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SCHEDULING TURBOFAN ENGINE CONTROL SET POINTS BY SEMI-INFINITE OPTIMIZATION

AUTOMATICA 1989年第3期25卷 413-420页

作者： STIMLER, DM Robotics and Flexible Automation Philips Laboratories Briarcliff Manor NY 10510 345 Scarborough Rd United States

It is shown that modern Semi-infinite Optimization Methods provide a powerful method for determining the operating schedules of control set points for advanced turbofan engines. These methods give the engineer considerable design freedom and they can be used to develop engine schedules which optimize complex performance objectives and explicitly satisfy performance requirements on engine variables . This approach is shown to provide insights as to the limits of engine performance and the control requirements of the engine as well as a framework in which to carry out engine performance trade-off studies. These methods are illustrated by determining portions of the steady-state and transient operating schedules of a state-of-the-art single bypass turbofan engine.

关键词： Computer-aided design gas turbines multivariable control systems non-linear programming optimization

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On-line allocation of robot resources to task plans

On-line allocation of robot resources to task plans

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Expert Robots for Industrial Use 1988

作者： Lyons, Damian M. Robotics and Flexible Automation Department Philips Laboratories 345 Scarborough Road Briarcliff ManorNY10510 United States

In this paper, I present an approach to representing plans that make on-line decisions about resource allocation. An on-line decision is the evaluation of a conditional expression involving sensory information as the plan is being executed. I use a plan representation called 7ZS10'1 1,12that has been especially designed for the domain of robot programming, and in particular, for the problem of on-line decisions. The resource allocation example is based on the robot assembly cell architecture outlined by Venkataraman and Lyons16. I begin by setting forth a definition of on-line decision making and some arguments as to why this form of decision making is important and useful. To set the context for the resource allocation example, I take some care in categorizing the types of on-line decision making and the approaches adopted by other workers so far. In particular, I justify a plan-based approach to the study of on-line decision making. From that, the focus shifts to one type of decision making: on-line allocation of robot resources to task plans. Robot resources are the physical manipulators (grippers, wrists, arms, feeders, etc) that are available to carry out the task. I formulate the assembly cell architecture of Venkataraman and Lyons16 as an R.S plan schema, and show how the on-line allocation specified in that architecture can be implemented. Finally, I show how considering the on-line allocation of logical resources, that is a physical resource plus some model information, can be used as a non-traditional approach to some problems in robot task planning.

关键词： Sensors Interfaces Remote sensing Astatine Computer science Computing systems Data modeling Motion models Operating systems Computer programming

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Using the 3T architecture for tracking shuttle RMS procedures

Using the 3T architecture for tracking shuttle RMS procedure...

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IEEE International Joint Symposia on Intelligence and Systems

作者： Bonasso, RP Kerr, R Jenks, K Johnson, G Texas Robotics and Automation Center Laboratories (TRACLabs) 1012 Hercules United States ER2 NASA-JSC Houston 77059 TX United States

ISBN: (纸本)0818685484

This paper describes the use of a three-tiered robot control software architecture, known as 3T, as the software framework for automating the job of NASA flight controllers as they track procedures executed by on-orbit astronauts. The project discussed focuses on automating the procedures relating to the shuttle's Remote Manipulator System and is a pathfinder project for the automation of other shuttle operations. The RMS Assistant system is designed to track the expected steps of the cl ew as they early out RMS operations, detecting malfunctions in the RMS system from failures or improper configurations as well as improper or incomplete procedures by the crew. In this regard, it is a "flight controller in a box". Moving the flight controller functions on-ol bit is part a larger program of downsizing general space shuttle operations. The 3T architecture was designed for intelligent autonomous robots, bur has an added capability that allows for variable autonomy to include fill teleoperation. In that mode, the software acts as a monitoring system, and thus provides an "assistant " framework now and accommodates more autonomous operations in the future.

关键词： flight controllers crews Software Frameworks automation malfunctions Surgery monitoring systems

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An expert supervisor for a robotic work cell

An expert supervisor for a robotic work cell

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Intelligent Robots and Computer Vision VI 1987

作者： Moed, M.C. Kelley, R.B. Robotics and Automation Laboratories Electrical Computer and Systems Engineering Dept. Rensselaer Polytechnic Institute TroyNY12180-3590 United States

To increase task flexibility in a robotic assembly environment, a hierarchical planning and execution system is being developed which will map user-specified 3D part assembly tasks into various target robotic work cells, and execute these tasks efficiently using manipulators and sensors available in the work cell. One level of this hierarchy, the Supervisor, is responsible for assigning subtasks of a system-generated Task Plan to a set of task specific Specialists and on-line coordination of the activity of these Specialists to accomplish the user-specified assembly. The design of the Supervisor can be broken down into five major functional blocks: resource management;concurrency detection;task scheduling;error recovery;and interprocess communication. The Supervisor implementation has been completed on a VAX 11/750 under a Unix environment. PC card Pick-Insert experiments were performed to test this implementation. To test the robustness of the architecture, the Supervisor was then transported to a new work cell under a VMS environment. The experiments performed under Supervisor control in both implementations are discussed after a brief explanation of the functional blocks of the Supervisor and the other levels in the hierarchy. © 1988 SPIE. All rights reserved.

关键词： Supervisory personnel

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The recursive compensation algorithm for obstacle avoidance path planning

The recursive compensation algorithm for obstacle avoidance ...

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1989 IEEE/RSJ International Workshop on Intelligent Robots and Systems, IROS 1989

作者： Chung, C.H. Saridis, G.N. Center for Intelligent Robotic Systems for Space Exploration Robotics and Automation Laboratories Rensselaer Polytechnic Institute TroyNY12180-3590 United States

In many path-planning algorithms, attempts are made to optimize the path between the start and the goal in terms of Euclidean distance. Since the moving object is shrunk to a point in the configuration space, the Findpath problem can be formulated as a graph-searching problem. This is known as the VGraph Algorithm. Lozano-Perez points out the drawbacks of the VGraph Algorithm. The first drawback is related with rotation of a moving object. This drawback has been solved by using the sliced projection method. However, the VGraph Algorithm has serious drawbacks when the obstacles are three-dimensional. The Recursive Compensation Algorithm is proposed to solve the drawbacks of the VGraph Algorithm. The Recursive Compensation Algorithm is to find the collision-free shortest path in 3D without increasing the compelexity of the VGraph and it is proved to guarantee the convergence to the shortest path in 3D. Simplifying the VGraph, the Recursive Compensation Algorithm can save not only the memory space to represent the VGraph but also the graph-searching time. © 1989 Institute of Electrical and Electronics Engineers Inc. All rights reserved.

关键词： Motion planning

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Automated force controlled assembly utilizing a novel hexapod robotic manipulator

Automated force controlled assembly utilizing a novel hexapo...

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9th Int. Symp. on robotics and Applications, ISORA 2002, 8th Int. Symp. on Manufacturing and Applications, ISOMA 2002 and 4th Int. Symposium on Intelligent automation and Control, ISIAC 2002, Held within the World automation Congress, WAC 2002

作者： Kozlowski, David Stoughton, Robert Newman, Wyatt S. Hebbar, Ravi Intelligent Systems and Robotics Center Sandia National Laboratories United States MicroDexterity Systems United States Center for Automation and Intelligent Systems Research Case Western Reserve University United States

ISBN: (纸本)1889335193

Within industry many repetitive operations, such as pick and place, spot welding, and spray-painting, have been successfully automated. While the operations themselves are diverse, a common thread within nearly all of them is that the robot performing the task has very limited direct physical contact with its environment. From a control perspective, this means that the robot need only be controlled to follow a desired trajectory fairly precisely - interactive forces with the environment can be essentially ignored. Assembly tasks are fundamentally different in nature - while some degree of precision in positioning is needed (e.g., alignment and part pickup), successful completion is rather a function of the precision in controlling, often delicately, the forces of interaction with the environment. Common examples include gear and spline meshing, threading fasteners, "snap" fittings, etc. Humans perform these types of tasks relatively easily, as we quite naturally control our interactive forces, but typical industrial robots do not possess such compliance, and fail miserably at these tasks. Delicate, dexterous control of physical interaction forces is typically limited by manipulator mechanical architecture (serial robots have high friction and inertia), the inability to sense forces accurately, and the lack of control sophistication to achieve the desired performance when such force sensing is present. PARADEX (PARAllel DEXterous) is a novel hexapod manipulator designed specifically for these types of assembly applications. This robot offers high payload and stiffness while minimizing moving mass. It utilizes direct drive linear motors for actuation, thus limiting friction. The robot is controlled with a personal computer, a real time operating system, and a commercial off the shelf motion control board. It can be switched between precise position control and compliance control based upon whether the system is in free space or in contact with the environment. PARADEX

关键词： Friction

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On-line periodic movement and force-profile learning for adaptation to new surfaces

On-line periodic movement and force-profile learning for ada...

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2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010

作者： Gams, Andrej Do, Martin Ude, Aleš Asfour, Tamim Dillmann, Rüdiger Department of Automation Biocybernetics and Robotics Jožef Stefan Institute Jamova cesta 39 1000 Ljubljana Slovenia Institute for Anthropomatics Humanoids and Intelligence Systems Laboratories Karlsruhe Institute of Technology Karlsruhe Germany

ISBN: (纸本)9781424486885

To control the motion of a humanoid robot along a desired trajectory in contact with a rigid object, we need to take into account forces that arise from contact with the surface of the object. In this paper we propose a new method that enables the robot to adapt its motion to different surfaces. The initial trajectories are encoded by dynamic movement primitives, which can be learned from visual feedback using a two-layered imitation system. In our approach these initial trajectories are modified using regression methods. The data for learning is provided by force feedback. In this way new trajectories are learned that ensure that the robot can move along the object while maintaining contact and applying the desired force to the object. Active compliance can be used more effectively with such *** present the results for both movement imitation and force profile learning on two different surfaces. We applied the method to the ARMAR-IIIb humanoid robot, where we use the system for learning and imitating a periodic task of wiping a kitchen table. ©2010 IEEE.

关键词： Anthropomorphic robots

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The design of an assembly cell task supervisor

The design of an assembly cell task supervisor

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IEEE International Conference on robotics and automation (ICRA)

作者： M.C. Moed R.B. Kelley Robotics and Automation Laboratories Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

To increase task flexibility in a robotic assembly environment, a hierarchical planning and execution system is being developed which will map user-specified, three-dimensional part assembly tasks into various target robotic workcells, and execute these tasks efficiently using manipulators and sensors available in the workcell. One level of this hierarchy, the supervisor, is responsible for assigning subtasks of a system-generated task plan to a set of task specific specialists, and online coordination of the activity of these specialists to accomplish the user-specified assembly. The design of the supervisor is broken down into five major functional blocks: resource management; concurrency detection; task scheduling; error recovery; and interprocess communication. Using concepts from operating systems, the design of each of these supervisor blocks is examined.< >

关键词： Robotic assembly Assembly systems robotics and automation Manipulators Robot sensing systems Resource management Robot kinematics Sensor systems Job shop scheduling Robot programming

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Analytic formulation of intelligent machines as neural nets

Analytic formulation of intelligent machines as neural nets

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IEEE International Symposium on Intelligent Control (ISIC)

作者： G.N. Saridis M.C. Moed Robotics and Automation Laboratories Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

The design of the organization level of the intelligent machine as a Boltzmann machine, as described in current neural network literature, is discussed. Since this level is responsible for planning the actions of the machine, the problem at this tier is formulated as the construction of the right sequence of tasks or events which minimizes the entropy for the desired action. Two search techniques, simulated annealing (SA) and expanding subinterval random search (ESRS), are described. These techniques are used to find the global minimum entropy of a Boltzmann machine. Simulations using these search techniques were conducted using energy as a cost function, and results indicate that ESRS converges faster than SA to a global minimum if the topology contains narrow and deep cost wells.< >

关键词： Machine intelligence Neural networks Intelligent robots Intelligent control Learning systems Artificial intelligence Entropy Control systems Humans Intelligent structures

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An online supervisor for robotic tasks

An online supervisor for robotic tasks

引用

International Conference on Computer Integrated Manufacturing

作者： M.C. Moed R.B. Kelley Robotics and Automation Laboratories Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

To increase task flexibility in a robotic assembly environment, a hierarchical planning and execution system is being developed which will map user-specified three-dimensional part assembly tasks into various target robotic workcells, and execute these tasks efficiently using manipulators and sensors available in the workcell. One level of this hierarchy, the supervisor, is responsible for assigning subtasks of a system-generated task plan to a set of task specific specialists, and online coordination of the activity of these specialists to accomplish the user-specified assembly. The design is broken down into five major functional blocks: resource management; concurrency detection; task scheduling; error recovery; and interprocess communication. The overall function of the supervisor is examined in relation to the other levels of the hierarchical system. The theoretical design of each module of the supervisor is presented and a sample assembly is executed under the supervisor's control.< >

关键词： Robotic assembly Robot sensing systems Robot kinematics Assembly systems Manipulators Sensor systems Resource management Concurrent computing Hierarchical systems Communication system control

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