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    Archived pages: 23 . Archive date: 2014-07.

  • Title: Russell Smith - Home
    Descriptive info: .. Russell Smith.. Google self-driving cars, Google streetview.. Physics simulation - for games, movies, training.. Embedded systems, hardware design.. IMUs, pose estimation, probabilistic state estimation, tracking.. Neuro-control, and the biological basis of perception, movement and cognition.. Software, networking, computer graphics, robotics.. Physics, math and engineering.. Brainstem design.. Contact me at:.. I am probably somewhere here:.. View Larger Map..

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  • Title: Russell Smith - Ph.D. research
    Descriptive info: Novey.. Russell's PhD Thesis.. I finished my Ph.. D.. in July 1998, in the department of Electrical and Electronic Engineering at the University of Auckland, New Zealand.. The thesis title is:.. Intelligent Motion Control with an Artificial Cerebellum.. Abstract.. This thesis describes a novel approach for adaptive optimal control and demonstrates its application to a variety of systems, including motion control learning for legged robots.. The new controller, called ``FOX'', uses a modified form of Albus's CMAC neural network.. It is trained to generate control signals that minimize a system's performance error.. A theoretical consideration of the adaptive control problem is used to show that FOX must assign each CMAC weight an ``eligibility'' value which controls how that weight is updated.. FOX thus implements a kind of reinforcement learning which makes it functionally similar to the cerebellum (a part of  ...   controller design methodology is developed, and FOX is tested on four control problems: controlling a simulated linear system, controlling a model gantry crane, balancing an inverted pendulum on a cart, and making a wheeled robot follow a path.. In each case FOX is effective: it associates sensor values with (and anticipates) the correct control actions, it compensates for system nonlinearities, and it provides robust control as long as the training is comprehensive enough.. FOX is also applied to the control of a simulated hopping monoped, and a walking biped.. FOX learns parameters that fine tune the movements of pre-programmed controllers, in a manner analogous to the cerebellar modulation of spinal cord reflexes in human movement.. The robots are successfully taught how to move with a steady gait along flat ground, in any direction, and how to climb and descend slopes..

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  • Title: Russell Smith - thesis
    Descriptive info: Get the thesis.. Here is the.. entire thesis in PDF format.. (9.. 4 Mb), or you can look at individual PDF sections below:.. Front matter:.. Simple title page, abstract, contents page, etc.. Chapter 1:.. Introduction.. Chapter 2:.. Biological motor control.. Chapter 3:.. The CMAC neural network.. Chapter 4:.. Feedback-error control.. Chapter 5:.. Theory of the FOX controller.. Chapter 6:.. Testing the FOX controller.. Chapter 7:.. Autonomous Robot Motion Control.. Chapter 8:.. Future work and conclusions.. Appendix A:..  ...   Dynamic programming.. Appendix E:.. Eligibility profile cookbook.. Appendix F:.. Trace precision.. Appendix G:.. Eligibility order reduction.. Appendix H:.. Software systems.. Appendix I:.. RoboDyn.. Appendix J:.. Dyson.. Appendix K:.. Real time control system.. Bibliography and last word.. If you prefer postscript format, the zipped postscript file of the entire thesis is.. here.. (6Mb, this does not include the nice title page), or you can download individual sections below (in zipped postscript format):.. Title page.. abstract, contents page, etc..

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  • Title: Russell Smith - movies
    Descriptive info: See the movies.. These movies show the one legged hopping robot and the biped robot described in the thesis.. All movies are in MPEG format.. Click any picture to see or download the movie.. This shows out-takes from training of the one-legged hopping machine.. Watch it fall over in various ways.. (3.. 8Mb).. This shows the fully-trained one-legged hopping machine following a path through its environment.. It can go up and down a ramp without falling over.. 6 Mb).. This shows one of the hopping machine's failed attempts to climb the ramp.. A foot trail is rendered, which can help determine what has gone wrong.. (2.. 9 Mb).. Only the motion sequencer is used in the controller, no other controller modules are active.. The biped makes stereotyped stepping movements and falls down immediately.. (1.. 8 Mb).. The effect of hip side compensation is demonstrated.. Before hip  ...   training the biped is steadier.. 0 Mb).. The effect of global side drift compensation is demonstrated.. Before compensation training the biped becomes unstable when it leaves its desired path.. A tripping event is demonstrated - the biped's foot touches the ground prematurely during a walking cycle.. 3 Mb).. The effect of leg placement is demonstrated.. Without it the biped makes no attempt to correct a falling motion.. With correct leg placement the biped will place the feet to try and keep the body upright.. 7 Mb).. Some out-takes from training are shown - the biped falls over in various ways as it learns to walk.. (5.. 5 Mb).. Successful walking - walking with a steady gait along flat ground, walking at various speeds, changing direction, and walking up and down slopes.. (14.. This shows what happens to the biped robot when the controller goes astray.. (1 Mb)..

    Original link path: /phd-movies.html
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  • Title: Russell Smith - source code
    Descriptive info: FOX controller library.. Here is the source code for the FOX controller library I developed during my PhD thesis.. Fox Controller Library, Version 1.. 3.. 3 (fox-1.. tgz, 45k).. This library is copyright (C) 1998,1999,2000 Russell Smith.. The FOX Controller Library is free software; you can redistribute it and/or modify it under the terms of the GNU Library General Public License as published by the Free Software Foundation; either version 2 of the License, or (at your option) any later version.. The FOX Controller Library is distributed in the  ...   FITNESS FOR A PARTICULAR PURPOSE.. See the GNU Library General Public License for more details.. This software is ALPHA code, despite its version number.. It was developed under Linux using GCC.. It has not been compiled or tested under.. any.. other platforms.. This software is also missing tons of documentation - you will have to read the comments in the source code to get an idea of what it does.. File list.. README.. ,.. Makefile.. COPYING.. LIB.. atoi.. h.. cftype-n.. error.. fox-n.. foxstuff.. trace-n.. cpp.. overlay_displacement.. foxtest1.. foxtest2.. foxtest3..

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  • Title: Novey Chou
    Original link path: /novey/
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  • Title:
    Descriptive info: This is the FOX Controller Library, Version 1.. Copyright (C) 1998,1999,2000 Russell Smith (rl.. smith@auckland.. ac.. nz) The FOX Controller Library is free software; you can redistribute it and/or modify it under the terms of the GNU Library General Public License as published by the Free Software Foundation; either version 2 of the License, or (at your option) any later version.. It has not been compiled or tested under *any* other platforms.. But also see my PhD thesis at www.. q12.. org..

    Original link path: /phd/code/fox-1.3.3/README
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  • Title:
    Descriptive info: # I have assumes GNU make here, hopefully this will work for other makes too.. CC=gcc CFLAGS=-g TEST_APPS=foxtest1 foxtest2 foxtest3 all: libfox.. a $(TEST_APPS) SOURCES=atoi.. cpp trace-n.. cpp fox-n.. cpp overlay_displacement.. cpp error.. cpp OBJECTS = $(SOURCES:.. cpp=.. o) libfox.. a: $(OBJECTS) ar rcv libfox.. a $(OBJECTS) foxtest1: libfox.. a foxtest1.. o gcc -g -o foxtest1 foxtest1.. o -L.. -lfox -lm foxtest2: libfox.. a  ...   gcc -g -o foxtest3 foxtest3.. -lfox -lm ########## Rules %.. o : %.. cpp $(CC) -c $(CFLAGS) $< clean: -rm -f *.. o *~ libfox.. a $(TEST_APPS) ########## Dependencies atoi.. o: atoi.. cpp atoi.. h foxstuff.. h cftype-n.. h error.. o: cftype-n.. cpp cftype-n.. o: error.. h fox-n.. o: fox-n.. cpp foxstuff.. h trace-n.. h atoi.. o: foxstuff.. h overlay_displacement.. o: overlay_displacement.. o: trace-n..

    Original link path: /phd/code/fox-1.3.3/Makefile
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  • Title:
    Descriptive info: GNU LIBRARY GENERAL PUBLIC LICENSE Version 2, June 1991 Copyright (C) 1991 Free Software Foundation, Inc.. 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA Everyone is permitted to copy and distribute verbatim copies of this license document, but changing it is not allowed.. [This is the first released version of the library GPL.. It is numbered 2 because it goes with version 2 of the ordinary GPL.. ] Preamble The licenses for most software are designed to take away your freedom to share and change it.. By contrast, the GNU General Public Licenses are intended to guarantee your freedom to share and change free software--to make sure the software is free for all its users.. This license, the Library General Public License, applies to some specially designated Free Software Foundation software, and to any other libraries whose authors decide to use it.. You can use it for your libraries, too.. When we speak of free software, we are referring to freedom, not price.. Our General Public Licenses are designed to make sure that you have the freedom to distribute copies of free software (and charge for this service if you wish), that you receive source code or can get it if you want it, that you can change the software or use pieces of it in new free programs; and that you know you can do these things.. To protect your rights, we need to make restrictions that forbid anyone to deny you these rights or to ask you to surrender the rights.. These restrictions translate to certain responsibilities for you if you distribute copies of the library, or if you modify it.. For example, if you distribute copies of the library, whether gratis or for a fee, you must give the recipients all the rights that we gave you.. You must make sure that they, too, receive or can get the source code.. 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  • Title:
    Descriptive info: /***************************************************************************** * * * FOX Controller Library, Version 1.. * * * * Copyright (C) 1998,1999,2000 Russell Smith (rl.. nz) * * * * The FOX Controller Library is free software; you can redistribute it * * and/or modify it under the terms of the GNU Library General Public * * License as published by the Free Software Foundation; either version * * 2 of the License, or (at your option) any later version.. * * * * The FOX Controller Library is distributed in the hope that it will be * * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.. See the GNU * * Library General Public License for more details.. * * * * You should have received a copy of the GNU Library General Public * * License along with the Fox Controller Library; see the file COPYING.. * *  ...   #include "cftype-n.. h" class GetAtoi { int valid; // set to 1 if constructor successfull int ny,ny2,n; // ny2=ny^2 cftype *Atoi; // A^(i) for i=0.. (n-1) (size = ny*ny * n) cftype *invAtoi; // A^(-i) for i=0.. (n-1) (size = ny*ny * n) public: GetAtoi (int _ny, cftype *A, int _n); // Initialize for a given ny, matrix A and buffer size n.. // If initialization is unsuccessful in user mode a fatal error occurrs.. // If initialization is unsuccessful in kernel mode then the constructor // returns and Valid() returns 0.. The object can be safely destructed.. ~GetAtoi(); int Valid() { return valid; } // Get result = q * A^(+/-i) , result and q are 1*ny vectors.. void PostMulByAtoPlus (cftype *result, cftype *q, int i) { myassert (i >= 0 && i.. = 0 && i.. = 0 && i < n,"bad i in PreMulByAtoMinus"); MatrixMultiply2 (ny,result,invAtoi + (ny2 * i),q); } }; #endif..

    Original link path: /phd/code/fox-1.3.3/atoi.h
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  • Title:
    Descriptive info: * * * *****************************************************************************/ // The floating point type to use in the CMAC - and also some other global // constants.. #ifndef __CFTYPE_H #define __CFTYPE_H #define MAX_NY 4 // maximum ny (eligibility vector size) typedef float cftype; #endif..

    Original link path: /phd/code/fox-1.3.3/cftype-n.h
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  • Archived pages: 23