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Model reference adaptive impedance control for physical human-robot interaction

Control Theory and Technology 2016年第1期14卷 68-82页

作者： bakur alqaudi Hamidreza MODARES Isura RANATUNGA Shaikh M. TOUSIF Frank L. LEWIS Dan O. POPA The University of Texas at Arlington Research Institute (UTARI) Fort Worth TX 76118 U.S.A. Department of Electrical Engineering College of Engineering The University of Texas at Arlington Arlington TX 76019 U.S.A. Electronics and Instrumentation Engineering Technology Department Yanbu Industrial College P.O. Box 30436 41912 Yanbu al-Sinaiyah K.S.A. State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang Liaoning 110819 China

This paper presents a novel enhanced human-robot interaction system based on model reference adaptive control. The presented method delivers guaranteed stability and task performance and has two control loops. A robot-specific inner loop, which is a neuroadaptive controller, learns the robot dynamics online and makes the robot respond like a prescribed impedance model. This loop uses no task information, including no prescribed trajectory. A task-specific outer loop takes into account the human operator dynamics and adapts the prescribed robot impedance model so that the combined human-robot system has desirable characteristics for task performance. This design is based on model reference adaptive control, but of a nonstandard form. The net result is a controller with both adaptive impedance characteristics and assistive inputs that augment the human operator to provide improved task performance of the human-robot team. Simulations verify the performance of the proposed controller in a repetitive point-to-point motion task. Actual experimental implementations on a PR2 robot further corroborate the effectiveness of the approach.

关键词： Human-robot interaction model reference adaptive control model reference neuroadaptive impedance control

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NKR-P1B expression in gut-associated innate lymphoid cells is required for the control of gastrointestinal tract infections

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Cellular & Molecular Immunology 2019年第11期16卷 868-877页

作者： Elias Abou-Samra Zachary Hickey Oscar A.Aguilar Michal Scur Ahmad bakur Mahmoud Sergey Pyatibrat Megan M.Tu Jeffrey Francispillai Arthur Mortha James R.Carlyle Mir Munir A.Rahim Andrew P.Makrigiannis Department of Biochemistry Microbiology and ImmunologyUniversity of Ottawa451 Smyth RoadOttawaON K1H 8M5Canada Department of Immunology University of Toronto1 King’s College CircleTorontoON M5S 1A8Canada Sunnybrook Research Institute 2075 Bayview AvenueTorontoON M4N 3M5Canada Department of Microbiology and Immunology Dalhousie University5850 College StreetHalifaxNS B3H 4R2Canada College of Applied Medical Sciences Taibah UniversityMadinah MunawwarahSaudi Arabia Division of Anatomical Pathology Department of Pathology and Laboratory MedicineThe Ottawa HospitalUniversity of Ottawa501 Smyth RoadOttawaON K1H 8L6Canada

Helper-type innate lymphoid cells(ILC)play an important role in intestinal *** of the NKR-P1 gene family are expressed in various innate immune cells,including natural killer(NK)cells,and their cognate Clr ligand family members are expressed in various specialized tissues,including the intestinal epithelium,where they may play an important role in mucosalassociated innate immune *** this study,we show that the inhibitory NKR-P1B receptor,but not the Ly49 receptor,is expressed in gut-resident NK cells,ILC,and a subset ofγδT cells in a tissue-specific ***3 cells constitute the predominant cell subset expressing NKR-P1B in the gut lamina *** known NKR-P1B ligand Clr-b is broadly expressed in gut-associated cells of hematopoietic *** genetic deletion of NKR-P1B results in a higher frequency and number of ILC3 andγδT cells in the gut lamina ***,the function of gut-resident ILC3,NK,andγδT cells in NKR-P1B-deficient mice is impaired during gastrointestinal tract infection by Citrobacter rodentium or Salmonella typhimurium,resulting in increased systemic bacterial dissemination in NKR-P1B-deficient *** findings highlight the role of the NKR-P1B:Clr-b recognition system in the modulation of intestinal innate immune cell functions.

关键词： Innate lymphoid cells Natural killer cells Gut-associated immune cells NKR-P1B receptor Innate immunity

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Numerical Solution of Parabolic in Partial Differential Equations (PDEs) in One and Two Space Variable

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Journal of Applied Mathematics and Physics 2022年第2期10卷 311-321页

作者： Mariam Almahdi Mohammed Mu’lla Amal Mohammed Ahmed Gaweash Hayat Yousuf Ismail bakur Department of Mathematics University of Hafr Al-Batin (UoHB) Hafar Al-Batin KSA Department of Mathematics University of Taif Taif KSA Department of Mathematics University of Kordofan El-Obeid Sudan

In this paper, we shall be concerned with the numerical solution of parabolic equations in one space variable and the time variable t. We expand Taylor series to derive a higher-order approximation for Ut. We begin with the simplest model problem, for heat conduction in a uniform medium. For this model problem, an explicit difference method is very straightforward in use, and the analysis of its error is easily accomplished by the use of a maximum principle. As we shall show, however, the numerical solution becomes unstable unless the time step is severely restricted, so we shall go on to consider other, more elaborate, numerical methods which can avoid such a restriction. The additional complication in the numerical calculation is more than offset by the smaller number of time steps needed. We then extend the methods to problems with more general boundary conditions, then to more general linear parabolic equations. Finally, we shall discuss the more difficult problem of the solution of nonlinear equations.

关键词： Partial Differential Equations (PDEs) Homentropic Spatial Derivatives with Finite Differences Central Differences Finite Differences

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爱情速配手册

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作者： (美)爱德华·霍夫曼(Edward Hoffman) (美)玛塞尔·巴库·维娜(Marcella bakur Weine)

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最好的朋友

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作者： (美)吉尔·内马克(Jill Neimark)，(美)玛塞拉·巴克·维纳(Marcella bakur Weiner)

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