Efficient Computation Method of Force-closure Workspace for 6-DOF Cable-driven Parallel Manipulators

2013 ◽  
Vol 49 (15) ◽  
pp. 34 ◽  
Author(s):  
Bo OUYANG
Robotica ◽  
2014 ◽  
Vol 33 (3) ◽  
pp. 537-547 ◽  
Author(s):  
Bo Ouyang ◽  
Wei-Wei Shang

SUMMARYFor cable-driven parallel manipulators (CDPMs), it is known that maintaining positive cable tension is critical in constraining the moving platform. Hence, the force-closure workspace of CDPMs represents a set of poses where the cable tensions can balance arbitrary external wrench applied on the moving platform, proposed by researchers. A new computation method for the force-closure workspace of CDPMs is developed in this paper, and the new method is realized by calculating the null space of the structure matrix and solving the linear matrix inequalities. The detailed calculation procedures of the force-closure workspace for the incompletely restrained, completely restrained, and redundantly restrained CDPMs are given, respectively, and the advantages of the new method are analyzed according to the time complexity. The simulation experiments of the force-closure workspace computation are implemented on a six-degree of freedom (6-DOF) CDPM with eight cables, and then the superiority of the new method over the existing algorithm is studied.


Sensors ◽  
2021 ◽  
Vol 21 (6) ◽  
pp. 1955
Author(s):  
Md Jubaer Hossain Pantho ◽  
Pankaj Bhowmik ◽  
Christophe Bobda

The astounding development of optical sensing imaging technology, coupled with the impressive improvements in machine learning algorithms, has increased our ability to understand and extract information from scenic events. In most cases, Convolution neural networks (CNNs) are largely adopted to infer knowledge due to their surprising success in automation, surveillance, and many other application domains. However, the convolution operations’ overwhelming computation demand has somewhat limited their use in remote sensing edge devices. In these platforms, real-time processing remains a challenging task due to the tight constraints on resources and power. Here, the transfer and processing of non-relevant image pixels act as a bottleneck on the entire system. It is possible to overcome this bottleneck by exploiting the high bandwidth available at the sensor interface by designing a CNN inference architecture near the sensor. This paper presents an attention-based pixel processing architecture to facilitate the CNN inference near the image sensor. We propose an efficient computation method to reduce the dynamic power by decreasing the overall computation of the convolution operations. The proposed method reduces redundancies by using a hierarchical optimization approach. The approach minimizes power consumption for convolution operations by exploiting the Spatio-temporal redundancies found in the incoming feature maps and performs computations only on selected regions based on their relevance score. The proposed design addresses problems related to the mapping of computations onto an array of processing elements (PEs) and introduces a suitable network structure for communication. The PEs are highly optimized to provide low latency and power for CNN applications. While designing the model, we exploit the concepts of biological vision systems to reduce computation and energy. We prototype the model in a Virtex UltraScale+ FPGA and implement it in Application Specific Integrated Circuit (ASIC) using the TSMC 90nm technology library. The results suggest that the proposed architecture significantly reduces dynamic power consumption and achieves high-speed up surpassing existing embedded processors’ computational capabilities.


Author(s):  
Songhui Zhu ◽  
Pei Yu ◽  
Stacey Jones

Normal form theory is a powerful tool in the study of nonlinear systems, in particular, for complex dynamical behaviors such as stability and bifurcations. However, it has not been widely used in practice due to the lack of efficient computation methods, especially for high dimensional engineering problems. The main difficulty in applying normal form theory is to determine the critical conditions under which the dynamical system undergoes a bifurcation. In this paper a computationally efficient method is presented for determining the critical condition of Hopf bifurcation by calculating the Jacobian matrix and the Hurwitz condition. This method combines numerical and symbolic computation schemes, and can be applied to high dimensional systems. The Lorenz system and the extended Malkus-Robbins dynamo system are used to show the applicability of the method.


2020 ◽  
Vol 33 (7) ◽  
pp. 1980-1990
Author(s):  
Zhenqiang ZHAO ◽  
Peng LIU ◽  
Yan LIU ◽  
Chao ZHANG ◽  
Yulong LI

2021 ◽  
Author(s):  
Mohammad Rowshan ◽  
Andreas Burg ◽  
Emanuele Viterbo

In the Shannon lecture at the 2019 International Symposium on Information Theory (ISIT), Arıkan proposed to employ a one-to-one convolutional transform as a pre-coding step before the polar transform. The resulting codes of this concatenation are called polarization-adjusted convolutional (PAC) codes. In this scheme, a pair of polar mapper and demapper as pre- and postprocessing devices are deployed around a memoryless channel, which provides polarized information to an outer decoder leading to improved error correction performance of the outer code. In this paper, the list decoding and sequential decoding (including Fano decoding and stack decoding) are first adapted for use to decode PAC codes. Then, to reduce the complexity of sequential decoding of PAC/polar codes, we propose (i) an adaptive heuristic metric, (ii) tree search constraints for backtracking to avoid exploration of unlikely sub-paths, and (iii) tree search strategies consistent with the pattern of error occurrence in polar codes. These contribute to the reduction of the average decoding time complexity from 50% to 80%, trading with 0.05 to 0.3 dB degradation in error correction performance within FER=10^-3 range, respectively, relative to not applying the corresponding search strategies. Additionally, as an important ingredient in Fano decoding of PAC/polar codes, an efficient computation method for the intermediate LLRs and partial sums is provided. This method is effective in backtracking and avoids storing the intermediate information or restarting the decoding process. Eventually, all three decoding algorithms are compared in terms of performance, complexity, and resource requirements.


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