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I ?rst met Jingqiao when he had just commenced his PhD research in
evolutionary algorithms with Arthur Sanderson at Rensselaer.
Jingqiao's goals then were the investigation and development of a
novel class of se- adaptivedi?erentialevolutionalgorithms, later
calledJADE. I had remarked to Jingqiao then that Arthur always
appreciated strong theoretical foun- tions in his research, so
Jingqiao's prior mathematically rigorous work in communications
systems would be very useful experience. Later in 2007,
whenJingqiaohadcompletedmostofthetheoreticalandinitialexperimental
work on JADE, I invited him to spend a year at GE Global Research
where he applied his developments to several interesting and
important real-world problems. Most evolutionary algorithm
conferences usually have their share of in- vative algorithm
oriented papers which seek to best the state of the art - gorithms.
The best algorithms of a time-frame create a foundation for a new
generationof innovativealgorithms, and so on, fostering a
meta-evolutionary search for superior evolutionary algorithms. In
the past two decades, during whichinterest andresearchin
evolutionaryalgorithmshavegrownworldwide by leaps and bounds,
engaging the curiosity of researchers and practitioners
frommanydiversescienceandtechnologycommunities, developingstand-out
algorithms is getting progressively harder.
Robotic systems are characterized by the intersection of computer
intelligence with the physical world. This blend of physical
reasoning and computational intelligence is well illustrated by the
Tetrobot study described in this book. Tetrobot: A Modular Approach
to Reconfigurable Parallel Robotics describes a new approach to the
design of robotic systems. The Tetrobot approach utilizes modular
components which may be reconfigured into many different mechanisms
which are suited to different applications. The Tetrobot system
includes two unique contributions: a new mechanism (a multilink
spherical joint design), and a new control architecture based on
propagation of kinematic solutions through the structure. The
resulting Tetrobot system consists of fundamental components which
may be mechanically reassembled into any modular configuration, and
the control architecture will provide position control of the
resulting structure. A prototype Tetrobot system has been built and
evaluated experimentally. Tetrobot arms, platforms, and walking
machines have been built and controlled in a variety of motion and
loading conditions. The Tetrobot system has applications in a
variety of domains where reconfiguration, flexibility, load
capacity, and failure recovery are important aspects of the task. A
number of key research directions have been opened by the Tetrobot
research activities. Continuing topics of interest include:
development of a more distributed implementation of the computer
control architecture, analysis of the dynamics of the Tetrobot
system motion for improved control of high-speed motions,
integration of sensor systems to control the motion and shape of
the high-dimensionality systems, and exploration of
self-reconfiguration of the system. Tetrobot: A Modular Approach to
Reconfigurable Parallel Robotics will be of interest to research
workers, specialists and professionals in the areas of robotics,
mechanical systems and computer engineering.
I ?rst met Jingqiao when he had just commenced his PhD research in
evolutionary algorithms with Arthur Sanderson at Rensselaer.
Jingqiao's goals then were the investigation and development of a
novel class of se- adaptivedi?erentialevolutionalgorithms, later
calledJADE. I had remarked to Jingqiao then that Arthur always
appreciated strong theoretical foun- tions in his research, so
Jingqiao's prior mathematically rigorous work in communications
systems would be very useful experience. Later in 2007,
whenJingqiaohadcompletedmostofthetheoreticalandinitialexperimental
work on JADE, I invited him to spend a year at GE Global Research
where he applied his developments to several interesting and
important real-world problems. Most evolutionary algorithm
conferences usually have their share of in- vative algorithm
oriented papers which seek to best the state of the art - gorithms.
The best algorithms of a time-frame create a foundation for a new
generationof innovativealgorithms, and so on, fostering a
meta-evolutionary search for superior evolutionary algorithms. In
the past two decades, during whichinterest andresearchin
evolutionaryalgorithmshavegrownworldwide by leaps and bounds,
engaging the curiosity of researchers and practitioners
frommanydiversescienceandtechnologycommunities, developingstand-out
algorithms is getting progressively harder.
Robotic systems are characterized by the intersection of computer
intelligence with the physical world. This blend of physical
reasoning and computational intelligence is well illustrated by the
Tetrobot study described in this book. Tetrobot: A Modular Approach
to Reconfigurable Parallel Robotics describes a new approach to the
design of robotic systems. The Tetrobot approach utilizes modular
components which may be reconfigured into many different mechanisms
which are suited to different applications. The Tetrobot system
includes two unique contributions: a new mechanism (a multilink
spherical joint design), and a new control architecture based on
propagation of kinematic solutions through the structure. The
resulting Tetrobot system consists of fundamental components which
may be mechanically reassembled into any modular configuration, and
the control architecture will provide position control of the
resulting structure. A prototype Tetrobot system has been built and
evaluated experimentally. Tetrobot arms, platforms, and walking
machines have been built and controlled in a variety of motion and
loading conditions. The Tetrobot system has applications in a
variety of domains where reconfiguration, flexibility, load
capacity, and failure recovery are important aspects of the task. A
number of key research directions have been opened by the Tetrobot
research activities. Continuing topics of interest include:
development of a more distributed implementation of the computer
control architecture, analysis of the dynamics of the Tetrobot
system motion for improved control of high-speed motions,
integration of sensor systems to control the motion and shape of
the high-dimensionality systems, and exploration of
self-reconfiguration of the system. Tetrobot: A Modular Approach to
Reconfigurable Parallel Robotics will be of interest to research
workers, specialists and professionals in the areas of robotics,
mechanical systems and computer engineering.
This book describes an approach to intelligent task planning in a
robotic system. Petri net and fuzzy logic are integrated and used
to represent task sequence planning and error recovery. During the
generation and execution of task plans, different kinds of
uncertainties need to be handled to ensure the efficiency and
reliability of the system. Following a systematic modeling
procedure, a fuzzy Petri net is constructed based on geometric
relations, fuzzy variables, and reasoning structures. The resulting
net can be used to analyze and control the system. Many examples
are discussed to illustrate the theory and the applications of
fuzzy Petri nets.
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