Download or read book Applications of Parallel Computing in Robotics Problems written by Siavash Farzan and published by . This book was released on 2013 with total page 85 pages. Available in PDF, EPUB and Kindle. Book excerpt: Many typical robotics problems involve search in high-dimensional spaces, where real-time execution is hard to be achieved. This thesis presents two case studies of parallel computation in such robotics problems. More specifically, two problems of motion planning-the Inverse Kinematics of robotic manipulators and Path Planning for mobile robots-are investigated and the contributions of parallel algorithms are highlighted. For the Inverse Kinematics problem, a novel and fast solution is proposed for general serial manipulators. This new approach relies on the computation of multiple (parallel) numerical estimations of the inverse Jacobian while it selects the current best path to the desire con- figuration of the end-effector. Unlike other iterative methods, our method converges very quickly, achieving sub-millimeter accuracy in 20.48ms in average. We demonstrate such high accuracy and the real-time performance of our method by testing it with six different robots, at both non-singular and singular configurations, including a 7-DoF redundant robot. The algorithm is implemented in C/C++ using a configurable number of POSIX threads, and it can be easily expanded to use many-core GPUs. For the Path Planning problem, a solution to the problem of smooth path planning for mobile robots in dynamic and unknown environments is presented. A novel concept of Time-Warped Grids is introduced to predict the pose of obstacles on a grid-based map and avoid collisions. The algorithm is implemented using C/C++ and the CUDA programming environment, and combines stochastic estimation (Kalman filter), Harmonic Potential Fields and a Rubber Band model, and it translates naturally into the parallel paradigm of GPU programing. The proposed method was tested using several simulation scenarios for the Pioneer P3- DX robot, which demonstrated the robustness of the algorithm by finding the optimum path in terms of smoothness, distance, and collision-free either in static or dynamic environments, even with a very large number of obstacles.
Download or read book Parallel Computation Systems for Robotics written by A. Fijany and published by World Scientific. This book was released on 1992 with total page 266 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents an extensive survey of the state-of-the-art research in parallel computational algorithms and architectures for robot manipulator control and simulation. It deals not only with specifics but also includes general and broader issues which serve as a useful foundation to the topic. The educational flavor of the book makes it a necessary resource for researchers, engineers and students wanting to be familiarized with the potential offered by the application of parallel processing to robotic problems, and its current issues and trends.
Download or read book Obstacle Avoidance in Multi robot Systems written by Mark A. C. Gill and published by World Scientific. This book was released on 1998 with total page 202 pages. Available in PDF, EPUB and Kindle. Book excerpt: Obstacle Avoidance in Multi-robot Systems: Experiments in Parallel Genetic Algorithms offers a novel framework for solving the path planning problem for robot manipulators. Simple and efficient solutions are proposed for the path planning problem based on genetic algorithms. One of the attractive features of genetic algorithms is their ability to solve formidable problems in a robust and straightforward manner. Moreover, genetic algorithms are inherently parallel in nature, which makes them ideal candidates for parallel computing implementations.By combining the robustness of genetic algorithms with the power of parallel computers, this book provides an effective and practical approach to solving path planning problems. The book gives details of implementations that allow a better understanding of the complexities involved in the development of parallel path planning algorithms. The material presented is interdisciplinary in nature ? it combines topics from robotics, genetic algorithms, and parallel processing. The book can be used by practitioners and researchers in computer science and engineering.
Download or read book Parallel Computing written by Jonathan P. Gray and published by IOS Press. This book was released on 1995 with total page 312 pages. Available in PDF, EPUB and Kindle. Book excerpt: The broadening of interest in parallel computing and transputers is reflected this book. Topics discussed include: concurrent programming; graphics and image processing; parallel applications; robotics; and control and software tools. The book also features a collection of abstracts of poster presentations.
Download or read book Parallel Computing is Everywhere written by S. Bassini and published by IOS Press. This book was released on 2018-03-07 with total page 852 pages. Available in PDF, EPUB and Kindle. Book excerpt: The most powerful computers work by harnessing the combined computational power of millions of processors, and exploiting the full potential of such large-scale systems is something which becomes more difficult with each succeeding generation of parallel computers. Alternative architectures and computer paradigms are increasingly being investigated in an attempt to address these difficulties. Added to this, the pervasive presence of heterogeneous and parallel devices in consumer products such as mobile phones, tablets, personal computers and servers also demands efficient programming environments and applications aimed at small-scale parallel systems as opposed to large-scale supercomputers. This book presents a selection of papers presented at the conference: Parallel Computing (ParCo2017), held in Bologna, Italy, on 12 to 15 September 2017. The conference included contributions about alternative approaches to achieving High Performance Computing (HPC) to potentially surpass exa- and zetascale performances, as well as papers on the application of quantum computers and FPGA processors. These developments are aimed at making available systems better capable of solving intensive computational scientific/engineering problems such as climate models, security applications and classic NP-problems, some of which cannot currently be managed by even the most powerful supercomputers available. New areas of application, such as robotics, AI and learning systems, data science, the Internet of Things (IoT), and in-car systems and autonomous vehicles were also covered. As always, ParCo2017 attracted a large number of notable contributions covering present and future developments in parallel computing, and the book will be of interest to all those working in the field.
Download or read book Parallel Processing and Artificial Intelligence written by Mike Reeve and published by . This book was released on 1989-09-28 with total page 346 pages. Available in PDF, EPUB and Kindle. Book excerpt: Comprises papers based on an international conference held at Imperial College, London, July 1989. Topics covered include neural networks, robotics, image understanding, parallel implementations of logic languages, and parallel implementation of Lisp. Many of the papers here detail use of the INMOS transputer, and the Communicating Process Architecture on which INMOS was founded. But the theme is application of parallelism in a general way, especially in artificial intelligence.
Download or read book Cable Driven Parallel Robots written by Andreas Pott and published by Springer. This book was released on 2018-03-27 with total page 475 pages. Available in PDF, EPUB and Kindle. Book excerpt: Cable-driven parallel robots are a new kind of lightweight manipulators with excellent scalability in terms of size, payload, and dynamics capacities. For the first time, a comprehensive compendium is presented of the field of cable-driven parallel robots. A thorough theory of cable robots is setup leading the reader from first principles to the latest results in research. The main topics covered in the book are classification, terminology, and fields of application for cable-driven parallel robots. The geometric foundation of the standard cable model is introduced followed by statics, force distribution, and stiffness. Inverse and forward kinematics are addressed by elaborating efficient algorithms. Furthermore, the workspace is introduced and different algorithms are detailed. The book contains the dynamic equations as well as simulation models with applicable parameters. Advanced cable models are described taking into account pulleys, elastic cables, and sagging cables. For practitioner, a descriptive design method is stated including methodology, parameter synthesis, construction design, component selection, and calibration. Rich examples are presented by means of simulation results from sample robots as well as experimental validation on reference demonstrators. The book contains a representative overview of reference demonstrator system. Tables with physical parameters for geometry, cable properties, and robot parameterizations support case studies and are valuable references for building custom cable robots. For scientist, the book provides the starting point to address new scientific challenges as open problems are named and a commented review of the literature on cable robot with more than 500 references are given.
Download or read book Application of Parallel Computing to Robot Dynamics written by Peter Schäfer and published by . This book was released on 1993 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Advances in Edge Computing Massive Parallel Processing and Applications written by F. Xhafa and published by IOS Press. This book was released on 2020-03-10 with total page 326 pages. Available in PDF, EPUB and Kindle. Book excerpt: The rapid advance of Internet of Things (IoT) technologies has resulted in the number of IoT-connected devices growing exponentially, with billions of connected devices worldwide. While this development brings with it great opportunities for many fields of science, engineering, business and everyday life, it also presents challenges such as an architectural bottleneck – with a very large number of IoT devices connected to a rather small number of servers in Cloud data centers – and the problem of data deluge. Edge computing aims to alleviate the computational burden of the IoT for the Cloud by pushing some of the computations and logics of processing from the Cloud to the Edge of the Internet. It is becoming commonplace to allocate tasks and applications such as data filtering, classification, semantic enrichment and data aggregation to this layer, but to prevent this new layer from itself becoming another bottleneck for the whole computing stack from IoT to the Cloud, the Edge computing layer needs to be capable of implementing massively parallel and distributed algorithms efficiently. This book, Advances in Edge Computing: Massive Parallel Processing and Applications, addresses these challenges in 11 chapters. Subjects covered include: Fog storage software architecture; IoT-based crowdsourcing; the industrial Internet of Things; privacy issues; smart home management in the Cloud and the Fog; and a cloud robotic solution to assist medical applications. Providing an overview of developments in the field, the book will be of interest to all those working with the Internet of Things and Edge computing.
Download or read book Parallel Computation Systems For Robotics Algorithms And Arch written by Amir Fijany and published by World Scientific. This book was released on 1992-08-31 with total page 262 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents an extensive survey of the state-of-the-art research in parallel computational algorithms and architectures for robot manipulator control and simulation. It deals not only with specifics but also includes general and broader issues which serve as a useful foundation to the topic. The educational flavor of the book makes it a necessary resource for researchers, engineers and students wanting to be familiarized with the potential offered by the application of parallel processing to robotic problems, and its current issues and trends.
Download or read book Parallel and Distributed Computing Applications and Technologies written by K. M. Liew and published by Springer Science & Business Media. This book was released on 2004-12-02 with total page 914 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the refereed proceedings of the 5th International Conference on Parallel and Distributed Computing, Applications and Technologies; PDCAT 2004, held in Singapore in December 2004. The 173 papers presented were carefully reviewed and selected from 242 submissions. The papers focus on parallel and distributed computing from the perspectives of algorithms, networking and architecture, software systems and technologies, and applications. Besides classical topics from high performance computing, major recent developments are addressed, such as molecular computing, date mining, knowledge discovery, optical networks, secure computing and communications, wireless networks, mobile computing, component-based systems, Internet computing, and Web Technologies.
Download or read book Applied Parallel Computing written by Jack Dongarra and published by Springer. This book was released on 2006-02-27 with total page 1195 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the refereed proceedings of the 7th International Conference on Applied Parallel Computing, PARA 2004, held in June 2004. The 118 revised full papers presented together with five invited lectures and 15 contributed talks were carefully reviewed and selected for inclusion in the proceedings. The papers are organized in topical sections.
Download or read book Parallel Processing written by M. E. C. Hull and published by Addison Wesley Publishing Company. This book was released on 1994 with total page 356 pages. Available in PDF, EPUB and Kindle. Book excerpt: A tutorial guide to the INMOS transputer--"a computer on a chip", which has applications in computer graphics, robotics, databases, and more. Covers architecture, programming, and applications, plus coverage of the new H1 chip and the various languages used to program transputers, including Pacsal, C, FORTRAN, and Occam.
Download or read book Handbook of Parallel Computing written by Sanguthevar Rajasekaran and published by CRC Press. This book was released on 2007-12-20 with total page 1224 pages. Available in PDF, EPUB and Kindle. Book excerpt: The ability of parallel computing to process large data sets and handle time-consuming operations has resulted in unprecedented advances in biological and scientific computing, modeling, and simulations. Exploring these recent developments, the Handbook of Parallel Computing: Models, Algorithms, and Applications provides comprehensive coverage on a
Download or read book Correct Models of Parallel Computing written by S. Noguchi and published by IOS Press. This book was released on 1997 with total page 248 pages. Available in PDF, EPUB and Kindle. Book excerpt: The 21st century will be the age of network computing. Among the many key technologies in this field, parallel computing and networking technology will play very important roles. In this book emphasis is placed on networking and modeling parallel computing. The topics cover parallel computing algorithms, parallel software, massively parallel computing systems and related applications. Articles cover parallel computing, networking and related applications, to initiate discussions. Since the appearance of Transputer chip T9000, C104, and standardizations of IEEE1355, Transputer systems seem to have opened a new interesting area of parallel computing, networking and many practical applications.
Download or read book Dynamics of Parallel Robots written by Sébastien Briot and published by Springer. This book was released on 2015-06-22 with total page 356 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book starts with a short recapitulation on basic concepts, common to any types of robots (serial, tree structure, parallel, etc.), that are also necessary for computation of the dynamic models of parallel robots. Then, as dynamics requires the use of geometry and kinematics, the general equations of geometric and kinematic models of parallel robots are given. After, it is explained that parallel robot dynamic models can be obtained by decomposing the real robot into two virtual systems: a tree-structure robot (equivalent to the robot legs for which all joints would be actuated) plus a free body corresponding to the platform. Thus, the dynamics of rigid tree-structure robots is analyzed and algorithms to obtain their dynamic models in the most compact form are given. The dynamic model of the real rigid parallel robot is obtained by closing the loops through the use of the Lagrange multipliers. The problem of the dynamic model degeneracy near singularities is treated and optimal trajectory planning for crossing singularities is proposed. Lastly, the approach is extended to flexible parallel robots and the algorithms for computing their symbolic model in the most compact form are given. All theoretical developments are validated through experiments.
Download or read book Modeling Identification and Control of Robots written by W. Khalil and published by Butterworth-Heinemann. This book was released on 2004-07-01 with total page 503 pages. Available in PDF, EPUB and Kindle. Book excerpt: Written by two of Europe’s leading robotics experts, this book provides the tools for a unified approach to the modelling of robotic manipulators, whatever their mechanical structure. No other publication covers the three fundamental issues of robotics: modelling, identification and control. It covers the development of various mathematical models required for the control and simulation of robots. · World class authority· Unique range of coverage not available in any other book· Provides a complete course on robotic control at an undergraduate and graduate level
