[Triumf-seminars] TRIUMF Colloquium today at 14:00

[TRIUMF Seminars]

Date/Time: Thu 2023-10-19 at 14:00

Location:  Auditorium/ Hybrid  

Speaker:   Shane Koscielniak (TRIUMF)

Title:     Iterative Learning Control (ILC) for Robots and for Accelerators

Abstract: Non-autonomous robots (big & small) are widespread: from disc hard drives to satellite attitude control to industrial robots assembling automobiles. All these applications need accurate motion control.

ILC is an adaptive feed forward technique that generates input vectors by learning from previous trials. The same method may be applied to control the radio frequency cavity resonators used for acceleration of charged particle beams in linear and circular accelerators. Iterative learning may converge, or diverge; or display both behaviors in large transients! Divergence or transients can destroy a robot arm, or make a linear accelerator inoperable.

I will present the basic ILC algorithm, review the mathematical tools (matrices and Laplace transform) used to test ILC-algorithms for convergence; and explain the transients.

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Remote Connection:
https://ubc.zoom.us/j/63794891746?pwd=bVA1WGk5U1IvOXlhZDZTMmErL1VGQT09
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Meeting ID: 637 9489 1746
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Passcode: 018088
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Please contact Ruediger Picker if you would like to meet with the speaker.


Stimulants available 15 minutes before the talk.
Bring your own mug!

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General TRIUMF seminar information available at http://www.triumf.ca/home/upcoming-events/about-seminars-lectures