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IEEE International Conference on Robotics and automation (ICRA)

作者： G.J. Hamlin A.C. Sanderson Electrical Computer and Systems Engineering Department Rensselaer Polytechnic InstituteNew York State Center for Advanced Technology in Automation and Robotics Rensselaer Polytechnic Institute RPI Troy NY USA

A modular system for the design, implementation, and control of a class of highly redundant parallel robotic mechanisms is described. The Tetrobot system features a novel concentric multilink spherical (CMS) joint which allows an arbitrary number of links to share a common center of rotation. The CMS joint facilitates the construction of a wide variety of variable geometry truss mechanisms using an integrated control and computational framework. A distributed control algorithm is based on an iterative virtual force based solution which propagates the goal positions of target nodes to determine systematic adjustments of actuators. Capabilities of the Tetrobot system have been demonstrated by the construction of several configurations of up to 18 nodes, 48 links, and 15 actuators. Implementations of a double Stewart platform and a six-legged walker, constructed from the same set of parts, are described in this paper.

关键词： Parallel robots Collision mitigation Actuators Concurrent computing Design engineering systems engineering and theory Electric variables control Control systems Computational geometry Centralized control

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A practical resource scheduling with OPF constraints

A practical resource scheduling with OPF constraints

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Power Industry computer Application Conference (PICA)

作者： K.H. Abdul-Rahman S.M. Shahidehpour M. Aganagic S. Mokhtari Siemens Empros Power Systems Control USA Department of Electrical and Computer Engineering Illinois Institute of Technology Chicago IL USA Empros Power Systems Control Siemens Energy and Automation Inc. Brooklyn MN USA

This paper presents an efficient approach to short term power system resource scheduling based on the augmented Lagrangian relaxation method. The problem is divided into two stages, the commitment stage and the constrained economic dispatch stage. The proposed mathematical model incorporates optimal power flow (OPF) constraints in the unit commitment stage. By OPF constrains, the authors refer to the relevant active power constraints that are incorporated in the constrained economic dispatch stage (i.e. transmission capacity constraints, fuel and various regulated emission requirements). The inclusion of OPF constraints in the commitment stage will improve the feasibility of the constrained economic dispatch solution. Other unit commitment constraints such as spinning and operating reserve requirements, power balance as well as other relevant local constraints (i.e. unit ramping rates, upper and lower generation limits, minimum up and down times) are taken into account in the proposed model. As a larger number of constraints are dealt with, a more rigorous method is introduced for updating Lagrange multipliers to improve the solution convergence. A software package which addresses energy management systems requirements is developed and tested.

关键词： Power generation economics Fuel economy Power system modeling Lagrangian functions Relaxation methods Power system economics Mathematical model Load flow Spinning Power generation

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Multiagent fault‐diagnosis expert system in power systems

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European Transactions on Electrical Power 1995年第5期5卷 341-347页

作者： Wang, J.P. Trécat, J. Dr. Jianping Wang is a doctor fellow in the Faculte Polytechnique de Mons in Belgium. His current research field is parallel processing applications in power systems. Dr. Wang obtained his BS degree from Southwest Jiaotong University in P.R. Chinain 1982. From 1982 to 1990 he was appointed as an assistant lecturer. lecturer and associate professor respectively in the electrical engineering department of Southwest Jiaotong University. He obtained his Ph.D in the FacultC Polytechnique de Mons in July of 1993. (BD Dolez 3 1 FPMS B-7000 Mons Belgium T +32-65/37 41 87 Fax +32-65/37 43 00) Professor J. Trécat is a director in the power system laboratory in the Faculty Polytechnique de Mons. He obtained his Ph.D in the University of Manchester Institute of Science and Technology(UM1ST) in U.K. in 1970. He has been working in the fields of power system automation artificial intelligence application and computer vision in the Facult6 Polytechnique de Mons since 1970. He is a senior member of IEEE and he has made much contribution both in electrical engineering education and research. (BD Dolez 3 I FPMS B-7000 Mons T +32-651374185. Fax +32-6513743 00)

In order to solve the speed problem and shallow reasoning problem met in current research in fault diagnosis expert system, this paper presents a model based parallel fault diagnosis expert system for energy management systems (EMS). The Petri net model, which corresponds to the relationship between power system components and their protection systems, has been used for the inference in fault diagnosis. A multiagent parallel processing expert system, which is based on five transputers in Sun workstation, has been built for fault diagnosis purposes. The test results show that this expert system is not only fast but also has better performances. Copyright © 1995 John Wiley & Sons, Ltd.

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Transport-triggering vs. Operation-triggering 5th

Transport-triggering vs. Operation-triggering

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5th International Conference on Compiler Construction, CC 1994

作者： Hoogerbrugge, Jan Corporaal, Henk Delft University of Technology Department of Electrical Engineering Section Computer Architecture and Digital Systems Netherlands

ISBN: (纸本)9783662466629

Transport-triggered architectures are a new class of architectures that provide more scheduling freedom and have unique compiler optimizations. This paper reports experiments that quantify the advantages of transport-triggered architectures with respect to traditional operation-triggered architectures. For the experiments we use an extended basic block scheduler that is currently being developed. The paper gives an description of the scheduling techniques used. The results of our experiments show that the extra scheduling freedom together with the new optimizations are very welcome when resource constraints are limiting the performance. This is the case when resources are scarce or when the application contains a lot of instruction level parallelism. © Springer-Verlag Berlin Heidelberg 1994.

关键词： Scheduling

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Position and force control of a multifingered hand: a comparison of fuzzy logic to traditional PID control

Position and force control of a multifingered hand: a compar...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： D. Hristu J. Babb H. Singh S. Gottschlich NYS Center for Advanced Technology in Automation and Robotics and Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

In this paper we will discuss the control of a five-fingered, 18 degree of freedom, tendon driven robot hand known as the Atlas Anthrobot. Developing a traditional PID controller for this hand has proved difficult because the behavior of the tendon drive system produces is highly nonlinear. This nonlinear nature of the system however does suggest it as a candidate for fuzzy control. Along these lines we have developed a PID control system and a fuzzy control system for the hand which are both capable of simultaneously controlling the position of the fingertips and the amount of force exerted through a contact point on the fingertip. In this paper we will present a comparison between the two systems in order to generally make statements about the appropriateness of each controller for controlling complicated tendon driven devices such as our robot hand.< >

关键词： Force control Fuzzy logic Three-term control Control systems Robots Fingers Tendons Fuzzy control Robotics and automation Automatic control

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A tactile sensing system for dexterous manipulation

A tactile sensing system for dexterous manipulation

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： B.L. Gery S.N. Gottschlich New York State Center for Advanced Technology in Automation and Robotics and Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

One factor that limits the range of tasks that robots can perform robustly is the scarcity of useful sensors available to provide feedback to the robot control system. While much progress has been made with vision sensors and force/torque sensors, tactile sensing systems have fallen behind, and so general-purpose tactile sensing systems are not commercially available. The aim of this work is therefore to produce a tactile sensing system that could be manufactured inexpensively, could be used on a wide variety of robotic systems, and would provide the kind of output typically required in dexterous manipulation applications. Such a tactile sensing system will be presented in this paper. The tactile transducers used in this system are based on semiconductive ink technology that allows transducers of any size, shape, and resistance range to be produced merely by altering the ink printing process and substrate geometry. Each sensor outputs three pieces of information that are useful in robotic manipulation-two parameters indicating the location of a contact point on the transducer and one parameter specifying the amount of force being exerted at the contact point. So that the sensing system could support transducers of different shapes and sizes, the analog interface circuitry of this system has been designed to be fully programmable, and also includes circuitry to enable self-calibration with appropriate software.< >

关键词： Transducers Robot sensing systems Sensor systems Tactile sensors Force sensors Ink Shape Circuits Robust control Feedback

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Nonholonomic path planning with inequality constraints

Nonholonomic path planning with inequality constraints

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IEEE International Conference on Robotics and automation (ICRA)

作者： A.W. Divelbiss J. Wen New York State Center for Advanced Technology in Robotics and Automation and Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

This paper presents an algorithm for finding a kinematically feasible path which satisfies a given set of nonholonomic constraints while enforcing both equality and inequality constraints on the configuration vector. The path planning problem is transformed from a finite time nonlinear control problem into a static root finding problem which is iteratively solved. By using an exterior penalty function method, the constrained root finding problem is converted to an unconstrained problem. Convergence of the algorithm depends upon a certain gradient operator being full rank. It has recently been shown that, in the absence of any configuration inequality constraints, the full rank condition is generic. In this paper, we show the full rank condition for a special inequality constraint case. An experiment in which the algorithm is applied to an actual double tractor-trailer vehicle is presented.< >

关键词： Path planning Control systems Controllability Motion control Velocity control Nonlinear control systems Robotics and automation systems engineering and theory Iterative algorithms Convergence

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Model-based multisensor data fusion: a minimal representation approach

Model-based multisensor data fusion: a minimal representatio...

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IEEE International Conference on Robotics and automation (ICRA)

作者： R. Joshi A.C. Sanderson New York State Center for Advanced Technology in Automation and Robotics Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

A general approach to model-based multisensor data fusion using a minimal representation size criterion is described. Each sensor is modeled by a general constraint equation which defines a data constraint manifold (DCM), and observed sensor data populate the measurement space according to these constraints. The choice of multisensor interpretations is based on a minimal representation size criterion which evaluates the complexity through correspondence and encoded errors weighted by relative sensor accuracy and precision. This general framework automatically selects subsets of data features called constraining data feature sets (CDFS) and chooses the CDFS corresponding to a minimal representation interpretation of the observed data. The resulting procedure fuses heterogeneous sensor readings into a single estimation method. The method is illustrated for a visual and tactile data fusion example. The approach generalizes to problems with non-geometric models, and can be used for multisensor system identification in other domains such as process control.< >

关键词： Robotics and automation Sensor fusion Robot sensing systems Sensor systems Probability distribution Data engineering systems engineering and theory Equations Manifolds Fuses

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Variably-autonomous manipulation

Variably-autonomous manipulation

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IEEE International Conference on Robotics and automation (ICRA)

作者： L. Singh A. Silverthorne S. Gottschlich H. Stephanou New York State Center for Advanced Technology in Robotics and Automation Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

There are numerous applications in which robots are needed to assist rather than replace human operators. These applications typically involve either work in a dangerous environment or performing tasks that are physically impossible for humans to accomplish by themselves. Robots used in this mode do not need to be autonomous because they can essentially be controlled by the operator. Nonetheless, it is difficult for an operator to flawlessly control a robot with a large number of degrees of freedom. Therefore, an intelligent control system is needed to correct and improve the operator's input to the robot. In this paper the authors discuss a central component in this control system known as the variably-autonomous trajectory generator (VATG). The VATG combines input from the operator with input from one or more autonomous control modules (CM) to generate the robot trajectory. The amount of impact the autonomous CMs will have on the overall trajectory will depend on a number of factors such as the task being performed and the sensing modalities available, hence the authors refer to this type of control as being variably-autonomous.< >

关键词： Robot sensing systems Robotics and automation Humans Control systems Application software Wrist Tactile sensors Force sensors Grasping systems engineering and theory

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Optimization Of Critical Paths In Circuits With Level-sensitive Latches 94

Optimization Of Critical Paths In Circuits With Level-sensit...

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IEEE International Conference on computer-Aided Design

作者： T.M. Burks K.A. Sakallah Systems Technology and Architecture Division IBM Corporation Austin TX USA Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA

ISBN: (纸本)9780897916905

A simple extension of the critical path method is presented which allows more accurate optimization of circuits with level-sensitive latches. The extended formulation provides a sufficient set of constraints to ensure that, when all slacks are non-negative, the corresponding circuit will be free of late signal timing problems. Cycle stealing is directly permitted by the formulation. However, moderate restrictions may be necessary to ensure that the timing constraint graph is acyclic. Forcing the constraint graph to be acyclic allows a broad range of existing optimization algorithms to be easily extended to better optimize circuits with level-sensitive latches. We describe the extension of two such algorithms, both of which attempt to solve the problem of selecting parts from a library to minimize area subject to a cycle time constraint.

关键词： Latches Delay effects Flip-flops Costs Timing Utility programs Combinational circuits Sequential circuits Circuit analysis Libraries

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