Sensitivity of Input Epistemic Uncertainty on Nondeterministic Performance Estimates Using Nondeterministic Simulations

Author(s):  
Lawrence Hale ◽  
Mayuresh Patil ◽  
Christopher J. Roy

This paper examines various sensitivity analysis methods which can be used to determine the relative importance of input epistemic uncertainties on the uncertainty quantified performance estimate. The results from such analyses would then indicate which input uncertainties would merit additional study. The following existing sensitivity analysis methods are examined and described: local sensitivity analysis by finite difference, scatter plot analysis, variance-based analysis, and p-box-based analysis. As none of these methods are ideally suited for analysis of dynamic systems with epistemic uncertainty, an alternate method is proposed. This method uses aspects of both local sensitivity analysis and p-box-based analysis to provide improved computational speed while removing dependence on the assumed nominal model parameters.

Author(s):  
S. Kaizerman ◽  
B. Benhabib ◽  
R. G. Fenton ◽  
G. Zak

Abstract A new robot kinematic calibration procedure is presented. The parameters of the kinematic model are estimated through a relationship established between the deviations in the joint variables and the deviations in the model parameters. Thus, the new method can be classified as an inverse calibration procedure. Using suitable sensitivity analysis methods, the matrix of the partial derivatives of joint variables with respect to robot parameters is calculated without having explicit expressions of joint variables as a function of task space coordinates (closed inverse kinematic solution). This matrix provides the relationship between the changes in the joint variables and the changes in the parameter values required for the calibration. Two deterministic sensitivity analysis methods are applied, namely the Direct Sensitivity Approach and the Adjoint Sensitivity Method. The new calibration procedure was successfully tested by the simulated calibrations of a two degree of freedom revolute-joint planar manipulator.


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