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Operations Research, Systems Engineering and Industrial Engineering Commons

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1990

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Articles 1 - 27 of 27

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 ...


Acuta Enews November 1990, Vol. 19, No. 11 Nov 1990

Acuta Enews November 1990, Vol. 19, No. 11

ACUTA Newsletters

In This Issue

Election of Directors

ICA backs universities

Vendor Liaison

An end to phone tag

Party Line

Hawaii air fares locked in


Acuta Enews October 1990, Vol. 19, No. 10 Oct 1990

Acuta Enews October 1990, Vol. 19, No. 10

ACUTA Newsletters

In This Issue

Early warning of PVC fires

President's column

Attendant quiets complaints

Party Line

ISDN personalized

What do you charge?


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.


Acuta Enews September 1990, Vol. 19, No. 9 Sep 1990

Acuta Enews September 1990, Vol. 19, No. 9

ACUTA Newsletters

In This Issue

Are colleges aggregators?

President's column

Four workshops scheduled

Revising the directory

A six-node network

Update on Portland


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.


Acuta Enews August 1990, Vol. 19, No. 8 Aug 1990

Acuta Enews August 1990, Vol. 19, No. 8

ACUTA Newsletters

In This Issue

New President's column

Conference gets high marks

Regions consolidated

Birds of a Feather

Party Line

Summer-time Blues


Automated Harvesting Of Burley Tobacco I. System Development, Larry G. Wells, George B. Day V, Timothy D. Smith Jul 1990

Automated Harvesting Of Burley Tobacco I. System Development, Larry G. Wells, George B. Day V, Timothy D. Smith

Biosystems and Agricultural Engineering Faculty Publications

A fully automated system for harvesting and handling mature buriey tobacco has been developed. This article identifies the operations essential to this harvesting concept and describes the development of the mechanisms by which they were accomplished. The system detaches, inverts and places mature plants into portable holders for air curing under waterproof covering without requiring any manual handling of the crop. Manual labor currently required to harvest buriey tobacco would be reduced by 80-85% and the system would eliminate the drudgery associated with manual handling. The harvesting system has an approximate capacity of 1.4 to 2.0 ha/day ...


Acuta Enews July 1990, Vol. 19, No. 5 Jul 1990

Acuta Enews July 1990, Vol. 19, No. 5

ACUTA Newsletters

In This Issue

Long distance aggregators: A new wrinkle

Telecommunications: one of 'hottest' careers

Message From President

Portland Seminar to give full story on TMS

Do thorough check before joining aggregator

Portland Seminar to give full story on TMIS

Party Line

Touch screens may replace Touch Tone

Workstations pay for themselves in 9 months

Univ. of Chicago fits old halls with new wires

Funding sought for high speed 'data highway'


Automated Harvesting Of Burley Tobacco Ii. Evaluation Of System Performance, Larry G. Wells, George B. Day V, Timothy D. Smith Jul 1990

Automated Harvesting Of Burley Tobacco Ii. Evaluation Of System Performance, Larry G. Wells, George B. Day V, Timothy D. Smith

Biosystems and Agricultural Engineering Faculty Publications

A prototype system for fully automated harvesting of burley tobacco has been developed and tested. Three years of field testing has shown that mechanical losses associated with the system were only slightly higher than via conventional methods. The system performed reliably at a sustained harvesting rate of approximately 1.4 ha/day (3.4 acre/day), while indicating that a rate of 2 ha/day (5 acre/day) should be easily achievable. The system is operated by two workers and reduces conventional labor requirement by approximately 80-85%.


Lpsolver: A Linear Program Solving Package For Educational And Instructional Modeling Applications, Paul Savory, Jeffrey Arthur Jul 1990

Lpsolver: A Linear Program Solving Package For Educational And Instructional Modeling Applications, Paul Savory, Jeffrey Arthur

Industrial and Management Systems Engineering Faculty Publications

LPSOLVER is a computer program developed to be a learning tool for students studying linear programming. This technical paper contains and overview of what LPSOLVER is and how to use it. The program allows one to enter linear programs in three different formats which are discussed in Section IV. Described in Section VI are the two methods available for solving linear programs. Other features of LPSOLVER are discussed in Section VII. Appendix A describes all the various files that LPSOLVER uses/creates. A listing of error messages is given in Appendix B. Information about how the program was implement is ...


Synergy Of Artificial Neural Networks And Knowledge-Based Expert Systems For Intelligent Fms Scheduling, Luis Carlos Rabelo, Sema E. Alptekin, Ali S. Kiran Jun 1990

Synergy Of Artificial Neural Networks And Knowledge-Based Expert Systems For Intelligent Fms Scheduling, Luis Carlos Rabelo, Sema E. Alptekin, Ali S. Kiran

Industrial and Manufacturing Engineering

In this paper we describe a hybrid architecture that integrates artificial neural networks and knowledge-based expert systems to generate solutions for the real time scheduling of flexible manufacturing systems. The artificial neural networks perform pattern recognition and, due to their inherent characteristics, support the implementation of automated knowledge acquisition and refinement schemes through a feedback mechanism. The artificial neural network structures enable the system to recognize patterns in the tasks to be solved in order to select the best scheduling rule according to different demands. The knowledge-based expert systems are the higher order elements which drive the inference strategy and ...


Acuta Enews June 1990, Vol. 19, No. 6 Jun 1990

Acuta Enews June 1990, Vol. 19, No. 6

ACUTA Newsletters

In This Issue

WMU gets 'complete' cable

President's message

Profiles of new staff members

Orlando update

Election preview

Bulletin Board


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 Suggested Model Program For Cim Education, Sema E. Alptekin May 1990

A Suggested Model Program For Cim Education, Sema E. Alptekin

Industrial and Manufacturing Engineering

No abstract provided.


Adaptive Scheduling And Control Using Artificial Neural Networks And Expert Systems For A Hierarchical/Distributed Fms Architecture, Luis Carlos Rabelo, Sema E. Alptekin May 1990

Adaptive Scheduling And Control Using Artificial Neural Networks And Expert Systems For A Hierarchical/Distributed Fms Architecture, Luis Carlos Rabelo, Sema E. Alptekin

Industrial and Manufacturing Engineering

An adaptive expert scheduler was developed that learns by itself and adapts to the dynamic FMS environment. This hybrid system uses a symbiotic architecture composed of expert systems (ESs) and artificial neural networks (ANNs) and provides a learning scheme guided by past experience. The artificial neural networks recognize patterns in the tasks to be solved in order to select the best scheduling rule according to different criteria. The expert systems, on the other hand, drive the inference strategy and interpret the constraints and restrictions imposed by the upper levels of the control hierarchy of the flexible manufacturing system. The level ...


Acuta Enews May 1990, Vol. 19, No. 5 May 1990

Acuta Enews May 1990, Vol. 19, No. 5

ACUTA Newsletters

In This Issue

IU installs first cohesive telecom network

Fun for the whole family in Orlando

Message From the President

Membership to elect VP, Secretary, Treasurer

On your own with the On-Call Book

Party Line

IU achieves first cohesive telecom system


Acuta Enews April 1990, Vol. 19, No. 4 Apr 1990

Acuta Enews April 1990, Vol. 19, No. 4

ACUTA Newsletters

In This Issue

Northwest Missouri State Shares Long Distance Resources with Students

Message From The President

News from ACUTA Headquaters

Party Line

To Lan or Not To Lan: Local Area Networks, Part 2


Acuta Enews March 1990, Vol. 19, No. 3 Mar 1990

Acuta Enews March 1990, Vol. 19, No. 3

ACUTA Newsletters

In This Issue

To LAN or Not to LAN: Do You Really Need a Local Area Network?

Update: Incorporation & Bylaws Committee

Message From The President

Vegas Seminar to Cover Voice, Data, Video

Success Story: Connecting Campuses in Oregon

Party Line

Read Mail


Acuta Enews February 1990, Vol. 19, No. 2 Feb 1990

Acuta Enews February 1990, Vol. 19, No. 2

ACUTA Newsletters

In This Issue

Ohio State's Innovative Technique for Student Resale: Bar-Coding

Message From The President

Winter Seminar in Scottsdale a Success!

Update: Board of Directors Meetings in Scottsdale

News from ACUTA Headquaters

Cable and Wire: The Ties That Bind, Gag and Choke

Telephone Calling Cards Save Travelers Time And Money


Acuta Enews January 1990, Vol. 19, No. 1 Jan 1990

Acuta Enews January 1990, Vol. 19, No. 1

ACUTA Newsletters

In This Issue

Seasoned Pro & Nervous Novice

Message From The President

Make a membership

Working with Vendors

Party Line


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.

For more information: Kod*Lab


A Parallel Architecture For Stock Cutting Problem, Cihan H. Dagli, Alireza Hajakbari Jan 1990

A Parallel Architecture For Stock Cutting Problem, Cihan H. Dagli, Alireza Hajakbari

Engineering Management and Systems Engineering Faculty Research & Creative Works

The problem of allocating irregular patterns arises frequently in applications where it has to be determined how a set of two-dimensional shapes will fit onto a stock sheet of finite dimensions with minimum waste. The use of the simulated annealing approach for the solution of this problem is described


Cost Justification Of An Expert System, Alice E. Smith, Cihan H. Dagli Jan 1990

Cost Justification Of An Expert System, Alice E. Smith, Cihan H. Dagli

Engineering Management and Systems Engineering Faculty Research & Creative Works

It is pointed out that, like other projects which spend corporate dollars, an expert system must be analyzed for its economic and strategic worth to the organization. Both traditional engineering economy project analysis and multivariate holistic methods can be applicable. The fundamental strategy of the analyst is to decide upon the evaluation methodologies, gather cost and benefit data, study the project from various perspectives, and present the results and recommendations.


Simulated Annealing Approach For Solving Stock Cutting Problem, Cihan H. Dagli, Alireza Hajakbari Jan 1990

Simulated Annealing Approach For Solving Stock Cutting Problem, Cihan H. Dagli, Alireza Hajakbari

Engineering Management and Systems Engineering Faculty Research & Creative Works

The simulated annealing approach is applied to stock cutting. The conceptual approach proposed uses an energy function that measures the area of the rectangular enclosure of all the patterns to be nested, the level of similarity between pattern pairs, and the amount of overlap among patterns in evaluating various pattern configurations to be generated by the simulated annealing algorithm. Three methods for pattern configuration generation are considered. The first method uses heuristics to generate the initial configuration. The second and third methods use random selection and random placement of patterns


Neural Networks In Manufacturing: Possible Impacts On Cutting Stock Problems, Cihan H. Dagli Jan 1990

Neural Networks In Manufacturing: Possible Impacts On Cutting Stock Problems, Cihan H. Dagli

Engineering Management and Systems Engineering Faculty Research & Creative Works

The potential of neural networks is examined, and the effect of parallel processing on the solution of the stock-cutting problem is assessed. The conceptual model proposed integrates a feature-recognition network and a simulated annealing approach. The model uses a neocognitron neural network paradigm to generate data for assessing the degree of match between two irregular patterns. The information generated through the feature recognition network is passed to an energy function, and the optimal configuration of patterns is computed using a simulated annealing algorithm. Basics of the approach are demonstrated with an example.