The overall control design methodology including muscle models is implemented and demonstrated in a Dynamic Simulation Environment. Results of several bio-inspired numerical experiments involving the control of octopus arms are reported
Jeanmarc Le Lann - One of the best experts on this subject based on the ideXlab platform.
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integration of a failure monitoring within a hybrid Dynamic Simulation Environment
Chemical Engineering and Processing, 2008Co-Authors: Nelly Oliviermaget, Gilles Hetreux, Jeanmarc Le Lann, Marie Veronique Le LannAbstract:The complexity and the size of the industrial chemical processes induce the monitoring of a growing number of process variables. Their knowledge is generally based on the measurements of system variables and on the physico-chemical models of the process. Nevertheless this information is imprecise because of process and measurement noise. So the research ways aim at developing new and more powerful techniques for the detection of process fault. In this work, we present a method for the fault detection based on the comparison between the real system and the reference model evolution generated by the extended Kalman filter. The reference model is simulated by the Dynamic hybrid simulator, PrODHyS. It is a general object-oriented Environment which provides common and reusable components designed for the development and the management of Dynamic Simulation of industrial systems. The use of this method is illustrated through a didactic example relating to the field of Chemical Process System Engineering.
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integration of an object formalism within a hybrid Dynamic Simulation Environment
Control Engineering Practice, 2004Co-Authors: Jocelyne Perret, Gilles Hetreux, Jeanmarc Le LannAbstract:Abstract PrODHyS is a general object-oriented Environment, which provides common and reusable components designed for the development and the management of Dynamic Simulation of systems engineering. Its major characteristic is its ability to simulate processes described by a hybrid model. In this framework, this paper focuses on the Object Differential Petri Net formalism integrated within PrODHyS . The use of this formalism is illustrated through a didactic example relating to the field of Chemical Process System Engineering.
