莫名其妙的一個獎

其實我覺得我可以從head of school 手上拿到這個award 純粹是因為這個award committee 的member 不懂分別asian 之故!! 我非常之肯定這個獎是屬於我groupmate 的!!

award ceremony 之後我曾經反映過可能頒錯獎的情況, 可惜因為award committee member 是保密的緣故讓我 "投訴" 無門, 誰人nominate 我, 誰人有份投票贊成至今都無法查考!!

會上重演關心妍囉錯獎事件!! 由於另一得獎者的thesis topic 已announce (大家的thesis topic 都是unique 的), 所以大會司儀便把他的 last name 省略了, 誰不知一個非常自負的人和真正的得獎者在此刻同時間步入會場 (雙雙遲到!!), 聽到了自己的first name, 真正的得獎者找到了自己的座位坐下了, 自負的人則快步走上台, 跟head of school 握手, 正當大家都看得目定口呆, 大會的攝影司打算替 "得獎者" 拍照留念之際, 大會的司儀爆出一句 "NO, not you!! the other Chris!!" 笑到台上台下都肚痛!!

Enoch Poon - Robot Violin Player (Simulation and Control System Design for a Robotic Violin Bowing Arm)

This thesis describes the simulation and control system design for a torque-controlled robotic violin bowing arm. It consists of three major components, namely the bowing simulation, control system design and verification of results.

The bowing simulation imitates the bowing movement of a human being. A revised bang-bang algorithm was used to compute the bow trajectories with linking trajectories to smooth the joint velocities and torques required between notes.

The robot arm requires torques to command joint movement rather than position based control. The virtual model control (VMC) method was used to generate joint torques from bow positions and velocity trajectories. VMC uses a virtual spring and a virtual damper to work out the forces required in the system. The virtual torques are calculated using the transpose of the Jacobian matrix for the arm. These torques have been verified using both a forward dynamics model and a detailed Simulink simulation.

This model was converted to C which is run on the RoBoard single board computer to control the mechanical arm. The time and the memory performance of the system will be analysed in the following weeks with the actual robot arm being run in real time. Using the results gathered, further evaluation of the effectiveness and suggestion on possible improvements can be made.

My seat:

My lab: