Russell Smith - thesis

Get the thesis

Here is the entire thesis in PDF format (9.4 Mb), or you can look at individual PDF sections below:

Front matter: Simple title page, abstract, contents page, etc
Chapter 1: Introduction
Chapter 2: Biological motor control
Chapter 3: The CMAC neural network
Chapter 4: Feedback-error control
Chapter 5: Theory of the FOX controller
Chapter 6: Testing the FOX controller
Chapter 7: Autonomous Robot Motion Control
Chapter 8: Future work and conclusions
Appendix A: Definitions and basic concepts
Appendix B: Chain-rule propagation algorithms
Appendix C: The multi-layer perceptron
Appendix D: Dynamic programming
Appendix E: Eligibility profile cookbook
Appendix F: Trace precision
Appendix G: Eligibility order reduction
Appendix H: Software systems
Appendix I: RoboDyn
Appendix J: Dyson
Appendix K: Real time control system
Bibliography and last word.

If you prefer postscript format, the zipped postscript file of the entire thesis is here (6Mb, this does not include the nice title page), or you can download individual sections below (in zipped postscript format):

Title page
Front matter: abstract, contents page, etc
Chapter 1: Introduction
Chapter 2: Biological motor control
Chapter 3: The CMAC neural network
Chapter 4: Feedback-error control
Chapter 5: Theory of the FOX controller
Chapter 6: Testing the FOX controller
Chapter 7: Autonomous Robot Motion Control
Chapter 8: Future work and conclusions
Appendix A: Definitions and basic concepts
Appendix B: Chain-rule propagation algorithms
Appendix C: The multi-layer perceptron
Appendix D: Dynamic programming
Appendix E: Eligibility profile cookbook
Appendix F: Trace precision
Appendix G: Eligibility order reduction
Appendix H: Software systems
Appendix I: RoboDyn
Appendix J: Dyson
Appendix K: Real time control system
Bibliography and last word.