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Improving hierarchical architecture performance with dynamic segmentation

Improving hierarchical architecture performance with dynamic...

引用

IEEE International Conference on Systems, Man and Cybernetics

作者： C.M. Aras R.C. Luo D.S. Reeves Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA Robotics and Intelligent Systems Laboratory Department of Computer Science North Carolina State University Raleigh NC USA

Dynamic segmentation is a method for improving the performance of cooperating tasks executed on loosely coupled multiprocessors. Four different data transfer techniques that can be used for intersegment data transfers in dynamically segmented buses are analyzed. Preemptive data transfers are considered for uniform message latencies and results are provided for message latency comparisons using various locality factors. These results indicate dynamic segmentation improves performance considerably, at a fraction of the cost of more complex interconnection networks such as multiple buses.< >

关键词： Mobile robots Intelligent robots computer architecture Control systems Communication system control Communication channels Communication networks Bandwidth Robot control Delay

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Implementation of an active perceptual scheme for legged locomotion of robots

Implementation of an active perceptual scheme for legged loc...

引用

Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91

作者： P.R. Sinha R.K. Bajcsy GRASP Laboratory Department of Computer and Information Science University of Pennsylvania Philadelphia PA USA Robotics and Automation Laboratory (RAL) Department of Mechanical Engineering University of Toronto Toronto ONT Canada

For robots to traverse rugged terrain successfully using legged locomotion, they need not only constantly to maintain structural stability but also, and perhaps more importantly, to detect and adapt to changes in the terrain properties. The authors address the issue of exploration to extract material properties from a given surface for the specific purpose of aiding in and improving the quality of legged locomotion. While it is important to evaluate terrain properties prior to the start of locomotion, it is even more important to evaluate these properties actively during locomotion so that the robot does not sink, slip or fall. It is proposed that the legs of a robot be used not only for stepping and walking but also as probes to examine those properties of the surface that would contribute to the efficiency of locomotion, one way or another. The proposed framework for active perception for legged locomotion suggests that for stable stepping and walking in an unknown environment, it is necessary actively to recover the material properties of penetrability, compliance and surface traction from the supporting surface. These attributes must be recovered by exploratory procedures that are built into the mobile robotic system. This paper focusses on the implementation of the perceptual scheme so that feedback from the measurement of material properties is used to control robot foot forces during legged locomotion.< >

关键词： Legged locomotion Material properties Structural engineering Leg Probes Mobile robots Force feedback Force measurement Force control Robot control

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A feasible collision-detection algorithm for mobile robot motion planning with moving obstacles

A feasible collision-detection algorithm for mobile robot mo...

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International Conference on Industrial Electronics, Control and Instrumentation

作者： T.-J. Pan R.C. Luo Department of Information Engineering Tatung Institute of Technology Taipei Taiwan Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

A new approach to solving the collision detection problem for mobile robots in the presence of moving obstacles is proposed. Both the robot and obstacles in the two-dimensional space are assumed to be polygonal and are composed of a set of convex polygons. The half-plane representation uses an algebraic method to describe the object motion including translation and rotation through time. Compared with previous methods, the proposed representation is more general in that obstacles are now allowed to move at nonconstant velocities. To detect collision between polygonal objects, a traversability vector method was developed. Traversability vectors are a simple mechanism used to analyze geometric constraints imposed by polygons. Using these vectors, a simple algorithm for predicting collision is derived. computer simulations were conducted to show the feasibility of the proposed method.< >

关键词： Mobile robots Motion planning Robot motion Orbital robotics Intelligent robots Technology planning Space technology Motion detection Object detection Prediction algorithms

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Dexterity measures for design and control of manipulators

Dexterity measures for design and control of manipulators

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Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91

作者： Jin-Oh Kim K. Khosla Robotics Inst. Carnegie Mellon Univ. Pittsburgh PA USA Advanced Manipulators Laboratory The Robotics Institute Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA

The authors investigate dexterity measures of a manipulator based on its Jacobian matrix. The goal is to derive dexterity measures which can be used for both design and control of a manipulator. Generally, a dexterity measure must be independent of the scale of a manipulator for design, and must be expressed analytically so that it can be used for real-time control. Every dexterity measure must bear a physical meaning. The measure of manipulability has an analytical expression, but it depends on the scale of a manipulator. On the other hand, the condition number is independent of the scale, but cannot be expressed analytically. These two main problems (scale dependency and analytical expression) of previous dexterity measures derived from the Jacobian matrix are solved and applied in design and control of manipulators. In addition, a dexterity measure called the measure of isotropy is introduced.< >

关键词： Jacobian matrices Manipulators Robot kinematics Eigenvalues and eigenfunctions Laboratories Time measurement NASA US department of Energy Electric variables measurement Arithmetic

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Simulated annealing-based channel routing on hypercube computers

Simulated annealing-based channel routing on hypercube compu...

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CSI/IEEE International Symposium on VLSI Design

作者： R. Mall L.M. Patnaik S. Raman Department of Computer Science and Automation Indian Institute of Science Bangalore India Department of Computer Science and Automation Mircroprocessor Applications Laboratory Supercomputer Education and Research Centre Indian Institute of Science Bangalore India Department of Electrical and Computer Engineering and Coordinated Science Laboratory University of Illinois Urbana-Champaign IL USA

Many times, routing of signal nets in the layout design of VLSI circuits turns out to be a bottleneck in designing complex chips, due to the inherent compute-intensive nature of this task. Parallel processing of the routing problem holds promise for mitigating this situation. The authors present a parallel channel routing algorithm that is targetted to run on loosely coupled computers like hypercubes. The proposed parallel algorithm employs simulated annealing technique for achieving near-optimum solutions. For efficient execution, attempts have been made to reduce the communication overheads by restricting broadcast of updates only to cases of interprocessor net transfers. Performance evaluation studies on the algorithm show promising results.< >

关键词： Computational modeling computer simulation Simulated annealing Routing Hypercubes Signal design Circuit simulation Very large scale integration Parallel processing Coupling circuits

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Experimental verification of a strategy for impact control

Experimental verification of a strategy for impact control

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IEEE International Conference on robotics and automation (ICRA)

作者： R. Volpe P. Khosla Department of Physics The Robotics Institute Carnegie Mellon University Pittsburgh PA USA Jet Propulsion Laboratory Pasadena CA USA Department of Electrical and Computer Engineering Robotics Institute Carnegie Mellon University Pittsburgh PA USA

The authors present experimental results from a strategy for stable hard-on-hard impacts of a robot manipulator, and show how this method fits into the framework of force control. Previously proposed methods of impact control are reviewed, and their inadequacies are revealed. A fourth-order model of an arm/sensor/environment system is reviewed. It is pointed out how proportional gain force control with feedforward and impedance control are equivalent when the environment is stiff. An analysis of the model and the controllers shows the gain selection that provides the best impact response. Extensive experimental results confirm the correctness of the model, the equivalence of the controllers, and the efficacy of this impact control strategy.< >

关键词： Force control Damping Motion control Impedance Proportional control Position control Elasticity Stability Propulsion Laboratories

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Identification and Multi-Objective Controller Tuning of a Plastic Injection Molding Machine

Identification and Multi-Objective Controller Tuning of a Pl...

引用

American Control Conference (ACC)

作者： C. M. Seaman A. A. Desrochers G. F. List Robotics & Automation Laboratories Rensselaer Polytechnic Institute Troy NY USA Electrical Computer & Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA Decision Sciences and Engineering System Department Rensselaer Polytechnic Institute Troy NY USA

In this paper, a multi-objective approach to controller tuning is described. An algorithm for implementation of this tuning is given. This approach has the following merits: there is no restriction on the type or number of performance criteria; no a 'priori weights need be chosen since performance criteria are not combined into a single objective function. The intention is that the algorithm is implemented to run in real-time so as to provide immediate feedback to a process operator about the current operating point. If the current operating point is not Pareto optimal, the algorithm can automatically adjust the parameters to achieve this. If it is Pareto optimal but not desirable, the algorithm can provide information on how trade-offs can be made so that the desired operating point is achieved. The algorithm is applied to the tuning of a PID controller for the plastication phase of an injection molding process. An analytic model for this process is presented. Experiments are described in which data was collected from this process, and an empirical discrete-time transfer function was identified. This transfer function was then used, within a simulation, to allow the algorithm to tune the controller, with respect to two objective functions. The tradeoff curve for these objectives, and corresponding controller gains is presented.

关键词： Plastics Injection molding Transfer functions Pareto optimization Three-term control Constraint optimization Minimization methods Problem-solving Delta modulation Error correction

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A parallel algorithm for logic simulation on transputer networks

A parallel algorithm for logic simulation on transputer netw...

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Great Lakes Symposium on VLSI

作者： S. Srinivas A. Basu A. Paulraj L.M. Patnaik Department of Electrical and Computer Engineering Concordia University Montreal QUE Canada Centre for Development of Advanced Computing Bangalore India Microprocessor Applications Laboratory Supercomputing Education and Research Center Department of Computer Science and Automation Indian Institute of Science Bangalore India

The authors present a parallel algorithm for logic simulation of VLSI circuits. It is implemented on a network of transputers connected in a ring topology. The approach is based on partitioning a functionality matrix representation of the circuit among the transputers and adopting a data flow technique for the solution. A significant aspect of the algorithm is that it overlaps computation with communication, thereby reducing the communication overhead. It also attempts even distribution of load in order to reduce processor idle time. The algorithm possesses the advantages of ease of implementation and ease of extension to incorporate additional parameters for simulation. Performance results of the algorithm are given.< >

关键词： Parallel algorithms Circuit simulation Computational modeling Concurrent computing Application software Logic circuits Very large scale integration Algorithm design and analysis Logic design Design automation

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Dextrous manipulation using qualitative reasoning. I. Determination of a desired object displacement

Dextrous manipulation using qualitative reasoning. I. Determ...

引用

International Conference on Advanced robotics (ICAR)

作者： S.P. Ananthanarayanan A.A. Goldberg J. Mylopoulos Robotics and Automation Laboratory Department of Mechanical Engineering University of Toronto Toronto ONT Canada Dept. of Mech. Eng. Toronto Univ. Ont. Canada Department of Computer Science University of Toronto Toronto ONT Canada

In this work, a 'qualitative reasoning' (common-sense reasoning) approach to the synthesis of dexterous manipulative synergies for articulated robot hands is provided. An intelligent planner has been developed in order to perform this synthesis. The synthesis is performed in the following step-wise manner viz., (i) determination of a desired displacement of an object, given an initial and final configuration and (ii) determination of the corresponding displacements of the fingers, that induces the desired object displacements. The determination of a desired object displacement, is the main subject of this paper. A 'qualitative' formulation of object motion, and an algorithm to determine the sequence of motions necessary to change an arbitrary initial configuration of the object, to a desired final configuration, are provided. The details regarding the implementation of this algorithm and the future implications of this work are highlighted.< >

关键词： Grasping Humans robotics and automation Laboratories Mechanical engineering computer science Intelligent robots Fingers Humanoid robots Fuzzy logic

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Programmable analog VLSI CNN chip with local digital logic

Programmable analog VLSI CNN chip with local digital logic

引用

IEEE International Symposium on Circuits and Systems (ISCAS)

作者： K. Halonen V. Porra T. Roska L. Chua Electronic Circuit Design Laboratory Helsinki University of Technology Espoo Finland Computer and Automation Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary Berkeley Department of Electrical Engineering and Computer Sciences University of California Berkeley CA USA

A new integrated circuit cellular neural network (CNN) implementation having digitally or continuously selectable template coefficients is presented. Local logic and memory are added into each cell providing a simple dual (analog and digital) computing structure. The variable-gain operational transconductance amplifiers (OTAs) are used as the voltage controlled current sources to program the template element values. This analog array processor can be applied to solve problems with a sequence of different templates. A 4-by-4 CNN circuit is realized using the 2- mu m analog CMOS process. To test the circuit a general purpose control system was designed with the microcomputer interface.< >

关键词： Very large scale integration Cellular neural networks Logic Circuit testing Digital integrated circuits Analog computers Transconductance Operational amplifiers Voltage control CMOS process

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