A Task Streamlining Approach for Parallel Processing of the Inverse Dynamic Equations With Friction

1993 ◽  
Vol 115 (3) ◽  
pp. 434-440 ◽  
Author(s):  
A. M. Sharan ◽  
C. Dhanaraj
Keyword(s):  
Robot Control ◽  
Bin Packing ◽  
Inverse Dynamics ◽  
Sampling Rate ◽  
Inverse Dynamic ◽  
Symbolic Programming ◽  
Number Of Layers ◽  
High Sampling Rate ◽  
List Schedule ◽  
Mapping Scheme

Real-time computation of the inverse dynamics of the robotic manipulators is required for ensuring robust control. This paper presents a modified Newton-Euler algorithm which makes use of symbolic programming for improved computational efficiency. Also, friction is incorporated in the dynamic model for more accurate prediction of the torques. The algorithm is parallelized using a “Task Streamlining Approach,”—a systematic mapping scheme using layered task graphs to create the list schedule and a simplified bin-packing heuristic algorithm to schedule the computations on a multiprocessor. The resulting computational load is only 12n + 9 flops (n = number of links in the manipulator), indicating a promise for application to precision robot control employing a high sampling rate. The optimal scheduling of tasks is carried out by minimizing the number of layers where tasks are performed sequentially.

Parallel computation of symbolic robot models of pipelined processor architectures

Robotica ◽  
1993 ◽  
Vol 11 (1) ◽  
pp. 37-47 ◽  
Author(s):  
N. Kirćanski ◽  
T. Petović ◽  
M. Vukobratović
Keyword(s):  
Control Systems ◽  
Robot Control ◽  
Inverse Dynamics ◽  
Linear Array ◽  
Scheduling Algorithm ◽  
Model Computation ◽  
Inverse Dynamic ◽  
Processor Architectures ◽  
Pipelined Processors ◽  
Numerical Complexity

SUMMARYIncreased speed of inverse dynamics computation is essential for improving the characteristics of robot control systems. This is achieved by reducing the numerical complexity of the models and by introducing parallelism in model computation. In this paper customized symbolic models with a near minimum numerical complexity will be used as a basis for the examination of parallelism in inverse dynamic robot models. A scheduling algorithm for the distribution of computational load onto an arbitrary linear array of pipelined processors will be developed. The proposed algorithm is experimentally evaluated on a transputer network.

Intelligent Displacement Measuring System for Rock Stratum

2011 ◽  
Vol 103 ◽  
pp. 583-586
Author(s):  
Feng Ling Li ◽  
Jian Hua Rong ◽  
Yu Ping Zhang
Keyword(s):  
Civil Engineer ◽  
Real Time ◽  
Sampling Rate ◽  
Measuring System ◽  
Displacement Sensor ◽  
Rock Stratum ◽  
Baud Rate ◽  
Real Time Clock ◽  
High Sampling Rate ◽  
Displacement System

Measuring rock stratum displacement in dam grouting process is very important. A new displacement system is designed, comprising a programmable microcontroller Atmega16, a new grating capacitive displacement sensor(GCDS), DS1302 real time clock chip and announciator etc. The system has high sampling rate of 9600 baud rate and can trap the displacement equal to 0.001 millimeter in one second. Equipped with mechanical conveyance system, the system can be applied to the civil engineer. The experiment results show the instrument can measure accurately the displacement value and alarm geologic disaster in time, which can conduct continuous and accurate monitoring and provide operation decisions for dam engineers.

scholarly journals An Automatic Method for Detection and Update of Additive Changes in Road Network with GPS Trajectory Data

2019 ◽  
Vol 8 (9) ◽  
pp. 411 ◽  
Author(s):  
Tang ◽  
Deng ◽  
Huang ◽  
Liu ◽  
Chen
Keyword(s):  
Road Network ◽  
Sampling Rate ◽  
Quality Data ◽  
Automatic Method ◽  
Trajectory Data ◽  
The Road ◽  
High Sampling Rate ◽  
Map Generation ◽  
Gps Trajectory Data ◽  
Gps Trajectory

Ubiquitous trajectory data provides new opportunities for production and update of the road network. A number of methods have been proposed for road network construction and update based on trajectory data. However, existing methods were mainly focused on reconstruction of the existing road network, and the update of newly added roads was not given much attention. Besides, most of existing methods were designed for high sampling rate trajectory data, while the commonly available GPS trajectory data are usually low-quality data with noise, low sampling rates, and uneven spatial distributions. In this paper, we present an automatic method for detection and update of newly added roads based on the common low-quality trajectory data. First, additive changes (i.e., newly added roads) are detected using a point-to-segment matching algorithm. Then, the geometric structures of new roads are constructed based on a newly developed decomposition-combination map generation algorithm. Finally, the detected new roads are refined and combined with the original road network. Seven trajectory data were used to test the proposed method. Experiments show that the proposed method can successfully detect the additive changes and generate a road network which updates efficiently.

All-optical parallelization for high sampling rate photonic ADC in fully digital radar systems

2010 ◽  
Author(s):  
Paolo Ghelfi ◽  
Lingmei Ma ◽  
Xiaoxia Wu ◽  
Minyu Yao ◽  
Alan E. Willner ◽  
...  
Keyword(s):  
Sampling Rate ◽  
Radar Systems ◽  
High Sampling ◽  
High Sampling Rate ◽  
All Optical

scholarly journals High sampling rate thermistor string observations at the slope of Great Meteor Seamount

Ocean Science ◽  
2005 ◽  
Vol 1 (1) ◽  
pp. 17-28 ◽  
Author(s):  
H. van Haren ◽  
R. Groenewegen ◽  
M. Laan ◽  
B. Koster
Keyword(s):  
High Frequency ◽  
North Atlantic Ocean ◽  
Sampling Rate ◽  
Very High Frequency ◽  
High Sampling ◽  
High Sampling Rate ◽  
In Situ Calibration ◽  
Great Meteor Seamount ◽  
Very High

Abstract. A high sampling rate (1 Hz) thermistor string has been built to accommodate the scientific need to accurately monitor high-frequency and vigorous internal wave and overturning processes in the ocean. The thermistors and their custom designed electronics can register temperature at an estimated precision of about 0.001° C with a response time faster than 0.25 s down to depths of 6000 m. With a quick in situ calibration using SBE 911 CTD an absolute accuracy of 0.005° C is obtained. The present string holds 128 sensors at 0.5 m intervals, which are all read-out within 0.5 s. When sampling at 1 Hz, the batteries and the memory capacity of the recorder allow for deployments of up to 2 weeks. In this paper, the instrument is described in some detail. Its performance is illustrated with examples from the first moored observations, which show Kelvin-Helmholtz overturning and very high-frequency (Doppler-shifted) internal waves besides occasionally large turbulent bores moving up the sloping side of Great Meteor Seamount, Canary Basin, North-Atlantic Ocean.

Inverse Dynamic Analysis and Linearisation of a High Speed Parallel Mechanism

2005 ◽  
Author(s):  
M. Necip Sahinkaya ◽  
Yanzhi Li
Keyword(s):  
Dynamic Analysis ◽  
Parallel Mechanism ◽  
High Speed ◽  
Inverse Dynamics ◽  
Motion Path ◽  
Model Parameters ◽  
Control Input ◽  
Inverse Dynamic ◽  
Inverse Dynamic Analysis ◽  
Dynamics Models

Inverse dynamic analysis of a three degree of freedom parallel mechanism driven by three electrical motors is carried out to study the effect of motion speed on the system dynamics and control input requirements. Availability of inverse dynamics models offer many advantages, but controllers based on real-time inverse dynamic simulations are not practical for many applications due to computational limitations. An off-line linearisation of system and error dynamics based on the inverse dynamic analysis is developed. It is shown that accurate linear models can be obtained even at high motion speeds eliminating the need to use computationally intensive inverse dynamics models. A point-to-point motion path for the mechanism platform is formulated by using a third order exponential function. It is shown that the linearised model parameters vary significantly at high motion speeds, hence it is necessary to use adaptive controllers for high performance.

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