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 - 8 of 8

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

Can Dumb Feedback Produce Intelligent Machines?, Daniel E. Koditschek Nov 1991

Can Dumb Feedback Produce Intelligent Machines?, Daniel E. Koditschek

Departmental Papers (ESE)

An intelligent machine is autonomous. An autonomous machine can operate successfully in a diversity of situations without resort to intervention by “higher level” processes, for example, humans. Physical machines are ultimately force or torque controlled dynamical systems: the specification of input torques, whether via syntactic prescriptions or feedback controllers, results in certain classes of vector fields. Control procedures whose resulting vector fields have globally attracting goal states may properly be said to evince autonomous behavior. In this light it makes sense to “program” robots using the language of dynamical systems via feedback. This talk will review various procedures developed within ...


Preliminary Experiments In Spatial Robot Juggling, A. A. Rizzi, Daniel E. Koditschek Jun 1991

Preliminary Experiments In Spatial Robot Juggling, A. A. Rizzi, Daniel E. Koditschek

Departmental Papers (ESE)

In a continuing program of research in robotic control of intermittent dynamical tasks, we have constructed a three degree of freedom robot capable of juggling a ball falling freely in the earth’s gravitational field. This work is a direct extension of that previously reported in [7, 3, 5, 4]. The present paper offers a comprehensive description of the new experimental apparatus and a brief account of the more general kinematic, dynamical, and computational understanding of the previous work that underlie the operation of this new machine.

For more information: Kod*Lab


From Suburban Railways To Regional Rail Systems, Vukan R. Vuchic Apr 1991

From Suburban Railways To Regional Rail Systems, Vukan R. Vuchic

Departmental Papers (ESE)

In recent decades rail systems serving cities and their suburbs have undergone a major expansion and evolution. As one of the oldest modes of mechanized urban transportation, suburban or commuter railways were specialized services for commuters operated by railway companies which primarily operated long-distance passenger and freight transport. Today most of these railways have grown into regional rail systems - regular transit services which meet the need for high quality multicentered transportation throughout growing metropolitan areas.


Robot Assembly: Another Source Of Nonholonomic Control Problems, Daniel E. Koditschek Mar 1991

Robot Assembly: Another Source Of Nonholonomic Control Problems, Daniel E. Koditschek

Departmental Papers (ESE)

Assembly problems require that a robot with a few actuated degrees of freedom manipulate an environment with a greater number of unactuated degrees of freedom. Since the dynamical coupling between degrees of freedom in this setting is a function of their relative configuration, the motion of such systems is subject to constraints that preclude smooth feedback stabilization. This paper explores the extent to which assembly planning and control may be effected by recourse to some other methodical means of generating stabilizing feedback controllers. A partial solution is offered for a very simple assembly problem involving an intermittent dynamical environment.

For ...


Toward A Science Of Robot Planning And Control, Daniel E. Koditschek Feb 1991

Toward A Science Of Robot Planning And Control, Daniel E. Koditschek

Departmental Papers (ESE)

Programming machines to operate flexibly and autonomously in the physical world seems to require a sophisticated representation that encodes simultaneously the nature of a task, the nature of the environment within which the task is to be performed, and the nature of the robot’s capabilities with respect to both. We seek a scientific methodology of robot task encoding that encompasses the desired behavioral goals and environmental conditions as well. The methodology must balance the need for flexible expression of abstract human goals against the necessity of a eliciting a predictable response from the commanded machine. This talk focuses on ...


Stabilizing Feedback Controllers For Robotic Assembly Problems, Daniel E. Koditschek Feb 1991

Stabilizing Feedback Controllers For Robotic Assembly Problems, Daniel E. Koditschek

Departmental Papers (ESE)

Assembly problems require that a robot with a few actuated degrees of freedom manipulate an environment with a greater number of unactuated degrees of freedom. Since the dynamical coupling between degrees of freedom in this setting is a function of their relative configuration, the motion of such systems is subject to constraints that preclude smooth feedback stabilization. In other words, in contrast to purely geometric motion planning problems, assembly planning cannot be carried out within the limits of traditional control theory. This paper explores the extent to which assembly planning and control may be effected by recourse to some other ...


Prospects For Competitiveness Of Urban Public Transport, Vukan R. Vuchic Feb 1991

Prospects For Competitiveness Of Urban Public Transport, Vukan R. Vuchic

Departmental Papers (ESE)

From the introductory paragraphs:


"If we observe a herd of sheep who want to pass through a gate to a green pasture, we see them pushing so hard that they get stuck at the gate and pass through it only very torturously and with great delay. It is obvious that if they would not push, but pass one or two at a time, the sheep would get through the gate much faster and more easily. The problem is, we conclude, that the sheep are animals with a rather low level of intelligence. If a creature from Outer Space observes one ...


Theory And Practice Of Metro Network Design, Vukan R. Vuchic, Antonio Musso Jan 1991

Theory And Practice Of Metro Network Design, Vukan R. Vuchic, Antonio Musso

Departmental Papers (ESE)

Most transit networks are designed empirically. For bus net­works this process 1s often satisfactory because bus routes and networks are very dependent on local conditions, and they can be easily modified, allowing easy corrections of problems which line design may cause in operations. However, with transit systems which have extensive infrastructure, most typically metro lines and networks, corrections are ex­tremely difficult to make. Develop­ment of an optimal network and avoidance of design features which result in operational pro­blems are therefore of great im­portance. Yet, the experiences from the design and operation of such large older ...