NURBs for Robot Manipulator Trajectory Generation

2011 ◽  
Author(s):  
John Steuben ◽  
John Steele ◽  
Cameron J. Turner
Keyword(s):  
Control Systems ◽  
Robot Manipulator ◽  
Trajectory Generation ◽  
Robotic Systems ◽  
Future Research ◽  
B Splines ◽  
Motion Trajectories ◽  
Arbitrary Geometries ◽  
The Future ◽  
Do So

Modern applications of automation and robotic technologies require increasingly sophisticated control systems. One of the areas in which the control of these robotic systems can be improved is the generation of motion trajectories. We demonstrate that Non-Uniform Rational B-splines (NURBs) can be successfully adapted for use in producing trajectories for 6-DOF manipulators. We also discuss a methodology for fitting such splines to arbitrary geometries allowing for the generation of paths in cases where it is difficult or impossible to do so using less sophisticated methods. We demonstrate these techniques in simulation, where they are applied to a pair of complex industrial tasks. Several important properties of NURBs which offer advantages not present in other methods are also discussed. We conclude by discussing the future research needed to bring this technique to maturity, and potential opportunities that may be realized in its adoption.

scholarly journals On the Nature of Everyday Prospection: A Review and Theoretical Integration of Research on Mind-Wandering, Future Thinking, and Prospective Memory

2020 ◽  
Vol 24 (3) ◽  
pp. 210-237 ◽  
Author(s):  
Lia Kvavilashvili ◽  
Jan Rummel
Keyword(s):  
Prospective Memory ◽  
Mind Wandering ◽  
Dual Process ◽  
Future Research ◽  
Future Thinking ◽  
Independent Research ◽  
Research Areas ◽  
The Future ◽  
Planned Activities ◽  
Do So

The ability to imagine and simulate events that may happen in the future has been studied in several related but independent research areas (e.g., episodic future thinking, mind-wandering, prospective memory), with a newly emerging field of involuntary future thinking focusing primarily on the spontaneous occurrence of such thoughts. In this article, we review evidence from these diverse fields to address important questions about why do people think about the future, what are the typical and most frequent contents of such thoughts, and how do these thoughts occur (are they spontaneous or constructed deliberately). Results of the literature review provide support for the pragmatic theory of prospection, by showing that when people engage in prospective thought naturally, without being explicitly instructed to do so, they predominantly think about their upcoming tasks and planned activities instead of simulating plausible but novel hypothetical scenarios. Moreover, prospective thoughts are more often spontaneous than deliberate and effortful, and their occurrence seems to increase the likelihood of planned activities being completed in the future. The findings are discussed in the context of a new “pragmatic dual process account” of future thinking, and new avenues for future research on prospection are outlined.

scholarly journals B-spline parameterized optimal motion trajectories for robotic systems with guaranteed constraint satisfaction

2015 ◽  
Vol 6 (2) ◽  
pp. 163-171 ◽  
Author(s):  
W. Van Loock ◽  
G. Pipeleers ◽  
J. Swevers
Keyword(s):  
Sufficient Conditions ◽  
Robotic Systems ◽  
Differential Flatness ◽  
Planning Problem ◽  
Flexible Link ◽  
Optimal Motion ◽  
B Spline ◽  
B Splines ◽  
Motion Trajectories ◽  
Operating Constraints

Abstract. When optimizing the performance of constrained robotic system, the motion trajectory plays a crucial role. In this research the motion planning problem for systems that admit a polynomial description of the system dynamics through differential flatness is tackled by parameterizing the system's so-called flat output as a polynomial spline. Using basic properties of B-splines, sufficient conditions on the spline coefficients are derived ensuring satisfaction of the operating constraints over the entire time horizon. Furthermore, an intuitive relaxation is proposed to tackle conservatism and a supporting software package is released. Finally, to illustrate the overall approach and potential, a numerical benchmark of a flexible link manipulator is discussed.

Control Systems in Manufacturing

1994 ◽  
Author(s):  
Mruthyunjaya S. Telagi ◽  
Athamaram H. Soni
Keyword(s):  
Neural Network ◽  
Neural Networks ◽  
Fuzzy Logic ◽  
Control Systems ◽  
Research Trends ◽  
Future Research ◽  
Cerebellar Model Articulation Controller ◽  
Manufacturing Environment ◽  
The Future ◽  
Planar Robot

Abstract This paper reviews different control methodologies applied in manufacturing environment. Since comparatively newer control methodologies like — Neural networks, Fuzzy logic, and Cerebellar model articulation controller have gained more research interests in recent years, they have been dealt in more detail. With this, we have presented application of neural network for endeffector positioning of three degree planar robot and results have been evaluated. Finally the future research trends in these areas have been discussed.

scholarly journals Cooperative Multi-Agent Reinforcement Learning for Multi-Component Robotic Systems: guidelines for future research

2011 ◽  
Vol 2 (2) ◽  
Author(s):  
Manuel Graña ◽  
Borja Fernandez-Gauna ◽  
Jose Manuel Lopez-Guede
Keyword(s):  
Reinforcement Learning ◽  
Control Systems ◽  
Robot Control ◽  
Robotic Systems ◽  
Future Research ◽  
Multi Agent Systems ◽  
Feedback Information ◽  
Agent Systems ◽  
Innovative Solutions ◽  
Multi Agent

AbstractReinforcement Learning (RL) as a paradigm aims to develop algorithms that allow to train an agent to optimally achieve a goal with minimal feedback information about the desired behavior, which is not precisely specified. Scalar rewards are returned to the agent as response to its actions endorsing or opposing them. RL algorithms have been successfully applied to robot control design. The extension of the RL paradigm to cope with the design of control systems for Multi-Component Robotic Systems (MCRS) poses new challenges, mainly related to coping with scaling up of complexity due to the exponential state space growth, coordination issues, and the propagation of rewards among agents. In this paper, we identify the main issues which offer opportunities to develop innovative solutions towards fully-scalable cooperative multi-agent systems.

Current Postvention Research and Priorities for the Future

Crisis ◽  
2017 ◽  
Vol 38 (3) ◽  
pp. 202-206 ◽  
Author(s):  
Karl Andriessen ◽  
Dolores Angela Castelli Dransart ◽  
Julie Cerel ◽  
Myfanwy Maple
Keyword(s):  
Social Life ◽  
Online Survey ◽  
Research Priorities ◽  
Future Research ◽  
Physical And Mental Health ◽  
Intercultural Collaboration ◽  
The Social ◽  
The Future ◽  
Suicide Bereavement ◽  
Ethical Approval

Abstract. Background: Suicide can have a lasting impact on the social life as well as the physical and mental health of the bereaved. Targeted research is needed to better understand the nature of suicide bereavement and the effectiveness of support. Aims: To take stock of ongoing studies, and to inquire about future research priorities regarding suicide bereavement and postvention. Method: In March 2015, an online survey was widely disseminated in the suicidology community. Results: The questionnaire was accessed 77 times, and 22 records were included in the analysis. The respondents provided valuable information regarding current research projects and recommendations for the future. Limitations: Bearing in mind the modest number of replies, all from respondents in Westernized countries, it is not known how representative the findings are. Conclusion: The survey generated three strategies for future postvention research: increase intercultural collaboration, increase theory-driven research, and build bonds between research and practice. Future surveys should include experiences with obtaining research grants and ethical approval for postvention studies.

The Knowledge Creation Organization: The Case of Alphana

2012 ◽  
pp. 78-90
Author(s):  
Thang Nguyen Ngoc
Keyword(s):  
Competitive Advantage ◽  
Knowledge Creation ◽  
Future Research ◽  
Sustainable Competitive Advantage ◽  
Knowledge Based ◽  
The Future

Knowledge and the capability to create and utilize knowledge today are consid- ered to be the most important sources of a firm’s sustainable competitive advantage. This paper aims to advance understanding of the knowledge creation of firm in Vietnam by studying Alphanam Company. The case illustrates how knowledge- based management pursues a vision for the future based on ideals that consider the relationships of people in society. The finding shows that the case succeeded because of their flexibility and mobility to keep meeting to the changing needs of the customers or stakeholders. The paper also provided some suggestions for future research to examine knowledge-based management of the companies in a different industry segments and companies originating in other countries

Collaborative Remembering in Dementia: A Focus on Joint Activities

2018 ◽  
Author(s):  
Lars-Christer Hydén ◽  
Mattias Forsblad
Keyword(s):  
Everyday Life ◽  
Past Research ◽  
Research Field ◽  
Future Research ◽  
Research Needs ◽  
Joint Activities ◽  
Do So ◽  
Dementia Diseases

In this chapter we consider collaborative remembering and joint activates in everyday life in the case of people living with dementia. First, we review past research of practices that scaffolds the participation of persons with dementia in everyday chores under different stages of dementia diseases. We do so by suggesting three analytical types of scaffolding: when the scaffolding practices (i) frame the activity, (ii) guide actions, or (iii) are part of repair activities. Second, we review two aspects of collaborative remembering that are especially important in the case of dementia: training of scaffolding practices, and the sustaining and presentation of identities through collaborative storytelling. Finally, theoretical and methodological tendencies of the research field are summarized and future research needs are formulated.

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