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Distributed Control of Truss Robots Using Consensus Alternating Direction Method of Multipliers [article]

Nathan S. Usevitch, Trevor Halsted, Zachary M. Hammond, Allison M. Okamura, Mac Schwager
2021 arXiv   pre-print
This distributed optimization is based on a consensus alternating direction method of multipliers framework.  ...  This distributed algorithm is then adapted to control an isoperimetric truss robot, and the distributed algorithm is used in an experimental demonstration.  ...  Our algorithms are based on a consensus formulation of the alternating direction method of multipliers (ADMM), which is discussed in detail in [13] .  ... 
arXiv:2108.06577v1 fatcat:7l4ycimiz5espfcrixo37owp4m

Flange-Based Hand-Eye Calibration Using a 3D Camera With High Resolution, Accuracy, and Frame Rate

Fang Wan, Chaoyang Song
2020 Frontiers in Robotics and AI  
of the robot flange for direct hand-eye calibration and trajectory error tracking.  ...  Furthermore, capturing high-quality point cloud data in real-time opens new doors for the use of 3D scanners, capable of detecting sensitive anomalies of refined details even in motion trajectories.  ...  Guo Ning for providing support in the preliminary research of the proposed method.  ... 
doi:10.3389/frobt.2020.00065 pmid:33501233 pmcid:PMC7805951 fatcat:rkzbmcxkmfbjhh365bj3it25bu

Dynamic Analysis of Alternative Elements in an Automated Packaging System Based on 5G Internet of Things

Jian Long, Gengxin Sun
2022 Journal of Sensors  
Massive Internet of Things data contains great value in the dynamic analysis of alternative elements of automated packaging systems.  ...  From the perspective of the realization of the intelligent production of the system in this paper, this topic mainly studies the information interaction mechanism and production control mechanism of the  ...  research ability of young and middle-aged teachers in colleges and universities in Guangxi in 2021.  ... 
doi:10.1155/2022/4909942 fatcat:nnlm42qj75byxf7plm4iztckhi

Distributed Machine Learning in Materials that Couple Sensing, Actuation, Computation and Communication [article]

Dana Hughes, Nikolaus Correll
2016 arXiv   pre-print
This paper reviews machine learning applications and approaches to detection, classification and control of intelligent materials and structures with embedded distributed computation elements.  ...  Potential areas of investigation, including possible architectures for incorporating machine learning into robotic nodes, training approaches, and the possibility of using deep learning approaches for  ...  manner using the method of multipliers (MoM), and the dual of which introduces local Lagrange multipliers, λ b j , and penalty coefficients, ξ j .  ... 
arXiv:1606.03508v1 fatcat:zb5jcvda5jg6zpsv5w47wwr6nq

Certifying Unstability of Switched Systems Using Sum of Squares Programming

Benoît Legat, Pablo Parrilo, Raphaël Jungers
2020 SIAM Journal of Control and Optimization  
An example of a classical mechanical system having the structure of (3) is a flexible-joint robot [3].  ...  This alternative way of analysis of slow-fast systems with particular structure may lead to a later analysis of multi-timescale systems over networks.  ...  The resulting problem can be solved in parallel using the Alternating Direction Method of Multipliers (ADMM) [3] .  ... 
doi:10.1137/18m1173460 fatcat:ytlzbwk7vbampbuyo6snenz33m

Physically Plausible Wrench Decomposition for Multieffector Object Manipulation

Philine Donner, Satoshi Endo, Martin Buss
2018 IEEE Transactions on robotics  
The wrench decomposition method is then extended to quantification of measures important in evaluating physical human-human and human-robot interaction tasks.  ...  We analyze specific cases of 3digit grasping and 2D beam manipulation, and show the applicability of our method to general object manipulation with multiple effectors.  ...  Shared control of a mobility assistance robot Let us consider a walker that can actively support an elderly human during walking.  ... 
doi:10.1109/tro.2018.2830369 fatcat:akqlxhpa2jbgxehpbxu4ivolv4

Conference Digest

2020 2020 IEEE Aerospace Conference  
The Auxiliary Payload Sensor Suite (APSS), a collection of environmental sensors carried by the Interior exploration using Seismic Investigations, Geodesy, and Heat Transport (InSight) lander, is capable  ...  of measuring Martian air temperature, wind speed, atmospheric pressure, and local magnetic fields.  ...  The nonlinear control design is done using a backstepping method and its stability is proven by the Lyapunov direct method.  ... 
doi:10.1109/aero47225.2020.9172613 fatcat:ioqf5ijrx5gvffu3ls34aa2nsq

Analysis and interpretation of a test for characterizing the response of sandwich panels to water blast

Z. Wei, K.P. Dharmasena, H.N.G. Wadley, A.G. Evans
2007 International Journal of Impact Engineering  
Panels were fabricated using a transient liquid phase bonding approach while an alternate joining technique such as laser welding was explored for scaled-up panel fabrication.  ...  valid OMB control number PLEASE DO NOT RETURN YOUR FORM TO THE ABOVE ADDRESS.  ...  Acknowledgments We are grateful to Tony Evans, John Hutchinson Acknowledgment We are grateful to ONR for support of this work under contract Nos. 123163-03 and N00014-03-1-0281.  ... 
doi:10.1016/j.ijimpeng.2006.09.091 fatcat:x4szcubfdza73drs2gw4yffkfu

Integrated material practice in free-form timber structures

Tom Svilans, Mette Ramsgaard Thomsen, Martin Tamke
2021 Zenodo  
The simulation of material performance and the shift from models as representational tools to functional ones has opened up new methods of working between digital model and physical material.  ...  The advent of digital tools and computation has shifted the focus of many material practices from the shaping of material to the shaping of information.  ...  The research acknowledges that there are many architectural practices and many industrial timber fabricators with an equally large diversity of methods and approaches.  ... 
doi:10.5281/zenodo.4545123 fatcat:z4u5ikmtmnbdnj4zl4c4exteyu

NASA's advanced exploration systems Mars transit habitat refinement point of departure design

Matthew Simon, Kara Latorella, John Martin, Jeff Cerro, Roger Lepsch, Sharon Jefferies, Kandyce Goodliff, David Smitherman, Carey McCleskey, Chel Stromgren
2017 2017 IEEE Aerospace Conference  
(Note: localized or distributed power systems are nominally bookkept with the equipment they are in direct support of). [New] 7.  ...  These robots are assumed to monitor and service systems design Interior Layout A final method of capturing habitat design data is the interior layout design of the resultant Transit Habitat.  ... 
doi:10.1109/aero.2017.7943662 fatcat:q5eaef4bkrbz5dfqk7oxnvwb7y

A Review of Cooperative Multi-Agent Deep Reinforcement Learning [article]

Afshin OroojlooyJadid, Davood Hajinezhad
2021 arXiv   pre-print
First, we elaborate on each of these methods, possible challenges, and how these challenges were mitigated in the relevant papers.  ...  Also, a list of available environments for MARL research is provided in this survey. Finally, the paper is concluded with proposals on the possible research directions.  ...  The effectiveness of the proposed method was studied on the distributed resource allocation problem.  ... 
arXiv:1908.03963v4 fatcat:s2umqzxmqrhntkev3f6k554cv4

14th International Symposium on Mathematical Programming

1990 Mathematical programming  
to the well known serious steps und null steps of bundle methods a third type of steps is used to generate the model of dom .  ...  A v ariation of bundle methods is presented by means of which such a t ype of problems can be solved.In this variation a dynamic polyhedral model of dom is generated by means of normal vectors.In addition  ...  problems that arise from truss topology design TTD: a primal-dual interior-point method and a penalty barrier multipliers method.  ... 
doi:10.1007/bf01580875 fatcat:3jtclwmntzgjxkqs5uecombdaa

Exploiting Low-Rank Structure in Semidefinite Programming by Approximate Operator Splitting [article]

Mario Souto, Joaquim D. Garcia, Alvaro Veiga
2018 arXiv   pre-print
The proposed methodology, based on the primal-dual hybrid gradient method, allows the presence of linear inequalities without the need of adding extra slack variables and avoids solving a linear system  ...  This proposed modification is the key element that allows the operator splitting method to efficiently scale to larger instances.  ...  We extend many thanks to all members of LAMPS (Laboratory of Applied Mathematical Programming and Statistics), in special Thuener Silva and Raphael Saavedra, for the daily support and fruitful discussions  ... 
arXiv:1810.05231v3 fatcat:3uk6cjpedfcofjdcc5dahzkxjm

Morphed vertical tailplane assessment for certification requirements

Miguel Angel Castillo-Acero
2015 Zenodo  
The results, opinions, conclusions, etc. presented in this work are those of the author(s) only and do not necessarily represent the position of the JU; the JU is not responsible for any use made of the  ...  This kind of control optimization problems can be addressed by the method of Lagrange multipliers; this allows for multiple constraints, e.g. constant lift, each associated with one multiplier.  ...  A direct approach is proposed for the estimation of internal shear and bending moment distributions of the statically indeterminate structure.  ... 
doi:10.5281/zenodo.3905083 fatcat:jegirrd5jbgeho7qtr7o3sfzpi

Open issues in genetic programming

Michael O'Neill, Leonardo Vanneschi, Steven Gustafson, Wolfgang Banzhaf
2010 Genetic Programming and Evolvable Machines  
popularised the method, and ten years since the first issue appeared of the Genetic Programming & Evolvable Machines journal.  ...  We hope this overview will stimulate debate, focus the direction of future research to deepen our understanding of GP, and further the development of more powerful problem solving algorithms.  ...  Many of these issues have been raised on multiple occasions at previous (and subsequent) EuroGP debates so this inspired us to put these ideas on paper to open the debate to a wider audience.  ... 
doi:10.1007/s10710-010-9113-2 fatcat:c7kfpvtai5gc3issepcrcmadxq
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