Implementation of a functional link net-ANFIS controller for a robot manipulator

2003 ◽  
Author(s):  
I. Hassanzadeh ◽  
S. Khanmohammadi ◽  
J. Jiang ◽  
G. Alizadeh
Keyword(s):  
Robot Manipulator ◽  
Functional Link

Sliding Mode Control Based on Chemical Reaction Optimization and Radial Basis Functional Link Net for De-Icing Robot Manipulator

2015 ◽  
Vol 137 (5) ◽  
Author(s):  
Thuy Van Tran ◽  
YaoNan Wang ◽  
HungLinh Ao ◽  
Tung Khac Truong
Keyword(s):  
Sliding Mode Control ◽  
Chemical Reaction ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Stability And Convergence ◽  
Chemical Reaction Optimization ◽  
Functional Link ◽  
Mode Control ◽  
Reaction Optimization ◽  
Radial Basis

In this paper, a sliding mode control (SMC) system based on combining chemical reaction optimization (CRO) algorithm with radial basis functional link net (RBFLN) for an n-link robot manipulator is proposed to achieve the high-precision position tracking. In the proposed scheme, a three-layer RBFLN with powerful approximation ability is employed to approximate the uncertainties, such as parameter variations, friction forces, and external disturbances, and to eliminate chattering phenomenon of the SMC. In order to achieve the expected performance in the initial phase as well as the improved convergence rate, the RBFLN parameters need to be optimized in advance. Therefore, the initial parameters of the RBFLN are optimized offline by CRO algorithm instead of random selection. Furthermore, the RBFLN weights are determined online according to adaptive tuning laws in the sense of a projection algorithm and the Lyapunov stability theorem to guarantee the stability and convergence of the system. The simulation results of three-link de-icing robot manipulator (DIRM) are provided to verify the robustness and effectiveness of the proposed methodology.

Investigating the functional link between TMEM165 and SPCA1

2019 ◽  
Vol 476 (21) ◽  
pp. 3281-3293 ◽  
Author(s):  
Elodie Lebredonchel ◽  
Marine Houdou ◽  
Hans-Heinrich Hoffmann ◽  
Kateryna Kondratska ◽  
Marie-Ange Krzewinski ◽  
...  
Keyword(s):  
Subcellular Localization ◽  
Complete Loss ◽  
Protein Family ◽  
Uncharacterized Protein ◽  
Functional Link ◽  
P Type

TMEM165 was highlighted in 2012 as the first member of the Uncharacterized Protein Family 0016 (UPF0016) related to human glycosylation diseases. Defects in TMEM165 are associated with strong Golgi glycosylation abnormalities. Our previous work has shown that TMEM165 rapidly degrades with supraphysiological manganese supplementation. In this paper, we establish a functional link between TMEM165 and SPCA1, the Golgi Ca2+/Mn2+ P-type ATPase pump. A nearly complete loss of TMEM165 was observed in SPCA1-deficient Hap1 cells. We demonstrate that TMEM165 was constitutively degraded in lysosomes in the absence of SPCA1. Complementation studies showed that TMEM165 abundance was directly dependent on SPCA1's function and more specifically its capacity to pump Mn2+ from the cytosol into the Golgi lumen. Among SPCA1 mutants that differentially impair Mn2+ and Ca2+ transport, only the Q747A mutant that favors Mn2+ pumping rescues the abundance and Golgi subcellular localization of TMEM165. Interestingly, the overexpression of SERCA2b also rescues the expression of TMEM165. Finally, this paper highlights that TMEM165 expression is linked to the function of SPCA1.

Dynamics of space elastic robot-manipulator

1997 ◽  
Vol 3 (3-4) ◽  
pp. 90-95
Author(s):  
V.I. Gouliaev ◽  
◽  
T.V. Zavrazhina ◽  
Keyword(s):  
Robot Manipulator
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