Continuous controls for a sequence of motion plannings based on the endogenous configuration space method

2013 ◽  
Author(s):  
Ignacy Duleba ◽  
Michal Opalka
Keyword(s):  
Configuration Space ◽  
Space Method ◽  
Continuous Controls

scholarly journals Configuration space method for calculating binding energies of exciton complexes in quasi-1D/2D semiconductors

2016 ◽  
Vol 30 (24) ◽  
pp. 1630006 ◽  
Author(s):  
I. V. Bondarev
Keyword(s):  
Binding Energy ◽  
Quantum Wells ◽  
Configuration Space ◽  
Binding Energies ◽  
Electron Hole ◽  
Coupled Quantum Wells ◽  
2D Semiconductors ◽  
Crossover Behavior ◽  
Confined Structures ◽  
Space Method

A configuration space method is developed for binding energy calculations of the lowest energy exciton complexes (trion, biexciton) in spatially confined quasi-1D semiconductor nanostructures such as nanowires and nanotubes. Quite generally, trions are shown to have greater binding energy in strongly confined structures with small reduced electron–hole masses. Biexcitons have greater binding energy in less confined structures with large reduced electron–hole masses. This results in a universal crossover behavior, whereby trions become less stable than biexcitons as the transverse size of the quasi-1D nanostructure increases. The method is also capable of evaluating binding energies for electron–hole complexes in quasi-2D semiconductors such as coupled quantum wells and bilayer van der Walls bound heterostructures with advanced optoelectronic properties.

scholarly journals Configuration space method to calculate rearrangement matrix elements

2020 ◽  
Vol 1412 ◽  
pp. 222004
Author(s):  
D V Fursa ◽  
R Utamuratov ◽  
A S Kadyrov ◽  
I Bray
Keyword(s):  
Configuration Space ◽  
Matrix Elements ◽  
Space Method

scholarly journals Improved Distorted Configuration Space Path Planning and Its Application to Robot Manipulators

Sensors ◽  
2020 ◽  
Vol 20 (21) ◽  
pp. 6060
Author(s):  
Yangmin Xie ◽  
Rui Zhou ◽  
Yusheng Yang
Keyword(s):  
Path Planning ◽  
Configuration Space ◽  
Path Length ◽  
Robot Manipulators ◽  
Computational Cost ◽  
Computation Time ◽  
Planning Strategy ◽  
Automatic Planning ◽  
Searching Method ◽  
Space Method

Real-time obstacle avoidance path planning is critically important for a robot when it operates in a crowded or cluttered workspace. At the same time, the computational cost is a big concern once the degree of freedom (DOF) of a robot is high. A novel path planning strategy, the distorted configuration space (DC-space) method, was proposed and proven to outperform the traditional search-based methods in terms of computational efficiency. However, the original DC-space method did not sufficiently consider the demands on automatic planning, convex space preservation, and path optimization, which makes it not practical when applied to the path planning for robot manipulators. The treatments for the problems mentioned above are proposed in this paper, and their applicability is examined on a three DOFs robot. The experiments demonstrate the effectiveness of the proposed improved distorted configuration space (IDCS) method on rapidly finding an obstacle-free path. Besides, the optimized IDCS method is presented to shorten the generated path. The performance of the above algorithms is compared with the classic Rapidly-exploring Random Tree (RRT) searching method in terms of their computation time and path length.

Manipulator control using the configuration space method

1978 ◽  
Vol 5 (2) ◽  
pp. 69-73 ◽  
Author(s):  
M.H. Raibert
Keyword(s):  
Real Time ◽  
Configuration Space ◽  
Degrees Of Freedom ◽  
Control Method ◽  
Equations Of Motion ◽  
Tabular Form ◽  
Gravity Acceleration ◽  
Manipulator Control ◽  
Space Method ◽  
Manipulation Process

The throughput of a manipulation process depends upon the arm's speed of operation, but many existing controllers provide accurate trajectory control only at low or moderate velocities. We propose a control method that explicitly compensates for configuration‐dependent gravity, acceleration, and velocity forces ‐ the latter being especially important during rapid simultaneous motions of a number of joints. A tabular form of the equations of motion is used in real‐time in conjunction with a configuration space memory organized by positional variables. The contents of the memory are pre‐computed only once for each manipulator and are usable for all possible movements. A planned implementation of this method for the Stanford Schienman arm that uses about 250K memory locations and requires about n3 + 3n2 arithmetic operations per evaluation is discussed, where n is the number of degrees of freedom of the device.

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