Critically fast pick-and-place with suction cups

Fast robotics pick-and-place with suction cups is a crucial component in the current development of automation in logistics (factory lines, e-commerce, etc.). By "critically fast" we mean the fastest possible movement for transporting an object such that it does not slip or fall from the suction cup. The main difficulties are: (i) handling the contact between the suction cup and the object, which fundamentally involves kinodynamic constraints; and (ii) doing so at a low computational cost, typically a few hundreds of milliseconds. To address these difficulties, we propose (a) a model for suction cup contacts, (b) a procedure to identify the contact stability constraint based on that model, and (c) a pipeline to parameterize, in a time-optimal manner, arbitrary geometric paths under the identified contact stability constraint. We experimentally validate the proposed pipeline on a physical robot system: the cycle time for a typical pick-and-place task was less than 5 seconds, planning and execution times included. The full pipeline is released as open-source for the robotics community.Comment: 7 pages, 5 figure

Robotic manipulation of a rotating chain

This paper considers the problem of manipulating a uniformly rotating chain: the chain is rotated at a constant angular speed around a fixed axis using a robotic manipulator. Manipulation is quasi-static in the sense that transitions are slow enough for the chain to be always in "rotational" equilibrium. The curve traced by the chain in a rotating plane -- its shape function -- can be determined by a simple force analysis, yet it possesses complex multi-solutions behavior typical of non-linear systems. We prove that the configuration space of the uniformly rotating chain is homeomorphic to a two-dimensional surface embedded in $\mathbb{R}^3$. Using that representation, we devise a manipulation strategy for transiting between different rotation modes in a stable and controlled manner. We demonstrate the strategy on a physical robotic arm manipulating a rotating chain. Finally, we discuss how the ideas developed here might find fruitful applications in the study of other flexible objects, such as elastic rods or concentric tubes.Comment: 12 pages, 9 figure

Time-Optimal Path Tracking via Reachability Analysis

Given a geometric path, the Time-Optimal Path Tracking problem consists in finding the control strategy to traverse the path time-optimally while regulating tracking errors. A simple yet effective approach to this problem is to decompose the controller into two components: (i)~a path controller, which modulates the parameterization of the desired path in an online manner, yielding a reference trajectory; and (ii)~a tracking controller, which takes the reference trajectory and outputs joint torques for tracking. However, there is one major difficulty: the path controller might not find any feasible reference trajectory that can be tracked by the tracking controller because of torque bounds. In turn, this results in degraded tracking performances. Here, we propose a new path controller that is guaranteed to find feasible reference trajectories by accounting for possible future perturbations. The main technical tool underlying the proposed controller is Reachability Analysis, a new method for analyzing path parameterization problems. Simulations show that the proposed controller outperforms existing methods.Comment: 6 pages, 3 figures, ICRA 201

A New Approach to Time-Optimal Path Parameterization based on Reachability Analysis

Time-Optimal Path Parameterization (TOPP) is a well-studied problem in robotics and has a wide range of applications. There are two main families of methods to address TOPP: Numerical Integration (NI) and Convex Optimization (CO). NI-based methods are fast but difficult to implement and suffer from robustness issues, while CO-based approaches are more robust but at the same time significantly slower. Here we propose a new approach to TOPP based on Reachability Analysis (RA). The key insight is to recursively compute reachable and controllable sets at discretized positions on the path by solving small Linear Programs (LPs). The resulting algorithm is faster than NI-based methods and as robust as CO-based ones (100% success rate), as confirmed by extensive numerical evaluations. Moreover, the proposed approach offers unique additional benefits: Admissible Velocity Propagation and robustness to parametric uncertainty can be derived from it in a simple and natural way.Comment: 15 pages, 9 figure

A Family of Coherence-Based Multi-Microphone Speech Enhancement Systems

This contribution addresses the problem of additive noise reduction in speech picked up by a microphone in a noisy environment. Two systems belonging to the family of coherence-based noise cancellers are presented. Suggested systems have the modular structure using 2 or 4 microphones and suppress non-stationary noises in the range of 4 to 17 dB depending on the chosen structure and noise characteristics. The common properties are acceptable noise suppression, low speech distortion and residual noise

A Genetic Algorithm for Power-Aware Virtual Machine Allocation in Private Cloud

Energy efficiency has become an important measurement of scheduling algorithm for private cloud. The challenge is trade-off between minimizing of energy consumption and satisfying Quality of Service (QoS) (e.g. performance or resource availability on time for reservation request). We consider resource needs in context of a private cloud system to provide resources for applications in teaching and researching. In which users request computing resources for laboratory classes at start times and non-interrupted duration in some hours in prior. Many previous works are based on migrating techniques to move online virtual machines (VMs) from low utilization hosts and turn these hosts off to reduce energy consumption. However, the techniques for migration of VMs could not use in our case. In this paper, a genetic algorithm for power-aware in scheduling of resource allocation (GAPA) has been proposed to solve the static virtual machine allocation problem (SVMAP). Due to limited resources (i.e. memory) for executing simulation, we created a workload that contains a sample of one-day timetable of lab hours in our university. We evaluate the GAPA and a baseline scheduling algorithm (BFD), which sorts list of virtual machines in start time (i.e. earliest start time first) and using best-fit decreasing (i.e. least increased power consumption) algorithm, for solving the same SVMAP. As a result, the GAPA algorithm obtains total energy consumption is lower than the baseline algorithm on simulated experimentation.Comment: 10 page