Figure 2.Consideration of moving direction.2.3. Intelligent www.selleckchem.com/products/Vandetanib.html Decision MethodThe information provided by the distance-measuring sensor, e.g., an ultrasonic and an infrared sensor, is limited to a distance value, which is not sufficient information for the emergency stop algorithm to distinguish a part of the manipulator from true obstacles. Consequently, this limitation not only affects the efficient operation of the manipulator since it cannot work at specific motor positions where sensors detect parts of the manipulator in danger areas, but it also can result in unnecessary stops.In order to solve this problem, we propose an intelligent decision method that can determine whether the sensed object is an obstacle that could cause a collision with the manipulator or not.
We develop the intelligent decision method by applying a new regression method, which we introduce in Section 3.3.?Sum of Risk and Inefficiency MinimizationFor the decision step mentioned in Section 2.3, we apply a new regression method to the emergency stop algorithm. The regression method generates a function model of the motor positions and distance values, and then the function is used to predict a distance value. Next, the algorithm compares this predicted (estimated) distance value to a real distance value measured by a sensor and determines whether a stop is necessary. In this section, we introduce our proposed regression method��i.e., the sum of risk and inefficiency (SRI) minimization.3.1. Regression MethodThe regression method determines the relationship between variables, and then uses that information to predict unknown variables.
More specifically, the regression method generates an approximated function model using sample data (variables), and values of specific variables can be estimated by the function model. We call this function model the regression model, and the linear Cilengitide regression model has the form:y��f(w,x)=wtx(1)where x is an input vector (an independent variable), y is a real-valued output (a dependent variable), and w is parameters of the regression model. Various regression inhibitor Dovitinib methods, e.g., ridge regression, and support vector regression have been widely used in machine learning fields including robotics [10�C12].In order to apply a regression method to our emergency stop algorithm, we need a training procedure that will generate a function model of the motor position and distance values��hence the use of sample data pairs for this purpose. We collect motor position and corresponding distance data pairs by operating the manipulator under working conditions, but without obstacles.

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