The Experts below are selected from a list of 309 Experts worldwide ranked by ideXlab platform

Bill Goodwine - One of the best experts on this subject based on the ideXlab platform.

  • Intrinsic vector-valued symmetric form for simple mechanical control systems in the nonzero velocity setting
    2008 IEEE International Conference on Robotics and Automation, 2008
    Co-Authors: Jason Nightingale, Richard Hind, Bill Goodwine
    Abstract:

    We obtain an intrinsic vector-valued symmetric bilinear form that can be associate with an underactuated simple mechanical control system. We determine properties of the form which serve as necessary conditions for driving underactuated simple mechanical control systems to rest. We also determine properties of the form that serve as sufficient conditions for driving a simple mechanical systems underactuated by one control to an epsiv-neighborhood of rest from an arbitrary initial Configuration and velocity. These conditions are computable and coordinate invariant. We focus on the case where the symmetric form is real-valued and indefinite on the Entire Configuration manifold. Our technical results give rise to a nonlinear control law that drives these systems to an epsiv-neighborhood of rest given an arbitrary initial Configuration, velocity and epsiv > 0.

  • ICRA - Intrinsic vector-valued symmetric form for simple mechanical control systems in the nonzero velocity setting
    2008 IEEE International Conference on Robotics and Automation, 2008
    Co-Authors: Jason Nightingale, Richard Hind, Bill Goodwine
    Abstract:

    We obtain an intrinsic vector-valued symmetric bilinear form that can be associate with an underactuated simple mechanical control system. We determine properties of the form which serve as necessary conditions for driving underactuated simple mechanical control systems to rest. We also determine properties of the form that serve as sufficient conditions for driving a simple mechanical systems underactuated by one control to an epsiv-neighborhood of rest from an arbitrary initial Configuration and velocity. These conditions are computable and coordinate invariant. We focus on the case where the symmetric form is real-valued and indefinite on the Entire Configuration manifold. Our technical results give rise to a nonlinear control law that drives these systems to an epsiv-neighborhood of rest given an arbitrary initial Configuration, velocity and epsiv > 0.

S.k. Ralph - One of the best experts on this subject based on the ideXlab platform.

  • Computing fault tolerant motions for a robot manipulator
    Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C), 1999
    Co-Authors: S.k. Ralph
    Abstract:

    We introduce a method of planning fault tolerant trajectories based on the least constraint (LC) framework. Fault tolerance is achieved in two ways: exploiting properties of LC itself, and using a performance measure which assess the fault tolerant potential of a given Configuration. LC encourages designs which are based solely on salient constraints of the task, allowing the inherent redundancy of the robot to be used to maintain a safe Configuration. We compute the effects of faults on the topology of the Configuration space and construct optimal recovery motions for a set of faults. We describe an efficient algorithm for computing the optimal recovery motions for a large number of faults over the Entire Configuration space simultaneously. A performance measure, called longevity, quantifies the ability of the recovery motions to complete the task. From the performance measure fault tolerant paths are constructed. We look at the simple task of positioning the end effector of a Puma 560 at a given point in the workspace.

  • ICRA - Computing fault tolerant motions for a robot manipulator
    Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C), 1999
    Co-Authors: S.k. Ralph
    Abstract:

    We introduce a method of planning fault tolerant trajectories based on the least constraint (LC) framework. Fault tolerance is achieved in two ways: exploiting properties of LC itself, and using a performance measure which assess the fault tolerant potential of a given Configuration. LC encourages designs which are based solely on salient constraints of the task, allowing the inherent redundancy of the robot to be used to maintain a safe Configuration. We compute the effects of faults on the topology of the Configuration space and construct optimal recovery motions for a set of faults. We describe an efficient algorithm for computing the optimal recovery motions for a large number of faults over the Entire Configuration space simultaneously. A performance measure, called longevity, quantifies the ability of the recovery motions to complete the task. From the performance measure fault tolerant paths are constructed. We look at the simple task of positioning the end effector of a Puma 560 at a given point in the workspace.

J. Wong - One of the best experts on this subject based on the ideXlab platform.

  • A time-multiplexed FPGA
    Proceedings. The 5th Annual IEEE Symposium on Field-Programmable Custom Computing Machines Cat. No.97TB100186), 1997
    Co-Authors: S. Trimberger, D. Carberry, A. Johnson, J. Wong
    Abstract:

    This paper describes the architecture of a time-multiplexed FPGA. Eight Configurations of the FPGA are stored in on-chip memory. This inactive on-chip memory is distributed around the chip, and accessible so that the Entire Configuration of the FPGA can be changed in a single cycle of the memory. The Entire Configuration of the FPGA can be loaded from this on-chip memory in 30 ns. Inactive memory is accessible as block RAM for applications. The FPGA is based on the Xilinx XC4000E FPGA, and includes extensions for dealing with state saving and forwarding and for increased routing demand due to time-multiplexing the hardware.

  • FCCM - A time-multiplexed FPGA
    Proceedings. The 5th Annual IEEE Symposium on Field-Programmable Custom Computing Machines Cat. No.97TB100186), 1997
    Co-Authors: S. Trimberger, D. Carberry, A. Johnson, J. Wong
    Abstract:

    This paper describes the architecture of a time-multiplexed FPGA. Eight Configurations of the FPGA are stored in on-chip memory. This inactive on-chip memory is distributed around the chip, and accessible so that the Entire Configuration of the FPGA can be changed in a single cycle of the memory. The Entire Configuration of the FPGA can be loaded from this on-chip memory in 30 ns. Inactive memory is accessible as block RAM for applications. The FPGA is based on the Xilinx XC4000E FPGA, and includes extensions for dealing with state saving and forwarding and for increased routing demand due to time-multiplexing the hardware.

Burkhard Corves - One of the best experts on this subject based on the ideXlab platform.

  • Optimization of the ReConfiguration Planning of Handling Systems Based on Parallel Manipulators With Delta-Like Architecture
    IEEE Robotics and Automation Letters, 2017
    Co-Authors: Jan Brinker, Marco Lübbecke, Yukio Takeda, Burkhard Corves
    Abstract:

    Future production systems must meet the continual demands for improved productivity and energy efficiency. Being flexible and adaptable, reconfigurable systems offer great opportunities to face these challenges. Against this background, this letter is concerned with the reConfiguration planning of Delta-like parallel robots. Following the trend of equipping the original Delta robot with additional rotational dof, a potential analysis reveals a great variety of dimensional and functional reConfiguration possibilities. Based on this, the reConfiguration planning is optimized applying operations research techniques. In this approach, a fixed number of Configurations is optimally selected from the Entire Configuration space and simultaneously allocated to a set of handling tasks in a most energy efficient way. Each allocation's energy consumption is efficiently computed using Kane's inverse dynamics formulation. The outcome of a case study demonstrates the general applicability and energy-saving potential of the proposed method.

Jason Nightingale - One of the best experts on this subject based on the ideXlab platform.

  • Intrinsic vector-valued symmetric form for simple mechanical control systems in the nonzero velocity setting
    2008 IEEE International Conference on Robotics and Automation, 2008
    Co-Authors: Jason Nightingale, Richard Hind, Bill Goodwine
    Abstract:

    We obtain an intrinsic vector-valued symmetric bilinear form that can be associate with an underactuated simple mechanical control system. We determine properties of the form which serve as necessary conditions for driving underactuated simple mechanical control systems to rest. We also determine properties of the form that serve as sufficient conditions for driving a simple mechanical systems underactuated by one control to an epsiv-neighborhood of rest from an arbitrary initial Configuration and velocity. These conditions are computable and coordinate invariant. We focus on the case where the symmetric form is real-valued and indefinite on the Entire Configuration manifold. Our technical results give rise to a nonlinear control law that drives these systems to an epsiv-neighborhood of rest given an arbitrary initial Configuration, velocity and epsiv > 0.

  • ICRA - Intrinsic vector-valued symmetric form for simple mechanical control systems in the nonzero velocity setting
    2008 IEEE International Conference on Robotics and Automation, 2008
    Co-Authors: Jason Nightingale, Richard Hind, Bill Goodwine
    Abstract:

    We obtain an intrinsic vector-valued symmetric bilinear form that can be associate with an underactuated simple mechanical control system. We determine properties of the form which serve as necessary conditions for driving underactuated simple mechanical control systems to rest. We also determine properties of the form that serve as sufficient conditions for driving a simple mechanical systems underactuated by one control to an epsiv-neighborhood of rest from an arbitrary initial Configuration and velocity. These conditions are computable and coordinate invariant. We focus on the case where the symmetric form is real-valued and indefinite on the Entire Configuration manifold. Our technical results give rise to a nonlinear control law that drives these systems to an epsiv-neighborhood of rest given an arbitrary initial Configuration, velocity and epsiv > 0.