An evolutionary approach for the motion planning of redundant and hyper-redundant manipulators

The trajectory planning of redundant robots is an important area of research and efficient optimization algorithms are needed. The pseudoinverse control is not repeatable, causing drift in joint space which is undesirable for physical control. This paper presents a new technique that combines the closed-loop pseudoinverse method with genetic algorithms, leading to an optimization criterion for repeatable control of redundant manipulators, and avoiding the joint angle drift problem. Computer simulations performed based on redundant and hyper-redundant planar manipulators show that, when the end-effector traces a closed path in the workspace, the robot returns to its initial configuration. The solution is repeatable for a workspace with and without obstacles in the sense that, after executing several cycles, the initial and final states of the manipulator are very close

An evolutionary approach to the trajectory planning of redundant robots

Several kinematic techniques for the trajectory optimization of redundant manipulators control the gripper using the pseudoinverse of the Jacobian. Nevertheless, these algorithms lead to a kind of chaotic motion with unpredictable arm configurations. This paper presents a new technique for solving the inverse kinematics problem for redundant manipulators that combines the closed-loop pseudoinverse method with genetic algorithms.N/

Оценка степени ухудшения отношения сигнал/шум монокристаллическими экранами

A new approach to gas leakage detection in high pressure distribution networks is proposed, where the pipeline is modelled as a Linear Parameter Varying (LPV) System driven by the source node mass flow with the pressure as the scheduling parameter, and the system output as the mass flow at the offtake. Using a recently proposed successive approximations LPV system subspace identification algorithm, the pipeline is thus identified from operational data. The leak is detected using a Kalman filter where the fault is treated as an augmented state. The effectiveness of this method is illustrated with an example with a mixture of real and simulated data

Trajectory planning of redundant manipulators using genetic algorithms

The trajectory planning of redundant robots is an important area of research and efficient optimization algorithms are needed. This paper presents a new technique that combines the closed-loop pseudoinverse method with genetic algorithms. The results are compared with a genetic algorithm that adopts the direct kinematics. In both cases the trajectory planning is formulated as an optimization problem with constraints

Developing work breakdown structure matrix for managing offsite construction projects

© 2018, © 2018 Informa UK Limited, trading as Taylor & Francis Group. Offsite construction techniques continue to receive considerable attention in academic/research discourse. Whilst discourse in seminal literature critique the positive and negative aspects of offsite; on balance, the benefits outweigh the barriers, especially when fully integrated and managed. From a project management perspective, the techniques applied to construction projects typically commence in determining the project’s work breakdown structure (WBS). Whilst the WBS is applicable to offsite deliverables, reflecting site-based construction activities and concomitant dependencies with the manufacturing processes, there are slight discrepancies in processes, and equally, some areas of repetition and duplication. This mismatch has a fundamental impact on integration, creating pockets of confusion, where less seamless (sub-optimal) synergy between offsite and onsite works is lost. This is an acknowledged challenge. There is, therefore, a real need to retain the product breakdown structure, whilst ensuring a seamless interface with the onsite works is maintained. This is a challenge. Whilst the WBS-matrix has been implemented in the project management domain to bridge the ‘products’ and ‘activities’, this arrangement has not yet been developed for offsite building construction projects. This paper reports an on-going research project set up to implement WBS-matrix for offsite construction projects. Two cases of recently completed offsite construction building projects were studied to analyse current practices–to inform the way forward to further develop the WBS-matrix. Findings from this research provide clear guidance for practitioners involved in offsite construction projects; particularly on the development of the WBS-matrix for manufacturing deliverables/activities in order to more effectively manage offsite construction projects.Published versio