Software Listing of Author : "Andrea Cirillo"

It is a matlab function that codes a string of char with Arithmetic coding. res=arithmetic_code(alphabet, distr_pr, string) 'alphabet' is a vector that contains the char used in the string 'string'; 'string' is the string to codify; 'distr_pr' is the probability distribution of the alphabet's elements.

  • Platform: Matlab, Scripts

function p_min=bisection(func,int,iter,tol_x,tol_f) It calculates the zero of a regular real function with one variable. p_min is the solution and represents the abscissa's value of the zero. The input variables are: -func: it's a string that represents the function in the variable 'x'. -int: it's a vector with two elements. The first is the minor bound, the second is the greater bound. -iter: it's the max number of iteration. -tol_x: it's the tolerance on the successive steps. -tol_f: it's the tolerance on the successive function's values. It plots the function's and the solution's trend.

  • Platform: Matlab, Scripts

Run the M-file and place the poles of your system, then press ENTER. After, insert the zeros of your system, then press ENTER. The result is the Bode diagram of the filter's normalized frequency response that has NUM and DEN with the same order

  • Platform: Matlab, Scripts

[dec_cod, code_bin, code_book] = lempel_ziv(alf, str) It's a function with three output variables and two input variables. 'dec_cod' is the decimal code that codify the input string 'str'. 'code_bin' is the binary code of the string obtained from the 'dec_cod' conversion. 'code_book' is the code-book used for the Lempel-Ziv algorithm. 'alf' is the alphabet that contains the char used to create the string 'str'. 'str' is the string to codify with the algorithm.

  • Platform: Matlab, Scripts

It calculates the Inverse Kinematic of an Anthropomorphic arm with 3 DOF. 'q' is the solutions in radiant and K is the direct Kinematic matrix. K = [ n s a p; 0 0 0 1] where n, s, a are three vectors fo 3 elements that represents the end-effector's orientation, and p is the desired end-effector position.

  • Platform: Matlab, Scripts

Anthropomorphic arm with 6 DOF and spherical wrist It calculates the Inverse Kinematic of an Anthropomorphic arm with 6 DOF. 'q' is the solutions in radiant and K is the direct Kinematic matrix. K = [ n s a p; 0 0 0 1] where n, s, a are three vectors fo 3 elements that represents the end-effector's orientation, and p is the desired end-effector position.

  • Platform: Matlab, Scripts

It is a Matlab function that determines the zero of a regular real function. zero=newton_raphson(function,error) The function has two input variable: 'function' is a string that represents the function of which find the relative zero. It must be expressed with the real variable 'x'. 'error' is the tolerance for the algorithm's arrest. The function returns the zero point of the real function. It plots, in a figure, the function and the tangents used for the search of the zero.

  • Platform: Matlab, Scripts

It's a deterministic iterative zero order algorithm that can be used to solve unconstrained optimization problem. It finds the relative minimum of a two variables function with a deterministic iterative zero order algorithm. Pattern search method It finds the relative minimum of a two variables function with the Pattern search method. The inputs are: - f: matlab inline function of the function that you want minimize; - p0: initial point for the search algorithm - step_size: initial step used for the exploration phase - tolerance: it defines a stopping criterion on the minimum size of exploration phase's step_size - N_it: it defines a stopping criterion on the max iterations number The outpus are: - iter: the number of iterations done - min: the function's value in the relative minimum finded. - p_min: it's a vector for the...

  • Platform: Matlab, Scripts

It's a servo controller for six servo motors. It can be used to control a antropomorphic arm with six motors. For a correct execution, it must select the motors following this table: #servo - char to use for the motor selection 1 a 2 b 3 c 4 d 5 e 6 f The microcontroller must use the same char. It uses a serial communication via RS232 protocol.

  • Platform: Matlab, Scripts

It is used to generate useful solutions to optimization and search problems. Genetic algorithms belong to the larger class of evolutionary algorithms, which generate solutions to optimization problems using techniques inspired by natural evolution, such as inheritance, mutation, selection, and crossover. function [p_min, iter, f]=genetic_algorithm (func, numMaxInd, numF, numMaxGen, pRepr, pRecom, pMut, pImm, numVariabili, limLow, limUp, tolerance) % Output variables: % - p_min: it's the minimum point of the objective function; % - iter: it's the final iteration number; % - f: it's the objective function value in the minimum point. % % Input variables: % - func: it's the handle of the objective function to minimize (example: f_obj=@(x) function(x) where x is the variables vector); % - numMaxInd: Number of individuals (number of...

  • Platform: Matlab, Scripts

It finds the minimum of a n variables function with the Particle Swarm Optimization Algorithm. % The input parameters are: % -func: it's the objective function's handle to minimize % -numInd: it's the number of the swarm's elements % -range: it's the range in which the elements must be created % -n_var: it's the number of function's variables % -tolerance: it's the tolerance for the stop criterion on the swarm's % radius % -numIter: it's the max iterations' number % -pesoStoc: it's the swarm's movability % % The output parameters are: % -p_min: the minimum point find % -f_min: the minimum value of the function % -iter: the number of iterations processed

  • Platform: Matlab, Scripts

It's a function that finds the minimum value of a two variables objective function with a deterministic zero order algorithm: simplex method. The input variables are: -fun: inline function of the objective function -init_point: initial point for the simplex method -step_size: initial dimension of the simplex toll: tolerance for the stop criterion on the simplex dimension -numMaxIter: stop criterion on the maximum number of iterations The output variables are: -valFunc: the minumum value of the objective function -var_min: the minimum point -iter: the number of iteration made %%%%%%%% IMPORTANT %%%%%%%%%%% To run correctly the Matlab function, you must run first a contour plot of the objective function. You can also view: help countour.

  • Platform: Matlab, Scripts

It's a simple GUI that calculates a random position of the end-effector, calculates the inverse kinematic and plot the joints' trajectory in a figure. You can send the positions to the arm's controller with the 'Send' button. For a correct execution, it must select the motors following this table: #servo_motor ------------ char to use for the motor selection 1 a 2 b 3 c

  • Platform: Matlab, Scripts
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