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Trajectory Redundancy Iterative Learning Control
Shou-Han Zhou,Ying Tan,Bai, Zhao,Denny Oetomo 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10
For tasks which require a robot to track some particular points along a trajectory (instead of the whole trajectory), there exists redundancy. This redundancy results in an increase in the feasibility in the controller design, enabling the possibility of the robot to obtain better performance by satisfying secondary objectives whilst performing the primary objective of tracking the target points. This paper addresses the task redundancy by using point-to-point learning control. It is shown to be an effective tool to accommodate trajectory redundancy since it has the ability to fully explore the increased feasibility resulting from such redundancy. Following the similar idea widely used in kinematic redundancy, a decomposition technique is used. This leads to a simplification of constrained optimization and provides a suboptimal performance in terms of secondary task while the primary task is always achieved. As an example, the formulation is implemented in an on-line fashion to enable a non-redundant robot to track a target point whilst avoiding an obstacle. Simulation results shows good performance from the proposed online algorithms.
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Amtha, Rahmi,Razak, Ishak Abduk,Basuki, Bastaman,Roeslan, Boedi Oetomo,Gautama, Walta,Puwanto, Denny Joko,Ghani, Wan Maria Nabillah,Zain, Rosnah Binti Asian Pacific Journal of Cancer Prevention 2014 Asian Pacific journal of cancer prevention Vol.15 No.20
Purpose: This study aimed to determine the association between tobacco consumption (kretek) and betel quid chewing with oral cancer risk. Materials and Methods: A total of 81 cases of oral cancers were matched with 162 controls in this hospital-based study. Information on sociodemographic characteristics and details of risk habits (duration, frequency and type of tobacco consumption and betel quid chewing) were collected. Association between smoking and betel quid chewing with oral cancer were analysed using conditional logistic regression. Results: Slightly more than half of the cases (55.6%) were smokers where 88.9% of them smoked kretek. After adjusting for confounders, smokers have two fold increased risk, while the risk for kretek consumers and those smoking for more than 10 years was increased to almost three-fold. Prevalence of betel quid chewing among cases and controls was low (7.4% and 1.9% respectively). Chewing of at least one quid per day, and quid combination of betel leaf, areca nut, lime and tobacco conferred a 5-6 fold increased risk. Conclusions: Smoking is positively associated with oral cancer risk. A similar direct association was also seen among betel quid chewers.
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