1,332 research outputs found
Perceptions of IUPUI Faculty and Staff Regarding the Center for Service and Learning Faculty/Staff Development Programs
The purpose of this evaluation was to understand perceptions of IUPUI faculty and staff regarding the influence of the Center for Service and Learning’s (CSL) programs and resources on respondents. Specifically, the evaluation was intended to deepen CSL’s understanding of respondents’ experiences as community-engaged professionals at IUPUI. Additionally, the evaluation sought to gather input on new ideas to strengthen CSL services and programming going forward. IUPUI faculty and staff who have participated in CSL workshops, trainings, and/or requested information from CSL were emailed during the fall of 2018 and asked to participate in the Qualtrics survey. The survey was anonymous. This report shares overall findings from the survey and provides general recommendations
A Nonlinear Model Predictive Control Scheme for Cooperative Manipulation with Singularity and Collision Avoidance
This paper addresses the problem of cooperative transportation of an object
rigidly grasped by robotic agents. In particular, we propose a Nonlinear
Model Predictive Control (NMPC) scheme that guarantees the navigation of the
object to a desired pose in a bounded workspace with obstacles, while complying
with certain input saturations of the agents. Moreover, the proposed
methodology ensures that the agents do not collide with each other or with the
workspace obstacles as well as that they do not pass through singular
configurations. The feasibility and convergence analysis of the NMPC are
explicitly provided. Finally, simulation results illustrate the validity and
efficiency of the proposed method.Comment: Simulation results with 3 agents adde
Speak out for the Homeless
This paper is to advocate for the homeless. Given the limited number of shelters in Indianapolis, it is crucial for social workers to speak out for the homeless
Decentralized Abstractions and Timed Constrained Planning of a General Class of Coupled Multi-Agent Systems
This paper presents a fully automated procedure for controller synthesis for
a general class of multi-agent systems under coupling constraints. Each agent
is modeled with dynamics consisting of two terms: the first one models the
coupling constraints and the other one is an additional bounded control input.
We aim to design these inputs so that each agent meets an individual high-level
specification given as a Metric Interval Temporal Logic (MITL). Furthermore,
the connectivity of the initially connected agents, is required to be
maintained. First, assuming a polyhedral partition of the workspace, a novel
decentralized abstraction that provides controllers for each agent that
guarantee the transition between different regions is designed. The controllers
are the solution of a Robust Optimal Control Problem (ROCP) for each agent.
Second, by utilizing techniques from formal verification, an algorithm that
computes the individual runs which provably satisfy the high-level tasks is
provided. Finally, simulation results conducted in MATLAB environment verify
the performance of the proposed framework
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