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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

Experimental Investigations Into The Role Of Passive Variable Compliant Legs For Dynamic Robot Locomotion, Kevin C. Galloway, Jonathan E. Clark, Mark Yim, Daniel E. Koditschek May 2011

Experimental Investigations Into The Role Of Passive Variable Compliant Legs For Dynamic Robot Locomotion, Kevin C. Galloway, Jonathan E. Clark, Mark Yim, Daniel E. Koditschek

Departmental Papers (ESE)

Biomechanical studies suggest that animals’ abilities to tune their effective leg compliance in response to changing terrain conditions plays an important role in their agile, robust locomotion. However, despite growing interest in leg compliance within the robotics literature, little experimental work has been reported on tunable passive leg compliance in running machines. In this paper we present an empirical study into the role of leg compliance using a composite tunable leg design implemented on our dynamic hexapod, EduBot, with gaits optimized for running speed using a range of leg stiffnesses, on two different surface stiffnesses, and with two different payload ...


Rich Socio-Cognitive Agents For Immersive Training Environments: Case Of Nonkin Village, Barry G. Silverman, David Pietrocola, Ben Nye, Nathan Weyer, Oleg Osin, Dan Johnson, Ransom Weaver Jan 2011

Rich Socio-Cognitive Agents For Immersive Training Environments: Case Of Nonkin Village, Barry G. Silverman, David Pietrocola, Ben Nye, Nathan Weyer, Oleg Osin, Dan Johnson, Ransom Weaver

Departmental Papers (ESE)

Demand is on the rise for scientifically based human-behavior models that can be quickly customized and inserted into immersive training environments to recreate a given society or culture. At the same time, there are no readily available science model-driven environments for this purpose (see survey in Sect. 2). In researching how to overcome this obstacle, we have created rich (complex) socio-cognitive agents that include a large number of social science models (cognitive, sociologic, economic, political, etc) needed to enhance the realism of immersive, artificial agent societies. We describe current efforts to apply model-driven development concepts and how to permit other ...


An Noc Traffic Compiler For Efficient Fpga Implementation Of Sparse Graph-Oriented Workloads, Nachiket Kapre, André Dehon Jan 2011

An Noc Traffic Compiler For Efficient Fpga Implementation Of Sparse Graph-Oriented Workloads, Nachiket Kapre, André Dehon

Departmental Papers (ESE)

Parallel graph-oriented applications expressed in the Bulk-Synchronous Parallel (BSP) and Token Dataflow compute models generate highly-structured communication workloads from messages propagating along graph edges. We can statially expose this structure to traffic compilers and optimization tools to reshape and reduce traffic for higher performance (or lower area, lower energy, lower cost). Such offline traffic optimization eliminates the need for complex, runtime NoC hardware and enables lightweight, scalable NoCs. We perform load balancing, placement, fanout routing, and fine-grained synchronization to optimize our workloads for large networks up to 2025 parallel elements for BSP model and 25 parallel elements for Token Dataflow ...