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Operations Research, Systems Engineering and Industrial Engineering Commons

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

Robot Navigation Functions On Manifolds With Boundary, Daniel E. Koditschek, Elon Rimon Dec 1990

Robot Navigation Functions On Manifolds With Boundary, Daniel E. Koditschek, Elon Rimon

Departmental Papers (ESE)

This paper concerns the construction of a class of scalar valued analytic maps on analytic manifolds with boundary. These maps, which we term navigation functions, are constructed on an arbitrary sphere world—a compact connected subset of Euclidean n-space whose boundary is formed from the disjoint union of a finite number of (n − l)-spheres. We show that this class is invariant under composition with analytic diffeomorphisms: our sphere world construction immediately generates a navigation function on all manifolds into which a sphere world is deformable. On the other hand, certain well known results of S. Smale guarantee the existence ...


Transputers At Work: Real-Time Distributed Robot Control, Louis L. Whitcomb, Daniel E. Koditschek Oct 1990

Transputers At Work: Real-Time Distributed Robot Control, Louis L. Whitcomb, Daniel E. Koditschek

Departmental Papers (ESE)

An advanced robot control system joining a GMF A-500 industrial arm with a network of Inmos Transputers is described in the context of the developing field of robotics. The robot system is used to experimentally compare conventional linear control algorithm performance with both the advanced “computer torque” inverse dynamics control algorithm and a recently developed “adaptive computed torque” algorithm.


Task Encoding For Autonomous Machines: The Assembly Problem, Daniel E. Koditschek Aug 1990

Task Encoding For Autonomous Machines: The Assembly Problem, Daniel E. Koditschek

Departmental Papers (ESE)

Assembly problems require that a robotic system with fewer actuated degrees of freedom manipulate an environment with a greater number of unactuated degrees of freedom. This paper explores the possibilities of combining a navigation plan for an “animated” version of the environment with a juggling plan that mediates between the conflicting subgoals of that unconstrained world. The hope is to develop a formalism for constructing globally stabilizing feedback controllers for the nonholonomically constrained dynamical systems that represent the underlying problem.


Recommendations For Improvement Of Green Lines Subway Operations, Vukan R. Vuchic, Shinya Kikuchi Jun 1990

Recommendations For Improvement Of Green Lines Subway Operations, Vukan R. Vuchic, Shinya Kikuchi

Departmental Papers (ESE)

The purpose of this project is to analyze present operations of the Green Lines in the subway and develop solutions to the operational problems, so that the great potential of the subway for high performance and an attractive level of service for passengers can be fully realized.


A Simple Juggling Robot: Theory And Experimentation, M. Buehler Jan 1990

A Simple Juggling Robot: Theory And Experimentation, M. Buehler

Departmental Papers (ESE)

We have developed a formalism for describing and analyzing a very simple representative of a class of robotic tasks which involve repeated robot-environment interactions, among then the task of juggling. We review our empirical success to date with a new class of control algorithms for this task domain that we call “mirror algorithms.” These new nonlinear feedback algorithms were motivated strongly by experimental insights after the failure of local controllers based upon a linearized analysis. We offer here a proof that a suitable mirror algorithm is correct with respect to the local version of the specified task — the “vertical one-juggle ...


Planning And Control Of Robotic Juggling Tasks, Martin Buehler, Daniel E. Koditschek, P. J. Kindlmann Jan 1990

Planning And Control Of Robotic Juggling Tasks, Martin Buehler, Daniel E. Koditschek, P. J. Kindlmann

Departmental Papers (ESE)

A new class of control algorithms - “mirror algorithms” - give rise to experimentally observedjuggling behavior in a simple robotic mechanism. The simplest of these algorithms (upon which all the others are founded) is provably correct with respect to a simplified model of the robot and its environment. This paper reviews the physical setup and underlying mathematical theory, discusses two significant extensions of the fundamental algorithm, provides data from our successful empirical verifications of these control strategies and briefly speculates upon the larger implications for the field of robotics.

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