4,596 research outputs found
A procedure concept for local reflex control of grasping
An architecture is proposed for the control of robotic devices, and in particular of anthropomorphic hands, characterized by a hierarchical structure in which every level of the architecture contains data and control function with varying degree of abstraction. Bottom levels of the hierarchy interface directly with sensors and actuators, and process raw data and motor commands. Higher levels perform more symbolic types of tasks, such as application of boolean rules and general planning operations. Layers implementation has to be consistent with the type of operation and its requirements for real time control. It is proposed to implement the rule level with a Boolean Artificial Neural Network characterized by a response time sufficient for producing reflex corrective action at the actuator level
Distributed control architecture for smart surfaces.
International audienceThis paper presents a distributed control architecture to perform part recognition and closed-loop control of a distributed manipulation device. This architecture is based on decentralized cells able to communicate with their four neighbors thanks to peer-to-peer links. Various original algorithms are proposed to reconstruct, recognize and convey the object levitating on a new contactless distributed manipulation device. Experimental results show that each algorithm does a good job for itself and that all the algorithms together succeed in sorting and conveying the objects to their final destination. In the future, this architecture may be used to control MEMS-arrayed manipulation surfaces in order to develop Smart Surfaces, for conveying, fine positioning and sorting of very small parts for micro-systems assembly lines
Accelerated Modeling of Near and Far-Field Diffraction for Coronagraphic Optical Systems
Accurately predicting the performance of coronagraphs and tolerancing optical
surfaces for high-contrast imaging requires a detailed accounting of
diffraction effects. Unlike simple Fraunhofer diffraction modeling, near and
far-field diffraction effects, such as the Talbot effect, are captured by
plane-to-plane propagation using Fresnel and angular spectrum propagation. This
approach requires a sequence of computationally intensive Fourier transforms
and quadratic phase functions, which limit the design and aberration
sensitivity parameter space which can be explored at high-fidelity in the
course of coronagraph design. This study presents the results of optimizing the
multi-surface propagation module of the open source Physical Optics Propagation
in PYthon (POPPY) package. This optimization was performed by implementing and
benchmarking Fourier transforms and array operations on graphics processing
units, as well as optimizing multithreaded numerical calculations using the
NumExpr python library where appropriate, to speed the end-to-end simulation of
observatory and coronagraph optical systems. Using realistic systems, this
study demonstrates a greater than five-fold decrease in wall-clock runtime over
POPPY's previous implementation and describes opportunities for further
improvements in diffraction modeling performance.Comment: Presented at SPIE ASTI 2018, Austin Texas. 11 pages, 6 figure
A Cilia-inspired Closed-loop Sensor-actuator Array
© 2018, Jilin University. Cilia are finger-like cell-surface organelles that are used by certain varieties of aquatic unicellular organisms for motility, sensing and object manipulation. Initiated by internal generators and external mechanical and chemical stimuli, coordinated undulations of cilia lead to the motion of a fluid surrounding the organism. This motion transports micro-particles towards an oral cavity and provides motile force. Inspired by the emergent properties of cilia possessed by the pond organism P. caudatum, we propose a novel smart surface with closed-loop control using sensor-actuators pairings that can manipulate objects. Each vibrating motor actuator is controlled by a localised microcontroller which utilises proximity sensor information to initiate actuation. The circuit boards are designed to be plug-and-play and are infinitely up-scalable and reconfigurable. The smart surface is capable of moving objects at a speed of 7.2 millimetres per second in forward or reverse direction. Further development of this platform will include more anatomically similar biomimetic cilia and control
Deployable Payloads with Starbug
We explore the range of wide field multi-object instrument concepts taking
advantage of the unique capabilities of the Starbug focal plane positioning
concept. Advances to familiar instrument concepts, such as fiber positioners
and deployable fiber-fed IFUs, are discussed along with image relays and
deployable active sensors. We conceive deployable payloads as components of
systems more traditionally regarded as part of telescope systems rather than
instruments - such as adaptive optics and ADCs. Also presented are some of the
opportunities offered by the truly unique capabilities of Starbug, such as
microtracking to apply intra-field distortion correction during the course of
an observation.Comment: 12 pages, 8 figures, to be published in Proc. SPIE 6273
"Opto-Mechanical Technologies for Astronomy
Evolving Gene Regulatory Networks with Mobile DNA Mechanisms
This paper uses a recently presented abstract, tuneable Boolean regulatory
network model extended to consider aspects of mobile DNA, such as transposons.
The significant role of mobile DNA in the evolution of natural systems is
becoming increasingly clear. This paper shows how dynamically controlling
network node connectivity and function via transposon-inspired mechanisms can
be selected for in computational intelligence tasks to give improved
performance. The designs of dynamical networks intended for implementation
within the slime mould Physarum polycephalum and for the distributed control of
a smart surface are considered.Comment: 7 pages, 8 figures. arXiv admin note: substantial text overlap with
arXiv:1303.722
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