Robot control part 1: Forward transformation matrices

detail and useful

studywolf

I’m doing a tour of learning down at the Brains in Silicon lab run by Dr. Kwabena Boahen for the next month or so working on learning a bunch about building and controlling robots and some other things, and one of the super interesting things that I’m reading about is effective methods for force control of robots. I’ve mentioned operational space (or task space) control of robotic systems before, in the context of learning the inverse kinematic transformation, but down here the approach is to analytically derive the dynamics of the system (as opposed to learning them) and use these to explicitly calculate control signals to move in task space that take advantage of the passive dynamics of the system.

In case you don’t remember what those words mean, operational (or task) space refers to a different configuration space than the basic / default robot configuration space. FOR EXAMPLE:…

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Preliminarily Narrow Down My Topic

TOPIC Artificial Intelligence

NARROWED TOPIC Artificial Intelligence productions

ISSUE The importance of Artificial Intelligence productions around our life.

RESEARCH QUESTION How Artificial Intelligence productions are used in GWU campus and whether they really help make life more easily.

HYPOTHESIS/CLAIM There are many artificial intelligence applications around our campus life and they are so useful that without their help, our life will be dull and very inconvenient.

My academic research paper topics

As a student majoring in computer science and focusing on Artificial Intelligence and Robotics, I’m quit interested in high technologies and their relationships with our life. Therefore, I want to figure out how the AI technology is applied in our life, especially around our campus. AI researches try to develop machines and software with higher intelligence, and make machines more human-like, so that they can help improve human’s life. AI technology is very close to our life, such as driving a car, using a cell phone, playing computer games and so on. Without AI technology, our life will be dull and very inconvenient. So I want to write a paper that help people understand what AI technology is, and how AI technology affect our everyday life.

Two definitions for TCP

TCP

Formal definition:
TCP is an abbreviation for Transmission Control Protocol. It’s a protocol on the transport layer used while transporting data through the Internet.The TCP service model includes a connection-oriented service and a reliable data transfer service. TCP also includes a congestion-control mechanism, a service for the general welfare of the Internet rather than for the direct benefit of the communicating processes.[1]

Informal definition:
When you want to send some files, such as pictures, you can do it according to some protocol, or others cannot receive your data. The protocol is written by an organization named IEEE and obeyed by all the users using transport service. If you do thing according the TCP, you can transport your data to anywhere around the Internet, and it’s guaranteed that others receive your data without any loss. TCP also include a congestion-control mechanism. It will help improve the fluency of the Internet like a traffic policeman direct the traffic to prevent traffic jams.

[1]James F. Kurose, Keith W. Ross, Computer Network: A Top-Down Approach 5th edition, 2010

My Writing Experience

When studying in my own country, China, I do my writing without any consideration about authority. If I need to write something, I just sit there and think about what I should write. Sometimes I may have little ideas. Then I will open the computer and find something relating to my subject. However, I would never tell the potential readers anything about where some contents in my passage comes from. I think it’s quite normal to use others’ ideas.

However, things become quite different in America. Since I haven’t written much thing yet, I can’t tell my writing experience here. But, I do read some passages online and in books, and I find the citation is a very common thing. There may be a citation for every sentence in a passage. You can tell which parts of the passage is the author’s own ideas, and which is others’ ideas. If you are interested in some sentences, you can trace back to their sources. I think reading help me a lot not only in acquiring knowledge, but also in improving my writing skill. If you read more, you can write better.

Of course, feedback of writing is very important for one person to improve writing. Suggestions about how to organize the issues, correctness of syntax and any other comments are very help.

 

Introduction

This is my first Post here and I hope it will be a good beginning.

My name is Meng Lin and I am a new graduate student in the Computer Science Program at GWU.

In my first term, I take a EAP class which will help my academic writing skill. I think this skill is very important, not only because we need to writing lots of thing to get through our courses, but also because it is the key tools to communicate with others about your ideas. I am good at writing both in my first(Chinese) and second(English) languages. For example, the structure of my passage may be confused and my point of view may not be conveyed clearly. I hope I can express myself more clearly and persuasively after taking this class.

The EAP class is a small class. There is less than 20 students in it and there is some students from other countries. I don’t know if the cultural differences will be a problem in our communication since it’s my first to have a foreign classmates, but I will try my best to get along well with them. After my coming to DC, I have found people here are very helpful  and easy going, and I think we will be good friends.

OK, that’s all I want to say in the beginning. Tomorrow is unknown and full of chances. Let’s fight!!