Results 1  10
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21
Practical Solutions for QoSBased Resource Allocation
 in IEEE RealTime Systems Symposium
, 1998
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Planar manipulation on a conveyor with a one joint robot
 In International Symposium on Robotics Research
, 1995
"... This paper explores a method of manipulating a planar rigid body on a conveyor belt using a robot with just one joint. This approach has the potential of offering a simple and flexible method for feeding parts in industrial automation applications. In this paper we outline our approach, develop some ..."
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Cited by 43 (22 self)
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This paper explores a method of manipulating a planar rigid body on a conveyor belt using a robot with just one joint. This approach has the potential of offering a simple and flexible method for feeding parts in industrial automation applications. In this paper we outline our approach, develop some of the theoretical properties, present a planner for the robot, and describe an initial implementation. 1
Parts Feeding on a Conveyor with a One Joint Robot
, 2000
"... . This paper explores a method of manipulating a planar rigid part on a conveyor belt using a robot with just one joint. This approach has the potential of offering a simple and flexible method for feeding parts in industrial automation applications. In this paper we develop a model of this system a ..."
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Cited by 40 (7 self)
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. This paper explores a method of manipulating a planar rigid part on a conveyor belt using a robot with just one joint. This approach has the potential of offering a simple and flexible method for feeding parts in industrial automation applications. In this paper we develop a model of this system and of a variation which requires no sensing. We have been able to characterize these systems and to prove that they can serve as parts feeding devices for planar polygonal parts. We present the planners for these systems and describe our implementations. Key Words. Robotics, Manipulation, Mechanics, Planning, Minimalism, Automation, Manufacturing, Parts feeding. 1. Introduction. The most straightforward approach to planar manipulation is to use a rigid grasp and a robot with at least three joints, corresponding to the three motion freedoms of a planar rigid part, but three joints are not really necessary to manipulate a part in the plane. In this paper we achieve effective control of all t...
Global minimization using an Augmented Lagrangian method with variable lowerlevel constraints
, 2007
"... A novel global optimization method based on an Augmented Lagrangian framework is introduced for continuous constrained nonlinear optimization problems. At each outer iteration k the method requires the εkglobal minimization of the Augmented Lagrangian with simple constraints, where εk → ε. Global c ..."
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Cited by 39 (1 self)
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A novel global optimization method based on an Augmented Lagrangian framework is introduced for continuous constrained nonlinear optimization problems. At each outer iteration k the method requires the εkglobal minimization of the Augmented Lagrangian with simple constraints, where εk → ε. Global convergence to an εglobal minimizer of the original problem is proved. The subproblems are solved using the αBB method. Numerical experiments are presented.
Sensorless Parts Feeding with a One Joint Robot
, 1996
"... this paper is to use a single joint robot to push an object on a constant speed conveyor belt. This paper summarizes the approach, previously described in [3], and extends the approach to include the problem of orienting polygonal objects without a sensor. 1 Introduction ..."
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Cited by 35 (4 self)
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this paper is to use a single joint robot to push an object on a constant speed conveyor belt. This paper summarizes the approach, previously described in [3], and extends the approach to include the problem of orienting polygonal objects without a sensor. 1 Introduction
Allocating Fixed Costs and Resources Via Data Envelopment Analysis
, 1998
"... In this paper we first (trivially) show that data envelopment analysis can be viewed as maximising the sum of the efficiencies of the decisionmaking units (DMU's) in the organisation. Building upon this we present nonlinear models for: (a) allocating fixed costs to DMU's and (b) allocatin ..."
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Cited by 10 (0 self)
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In this paper we first (trivially) show that data envelopment analysis can be viewed as maximising the sum of the efficiencies of the decisionmaking units (DMU's) in the organisation. Building upon this we present nonlinear models for: (a) allocating fixed costs to DMU's and (b) allocating resources to DMU's. Simultaneous to allocating resources output targets are also decided for each DMU. Numeric results are presented for a small example problem. Keywords: data envelopment analysis, efficiency, crossefficiencies, cost allocation, resource allocation, target setting
Optimization of Water Pumping System Using Differential Evolution Strategies
 Proceedings of The Second International Conference on Computational Intelligence, Robotics, and Autonomous Systems (CIRAS2003
, 2003
"... Differential Evolution (DE) is a population based search algorithm that comes under the category of evolutionary optimization techniques. It is an improved version of GA, and is exceptionally simple, significantly faster & robust at numerical optimization and is more likely to find a function’s ..."
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Cited by 4 (3 self)
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Differential Evolution (DE) is a population based search algorithm that comes under the category of evolutionary optimization techniques. It is an improved version of GA, and is exceptionally simple, significantly faster & robust at numerical optimization and is more likely to find a function’s true global optimum. In the present study, DE is used to solve the classical optimization problem of water pumping system. Comparison is made with Branch & Reduce algorithm. The results indicate that performance of DE is better than the Branch & Reduce algorithm. 1.
Optimal Stereo Mast Configuration for Mobile Robots
 International Conference on Robotics and Automation
, 1946
"... Planning the placement of stereo cameras on a mobile robot is often a balancing act between the quality of stereo data, the reliability of stereo matching, and ensuring that the cameras see enough of the robot's environment for navigation. In this paper, we present a nonlinear programming formu ..."
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Cited by 2 (0 self)
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Planning the placement of stereo cameras on a mobile robot is often a balancing act between the quality of stereo data, the reliability of stereo matching, and ensuring that the cameras see enough of the robot's environment for navigation. In this paper, we present a nonlinear programming formulation to determine the optimal parameters for two stereo pairs of cameras and a camera mast for a mobile robot. We have applied this method to the design of a stereo camera mast for Nomad, a prototype rover currently under construction at Carnegie Mellon University, and present the results of designing that mast. 1 Introduction Mobile robots need to sense their environment in order to navigate in the world. One rich source of information about the world is visual information. From a pair of cameras, we can get three dimensional information about the world around a robot. The choice of a stereo vision algorithm affects processing time and the quality of the resulting data, but it is the placeme...
A Hybrid Ant Colony Differential Evolution and its Application to Water Resources Problems
"... Abstract—Differential Evolution (DE) is generally considered as a reliable, accurate and robust optimization technique. However, the algorithm suffers from slow convergence rate and takes large computational time for optimizing the computationally expensive objective functions. Therefore, an attempt ..."
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Abstract—Differential Evolution (DE) is generally considered as a reliable, accurate and robust optimization technique. However, the algorithm suffers from slow convergence rate and takes large computational time for optimizing the computationally expensive objective functions. Therefore, an attempt to speed up DE is considered necessary. This research introduces a modified differential evolution, called Ant Colony Differential Evolution, ACDE. The ACDE algorithm initializes the population using opposition based learning, in mutation phase it applies random localization technique and it simulates the movement of ants to refine the best solution found in each generation. Also, it maintains a single set of population while updating the population for next generation. ACDE validated on a test bed of 7 benchmark problems and two real life problems and the numerical results are compared with original DE. It is found that ACDE requires less computational effort to locate global optimal solution without compromising with the quality of solution.
A GOOD APPROXIMATION OF THE INVENTORY LEVEL INA(Q r) PERISHABLE INVENTORY SYSTEM (*)
"... Abstract. – This paper derives a good approach to approximating the expected inventory level per unit time for the continuous review perishable inventory system. Three existing approximation approaches are examined and compared with the proposed approach. Three stockout cases, including the full bac ..."
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Abstract. – This paper derives a good approach to approximating the expected inventory level per unit time for the continuous review perishable inventory system. Three existing approximation approaches are examined and compared with the proposed approach. Three stockout cases, including the full backorder, the partial backorder, and the full lost sales cases, which customers or material users generally use to respond to a stockout condition are considered. This study reveals the fact that the proposed approximation is simple yet good and suitable for incorporation into the perishable inventory model to determine the best ordering policy. The results from numerical examples and a sensitivity analysis indicate that severe underestimation or overestimation of the expected inventory level per unit time due to the use of an inappropriate approximation approach would result in great distortion in the determination of the best ordering policy.