Open Access. Powered by Scholars. Published by Universities.®

Operations Research, Systems Engineering and Industrial Engineering Commons

Open Access. Powered by Scholars. Published by Universities.®

Articles 1 - 6 of 6

Full-Text Articles in Operations Research, Systems Engineering and Industrial Engineering

A Distributed Message Passing Computational And I/O Engine For Real-Time Motion Control, M. Buehler, L. L. Whitcomb, F. Levin, Daniel E. Koditschek Jun 1989

A Distributed Message Passing Computational And I/O Engine For Real-Time Motion Control, M. Buehler, L. L. Whitcomb, F. Levin, Daniel E. Koditschek

Departmental Papers (ESE)

This paper illustrates the use of the Yale XP/DCS - a dual board real-time distributed control module based upon the INMOS Transputer family of micoprocessors - for high performance real-time motion control applications. The XP/DCS complements the the Transputer’s 1.5 Mflop computational rate and four independent on-chip 20 Mbps DMA communication engines, by providing a bidirectional latched 32 bit bus extension with full handshaking support for easy customization of the I/O capabilities of any node. After contrasting this design with commercially available alternatives we describe three particular applications presently underway in the Yale Robotics Laboratory. We conclude ...


The Cyclops Vision System, Martin Buhler, N. Vlamis, Camillo J. Taylor, A. Ganz Apr 1989

The Cyclops Vision System, Martin Buhler, N. Vlamis, Camillo J. Taylor, A. Ganz

Departmental Papers (ESE)

Cyclops is a distributed real-time vision system. It is "real-time" as for most vision tasks, it can be configured with enough processing nodes as to allow an update rate of 60 Hz with a maximum latency of 1/30s. This allows the system to be used directly as a feedback sensor for motion control. Even though Cyclops was built originally for tracking objects in 3D at 60Hz, it offers great flexibility. It can be configured to attack many vision tasks at much higher rates than was previously possible with systems that are up to an order of magnitude more expensive ...


The Application Of Total Energy As A Lyapunov Function For Mechanical Control Systems, Daniel E. Koditschek Feb 1989

The Application Of Total Energy As A Lyapunov Function For Mechanical Control Systems, Daniel E. Koditschek

Departmental Papers (ESE)

Examination of total energy shows that the global limit behavior of a dissipative mechanical system is essentially equivalent to that of its constituent gradient vector field. The class of “navigation functions” is introduced and shown to result in “almost global” asymptotic stability for closed loop mechanical control systems upon which a navigation function has been imposed as an artifical potential energy. Two examples from the engineering literature - satellite attitude tracking and robot obstacle avoidance - are provided to demonstrate the utility of these observations.

For more information: Kod*Lab


Natural Control In Manufacturing, Daniel E. Koditschek Feb 1989

Natural Control In Manufacturing, Daniel E. Koditschek

Departmental Papers (ESE)

This paper reviews certain theoretical results in robot task planning and control obtained with the support of NSF Research Initiation Grant DMC-8505160. The “natural control” paradigm is reviewed and detailed attention is focused upon the specific task of robot navigation in a cluttered environment. The paper concludes with some comments concerning the problems which remain before this approach to robot command and control can be made practicable in a real manufacturing environment. A summary of formal results presented in the paper now follows. The class of “navigation functions” simultaneously encodes the task of navigating amidst obstacles and automatically generates correct ...


Us Cities Lead Fight Against Graffiti, Vukan R. Vuchic, Andrew Bata Jan 1989

Us Cities Lead Fight Against Graffiti, Vukan R. Vuchic, Andrew Bata

Departmental Papers (ESE)

Transit authorities in Philadelphia and New York have proved that the insidious wave of graffiti now menacing European metros can be beaten by a comprehensive program embracing cleaning, policing and community education.


Robot Planning And Control Via Potential Functions, Daniel E. Koditschek Jan 1989

Robot Planning And Control Via Potential Functions, Daniel E. Koditschek

Departmental Papers (ESE)

There mingle in the contemporary field of robotics a great many disparate currents of thought from a large variety of disciplines. Nevertheless, a largely unspoken understanding seems to prevail in the field to the effect that certain topics are conceptually distinct. In general, methods of task planning are held to be unrelated to methods of control. The former belong to the realm of geometry and logic whereas the latter inhabit the earthier domain of engineering analysis; geometry is usually associated with off-line computation whereas everyone knows that control must be accomplished in real-time; the one is a “high level” activity ...