Inverse Static Problem based on Artificial Intelligence: Massive Parallel Robot Applications

Speaker:        Dr. Felix Pasila
                Associate Professor
                Electrical Engineering Department
                Petra Christian University, Indonesia

Title:          "Inverse Static Problem based on Artificial Intelligence:
                 Massive Parallel Robot Applications"

Date:           Monday, 7 November 2016

Time:           4:00pm - 5:00pm

Venue:          Lecture Theater F (near lifts 25/26), HKUST

Abstract:

Massive Parallel-Manipulators are a special kind of force regulated
manipulators which can undergo continuous motions despite being commanded
through a large but finite number of states only. Real-time control of
such systems requires very fast and efficient methods for solving their
inverse static problem (ISP). In this talk, artificial intelligence
techniques (AI) are investigated for addressing the ISP solution of the 3D
Massively Parallel Robots (MPRs) applications using three-state force
actuator control. In particular, the research method used simulation
software and hardware testing with the case of parallel manipulator such
as Hexapod Model and two level Hexapod with discrete pneumatic actuators.
Simulations with typical desired displacement inputs are presented and a
good performance of the results compared to AIs (Neuro-Fuzzy, Neural Nets)
are obtained. The comparison showed that the parallel manipulator has the
Root Mean Squared Error (RMSE) has less than 5 % and can be used for
controlling the ternary states of discrete manipulators via AI.

Keywords: discrete-manipulators; artificial intelligence; inverse static
problem; three-state actuators


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Biography:

Felix holds a PhD in Applied Robotics from the University of Bologna
(Italy) in 2013 with specialization in the area of artificial
intelligence.  Beside his role as lecturer of Electrical Engineering, he
is also Head of Research Office and Head of Intellectual Property Office
in Petra Christian University.  He is keen to develop his understanding on
artificial intelligence technology by doing several applied research and
startup projects funded by government and investors respectively.  In
addition, he is co-founder Estinnovation Society for researchers in the
area of applied engineering and active in the editorial board of Journals
as well as joining several IEEE Society, such as  IEEE Young
Professionals, IEEE Communications Society, IEEE Robotics & Automation
Society, IEEE Computational Intelligence Society.