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6.832 Underactuated Robotics (MIT) 6.832 Underactuated Robotics (MIT)

Description

Includes audio/video content: AV lectures. Robots today move far too conservatively, using control systems that attempt to maintain full control authority at all times. Humans and animals move much more aggressively by routinely executing motions which involve a loss of instantaneous control authority. Controlling nonlinear systems without complete control authority requires methods that can reason about and exploit the natural dynamics of our machines. This course discusses nonlinear dynamics and control of underactuated mechanical systems, with an emphasis on machine learning methods. Topics include nonlinear dynamics of passive robots (walkers, swimmers, flyers), motion planning, partial feedback linearization, energy-shaping control, analytical optimal control, reinforcement learning/a Includes audio/video content: AV lectures. Robots today move far too conservatively, using control systems that attempt to maintain full control authority at all times. Humans and animals move much more aggressively by routinely executing motions which involve a loss of instantaneous control authority. Controlling nonlinear systems without complete control authority requires methods that can reason about and exploit the natural dynamics of our machines. This course discusses nonlinear dynamics and control of underactuated mechanical systems, with an emphasis on machine learning methods. Topics include nonlinear dynamics of passive robots (walkers, swimmers, flyers), motion planning, partial feedback linearization, energy-shaping control, analytical optimal control, reinforcement learning/a

Subjects

underactuated robotics | underactuated robotics | actuated systems | actuated systems | nonlinear dynamics | nonlinear dynamics | simple pendulum | simple pendulum | optimal control | optimal control | double integrator | double integrator | quadratic regulator | quadratic regulator | Hamilton-Jacobi-Bellman sufficiency | Hamilton-Jacobi-Bellman sufficiency | minimum time control | minimum time control | acrobot | acrobot | cart-pole | cart-pole | partial feedback linearization | partial feedback linearization | energy shaping | energy shaping | policy search | policy search | open-loop optimal control | open-loop optimal control | trajectory stabilization | trajectory stabilization | iterative linear quadratic regulator | iterative linear quadratic regulator | differential dynamic programming | differential dynamic programming | walking models | walking models | rimless wheel | rimless wheel | compass gait | compass gait | kneed compass gait | kneed compass gait | feedback control | feedback control | running models | running models | spring-loaded inverted pendulum | spring-loaded inverted pendulum | Raibert hoppers | Raibert hoppers | motion planning | motion planning | randomized motion planning | randomized motion planning | rapidly-exploring randomized trees | rapidly-exploring randomized trees | probabilistic road maps | probabilistic road maps | feedback motion planning | feedback motion planning | planning with funnels | planning with funnels | linear quadratic regulator | linear quadratic regulator | function approximation | function approximation | state distribution dynamics | state distribution dynamics | state estimation | state estimation | stochastic optimal control | stochastic optimal control | aircraft | aircraft | swimming | swimming | flapping flight | flapping flight | randomized policy gradient | randomized policy gradient | model-free value methods | model-free value methods | temporarl difference learning | temporarl difference learning | Q-learning | Q-learning | actor-critic methods | actor-critic methods

License

Content within individual OCW courses is (c) by the individual authors unless otherwise noted. MIT OpenCourseWare materials are licensed by the Massachusetts Institute of Technology under a Creative Commons License (Attribution-NonCommercial-ShareAlike). For further information see http://ocw.mit.edu/terms/index.htm

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No. 2 Dredger...

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Subjects

ireland | boats | chains | bucket | harbour | crane | caps | conservatory | steam | funnels | ric | wexford | rigging | policeman | dredging | quayside | constable | no2 | glassnegative | maryville | courtown | dredger | lifebelts | leinster | harbourhouse | robertfrench | williamlawrence | nationallibraryofireland | royalirishconstabulary | courtownharbour | lawrencecollection | limerickbybeachcomber | invernorehouse

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Keep Off Propellor

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Subjects

greatbritain | wales | dock | ship | churches | steam | deck | funnels | scotia | dumbarton | 20thcentury | steamer | propellor | portholes | railwaytracks | lifebelts | holyhead | lifeboats | lnwr | londonnorthwesternrailway | nationallibraryofireland | jjclarke | menevia | stcybis | limerickbybeachcomber | captainclay | johnjosephclarke | drjjclarke | clarkecollection | ssscotia | williamdennybros

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Engine room of 'St Essylt'

Description

Engine room on board the cargo ship ?St. Essylt', 1948 (TWAM ref. DS.JLT/4/PH/1/653/9/1). She was launched at the North Sands shipyard of J.L. Thompson & Sons, 15 September 1947. For a view of the launch see www.flickr.com/photos/twm_news/16433838515/. This vessel was fitted with a Doxford Engine. This set celebrates the achievements of the famous Sunderland shipbuilding firm Joseph L. Thompson & Sons. The company?s origins date back to 1846 when the firm was known as Robert Thompson & Sons. Robert Thompson senior died in 1860, leaving his second son Joseph Lowes Thompson in control. In 1870 the shipyard completed its last wooden vessel and was then adapted for iron shipbuilding. By 1880 the firm had expanded its operations over much of North Sands and in 1884 completed the construction of Manor Quay, which served as fitting out and repair facilities. For many years in the late nineteenth century the yard was the most productive in Sunderland and in 1894 had the fourth largest output of any shipyard in the world. The Depression affected the firm severely in the early 1930s and no vessels were launched from 1931 to 1934. However, during those years the company developed a hull design giving greater efficiency and economy in service. During the Second World War the prototype developed by Joseph L. Thompson & Sons proved so popular that it was used by the US Government as the basis of over 2,700 Liberty ships built at American shipyards between 1942 and 1945. After the War the North Sands shipyard went on to build many fine cargo ships, oil tankers and bulk carriers. Sadly the shipyard closed in 1979, although it briefly reopened in 1986 to construct the crane barge ITM Challenger. (Copyright) We're happy for you to share these digital images within the spirit of The Commons. Please cite 'Tyne & Wear Archives & Museums' when reusing. Certain restrictions on high quality reproductions and commercial use of the original physical version apply though; if you're unsure please email archives@twmuseums.org.uk

Subjects

sunderland | shipbuilding | jlthompsonsonsltd | northsandssunderland | stessylt | cargoship | engineroom | doxfordengine | marineengineering | whiteoutline | mark | grain | blackandwhitephotograph | industrialheritage | industry | northsandsshipyard | archives | digitalimage | shipbuildingheritage | maritimeheritage | abstract | transportation | components | mechanical | engine | room | machine | 1948 | launched | 15september1947 | vessel | ship | robertthompsonsons | 1846 | robertthompsonsenior | josephlowesthompson | iron | northsands | operations | construction | production | development | structure | manorquay | fittingout | repairfacilities | shipyard | funnel | exhaustsystem | radarequipment | cabinheatingsystem | batteryroom | pilotscabin | accommodation | bar | rail | sign | label | letters | pipe | wall | floor | ceiling | interior | bolt | vent | interesting | fascinating | unusual | northeastofengland | unitedkingdom | wonderful | glare | artificiallight | circuit

License

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Boiler Uptake - Mauretania

Description

This section of the Mauretania was the lead from the boilers to the base of one of the funnels, to exhaust the smoke and flue gas. The Mauretania was built by the shipbuilders Swan Hunter and Wigham Richardson Ltd, at the Wallsend shipyard, sections being made by Wallsend Slipway & Engineering Company Limited. RMS MAURETANIA was one of the most famous ships ever built on Tyneside. Ref: TWAS:DS.WS./143/2/1 (Copyright) We're happy for you to share this digital image within the spirit of The Commons. Please cite 'Tyne & Wear Archives & Museums' when reusing. Certain restrictions on high quality reproductions and commercial use of the original physical version apply though; if you're unsure please email archives@twmuseums.org.uk. To purchase a hi-res copy please email archives@twmuseums.org.uk quoting the title and reference number.

Subjects

mauretania | build | aft | slide | ship | construction | wallsend | swanhunterltd | wighamrichardsoncoltd | neptuneyard | wallsendyard | swanhunterwighamrichardsonltd | cunard | marine | sea | museum | twam | tyneandweararchivesandmuseums | tyneandwear | tyne | northeast | blackandwhitephotos | oldphotographs | wallsendslipwayengineeringcompanylimited | boileruptake | smoke | oceanliner | cunardline | rmsmauretania1906 | rmsmauretania | hmhsmauretania | hospitalship | royalnavy | rn | hmstuberose | tuberose | troopship | swanhunterwighamrichardson | swanhunterandwighamrichardson | swanhunter | shipyard | shipbuilding | shipbuildingheritage | maritimeheritage | industry | components | deck | documentation | archives | abstract | digitalimage | blackandwhitephotograph | passengership | transportation | industrialheritage | boilers | base | funnels | exhaust | vent | platform | structure | development | progress | section | swanhunterandwighamrichardsonltd | wallsendshipyard | tyneside | marineengineering | northeastofengland | unitedkingdom | impressive | compelling | unusual | interesting

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Baikal, Yard no. 647

Description

Showing the ice breaking ferry 'Baikal' on the frozen lake Baikal in Russia. The 'Baikal' was built on the Tyne by Swan Hunter and Wigham Richardson Ltd, shipbuilders. Reference: TWAS: ds.va/3/1993.9529 (Copyright) We're happy for you to share this digital image within the spirit of The Commons. Please cite 'Tyne & Wear Archives & Museums' when reusing. Certain restrictions on high quality reproductions and commercial use of the original physical version apply though; if you're unsure please email archives@twmuseums.org.uk. To purchase a hi-res copy please email archives@twmuseums.org.uk quoting the title and reference number.

Subjects

icebreaker | ice | snow | wintry | winter | xmas | baikal | swanhunter | sledging | sledge | cold | ship | boat | lake | lakebaikal | newcastle | twam | tyneandwear | tyneandweararchivesandmuseums | northeast | blackandwhitephotos | oldphotographs | blackwhitephotos | blackandwhitephotograph | digitalimage | archives | documentation | maritimeheritage | industry | industrialheritage | abstract | transportation | breaking | water | freeze | ferry | vessel | yardno647 | frozenlake | russia | shipbuildingheritage | tyne | swanhunterandwighamrichardsonltd | land | sky | crew | chimney | pole | smoke | mast | rail | deck | funnels | grain | blur | mark | passage | engaging | impressive | unusual | interesting | northeastofengland | unitedkingdom | slope | mountain | rope | floats

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Last one in

Description

Subjects

1920s | ireland | dublin | swimming | pier | swimmingpool | baths | funnels | bathing | seafront | hibernia | cambria | queensroad | windsorterrace | dunlaoghaire | leinster | nationallibraryofireland | rainbowrapids | mailboats | dillonfamily | locationidentified | lukegeralddillon | augustacarolinedillon | baronessclonbrock | theclonbrockphotographiccollection | baronclonbrock

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6.832 Underactuated Robotics (MIT)

Description

Robots today move far too conservatively, using control systems that attempt to maintain full control authority at all times. Humans and animals move much more aggressively by routinely executing motions which involve a loss of instantaneous control authority. Controlling nonlinear systems without complete control authority requires methods that can reason about and exploit the natural dynamics of our machines. This course discusses nonlinear dynamics and control of underactuated mechanical systems, with an emphasis on machine learning methods. Topics include nonlinear dynamics of passive robots (walkers, swimmers, flyers), motion planning, partial feedback linearization, energy-shaping control, analytical optimal control, reinforcement learning/approximate optimal control, and the influen

Subjects

underactuated robotics | actuated systems | nonlinear dynamics | simple pendulum | optimal control | double integrator | quadratic regulator | Hamilton-Jacobi-Bellman sufficiency | minimum time control | acrobot | cart-pole | partial feedback linearization | energy shaping | policy search | open-loop optimal control | trajectory stabilization | iterative linear quadratic regulator | differential dynamic programming | walking models | rimless wheel | compass gait | kneed compass gait | feedback control | running models | spring-loaded inverted pendulum | Raibert hoppers | motion planning | randomized motion planning | rapidly-exploring randomized trees | probabilistic road maps | feedback motion planning | planning with funnels | linear quadratic regulator | function approximation | state distribution dynamics | state estimation | stochastic optimal control | aircraft | swimming | flapping flight | randomized policy gradient | model-free value methods | temporarl difference learning | Q-learning | actor-critic methods

License

Content within individual OCW courses is (c) by the individual authors unless otherwise noted. MIT OpenCourseWare materials are licensed by the Massachusetts Institute of Technology under a Creative Commons License (Attribution-NonCommercial-ShareAlike). For further information see https://ocw.mit.edu/terms/index.htm

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Photo of twister, caused heavy loss of life and property

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Subjects

austintexas | tornado | funnelcloud

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