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Discrete control of robot manipulators with uncertain model is the purpose of this paper.

The proposed control design is model-free by employing an adaptive fuzzy estimator in the controller for the estimation of uncertainty as unknown function. An adaptive mechanism is proposed in order to overcome uncertainties. Parameters of the fuzzy estimator are adapted to minimize the estimation error using a gradient descent algorithm.

The proposed model-free discrete control is robust against all uncertainties associated with the model of robotic system including the robot manipulator and actuators, and external disturbances. Stability analysis verifies the proposed control approach. Simulation results show its efficiency in the tracking control.

A novel model-free discrete control approach for electrically driven robot manipulators is proposed. An adaptive fuzzy estimator is used in the controller to overcome uncertainties. The parameters of the estimator are regulated by a gradient descent algorithm. The most gradient descent algorithms have used a known cost function based on the tracking error for adaptation whereas the proposed gradient descent algorithm uses a cost function based on the uncertainty estimation error. Then, the uncertainty estimation error is calculated from the joint position error and its derivative using the closed-loop system.

The linear regression technique is widely used to determine empirical parameters of fatigue life profile while the results may not continuously depend on experimental data. Thus Tikhonov-Morozov method is utilized here to regularize the linear regression results and consequently reduces the influence of measurement noise without notably distorting the fatigue life distribution. The paper aims to discuss these issues.

Tikhonov-Morozov regularization method would be shown to effectively reduce the influences of measurement noise without distorting the fatigue life distribution. Moreover since iterative regularization methods are known to be an attractive alternative to Tikhonov regularization, four gradient iterative methods called as simple iteration, minimum error, steepest descent and conjugate gradient methods are examined with an appropriate initial guess of regularized coefficients.

It has been shown that in case of sparse fatigue life measurements, linear regression results may not have continuous dependence on experimental data and measurement error could lead to misinterpretations of the solution. Therefore from engineering safety point of view, utilizing regularization method could successfully reduce the influence of measurement noise without significantly distorting the fatigue life distribution.

An excellent initial guess for mixed iterative-direct algorithm is introduced and it has been shown that the combination of Newton iterative approach and Morozov discrepancy principle is one of the interesting strategies for determination of regularization parameter having an excellent rate of convergence. Moreover since iterative methods are known to be an attractive alternative to Tikhonov regularization, four gradient descend methods are examined here for regularization of the linear regression problem. It has been found that all of gradient decent methods with an appropriate initial guess of regularized coefficients have an excellent convergence to Tikhonov-Morozov regularization results.

This paper aims to provide a solution to the first phase of a force-controlled circular Peg-In-Hole assembly using an industrial robot. The paper suggests motion planning of the robot’s end-effector so as to perform Peg-In-Hole search with minimum a priori information of the working environment.

The paper models Peg-In-Hole search problem as a problem of finding the minima in depth profile for a particular assembly. Thereafter, various optimization techniques are used to guide the robot to locate minima and complete the hole search. This approach is inspired by a human’s approach of searching a hole by moving peg in various directions so as to search a point of maximum insertion which is same as the minima in depth profile.

The usage of optimization techniques for hole search allows the robot to work with minimum a priori information of the working environment. Also, the iterative nature of the techniques adapts to any disturbance during assembly.

The techniques discussed here are quite useful if a force-controlled assembly needs to be performed in a highly unknown environment and also when the assembly setup can get disturbed in between.

The concept is original and provides a non-conventional use of optimization techniques, not for optimization of some process directly but for an industrial robot’s motion planning.

This study aims to develop an optimized 3D laser point reconstruction using Descent Gradient algorithm. Precise and accurate reconstruction of 3D laser point cloud of the complex environment/object is a key solution for many industries such as construction, gaming, automobiles, aerial navigation, architecture and automation. A 2D laser scanner along with a servo motor/pan tilt/inertial measurement unit is used for generating 3D point cloud (either environment/object or both) by acquiring the real-time data from sensors. However, while generating the 3D laser point cloud, various problems related to time synchronization problem between laser and servomotor and torque variation in servomotors arise, which causes misalignment in stacking the 2D laser scan for generating the 3D point cloud of the environment. Because of the misalignment in stacking, the 2D laser scan corresponding to the erroneous angular and position information by the servomotor and the 3D laser point cloud become distorted in terms of inconsistency for measuring the dimension of the objects.

This paper addresses a modified 3D laser system assembled from a 2D laser scanner coupled with a servomotor (dynamixel motor) for developing an efficient 3D laser point cloud with the implementation of an optimization technique: descent gradient filter (DGT). The proposed approach reduces the cost function (error) in the angular and position coordinates of the servo motor caused because of torque variation and time synchronization, which resulted in enhancing the accuracy in 3D point cloud mapping for the accurate measurement of the object’s dimensions.

Various real-world experiments are performed with the proposed DGT filter linked with laser scanner and servomotor and an improvement of 6.5 per cent in measuring the accurate dimension of object is obtained while comparing with conventional approaches for generating a 3D laser point cloud.

This proposed technique may be applicable for various industrial applications that are based on robotics arms (such as painting, welding and cutting) in the automobile industry, the optimized measurement of object, efficient mobile robot navigation, precise 3D reconstruction of environment/object in construction, architecture applications, airborne applications and aerial navigation.

The purpose of this paper is to present a novel gradient‐based iterative algorithm for the joint diagonalization of a set of real symmetric matrices. The approximate joint diagonalization of a set of matrices is an important tool for solving stochastic linear equations. As an application, reliability analysis of structures by using the stochastic finite element analysis based on the joint diagonalization approach is also introduced in this paper, and it provides useful references to practical engineers.

By starting with a least squares (LS) criterion, the authors obtain a classical nonlinear cost‐function and transfer the joint diagonalization problem into a least squares like minimization problem. A gradient method for minimizing such a cost function is derived and tested against other techniques in engineering applications.

A novel approach is presented for joint diagonalization for a set of real symmetric matrices. The new algorithm works on the numerical gradient base, and solves the problem with iterations. Demonstrated by examples, the new algorithm shows the merits of simplicity, effectiveness, and computational efficiency.

A novel algorithm for joint diagonalization of real symmetric matrices is presented in this paper. The new algorithm is based on the least squares criterion, and it iteratively searches for the optimal transformation matrix based on the gradient of the cost function, which can be computed in a closed form. Numerical examples show that the new algorithm is efficient and robust. The new algorithm is applied in conjunction with stochastic finite element methods, and very promising results are observed which match very well with the Monte Carlo method, but with higher computational efficiency. The new method is also tested in the context of structural reliability analysis. The reliability index obtained with the joint diagonalization approach is compared with the conventional Hasofer Lind algorithm, and again good agreement is achieved.

This paper aims to effectively explore the application effect of big data techniques based on an α-support vector machine-stochastic gradient descent (SVMSGD) algorithm in third-party logistics, obtain the valuable information hidden in the logistics big data and promote the logistics enterprises to make more reasonable planning schemes.

In this paper, the forgetting factor is introduced without changing the algorithm's complexity and proposed an algorithm based on the forgetting factor called the α-SVMSGD algorithm. The algorithm selectively deletes or retains the historical data, which improves the adaptability of the classifier to the real-time new logistics data. The simulation results verify the application effect of the algorithm.

With the increase of training times, the test error percentages of gradient descent (GD) algorithm, gradient descent support (SGD) algorithm and the α-SVMSGD algorithm decrease gradually; in the process of logistics big data processing, the α-SVMSGD algorithm has the efficiency of SGD algorithm while ensuring that the GD direction approaches the optimal solution direction and can use a small amount of data to obtain more accurate results and enhance the convergence accuracy.

The threshold setting of the forgetting factor still needs to be improved. Setting thresholds for different data types in self-learning has become a research direction. The number of forgotten data can be effectively controlled through big data processing technology to improve data support for the normal operation of third-party logistics.

It can effectively reduce the time-consuming of data mining, realize the rapid and accurate convergence of sample data without increasing the complexity of samples, improve the efficiency of logistics big data mining, reduce the redundancy of historical data, and has a certain reference value in promoting the development of logistics industry.

The classification algorithm proposed in this paper has feasibility and high convergence in third-party logistics big data mining. The α-SVMSGD algorithm proposed in this paper has a certain application value in real-time logistics data mining, but the design of the forgetting factor threshold needs to be improved. In the future, the authors will continue to study how to set different data type thresholds in self-learning.

In real-world decision-making, high accuracy data analysis is essential in a ubiquitous environment. However, we encounter missing data while collecting user-related data information because of various privacy concerns on account of a user. This paper aims to deal with incomplete data for fuzzy model identification, a new method of parameter estimation of a Takagi–Sugeno model in the presence of missing features.

In this work, authors proposed a three-fold approach for fuzzy model identification in which imputation-based linear interpolation technique is used to estimate missing features of the data, and then fuzzy c-means clustering is used for determining optimal number of rules and for the determination of parameters of membership functions of the fuzzy model. Finally, the optimization of the all antecedent and consequent parameters along with the width of the antecedent (Gaussian) membership function is done by gradient descent algorithm based on the minimization of root mean square error.

The proposed method is tested on two well-known simulation examples as well as on a real data set, and the performance is compared with some traditional methods. The result analysis and statistical analysis show that the proposed model has achieved a considerable improvement in accuracy in the presence of varying degree of data incompleteness.

The proposed method works well for fuzzy model identification method, a new method of parameter estimation of a Takagi–Sugeno model in the presence of missing features with varying degree of missing data as compared to some well-known methods.

In India, agriculture is considered as the major source of income for a major sector of people. Our country's GDP (Gross Domestic Product) can increase only if we focus on agriculture and its growth toward global economy. There have been several attempts to improve the agricultural sector since decades.

This work describes about the design of a device which continuously monitors the plant growth and sends the data to a centralized database, where data is dynamically analyzed based on base references using various machine learning algorithms like regression, gradient descent, clustering etc.

This paper aims at analyzing the plant growth in of our country and focuses on the improvement of plant growth based on factors such as temperature, air moisture, radiant energy, carbon dioxide levels, soil pH& temperature through the design of a device.

It is anticipated to provide a solution by analyzing the plant growth percentage in different regions over a period of time. Based on the inferences, we will be able to suggest an optimum environment for the plant species to grow best. Various sensors like temperature and humidity sensors, light sensors and pH electrodes can be used in collecting data from the plant environment.