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.

Visualizing non-linear control system performance by means of multidimensional scaling

This paper addresses the use of multidimensional scaling in the evaluation of controller performance. Several nonlinear systems are analyzed based on the closed loop time response under the action of a reference step input signal. Three alternative performance indices, based on the time response, Fourier analysis, and mutual information, are tested. The numerical experiments demonstrate the feasibility of the proposed methodology and motivate its extension for other performance measures and new classes of nonlinearities.

Observing the performance of distribution systems with embedded generators

In this paper, a multi-objective approach for observing the performance of distribution systems with embedded generators in the steady state, based on heuristic and power system analysis, is proposed. The proposed hybrid performance index describes the quality of the operating state in each considered distribution network configuration. In order to represent the system state, the loss allocation in the distribution systems, based on the Z-bus loss allocation method and compensation-based power flow algorithm, is determined. Also, an investigation of the impact of the integration of embedded generators on the overall performance of the distribution systems in the steady state, is performed. Results obtained from several case studies are presented and discussed. Copyright (C) 2004 John Wiley Sons, Ltd.

A comparison of performance indexes in DC-DC converters under different stabilizing state-dependent switching laws

This paper deals with the problem of establishing stabilizing state-dependent switching laws in DC-DC converters operating at continuous conduction mode (CCM) and comparing their performance indexes. Firstly, the nature of the problem is defined, that is, the study of switched affine systems, which may not share a common equilibrium point. The concept of stability is, therefore, broadened. Then, the central theorem is proposed, from which a family of switching laws can be derived, namely the minimum law and the hold state law. Some of these are proved to stabilize the basic DC-DC converters and then, their performances are compared to another law, from a previous work, by simulation, where a great reduction in overshoot is obtained. © 2011 IEEE.

PERFORMANCE EVALUATION OF RESOURCE-AWARE BUSINESS PROCESSES USING STOCHASTIC AUTOMATA NETWORKS

In this work, we study the performance evaluation of resource-aware business process models. We define a new framework that allows the generation of analytical models for performance evaluation from business process models annotated with resource management information. This framework is composed of a new notation that allows the specification of resource management constraints and a method to convert a business process specification and its resource constraints into Stochastic Automata Networks (SANs). We show that the analysis of the generated SAN model provides several performance indices, such as average throughput of the system, average waiting time, average queues size, and utilization rate of resources. Using the BP2SAN tool - our implementation of the proposed framework - and a SAN solver (such as the PEPS tool) we show through a simple use-case how a business specialist with no skills in stochastic modeling can easily obtain performance indices that, in turn, can help to identify bottlenecks on the model, to perform workload characterization, to define the provisioning of resources, and to study other performance related aspects of the business process.

Productivity and price performance in the privatized water and sewerage companies of England and Wales

After its privatization in 1989, the water and sewerage industry of England and Wales faced a new regulatory régime and implemented a substantial capital investment program aimed at improving water and environmental standards. A new RPI + K regulatory pricing system was designed to compensate the industry for its increased capital costs, encourage increased efficiency, and maintain fair prices for customers. This paper evaluates how successful privatization and the resulting system of economic regulation has been. Estimates of productivity growth, derived with quality adjusted output indices, suggest that despite reductions in labor usage, total factor productivity growth has not improved since privatization. Moreover, total price performance indices reveal that increases in output prices have outstripped increases in input costs, a trend which is largely responsible for the increase in economic profits that has occurred since privatization. * We would like to thank Emmanuel Thanassoulis, Joshy Easaw, Jim Love, John Sawkins, and an anonymous referee for helpful comments on earlier drafts of this paper. The usual disclaimer applies.

Regulatory price performance, excess cost indexes and profitability:how effective is price cap regulation in the water industry?

In this study we apply an index number approach to allow for cross sectional comparisons of relative profitability, productivity and price performance of the regulated Water and Sewerage companies (WaSCs) in England and Wales during the years 1991-2008. In order to better analyse the impact of regulation on WaSC performance, we decompose actual economic profits into spatial multilateral Fisher productivity (TFP) index, the inverse of which is demonstrated to be a regulatory excess cost index that measures the deviation of a firm’s actual costs from benchmark costs, and a newly developed regulatory total price performance (TPP) index, which measures the excess of regulated revenues relative to benchmark costs. Increases (decreases) in regulatory price performance are indicative of the loosening (tightening) of price cap regulation. Moreover, we also show that the relationship between actual economic profitability, regulatory excess costs and regulatory price performance indices can be used to categorize regulatory price caps as “weak”, “powerful” or “catch-up promoting”. The results indicated that throughout the entire 1991-2008 period, price caps were never “powerful”, in the sense that they required less productive firms to immediately and fully catch-up to the most productive firm to regain economic profitability. More specifically, during the years 1991-2000 price caps were “weak” as prices were high enough for the firms to achieve economic profits despite their low productivity levels. However, after 2001 prices became “catch up promoting” as they required less productive companies to eliminate at least some excess costs in order to eliminate economic losses. Finally, we emphasize that as our results also clearly demonstrated a much closer alignment between allowed revenues and benchmark costs after 2001, Ofwat’s approach during this period was not only appropriate, but should also be continued in the 2009 price review.

Multidimensional scaling analysis of fractional systems

This paper investigates the use of multidimensional scaling in the evaluation of fractional system. Several algorithms are analysed based on the time response of the closed loop system under the action of a reference step input signal. Two alternative performance indices, based on the time and frequency domains, are tested. The numerical experiments demonstrate the feasibility of the proposed visualization method.

Analysis of Two Arms Working in Cooperation

This paper analyzes the performance of two cooperative robot manipulators. In order to capture the working performancewe formulated several performance indices that measure the manipulability, the effort reduction and the equilibrium between the two robots. In this perspective the proposed indices we determined the optimal values for the system parameters. Furthermore, it is studied the implementation of fractional-order algorithms in the position/force control of two cooperative robotic manipulators holding an object.

La régulation autonome du myocarde et les performances cognitives sont-elles des outils valides de prévention du surentraînement ?

Ce travail a été réalisé en cotutelle.

Model predictive control using dynamic integrated system optimisation and parameter estimation (DISOPE)

DISOPE is a technique for solving optimal control problems where there are differences in structure and parameter values between reality and the model employed in the computations. The model reality differences can also allow for deliberate simplification of model characteristics and performance indices in order to facilitate the solution of the optimal control problem. The technique was developed originally in continuous time and later extended to discrete time. The main property of the procedure is that by iterating on appropriately modified model based problems the correct optimal solution is achieved in spite of the model-reality differences. Algorithms have been developed in both continuous and discrete time for a general nonlinear optimal control problem with terminal weighting, bounded controls and terminal constraints. The aim of this paper is to show how the DISOPE technique can aid receding horizon optimal control computation in nonlinear model predictive control.

Utilização de uma sistemática de tomada de decisão para selecionar e priorizar um portfólio de projetos de investimento

Nos dias de hoje existe uma grande demanda e pressão na seleção e definição de prioridades das alternativas de investimento para alavancar o crescimento de longo prazo das empresas. Em paralelo a este cenário, o ambiente global está cada vez mais incerto, o que implica que as escolhas realizadas por estas empresas devem se adaptar aos novos desejos do mercado e, principalmente, devem manter o direcionamento de crescimento almejado pelas mesmas. Neste contexto conturbado, as ferramentas tradicionais utilizadas para a tomada de decisão, para selecionar e definir as prioridades são as análises econômico-financeira representadas pelo Valor Presente Líquido, a Taxa Interna de Retorno e o Payback. Apesar de estes itens serem métodos robustos e consistentes na avaliação de projetos de investimentos, eles focam apenas em um aspecto (o financeiro), e as empresas, atualmente, estão envolvidas em ambientes que precisam de uma abordagem mais ampla, contemplando outras visões e dimensões não presentes nos estudos financeiros. Ou seja, quando se faz uma análise de carteira de projetos alinhada ao planejamento estratégico, é necessário realizar uma abordagem multicritério envolvendo indicadores quantitativos e qualitativos e disponibilizando aos tomadores de decisão uma informação completa e padronizada de todos os projetos, uma vez que estas iniciativas não possuem características homogêneas, pois cada uma apresenta sua respectiva particularidade e, principalmente, está em diferentes estágios de maturidade. Aliado a estes pontos, é perceptível que o processo de seleção e priorização de projetos necessita de uma sistematização que garanta a esta decisão e a este Portfólio uma maior estabilidade e fidedignidade das informações. Neste trabalho, portanto, foi elaborada uma análise multivariada, mais especificamente, a utilização de sistemas de apoio à tomada de decisão. Foram escolhidos outros critérios além do econômico-financeiro, para suportar a seleção e priorização de projetos no atendimento dos objetivos estratégicos da organização e de seus stakeholders.

Desempenho, composição da cama, das tíbias, do fígado e das excretas de frangos de corte alimentados com rações contendo fitase e baixos níveis de fósforo

Um experimento foi realizado para avaliar o desempenho e a composição da cama, das tíbias, do fígado e das excretas de frangos de corte em diversas fases utilizando-se diferentes níveis de fósforo disponível (Pd) e da enzima fitase. Foram utilizados 1.200 pintos machos de 1 dia de idade, da marca comercial Cobb, distribuídos em delineamento inteiramente casualizado, em esquema fatorial 4 × 3, composto de quatro níveis de fósforo disponível e três níveis de fitase: 0, 500 e 1.000 ftu/kg de ração, cada um com quatro repetições de 25 aves. Os níveis de fósforo disponível foram obtidos considerando quatro disponibilidades do fósforo total (Pt) do milho e do farelo de soja (34, 56, 78 e 100% de disponibilidade). Foram avaliados os índices de desempenho no final de cada fase de criação e aos 42 dias de idade. Os parâmetros de desempenho foram afetados pela redução dos níveis de fósforo disponível das rações e a redução desse elemento para níveis inferiores a 19% piorou o desempenho das aves, enquanto a utilização de fitase no nível de Pd reduzido em 39% melhorou o desempenho. Nas fases de criação, a redução do teor de fósforo disponível com a utilização da enzima fitase influencia o desempenho e as características da cama e dos ossos.

Design of a state observer using decay rate LMI constraints for fault detection in mechanical systems

Nowadays, one of the most important concerns for many companies is to maintain the operation of their systems without sudden equipment break down. Because of this, new techniques for fault detection and location in mechanical systems subject to dynamic loads have been developed. This paper studies of the influence of the decay rate in the design of state observers using LMI for fault detection in mechanical systems. This influence is analyzed by the performance index proposed by Huh and Stein for the condition of a state observer. An example is presented to illustrate the methodology discussed.