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Los Alamos Science
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Reliable Plan Selection By Intelligent Machines
This book derives techniques which allow reliable plans to be automatically selected by Intelligent Machines. It concentrates on the uncertainty analysis of candidate plans so that a highly reliable candidate may be identified and used. For robotic components, such as a particular vision algorithm for pose estimation or a joint controller, methods are explained for directly calculating the reliability. However, these methods become excessively complex when several components are used together to complete a plan. Consequently, entropy minimization techniques are used to estimate which complex tasks will perform reliably. The book first develops tools for directly calculating the reliability of sub-systems, and methods of using entropy minimization to greatly facilitate the analysis are explained. Since these sub-systems are used together to accomplish complex tasks, the book then explains how complex tasks can be efficiently evaluated.
The Electronics Handbook
During the ten years since the appearance of the groundbreaking, bestselling first edition of The Electronics Handbook, the field has grown and changed tremendously. With a focus on fundamental theory and practical applications, the first edition guided novice and veteran engineers along the cutting edge in the design, production, installation, operation, and maintenance of electronic devices and systems. Completely updated and expanded to reflect recent advances, this second edition continues the tradition. The Electronics Handbook, Second Edition provides a comprehensive reference to the key concepts, models, and equations necessary to analyze, design, and predict the behavior of complex e...
Quantifying and Optimizing Failure Tolerance of a Class of Parallel Manipulators
6.1 Conclusions This work proves that for a certain class of parallel manipulators functioning about a single point in its workspace, the mean squared relative manipulability over all possible cases of a given number of actuator failures is always constant irrespective of the geometry of the manipulator. In this context, optimal fault tolerant manipulability is defined and quantified using a simple algebraic formulation. The definition is more suited to parallel manipulators since they can retain kinematic stability under failures which constitute loss of actuators. For micromanipulation, symmetric OGSPs can be designed to possess optimal manipulability under actuator failures. OGSP geometri...
Reliable Plan Selection by Intelligent Machines
However, these methods become excessively complex when several components are used together to complete a plan. Consequently, entropy minimization techniques are used to estimate which complex tasks will be performed reliably. The book first develops tools for directly calculating the reliability of sub-systems, and methods of using entropy minimization to greatly facilitate the analysis are explained
Flexible Joint Robots
Joint flexibility from harmonic or direct drives or flexible couplings limits the performance of robots. Performance can be improved by taking into account the fast dynamics that are introduced by joint flexibility. High gain acceleration feedback from the link angles simplifies the robot dynamics, but is limited by joint flexibility. One solution is to use joint torque feedback to stabilize the fast dynamics. In light of this, drive systems that incorporate joint torque sensors are being developed. Flexible Joint Robots is the first book to consider the myriad problems and potential solutions that affect flexible joint robot design. The book covers fundamental concepts, including joint torque feedback control laws, acceleration feedback, and adaptive control laws. It presents a dynamic model of a flexible joint robot in several coordinate systems and includes an analysis of the fast dynamics.
