In tunneling and mining construction work, heavy and large manipulators are used to spray liquid concrete on the walls. These manipulators are usually operated manually with simple units allowing to control all actuators independently. In cooperation between industry and university, a novel control system has been developed for the redundant heavy manipulator Robojet® that supports the operator...

In this article the design framework for an Adaptive Inverse Lattice Controller(AILC) with learning attributes, applicable to linear Auto Regressive (AR) systems, is presented. The utilized controller structure relies on the principle of Inverse Model Control (IMC) and its topology resembles that of a lattice lter. The adaptation rules depend on the iden ti edsystem dynamics through an adaptive...

Adaptive inverse control is an automatic control-system design method which “learns” over time how to control a dynamic system (“plant”). The technique may be applied to single-input single-output (SISO) and multi-input multi-output (MIMO) plants. The plant may be linear or nonlinear. A problem with adaptive inverse control in its current state is that the learning algorithms are very slow. Thi...

Maximum entropy inverse optimal control (MaxEnt IOC) is an effective means of discovering the underlying cost function of demonstrated agent’s activity. To enable inference in large state spaces, we introduce an approximate MaxEnt IOC procedure to address the fundamental computational bottleneck stemming from calculating the partition function via dynamic programming. Approximate MaxEnt IOC is ...

the inverse problem of identifying an unknown source control param- eter in a semilinear parabolic equation under an integral overdetermina- tion condition is considered. the series pattern solution of the proposed problem is obtained by using the weighted homotopy analysis method (wham). a description of the method for solving the problem and nding the unknown parameter is derived. finally, tw...