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  • 1
    Publication Date: 2019-06-28
    Description: The disturbance rejection control problem for a 6-DOF (degree of freedom) PUMA manipulator mounted on a 3-DOF platform is investigated. A control algorithm is designed to track the desired position and attitude of the end-effector in inertial space, subject to unknown disturbances in the platform axes. Conditions for the stability of the closed-loop system are derived. The performance of the controller is compared for step, sinusoidal, and random disturbances in the platform rotational axis and in the neighborhood of kinematic singularities.
    Keywords: CYBERNETICS
    Type: NASA-CR-191867 , NAS 1.26:191867 , RPI-CIRSSE-130
    Format: application/pdf
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  • 2
    Publication Date: 2019-06-28
    Description: This paper describes DTS, a decision-theoretic scheduler designed to employ state-of-the-art probabilistic inference technology to speed the search for efficient solutions to constraint-satisfaction problems. Our approach involves assessing the performance of heuristic control strategies that are normally hard-coded into scheduling systems, and using probabilistic inference to aggregate this information in light of features of a given problem. BPS, the Bayesian Problem-Solver, introduced a similar approach to solving single-agent and adversarial graph search problems, yielding orders-of-magnitude improvement over traditional techniques. Initial efforts suggest that similar improvements will be realizable when applied to typical constraint-satisfaction scheduling problems.
    Keywords: CYBERNETICS
    Type: NASA. Ames Research Center, Working Notes from the 1992 AAAI Spring Symposium on Practical Approaches to Scheduling and Planning; p 67-71
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  • 3
    Publication Date: 2019-06-28
    Description: On July 18 and 19, 1991 the Center for Intelligent Robotic Systems for Space Exploration presented a course on its robotic testbed support software as it then existed. The course materials are collected as a reflection of the state of those systems at that time.
    Keywords: CYBERNETICS
    Type: NASA-CR-192734 , NAS 1.26:192734 , RPI-CIRSSE-97
    Format: application/pdf
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