scholarly journals NSPG: An Efficient Posture Generator Based on Null-Space Alteration and Kinetostatics Constraints

2021 ◽  
Vol 8 ◽  
Author(s):  
Luca Rossini ◽  
Enrico Mingo Hoffman ◽  
Arturo Laurenzi ◽  
Nikos G. Tsagarakis
Keyword(s):  
Inverse Kinematics ◽  
Null Space ◽  
Computational Cost ◽  
Contact Manifold ◽  
Search Space ◽  
Whole Body ◽  
Cluttered Environments ◽  
High Computational Cost ◽  
Multiple Scenarios ◽  
Short Times

Most of the locomotion and contact planners for multi-limbed robots rely on a reduction of the search space to improve the performance of their algorithm. Posture generation plays a fundamental role in these types of planners providing a collision-free, statically stable whole-body posture, projected onto the planned contacts. However, posture generation becomes particularly tedious for complex robots moving in cluttered environments, in which feasibility can be hard to accomplish. In this work, we take advantage of the kinematic structure of a multi-limbed robot to present a posture generator based on hierarchical inverse kinematics and contact force optimization, called the null-space posture generator (NSPG), able to efficiently satisfy the aforementioned requisites in short times. A new configuration of the robot is produced through conservatively altering a given nominal posture exploiting the null-space of the contact manifold, satisfying geometrical and kinetostatics constraints. This is achieved through an adaptive random velocity vector generator that lets the robot explore its workspace. To prove the validity and generality of the proposed method, simulations in multiple scenarios are reported employing different robots: a wheeled-legged quadruped and a biped. Specifically, it is shown that the NSPG is particularly suited in complex cluttered scenarios, in which linear collision avoidance and stability constraints may be inefficient due to the high computational cost. In particular, we show an improvement of performances being our method able to generate twice feasible configurations in the same period. A comparison with previous methods has been carried out collecting the obtained results which highlight the benefits of the NSPG. Finally, experiments with the CENTAURO platform, developed at Istituto Italiano di Tecnologia, are carried out showing the applicability of the proposed method to a real corridor scenario.

scholarly journals Dynamic Model and Inverse Kinematic Identification of a 3-DOF Manipulator Using RLSPSO

Sensors ◽  
2020 ◽  
Vol 20 (2) ◽  
pp. 416 ◽  
Author(s):  
Josias Batista ◽  
Darielson Souza ◽  
Laurinda dos Reis ◽  
Antônio Barbosa ◽  
Rui Araújo
Keyword(s):  
Dynamic Model ◽  
Inverse Kinematics ◽  
Lagrange Equation ◽  
Computational Cost ◽  
Dynamic Parameter ◽  
Search Space ◽  
Least Square ◽  
Identification Accuracy ◽  
Identification Algorithm ◽  
Recursive Least Square

This paper presents the identification of the inverse kinematics of a cylindrical manipulator using identification techniques of Least Squares (LS), Recursive Least Square (RLS), and a dynamic parameter identification algorithm based on Particle Swarm Optimization (PSO) with search space defined by RLS (RLSPSO). A helical trajectory in the cartesian space is used as input. The dynamic model is found through the Lagrange equation and the motion equations, which are used to calculate the torque values of each joint. The torques are calculated from the values of the inverse kinematics, identified by each algorithm and from the manipulator joint speeds and accelerations. The results obtained for the trajectories, speeds, accelerations, and torques of each joint are compared for each algorithm. The computational costs as well as the Multi-Correlation Coefficient ( R 2 ) are computed. The results demonstrated that the identification accuracy of RLSPSO is better than that of LS and PSO. This paper brings an improvement in RLS because it is a method with high complexity, so the proposed method (hybrid) aims to improve the computational cost and the results of the classic RLS.

On-Site Locomotion Planning for a Humanoid Robot with Stable Whole-Body Collision Avoidance Motion Guided by Footsteps and Centroidal Trajectory

2019 ◽  
Vol 17 (01) ◽  
pp. 1950035
Author(s):  
Iori Kumagai ◽  
Mitsuharu Morisawa ◽  
Shin’ichiro Nakaoka ◽  
Fumio Kanehiro
Keyword(s):  
Motion Planning ◽  
Collision Avoidance ◽  
Dynamic Simulation ◽  
Inverse Kinematics ◽  
Humanoid Robot ◽  
Computational Cost ◽  
Body Motion ◽  
Whole Body ◽  
Planning Framework ◽  
Narrow Space

In this paper, we propose a locomotion planning framework for a humanoid robot with stable whole-body collision avoidance motion, which enables the robot to traverse an unknown narrow space on the spot based on environmental measurements. The key idea of the proposed method is to reduce a large computational cost for the whole-body locomotion planning by utilizing global footstep planning results and its centroidal trajectory as a guide. In the global footstep planning phase, we modify the bounding box of the robot approximating the centroidal sway amplitude of the candidate footsteps. This enables the planner to obtain appropriate footsteps and transition time for next whole-body motion planning. Then, we execute sequential whole-body motion planning by prioritized inverse kinematics considering collision avoidance and maintaining its ZMP trajectory, which enables the robot to plan stable motion for each step in 223[Formula: see text]ms at worst. We evaluated the proposed framework by a humanoid robot HRP-5P in the dynamic simulation and the real world. The major contribution of our paper is solving the problem of increasing computational cost for whole-body motion planning and enabling a humanoid robot to execute adaptive on-site locomotion planning in an unknown narrow space.

scholarly journals A Nonlinear UAV Control Tuning Under Communication Delay using HPC Strategies in Parameters Space

2021 ◽  
Author(s):  
Leonardo Fagundes-Junior ◽  
Michael Canesche ◽  
Ricardo Ferreira ◽  
Alexandre Brandão
Keyword(s):  
Time Delay ◽  
Computational Cost ◽  
Search Space ◽  
Fixed Time ◽  
Communication Delay ◽  
Stability And Convergence ◽  
Practical Applications ◽  
Robot Behavior ◽  
Aerial Vehicle ◽  
High Computational Cost

In practical applications, the presence of delays can deteriorate the performance of the control system or even cause plant instability. However, by properly controlling these delays, it is possible to improve the performance of the mechanism. The present work is based on a proposal to analyze the asymptotic stability and convergence of a quadrotor robot, an unmanned aerial vehicle (UAV), on the performance of a given task, under time delay in the data flow. The effects of the communication delay problem, as well as the response-signal behavior of the quadrotors in the accomplishment of positioning mission are presented and analyzed from the insertion of fixed time delay intervals in the UAVs' data collected by its sensors system. Due to the large search space in the set of parameter combinations and the high computational cost required to perform such an analysis by sequentially executing thousands of simulations, this work proposes an open source GPU-based implementation to simulate the robot behavior. Experimental results show a speedup up to 4900x in comparison to MATLAB® implementation. The implement is available in Colab Google platform.

An Alternate Algorithm for (3x3) Median Filtering of Digital Images

2012 ◽  
Vol 2 (1) ◽  
pp. 7-9 ◽  
Author(s):  
Satinderjit Singh
Keyword(s):  
Median Filter ◽  
Computational Cost ◽  
Spatial Coherence ◽  
General Purpose ◽  
Median Filtering ◽  
Basic Algorithm ◽  
Temporal Complexity ◽  
Filter Kernel ◽  
One Step ◽  
High Computational Cost

Median filtering is a commonly used technique in image processing. The main problem of the median filter is its high computational cost (for sorting N pixels, the temporal complexity is O(N·log N), even with the most efficient sorting algorithms). When the median filter must be carried out in real time, the software implementation in general-purpose processorsdoes not usually give good results. This Paper presents an efficient algorithm for median filtering with a 3x3 filter kernel with only about 9 comparisons per pixel using spatial coherence between neighboring filter computations. The basic algorithm calculates two medians in one step and reuses sorted slices of three vertical neighboring pixels. An extension of this algorithm for 2D spatial coherence is also examined, which calculates four medians per step.

Methods for studying dissolved oxygen levels in coastal and estuarine waters receiving combined sewer overflows

1995 ◽  
Vol 32 (2) ◽  
pp. 95-103
Author(s):  
José A. Revilla ◽  
Kalin N. Koev ◽  
Rafael Díaz ◽  
César Álvarez ◽  
Antonio Roldán
Keyword(s):  
Dissolved Oxygen ◽  
Coastal Waters ◽  
Computational Cost ◽  
Oxygen Deficit ◽  
Alternative Methods ◽  
Coastal Zones ◽  
Combined Sewer Overflows ◽  
Sewer Systems ◽  
Combined Sewer ◽  
High Computational Cost

One factor in determining the transport capacity of coastal interceptors in Combined Sewer Systems (CSS) is the reduction of Dissolved Oxygen (DO) in coastal waters originating from the overflows. The study of the evolution of DO in coastal zones is complex. The high computational cost of using mathematical models discriminates against the required probabilistic analysis being undertaken. Alternative methods, based on such mathematical modelling, employed in a limited number of cases, are therefore needed. In this paper two alternative methods are presented for the study of oxygen deficit resulting from overflows of CSS. In the first, statistical analyses focus on the causes of the deficit (the volume discharged). The second concentrates on the effects (the concentrations of oxygen in the sea). Both methods have been applied in a study of the coastal interceptor at Pasajes Estuary (Guipúzcoa, Spain) with similar results.

scholarly journals Visualizing Profiles of Large Datasets of Weighted and Mixed Data

Mathematics ◽  
2021 ◽  
Vol 9 (8) ◽  
pp. 891
Author(s):  
Aurea Grané ◽  
Alpha A. Sow-Barry
Keyword(s):  
Multidimensional Scaling ◽  
Random Sample ◽  
Simulation Study ◽  
Clustering Algorithm ◽  
Computational Cost ◽  
Interpolation Formula ◽  
Large Datasets ◽  
Mixed Data ◽  
Multivariate Techniques ◽  
High Computational Cost

This work provides a procedure with which to construct and visualize profiles, i.e., groups of individuals with similar characteristics, for weighted and mixed data by combining two classical multivariate techniques, multidimensional scaling (MDS) and the k-prototypes clustering algorithm. The well-known drawback of classical MDS in large datasets is circumvented by selecting a small random sample of the dataset, whose individuals are clustered by means of an adapted version of the k-prototypes algorithm and mapped via classical MDS. Gower’s interpolation formula is used to project remaining individuals onto the previous configuration. In all the process, Gower’s distance is used to measure the proximity between individuals. The methodology is illustrated on a real dataset, obtained from the Survey of Health, Ageing and Retirement in Europe (SHARE), which was carried out in 19 countries and represents over 124 million aged individuals in Europe. The performance of the method was evaluated through a simulation study, whose results point out that the new proposal solves the high computational cost of the classical MDS with low error.

Effects of Dynamic Model Errors in Task-Priority Operational Space Control

Robotica ◽  
2021 ◽  
pp. 1-12
Author(s):  
Paolo Di Lillo ◽  
Gianluca Antonelli ◽  
Ciro Natale
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Inverse Dynamics ◽  
Null Space ◽  
Control Algorithms ◽  
Model Errors ◽  
Operational Space ◽  
Dynamic Level ◽  
Concurrent Tasks ◽  
Modeling Errors

SUMMARY Control algorithms of many Degrees-of-Freedom (DOFs) systems based on Inverse Kinematics (IK) or Inverse Dynamics (ID) approaches are two well-known topics of research in robotics. The large number of DOFs allows the design of many concurrent tasks arranged in priorities, that can be solved either at kinematic or dynamic level. This paper investigates the effects of modeling errors in operational space control algorithms with respect to uncertainties affecting knowledge of the dynamic parameters. The effects on the null-space projections and the sources of steady-state errors are investigated. Numerical simulations with on-purpose injected errors are used to validate the thoughts.

Reliability and reliability-based sensitivity analysis of self-centering buckling restrained braces using meta-models

2021 ◽  
pp. 1045389X2110263
Author(s):  
Seyede Vahide Hashemi ◽  
Mahmoud Miri ◽  
Mohsen Rashki ◽  
Sadegh Etedali
Keyword(s):  
Failure Probability ◽  
Limit State ◽  
Computational Cost ◽  
Sensitivity Analyses ◽  
State Function ◽  
Reliability Indices ◽  
Buckling Restrained Brace ◽  
Polynomial Response Surface ◽  
Nonlinear Dynamic Analyses ◽  
High Computational Cost

This paper aims to carry out sensitivity analyses to study how the effect of each design variable on the performance of self-centering buckling restrained brace (SC-BRB) and the corresponding buckling restrained brace (BRB) without shape memory alloy (SMA) rods. Furthermore, the reliability analyses of BRB and SC-BRB are performed in this study. Considering the high computational cost of the simulation methods, three Meta-models including the Kriging, radial basis function (RBF), and polynomial response surface (PRSM) are utilized to construct the surrogate models. For this aim, the nonlinear dynamic analyses are conducted on both BRB and SC-BRB by using OpenSees software. The results showed that the SMA area, SMA length ratio, and BRB core area have the most effect on the failure probability of SC-BRB. It is concluded that Kriging-based Monte Carlo Simulation (MCS) gives the best performance to estimate the limit state function (LSF) of BRB and SC-BRB in the reliability analysis procedures. Considering the effects of changing the maximum cyclic loading on the failure probability computation and comparison of the failure probability for different LSFs, it is also found that the reliability indices of SC-BRB were always higher than the corresponding reliability indices determined for BRB which confirms the performance superiority of SC-BRB than BRB.

scholarly journals Non-parallel dictionary learning for voice conversion using non-negative Tucker decomposition

2019 ◽  
Vol 2019 (1) ◽  
Author(s):  
Yuki Takashima ◽  
Toru Nakashika ◽  
Tetsuya Takiguchi ◽  
Yasuo Ariki
Keyword(s):  
Dictionary Learning ◽  
Computational Cost ◽  
Tensor Decomposition ◽  
Gaussian Mixture ◽  
Voice Conversion ◽  
Specific Information ◽  
Learning Method ◽  
Tucker Decomposition ◽  
Parallel Data ◽  
High Computational Cost

Abstract Voice conversion (VC) is a technique of exclusively converting speaker-specific information in the source speech while preserving the associated phonemic information. Non-negative matrix factorization (NMF)-based VC has been widely researched because of the natural-sounding voice it achieves when compared with conventional Gaussian mixture model-based VC. In conventional NMF-VC, models are trained using parallel data which results in the speech data requiring elaborate pre-processing to generate parallel data. NMF-VC also tends to be an extensive model as this method has several parallel exemplars for the dictionary matrix, leading to a high computational cost. In this study, an innovative parallel dictionary-learning method using non-negative Tucker decomposition (NTD) is proposed. The proposed method uses tensor decomposition and decomposes an input observation into a set of mode matrices and one core tensor. The proposed NTD-based dictionary-learning method estimates the dictionary matrix for NMF-VC without using parallel data. The experimental results show that the proposed method outperforms other methods in both parallel and non-parallel settings.

scholarly journals A NOTE ON PHASING LONG GENOMIC REGIONS USING LOCAL HAPLOTYPE PREDICTIONS

2006 ◽  
Vol 04 (03) ◽  
pp. 639-647 ◽  
Author(s):  
ELEAZAR ESKIN ◽  
RODED SHARAN ◽  
ERAN HALPERIN
Keyword(s):  
Large Scale ◽  
Computational Cost ◽  
Nucleotide Polymorphisms ◽  
Single Nucleotide ◽  
Novel Approach ◽  
Maximum Likelihood Criterion ◽  
The Common ◽  
Genomic Regions ◽  
High Computational Cost ◽  
Combining Information

The common approaches for haplotype inference from genotype data are targeted toward phasing short genomic regions. Longer regions are often tackled in a heuristic manner, due to the high computational cost. Here, we describe a novel approach for phasing genotypes over long regions, which is based on combining information from local predictions on short, overlapping regions. The phasing is done in a way, which maximizes a natural maximum likelihood criterion. Among other things, this criterion takes into account the physical length between neighboring single nucleotide polymorphisms. The approach is very efficient and is applied to several large scale datasets and is shown to be successful in two recent benchmarking studies (Zaitlen et al., in press; Marchini et al., in preparation). Our method is publicly available via a webserver at .

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