Characterisation of spatial network-like patterns from junctions' geometry

We propose a new method for quantitative characterization of spatial network-like patterns with loops, such as surface fracture patterns, leaf vein networks and patterns of urban streets. Such patterns are not well characterized by purely topological estimators: also patterns that both look different and result from different morphogenetic processes can have similar topology. A local geometric cue -the angles formed by the different branches at junctions- can complement topological information and allow to quantify the large scale spatial coherence of the pattern. For patterns that grow over time, such as fracture lines on the surface of ceramics, the rank assigned by our method to each individual segment of the pattern approximates the order of appearance of that segment. We apply the method to various network-like patterns and we find a continuous but sharp dichotomy between two classes of spatial networks: hierarchical and homogeneous. The first class results from a sequential growth process and presents large scale organization, the latter presents local, but not global organization.Comment: version 2, 14 page

Redundancy of space manipulator on free-flying vehicle and its nonholonomic path planning

The nonholonomic mechanical structure of space robots and path planning is discussed. The angular momentum conservation works as a nonholonomic constraint while the linear momentum conservation is a holonomic one. Thus, a vehicle with a 6 d.o.f. manipulator is described as a 9 variable system with 6 inputs. This implies the possibility of controlling the vehicle orientation and the joint variables of the manipulator by actuating the joint variables, but only if the trajectory is carefully planned; however, both of them cannot be controlled independently. It means that by assuming feasible-path planning, a system that consists of a vehicle and a 6 d.o.f. manipulator can be utilized as 9 d.o.f. system. Initially, the nonholonomic mechanical structure of space vehicle/manipulator system is shown. Then a path planning scheme for nonholonomic systems is proposed using Lyapunov functions

Collision-free motion of two robot arms in a common workspace

Collision-free motion of two robot arms in a common workspace is investigated. A collision-free motion is obtained by detecting collisions along the preplanned trajectories using a sphere model for the wrist of each robot and then modifying the paths and/or trajectories of one or both robots to avoid the collision. Detecting and avoiding collisions are based on the premise that: preplanned trajectories of the robots follow a straight line; collisions are restricted to between the wrists of the two robots (which corresponds to the upper three links of PUMA manipulators); and collisions never occur between the beginning points or end points on the straight line paths. The collision detection algorithm is described and some approaches to collision avoidance are discussed

Towards building a team of intelligent robots

Topics addressed include: collision-free motion planning of multiple robot arms; two-dimensional object recognition; and pictorial databases (storage and sharing of the representations of three-dimensional objects)