image thumbnail

updated 1 year ago

Sphere Fit (least squared) by Alan Jennings

Fits a sphere to a set of noisy data. Does not require a wide arc or many points. (least squares, statistics, optimization)

sphereFit_Example

sphereFit(X)

image thumbnail

updated 1 year ago

Create Video of Rotating 3D Plot by Alan Jennings

Specify a set of view angles and this function creates a video for use in presentations. (video, movie, mpg)

CaptureFigVid_Example

CaptureFigVid(ViewZ, FileName,OptionZ)

WellMadeVid.mp4

image thumbnail

updated almost 2 years ago

Optimal Inverse Function Creation by Alan Jennings

Creates continuous, optimal inverse-functions: given a desired output, finds the optimal input (inverse, optimization, multidimensional)

InvFun_Test

InvFuntions=InvFun(Pop_I,ProbStrut)

image thumbnail

updated 2 years ago

Unbounded Resolution for Function Approximation by Alan Jennings

A continuous function is optimized for varying outputs and increasing parameterization dimension (functional, optimization, interpolation)

[Cost_out,CostGrad]=CostFunc_lwr_8(Pnt,Opt)

[Out_out,OutGrad]=OutputFunc_lwr_8(Pnt,Opt)

[PointsOut]=Fmin_ConditionNum(CovIn,N,Opt)

image thumbnail

updated 2 years ago

Inverse Optimal Functions for Motoman HP-3 Tip Precision by Alan Jennings

A population based optimization increases pointing precision for a planar robotic arm. (robotics, inverse, inverse kinematics)

PSO_Function_ArmijoRobot_3

PointCluster2Angles_HP5_3

Clusters=ClusterGenerate_4(TestPoint,J,J_Grad,Y_Grad,Opti...

image thumbnail

updated almost 3 years ago

Furuta (rotary) Pendulum by Alan Jennings

Equations of motion for a pendulum mounted on rotating base are compared to SimMechanics. (pendulum, simulation, modeling)

The equations of motion for a rotary pendulum (furuta pen...

RotPen_Test_Submitt

image thumbnail

updated 4 years ago

N largest values and locations in multidimensional array by Alan Jennings

Returns the N largest values for a multidimensional array, and their subscripts. (kthvalue, max, largest)

[maxs,locs]=maxNvalues(A,n,Unique)

image thumbnail

updated 4 years ago

SimMechanics pendulum used for control optimization by Alan Jennings

Pendulum imported via SimMechanics generates dynamics for optimal dampening solved by DIDO. (control design, optimal control, pendulum)

Arm_1DOF_ResultsCheck_a

[Results,u_star2,t,Q,K,tset]=...

[Results,u_star2,t]=Arm_1DOF_LinearStateTransition_Fun(St...

image thumbnail

updated 4 years ago

Control optimization of a 4DOF arm using DIDO by Alan Jennings

4 DOF arm imported via SimMechanics generates dynamics for optimal pick-place control solved by DIDO (control design, optimal control, robot)

Arm_4DOF_ResultsCheck

[a,b]=Arm_4DOF_MinEnergy_Cost(x)

[t3,State3,Control_Out]=Arm_4DOF_PathCompose(Pose1,Pose2,...

image thumbnail

updated 4 years ago

Gradient from Neural Network by Alan Jennings

Function that takes a NN and creates a new NN that gives the gradient. (neural networks, function, gradient)

NN_DerivativeValidate

NN_GradientFunction(net)

Contact us