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A new set of tools to describe and tune trajectories

J.-D. Gascuel, C. Lyon
Proceedings Computer Animation'95  
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doi:10.1109/ca.1995.393544 dblp:conf/ca/GascuelL95 fatcat:cnb34htcbjhfrnbe64raa4gwcu

LCLS undulator tuning and fiducialization

Zachary Wolf, Vsevolod Kaplunenko, Yurii Levashov, Achim Weidemann
2007 2007 IEEE Particle Accelerator Conference (PAC)  
The LCLS project at SLAC requires 40 undulators: 33 in the beam line, 6 spares, and one reference undulator. A new facility was constructed at SLAC for tuning and fiducializing the undulators.  ...  The new facility, the tuning techniques, and the fiducialization techniques will be discussed.  ...  A computer program was written to specify shim locations and strengths to straighten the trajectory. The types of shims used are described in [2] .  ... 
doi:10.1109/pac.2007.4441069 fatcat:ol2xhpurxzbchfngcbdhqkdody

Optimal Trajectories Generation in Robotic Fiber Placement Systems

Jiuchun Gao, Anatol Pashkevich, Stéphane Caro
2017 IOP Conference Series: Materials Science and Engineering  
The paper proposes a methodology for optimal trajectories generation in robotic fiber placement systems. A strategy to tune the parameters of the optimization algorithm at hand is also introduced.  ...  The developed strategy for the optimization algorithm tuning allows essentially reducing the computing time and obtaining trajectories satisfying industrial constraints.  ...  The authors also acknowledge CETIM for the motivation of this research work.  ... 
doi:10.1088/1757-899x/212/1/012009 fatcat:7awlxsmatrb7rpwl72s3framka

Error motion trajectory-driven diagnostics of kinematic and non-kinematic machine tool faults

T. Rooker, J. Stammers, K. Worden, G. Potts, K. Kerrigan, N. Dervilis
2022 Mechanical systems and signal processing  
A B S T R A C T Error motion trajectory data are routinely collected on multi-axis machine tools to assess their operational state.  ...  The scale and master balls artefact method [8] employs touch-trigger probing to locate a collection of precision spheres at various axis positions, and has been shown to provide the necessary trajectory  ...  Acknowledgements The authors would like to gratefully acknowledge metrology software products ltd. and the Engineering and Physical Sciences Research Council (EPSRC) grant EP/I01800X/1 for supporting this  ... 
doi:10.1016/j.ymssp.2021.108271 fatcat:a2hsyap7crdpfgscielgbs5kbq

ZIEGLER-NICHOLS PID CONTROLLER FOR EFFECTIVE PAY-LOAD TORQUE RESPONSES AND TIP-VIBRATIONS OF DOUBLE LINK MANIPULATOR

Lelin Kumar.V .
2013 International Journal of Research in Engineering and Technology  
It is an electro mechanical modelling objects are important aspect of manipulator. A Manipulator is a machine able to drive the robot.  ...  Here, the simulation was done by using M-File Technique in Control tool box of MATLAB.  ...  ACKNOWLEDGEMENTS The author wishes to thank Prof.M.Bala Subbareddy and Madhu.T and the faculty of Department of Electrical & Electronics Engineering, for their contribution in this project.  ... 
doi:10.15623/ijret.2013.0210064 fatcat:vgdpjxijwbgahet2gs3sf26c3q

Interactive Industrial Robot Programming for the Ceramic Industry

Germano Veiga, Pedro Malaca, Rui Cancela
2013 International Journal of Advanced Robotic Systems  
then relies on an advanced 3D graphical system to tune the robot trajectory in the final workcell.  ...  The results measured by the end-user feedback show that a new level of flexibility was reached for this type of application.  ...  Figure 13 shows that the presented system outperforms the other systems in terms of time required for the system to learn a new plate and to tune the distance to the tools.  ... 
doi:10.5772/56753 fatcat:v3zo2izcpjaixlv4m3qzo2fhja

WESTPA: An Interoperable, Highly Scalable Software Package for Weighted Ensemble Simulation and Analysis

Matthew C. Zwier, Joshua L. Adelman, Joseph W. Kaus, Adam J. Pratt, Kim F. Wong, Nicholas B. Rego, Ernesto Suárez, Steven Lettieri, David W. Wang, Michael Grabe, Daniel M. Zuckerman, Lillian T. Chong
2015 Journal of Chemical Theory and Computation  
WESTPA scales to thousands of CPU cores and includes a suite of analysis tools that have been implemented in a massively parallel fashion.  ...  WESTPA has been in production use for over a year, and its utility has been demonstrated for a broad set of problems, ranging from atomically detailed host−guest associations to nonspatial chemical kinetics  ...  , online tuning of progress coordinate and binning, massively parallel dynamics propagation, and (via analysis tools and the plugin architecture described below) the enhanced WE procedures described previously  ... 
doi:10.1021/ct5010615 pmid:26392815 pmcid:PMC4573570 fatcat:6mgeywghdjgjbh2nigaop633gq

An Experimentally Validated Technique for the Real-Time Management of Wrist Singularities in Nonredundant Anthropomorphic Manipulators

Corrad Guarino Lo Bianco, Marina Raineri
2019 IEEE Transactions on Control Systems Technology  
In particular, a procedural method is proposed for the tuning of the algorithm so as to make it more deterministic and to increase the success rates.  ...  Furthermore, the singularity avoidance problem is theoretically analyzed in order to devise a necessary condition for the existence of a solution.  ...  At the end of the process, a threshold value θ is associated with each feasible trajectory of the tuning set.  ... 
doi:10.1109/tcst.2019.2912787 fatcat:dpktxh5nwvccdklu6bmtbj25k4

Velocity adaptation for self-improvement of skills learned from user demonstrations

Bojan Nemec, Andrej Gams, Ales Ude
2013 2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids)  
We take into account dynamic capabilities and constrains of both the robot and the environment. This leads to a modified, non-uniformly accelerated motion.  ...  The proposed approach was experimentally evaluated on a bimanual kitchen task, where the robot, composed of two KUKA LWR arms, had to assemble a cake decoration tool.  ...  [12] . 5) Transfer the resulting trajectory to a new configuration and adapt it if to perform the recorded force/torque pattern [12] .  ... 
doi:10.1109/humanoids.2013.7030009 fatcat:nr2z3e234ra5zdxoasxuqmtnqi

CP trajectory diagram—a tool for a pictorial representation of CP and matter effects in neutrino oscillations

Hisakazu Minakata, Hiroshi Nunokawa
2003 Nuclear Instruments and Methods in Physics Research Section A : Accelerators, Spectrometers, Detectors and Associated Equipment  
Principles of tuning beam energy for a given baseline distance are proposed to resolve the ambiguity and to maximize the CP-odd effect.  ...  We introduce "CP trajectory diagram in bi-probability space" as a powerful tool for pictorial representation of the genuine CP and the matter effects in neutrino oscillations.  ...  No. 12047222, Japan Ministry of Education, Culture, Sports, Science and Technology.  ... 
doi:10.1016/s0168-9002(03)00678-8 fatcat:pcow4fmkpnciboek7t2pe63ppe

Correction of magnetic optics and beam trajectory using LOCO based algorithm with expanded experimental data sets [article]

A. Romanov, D. Edstrom Jr., F. A. Emanov, I. A. Koop, E. A. Perevedentsev, Yu. A. Rogovsky, D. B. Shwartz, A. Valishev
2017 arXiv   pre-print
The LOCO algorithm is a proven and reliable tool, which in some situations can be improved by using a broader class of experimental data.  ...  The standard data sets for LOCO include the closed orbit responses to dipole corrector variation, dispersion, and betatron tunes.  ...  With enough BPMs this data set alone can be used to directly describe errors of the accelerator lattice.  ... 
arXiv:1703.09757v1 fatcat:o7nomheozfdurg4p3pgpaxdjwa

Grasping in the Wild:Learning 6DoF Closed-Loop Grasping from Low-Cost Demonstrations [article]

Shuran Song, Andy Zeng, Johnny Lee, Thomas Funkhouser
2020 arXiv   pre-print
However, due to the challenges of collecting effective training data and learning efficiently, most grasping algorithms today are limited to top-down movements and open-loop execution.  ...  Intelligent manipulation benefits from the capacity to flexibly control an end-effector with high degrees of freedom (DoF) and dynamically react to the environment.  ...  ACKNOWLEDGMENT We would like to thank Stefan Welker and Ivan Krasin for their help on designing the handheld gripper, and Google Robotics for hardware and operational support.  ... 
arXiv:1912.04344v2 fatcat:xm5qx4vhjzav3npo2mazawkeim

Neural Network-Based Self-Tuning PID Control for Underwater Vehicles

Rodrigo Hernández-Alvarado, Luis García-Valdovinos, Tomás Salgado-Jiménez, Alfonso Gómez-Espinosa, Fernando Fonseca-Navarro
2016 Sensors  
In practice, some amount of time is dedicated to tune the PID gains of a ROV. Once the best set of gains has been achieved the ROV is ready to work.  ...  However, when the vehicle changes its tool or it is subject to ocean currents, its performance deteriorates since the fixed set of gains is no longer valid for the new conditions.  ...  Rodrigo hernandez-Alvarado, Fernando Fonseca-Navarro design and cored out experiment, Alfonso Gómez-Espinosa contributed with the synthesis of the neuronal networks and the analysis of experiment results  ... 
doi:10.3390/s16091429 pmid:27608018 pmcid:PMC5038707 fatcat:d4djdme2pbag7fwlk3qbsvi5xi

A User's Guide to Calibrating Robotics Simulators [article]

Bhairav Mehta, Ankur Handa, Dieter Fox, Fabio Ramos
2020 arXiv   pre-print
This paper fills this gap and proposes a set of benchmarks and a framework for the study of various algorithms aimed to transfer models and policies learnt in simulation to the real world.  ...  Despite significant progress on the development of sim-to-real algorithms, the analysis of different methods is still conducted in an ad-hoc manner, without a consistent set of tests and metrics for comparison  ...  Acknowledgments The authors would like to thank Yevgen Chebotar and Ian Abraham for their helpful comments and code implementation.  ... 
arXiv:2011.08985v1 fatcat:keuva57zvnfplgd4d5hxxr2xmu

Interactive Video Mashup Based On Emotional Identity

Sergio Benini, Luca Canini, R. Leonardi
2010 Zenodo  
Publication in the conference proceedings of EUSIPCO, Aalborg, Denmark, 2010  ...  In [5] the author presents a tool to describe the emotional identity of any design object, by placing it in a 3D space according to its shape, efficiency and social context.  ...  A group of 8 people of both genders, with a different degree of experience in the usage of multimedia editing tools and interested in the practice of video mashup have been asked to generate new mashups  ... 
doi:10.5281/zenodo.41929 fatcat:ybvl7pmc2fgj3gotozi4mmy72q
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