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Motion Planning for Variable Topology Trusses: Reconfiguration and Locomotion [article]

Chao Liu and Sencheng Yu and Mark Yim
2021 arXiv   pre-print
Truss robots are highly redundant parallel robotic systems and can be applied in a variety of scenarios. The variable topology truss (VTT) is a class of modular truss robot.  ...  As self-reconfigurable modular robots, variable topology trusses are composed of many edge modules that can be rearranged into various structures with respect to different activities and tasks.  ...  Incorporated with a polygon-based random tree search algorithm to output a sequence of supporting polygons by Park et al. (2020) , a VTT can execute a locomotion task in an environment.  ... 
arXiv:2108.00309v1 fatcat:qnfniaib5jcgplowy4m2gnyt3q

Planning heavy lifts for humanoid robots

Michael Grey, Sungmoon Joo, Matt Zucker
2014 2014 IEEE-RAS International Conference on Humanoid Robots  
Lifting heavy objects poses a unique challenge for humanoid robots and more broadly, for any robot which is responsible for maintaining its own balance.  ...  We describe the implementation of these techniques and offer suggestions for obtaining fast and reliable solutions. We also demonstrate the algorithms running on a DRC-Hubo humanoid robot.  ...  [4] and Constrained Bidirectional Rapidly exploring Random Tree (CBiRRT) [5] framework.  ... 
doi:10.1109/humanoids.2014.7041430 dblp:conf/humanoids/GreyJZ14 fatcat:4yip6k5ur5ed3dgf3yk2y4ec54

Table of Contents

2020 IEEE Robotics and Automation Letters  
Wu 806 Polygon-Based Random Tree Search Planning for Variable Geometry Truss Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  ...  Tedrake 1811 Exploiting Bias for Cooperative Planning in Multi-Agent Tree Search . . . . . . . . . . . . . . . . A. Ma, M. Ouimet, and J.  ... 
doi:10.1109/lra.2020.2987582 fatcat:3qafzip5xrg5jliyngq4xxvjha

Survey on assembly sequencing: a combinatorial and geometrical perspective

P. Jiménez
2011 Journal of Intelligent Manufacturing  
The different ways of representing the space of feasible assembly sequences are described, as well as the search and optimization algorithms that can be used.  ...  Sequencing lies at the core of assembly planning, and variants include finding a feasible sequence -respecting the precedence constraints between the assembly operations-, or determining an optimal one  ...  supported by the European project In-tellAct (FP7-269959), by the Spanish Ministry of Science and Innovation under project PAU DPI2008-06022, and by the Catalan Research Commission through the Consolidated Robotics  ... 
doi:10.1007/s10845-011-0578-5 fatcat:ggcoy4o5z5aypiwa67ya6rpruy

Behavior-Finding: Morphogenetic Designs Shaped by Function [chapter]

Daniel Lobo, Jose David Fernández, Francisco J. Vico
2012 Understanding Complex Systems  
This fundamental combination of biological evolution and development has served as an inspiration for novel engineering design methodologies, with the goal to overcome the scalability problems suffered  ...  Top-down methodologies are based on the manual decomposition of the design into modular, independent subunits.  ...  [43] proposed an encoding based on a construction tree to evolve the sequence of modifications that can transform a given truss structure into a new one that serves a different function.  ... 
doi:10.1007/978-3-642-33902-8_17 fatcat:evbcd3fn7jd7xfkymxwbfe42ny

14th International Symposium on Mathematical Programming

1990 Mathematical programming  
It is shown that for the success of the variant dom must ful ll a regularity property and that the choice of the normal vectors must meet some demands.Both requirements are ful lled if dom is polyhedral  ...  This result is also stated in terms of random variables.  ...  planning -setup -tabu search This paper present s a T abu Search heuristic for the Capacitated Lot Sizing Problem CLSP with setup carryovers.  ... 
doi:10.1007/bf01580875 fatcat:3jtclwmntzgjxkqs5uecombdaa

Engineering, Technology & Applied Science Research (ETASR), Vol. 11, No. 2, pp. 6845-7068 [article]

2021 Zenodo  
The table of contents for this issue can be found at: For more info visit the journal's site at:  ...  Engineering, Technology & Applied Science Research (ETASR) is an international bimonthly wide scope, peer-reviewed open access journal for the publication of original articles concerned with diverse aspects  ...  ACKNOWLEDGMENT The authors are grateful to the Institute for Research and Development, Suan Sunandha Rajabhat University and the Faculty of Science at Ubon Ratchathani University, for supporting this research  ... 
doi:10.5281/zenodo.4720665 fatcat:mk2prflstjaa3bhkjenwy22s6u

Self aware actuation for fault repair in sensor networks

S. Ganeriwal, A. Kansal, M.B. Srivastava
2004 IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004  
Motion control methods have also been developed for coordinating the motion of multi-robot systems for solving other problems such as path planning, formation generation, formation keeping, traffic control  ...  However, the procedure is centralized and works only for simple polygons, i.e., polygons without holes, since linear time algorithms are available to find the visible subregion of a simple polygon [GA81  ... 
doi:10.1109/robot.2004.1302550 dblp:conf/icra/GaneriwalKS04 fatcat:vlc4qtzjyne2fojb4odwxvj4ke

A Hierarchical Machine Learning Approach for Multi-Level and Multi-Resolution 3D Point Cloud Classification

Simone Teruggi, Eleonora Grilli, Michele Russo, Francesco Fassi, Fabio Remondino
2020 Remote Sensing  
The recent years saw an extensive use of 3D point cloud data for heritage documentation, valorisation and visualisation.  ...  In this context, the introduction of point cloud classification methods can play an essential role for better data usage, model definition, analysis and conservation.  ...  Francesco Canali for his support and availability to allow our research activities.  ... 
doi:10.3390/rs12162598 fatcat:4jduo6uohjcofaj4hbk7skwas4


Luísa Mendes Tavares, Danielle Spada Tavares
2018 Boletim da Aproged  
The Galapagos tool searches for the smallest radius of covering circles, so that the base-circle is fully covered with circles.  ...  edges and between faces as variables; Ron Resch and Christiansen [05] , who use a combination of analysis and elastic constraints between the connections and truss elements; and, also, Casale and Valenti  ...  Rodrigo Pinto says: "The object of Descriptive Geometry is to represent parts of the extension that exist in space on a plan so that this representation makes it easy to infer the most remarkable qualities  ... 
doi:10.24840/2184-4933_2018-0034_0017 fatcat:bp2zm4r5vnaele3dqzt6xz7zny

Analysis of Aperture Shape Changing Trend Base on the Shaped Charge Jet Penetration through the Steel Target [chapter]

Junqing Huang, Yalong Ma, Kelei Huang, Jianxun Zhao
2012 Communications in Computer and Information Science  
But the reflectance map equation is a nonlinear partial differential equation about two random variables. So the SFS is an ill-posed problem.  ...  History of preliminary polygon reductions is adopted for the proposed method so that polygon reconstruction is executed in real-time.  ...  This method is based on Depth First Search (DFS) to find the optimal path of the Home Robot Simulation.DFS is an algorithm for traversing or searching a tree, tree structure, or graph.  ... 
doi:10.1007/978-3-642-34384-1_2 fatcat:xvp3o6agk5hxpmbjptnthxiz5m

Determination of the One-to-One Correspondence between the Kinematic Screw of the Output Link and the Gradient Screw in a Singular Configuration of a Parallel Mechanism
Определение взаимного соответствия кинематического винта выходного звена и винта-градиента в особом положении механизма параллельной структуры

Е.С. Гебель, В.А. Глазунов
2017 Proceedings of Higher Educational Institutions Маchine Building  
ACKNOWLEDGEMENTS The authors would like to thank Cameco Corporation for their financial support of this research.  ...  ACKNOWLEDGEMENTS The authors would like to thank the Natural Sciences and Engineering Research Council (NSREC) of Canada for their financial support of this work.  ...  Li obtained similar singularity-free workspace of a 6-RSS parallel robot by using a boundary searching algorithm based on the determinant of Jacobian matrix [22] .  ... 
doi:10.18698/0536-1044-2017-7-3-9 fatcat:5xx3qrdmqjfr7ng5oecrdzeb34

Table of Contents

2016 Australian Journal of Primary Health  
Instead of using traditional random sampling methods such as Monte-Carlo for the evaluation of expectations, the Stochastic Collocation method is used, which deterministically samples the random variable  ...  The poster presents a framework for applying reverse engineering planning calculations to model-based design optimization.  ... 
doi:10.1071/pyv22n4toc fatcat:hrwhnxdpjreslhuwi7y4edqmo4

An intelligent genetic design tool (IGDT) : applied to the exploration of architectural trussed structural systems [article]

Peter Von Bülow, Universität Stuttgart, Universität Stuttgart
Being based on Genetic Algorithms (GA's) the IGDT always submits a multiplicity of solutions (populations) for review by the designer, and is thus less likely to cause design fixation than most other optimization  ...  In order to exhibit the capabilities of the IGDT, examples are shown using different trussed systems under various design conditions.  ...  Problem Parameters and Geometry Figure 3.16. shows the geometry chosen by Mr. Peter. It is based on a familiar truss topology, commonly referred to as a Warren Truss.  ... 
doi:10.18419/opus-264 fatcat:xffdc4srwbgjjjcpfhl6hbs3om

Recent Progress in the Zimmer program

Aaron Brown
2018 Notices of the American Mathematical Society  
There are no member discounts for classified ads. Dictation over the telephone will not be accepted for classified ads.  ...  No discounts for multiple ads or the same ad in consecutive issues. For an additional $10 charge, announcements can be placed anonymously. Correspondence will be forwarded.  ...  based on random walks.  ... 
doi:10.1090/noti1643 fatcat:zwf4v65k7vcqtdwwpdfyfuy2oq
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