Accurate position-force control is a core and challenging problem in robotics, especially for manipulators with redundant DOFs. For example, trajectory tracking based control usually fails for grinding robots due to intolerable impact forces imposed onto the end-effectors. The main difficulties lie in the coupling of motion and contact force, redundancy resolution and physical constraints, etc. In this paper, we propose a novel motionforce control strategy in the framework of projection recurrent neural networks. Tracking error and contact force are described in orthogonal spaces respectively, and by selecting minimizing joint torque as secondary task, the control problem is formulated as a quadratic-programming (QP) problem under multiple constraints. In order to obtain real-time optimization of joint toque which is non-convex relative to joint angles, the original QP is reconstructed in velocity level, where the original objective function is replaced by its time derivative. Then a dynamic neural network which is convergence provable is established to solve the modified QP problem online. This work generalizes projection recurrent neural network based position control of manipulators to that of position-force control, which opens a new avenue to shift position-force control of manipulators from pure control perspective to cross design with both convergence and optimality consideration. Numerical and experimental results show that the proposed scheme achieves accurate position-force control, and is capable of handling inequality constraints such as joint angular, velocity and torque limitations, simultaneously, consumption of joint torque can be decreased effectively.
The ensemble pruning system is an effective machine learning framework that combines several learners as experts to classify a test set. Generally, ensemble pruning systems aim to define a region of competence based on the validation set to select the most competent ensembles from the ensemble pool with respect to the test set. However, the size of the ensemble pool is usually fixed, and the performance of an ensemble pool heavily depends on the definition of the region of competence. In this paper, a dynamic pruning framework called margin-based Pareto ensemble pruning is proposed for ensemble pruning systems. The framework explores the optimized ensemble pool size during the overproduction stage and finetunes the experts during the pruning stage. The Pareto optimization algorithm is used to explore the size of the overproduction ensemble pool that can result in better performance. Considering the information entropy of the learners in the indecision region, the marginal criterion for each learner in the ensemble pool is calculated using margin criterion pruning, which prunes the experts with respect to the test set. The effectiveness of the proposed method for classification tasks is assessed using datasets. The results show that margin-based Pareto ensemble pruning can achieve smaller ensemble sizes and better classification performance in most datasets when compared with state-of-the-art models.
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