Performance indices for robotic manipulators: a review of the state of the art

The performance indices are important tools for motion planning and design of robot manipulators. In this paper we present a collection of some of the performance indices that have generated interest in the robotics community. These indices are four different types: kinetostatic performance indices, dynamic performance indices, indices of joint limits, and finally global performance indices. In addition, we review the strategies that have been proposed to solve the problems that occur when the units of the Jacobian matrix elements are not homogeneous. At the end of this paper, we propose a set of global performance indices that can be useful in the design of robot manipulators.

Improving availability of mobile networks using a cluster routing protocol with redundant cluster head

We show a cluster based routing protocol in order to improve the convergence of the clusters and of the network it is proposed to use a backup cluster head. The use of a event discrete simulator is used for the implementation and the simulation of a hierarchical routing protocol called the Backup Cluster Head Protocol (BCHP). Finally it is shown that the BCHP protocol improves the convergence and availability of the network through a comparative analysis with the Ad Hoc On Demand Distance Vector (AODV)[1] routing protocol and Cluster Based Routing Protocol (CBRP)[2]

Robust control of underactuated wheeled mobile manipulators using GPI disturbance observers

This article describes the design of a linear observer–linear controller-based robust output feedback scheme for output reference trajectory tracking tasks in the case of nonlinear, multivariable, nonholonomic underactuated mobile manipulators. The proposed linear feedback scheme is based on the use of a classical linear feedback controller and suitably extended, high-gain, linear Generalized Proportional Integral (GPI) observers, thus aiding the linear feedback controllers to provide an accurate simultaneous estimation of each flat output associated phase variables and of the exogenous and perturbation inputs. This information is used in the proposed feedback controller in (a) approximate, yet close, cancelations, as lumped unstructured time-varying terms, of the influence of the highly coupled nonlinearities, and (b) the devising of proper linear output feedback control laws based on the approximate estimates of the string of phase variables associated with the flat outputs simultaneously provided by the disturbance observers. Simulations reveal the effectiveness of the proposed approach.

Forward Stagewise Naive Bayes

The naïve Bayes approach is a simple but often satisfactory method for supervised classification. In this paper, we focus on the naïve Bayes model and propose the application of regularization techniques to learn a naïve Bayes classifier. The main contribution of the paper is a stagewise version of the selective naïve Bayes, which can be considered a regularized version of the naïve Bayes model. We call it forward stagewise naïve Bayes. For comparison’s sake, we also introduce an explicitly regularized formulation of the naïve Bayes model, where conditional independence (absence of arcs) is promoted via an L 1/L 2-group penalty on the parameters that define the conditional probability distributions. Although already published in the literature, this idea has only been applied for continuous predictors. We extend this formulation to discrete predictors and propose a modification that yields an adaptive penalization. We show that, whereas the L 1/L 2 group penalty formulation only discards irrelevant predictors, the forward stagewise naïve Bayes can discard both irrelevant and redundant predictors, which are known to be harmful for the naïve Bayes classifier. Both approaches, however, usually improve the classical naïve Bayes model’s accuracy.

Development of Robotized Laser Welding Applications for Joining Thin Sheets

Laser Welding (LW) is more often used in manufacturing due to its advantages, such as accurate control, good repeatability, less heat input, opportunities for joining of special materials, high speed, capability to join small dimension parts etc. LW is dedicated to robotized manufacturing, and the fabrication cells are using various level of flexibility, from specialized robots to very flexible setups. This paper features several LW applications using two industrially-scaled manufacturing cells at UPM Laser Centre (CLUPM) of Polytechnical University of Madrid (Universidad Politécnica de Madrid). The one dedicated to Remote Laser Welding (RLW) of thin sheets for automotive and other sectors uses a CO2 laser of 3500 W. The second has a high flexibility, is based on a 6-axis ABB robot and a Nd:YAG laser of 3300 W, and is meant for various laser processing methods, including welding. After a short description of each cell, several LW applications experimented at CLUPM and recently implemented in industry are briefly presented: RLW of automotive coated sheets, LW of high strength automotive sheets, LW vs. laser hybrid welding (LHW) of Double Phase steel thin sheets, and LHW of thin sheets of stainless steel and carbon steel (dissimilar joints). The main technological issues overcame and the critical process parameters are pointed out. Conclusions about achievements and trends are provided.

Dealing with Semantic Heterogeneity Issues on the Web

The Semantic Web is an extension of the traditional Web in which meaning of information is well defined, thus allowing a better interaction between people and computers. To accomplish its goals, mechanisms are required to make explicit the semantics of Web resources, to be automatically processed by software agents (this semantics being described by means of online ontologies). Nevertheless, issues arise caused by the semantic heterogeneity that naturally happens on the Web, namely redundancy and ambiguity. For tackling these issues, we present an approach to discover and represent, in a non-redundant way, the intended meaning of words in Web applications, while taking into account the (often unstructured) context in which they appear. To that end, we have developed novel ontology matching, clustering, and disambiguation techniques. Our work is intended to help bridge the gap between syntax and semantics for the Semantic Web construction

High Performance Algorithms and Implementations Using Sparse and Parallelization Techniques on MBS

In this paper we will see how the efficiency of the MBS simulations can be improved in two different ways, by considering both an explicit and implicit semi-recursive formulation. The explicit method is based on a double velocity transformation that involves the solution of a redundant but compatible system of equations. The high computational cost of this operation has been drastically reduced by taking into account the sparsity pattern of the system. Regarding this, the goal of this method is the introduction of MA48, a high performance mathematical library provided by Harwell Subroutine Library. The second method proposed in this paper has the particularity that, depending on the case, between 70 and 85% of the computation time is devoted to the evaluation of forces derivatives with respect to the relative position and velocity vectors. Keeping in mind that evaluating these derivatives can be decomposed into concurrent tasks, the main goal of this paper lies on a successful and straightforward parallel implementation that have led to a substantial improvement with a speedup of 3.2 by keeping all the cores busy in a quad-core processor and distributing the workload between them, achieving on this way a huge time reduction by doing an ideal CPU usage

Efficient methodologies for system matrix modelling in iterative image reconstruction for rotating high-resolution PET

A fully 3D iterative image reconstruction algorithm has been developed for high-resolution PET cameras composed of pixelated scintillator crystal arrays and rotating planar detectors, based on the ordered subsets approach. The associated system matrix is precalculated with Monte Carlo methods that incorporate physical effects not included in analytical models, such as positron range effects and interaction of the incident gammas with the scintillator material. Custom Monte Carlo methodologies have been developed and optimized for modelling of system matrices for fast iterative image reconstruction adapted to specific scanner geometries, without redundant calculations. According to the methodology proposed here, only one-eighth of the voxels within two central transaxial slices need to be modelled in detail. The rest of the system matrix elements can be obtained with the aid of axial symmetries and redundancies, as well as in-plane symmetries within transaxial slices. Sparse matrix techniques for the non-zero system matrix elements are employed, allowing for fast execution of the image reconstruction process. This 3D image reconstruction scheme has been compared in terms of image quality to a 2D fast implementation of the OSEM algorithm combined with Fourier rebinning approaches. This work confirms the superiority of fully 3D OSEM in terms of spatial resolution, contrast recovery and noise reduction as compared to conventional 2D approaches based on rebinning schemes. At the same time it demonstrates that fully 3D methodologies can be efficiently applied to the image reconstruction problem for high-resolution rotational PET cameras by applying accurate pre-calculated system models and taking advantage of the system's symmetries.

Semantic Heterogeneity Issues on the Web

The Semantic Web is an extension of the traditional Web in which meaning of information is well defined, thus allowing a better interaction between people and computers. To accomplish its goals, mechanisms are required to make explicit the semantics of Web resources, to be automatically processed by software agents (this semantics being described by means of online ontologies). Nevertheless, issues arise caused by the semantic heterogeneity that naturally happens on the Web, namely redundancy and ambiguity. For tackling these issues, we present an approach to discover and represent, in a non-redundant way, the intended meaning of words in Web applications, while taking into account the (often unstructured) context in which they appear. To that end, we have developed novel ontology matching, clustering, and disambiguation techniques. Our work is intended to help bridge the gap between syntax and semantics for the Semantic Web construction.

Sharing, freeness, linearity, redundancy, widenings, and cliques

We discuss here different variants of the Sharing abstract domain, including the base domain that captures set-sharing, a variant to capture pairsharing, in which redundant sharing groups (w.r.t. the pair-sharing property) can be eliminated, and an alternative representation based on cliques. The original proposal for using cliques in the non-redundant version of the domain is reviewed, then extended to the base domain. Variants of all the domains including freeness alone, and freeness together with linearity are also studied.

Mechanical design optimization for multi-finger haptic devices applied to virtual grasping manipulation

This paper describes the design of a modular multi-finger haptic device for virtual object manipulation. Mechanical structures are based on one module per finger and can be scaled up to three fingers. Mechanical configurations for two and three fingers are based on the use of one and two redundant axes, respectively. As demonstrated, redundant axes significantly increase workspace and prevent link collisions, which is their main asset with respect to other multi-finger haptic devices. The location of redundant axes and link dimensions have been optimized in order to guarantee a proper workspace, manipulability, force capability, and inertia for the device. The mechanical haptic device design and a thimble adaptable to different finger sizes have also been developed for virtual object manipulation.

Multilingual manager: a new strategic role in organizations

Today?s knowledge management (KM) systems seldom account for language management and, especially, multilingual information processing. Document management is one of the strongest components of KM systems. If these systems do not include a multilingual knowledge management policy, intranet searches, excessive document space occupancy and redundant information slow down what are the most effective processes in a single language environment. In this paper, we model information flow from the sources of knowledge to the persons/systems searching for specific information. Within this framework, we focus on the importance of multilingual information processing, which is a hugely complex component of modern organizations.

Time-Frequency based Feature Selection for Discrimination of non stationary Biosignals.

This research proposes a generic methodology for dimensionality reduction upon time-frequency representations applied to the classification of different types of biosignals. The methodology directly deals with the highly redundant and irrelevant data contained in these representations, combining a first stage of irrelevant data removal by variable selection, with a second stage of redundancy reduction using methods based on linear transformations. The study addresses two techniques that provided a similar performance: the first one is based on the selection of a set of the most relevant time?frequency points, whereas the second one selects the most relevant frequency bands. The first methodology needs a lower quantity of components, leading to a lower feature space; but the second improves the capture of the time-varying dynamics of the signal, and therefore provides a more stable performance. In order to evaluate the generalization capabilities of the methodology proposed it has been applied to two types of biosignals with different kinds of non-stationary behaviors: electroencephalographic and phonocardiographic biosignals. Even when these two databases contain samples with different degrees of complexity and a wide variety of characterizing patterns, the results demonstrate a good accuracy for the detection of pathologies, over 98%.The results open the possibility to extrapolate the methodology to the study of other biosignals.

Scalable Raid Storage Based on the Structure of Multimedia File.

In professional video production, users have to access to huge multimedia files simultaneously in an error-free environment, this restriction force the use of expensive disk architectures for video servers. Previous researches proposed different RAID systems for each specific task (ingest, editing, file, play-out, etc.). Video production companies have to acquire different servers with different RAIDs systems in order to support each task in the production workflow. The solution has multiples disadvantages, duplicated material in several RAIDs, duplicated material for different qualities, transfer and transcoding processes, etc. In this work, an architecture for video servers based on the spreading of JPEG200 data in different RAIDs is presented, each individual part of the data structure goes to a specific RAID type depending on the effect that produces the data on the overall image quality, the method provide a redundancy correlated with the data rank. The global storage can be used in all the different tasks of the production workflow saving disk space, redundant files and transfers procedures.

Logic cells as basic structures to add/drop WDM information signals

Nowadays, in order to take advantage of fiber optic bandwidth, any optical communications system tends to be WDM. The way to extract a channel, characterized by a wavelength, from the optical fiber is to filter the specific wavelength. This gives the systems a low degree of freedom due to the fact of the static character of most of the employed devices. In this paper we will present a different way to extract channels from an optical fiber with WDM transmission. The employed method is based on an Optically Programmable Logic Cells (OPLC) previously published by us, for other applications as a chaotic generator or as basic element for optical computing. In this paper we will describe the configuration of the OPLC to be employed as a dropping device. It acts as a filter because it will extract the data carried by a concrete wavelength. It does depend, internally, on the wavelength. We will show how the intensity of the signal is able to select the chosen information from the line. It will be also demonstrated that a new idea of redundant information it is the way of selecting the concrete wavelength. As a matter of fact this idea is apparently the only way to use the OPLC as a dropping device. Moreover, based on these concepts, a similar way to route signals to different routes is reported. The basis is the use of photonic switching configurations, namely Batcher or Bayan structures, where the unit switching cells are the above indicated OPLCs.