A new problem for the automated off-line programming of industrial robot application is investigated. The Multi-Goal Path Planning is to find the collision-free path connecting a set of goal poses and minimizing e.g. the total path length. Our solution is based on an earlier reported path planner for industrial robot arms with 6 degrees-of-freedom in an on-line given 3D environment. To control the path planner, four different goal selection methods are introduced and compared. While the Random and the Nearest Pair Selection methods can be used with any path planner, the Nearest Goal and the Adaptive Pair Selection method are favorable for our planner. With the latter two goal selection methods, the Multi-Goal Path Planning task can be significantly accelerated, because they are able to automatically solve the simplest path planning problems first. Summarizing, compared to Random or Nearest Pair Selection, this new Multi-Goal Path Planning approach results in a further cost reduction of the programming phase.
One of the many features needed to support the activities of autonomous systems is the ability of motion planning. It enables robots to move in their environment securely and to accomplish given tasks. Unfortunately, the control loop comprising sensing, planning, and acting has not yet been closed for robots in dynamic environments. One reason involves the long execution times of the motion planning component. A solution for this problem is offered by the use of highly computational parallelism. Thus, an important task is the parallelization of existing motion planning algorithms for robots so that they are suitable for highly computational parallelism. In several cases, completely new algorithms have to be designed, so that a parallelization is feasible. In this survey, we review recent approaches to motion planning using parallel computation. As a classification scheme, we use the structure given by the different approaches to the robot's motion planning. For each approach, the available parallel processing methods are discussed. Each approach is uniquely assigned a class. Finally, for each referenced research work, a list of keywords is given.
For transferring existing knowledge into new projects, reuse has become an important factor in today's software industry. However, to set reuse into practice, reusable artifacts have to be stored somewhere, and must be offered to (re-)users on demand. For this purpose, advanced reuse repository systems like, for instance, instantiations of the Experience Base concept, are quite frequently used. Many people, from different projects, have to access such a repository at various phases of software development processes to retrieve or store reusable data. In order to fulfill the given tasks, each of these user has specific needs. Taking this into account, a reuse repository has to offer tailored user interfaces and functions for different user groups. Furthermore, since the contents of such a repository usually represent the state of the art of an organization's (core) competencies, not everyone should be allowed to freely access each and every repository entry. This isespecially true for persons that are not part of the organization. This report discusses role concepts that can be applied to reuse repository systems to overcome some of the stated access problems. Commonly used roles for software development and reuse repository management are listed. Based on these roles, a basic set of roles, as implemented in the SFB 501 Experience Base, is introduced.
We have presented a novel approach to parallel motion planning for robot manipulators in 3D workspaces. The approach is based on arandomized parallel search algorithm and focuses on solving the path planning problem for industrial robot arms working in a reasonably cluttered workspace. The path planning system works in the discretized con guration space, which needs not to be represented explicitly. The parallel search is conducted by a number of rule-based sequential search processes, which work to find a path connecting the initial con guration to the goal via a number of randomly generated subgoal con gurations. Since the planning performs only on-line collision tests with proper proximity information without using pre-computed information, the approach is suitable for planning problems with multirobot or dynamic environments. The implementation has been carried outontheparallel virtual machine (PVM) of a cluster of SUN4 workstations and SGI machines. The experimental results have shown that the approach works well for a 6-dof robot arm in a reasonably cluttered environment, and that parallel computation increases the e ciency of motion planning signi cantly.
The paper studies the effect of a weak periodic driving on metastable Wannier-Stark states. The decay rate of the ground Wannier-Stark states as a continuous function of the driving frequency is calculated numerically. The theoretical results are compared with experimental data of Wilkinson et at. [Phys.Rev.Lett.76, 4512 (1996)] obtained for cold sodium atoms in an accelerated optical lattice.
The statistics of the resonance widths and the behavior of the survival probability is studied in a particular model of quantum chaotic scattering (a particle in a periodic potential subject to static and time-periodic forces) introduced earlier in Ref. [5,6]. The coarse-grained distribution of the resonance widths is shown to be in good agreement with the prediction of Random Matrix Theory (RMT). The behavior of the survival probability shows, however, some deviation from RMT.
We study the transitions between the ground and excited Wannier states induced by a weak ac field. Because the upper Wannier states are several order of magnitude less stable than the ground states, these transitions decrease the global stability of the system characterized by the rate of probability leakage or decay rate. Using nonhermitian resonant perturbation theory we obtain an analytical expression for this induced decay rate. The analytical results are compared with exact numerical calculations of the system decay rate.
The quasienergy spectrum of a Bloch electron affected by dc-ac fields is known to have a fractal structure as function of the so-called electric matching ratio, which is the ratio of the ac field frequency and the Bloch frequency. This paper studies a manifestation of the fractal nature of the spectrum in the system "atom in a standing laser wave", which is a quantum optical realization of a Bloch electron. It is shown that for an appropriate choice of the system parameters the atomic survival probability (a quantity measured in laboratory experiments) also develops a fractal structure as a function of the electric matching ratio. Numerical simulations under classically chaotic scattering conditions show good agreement with theoretical predictions based on random matrix theory.
Ein Teilaspekt der formalen Logik besteht in der Untersuchung wie die logischen Konsequenzen (insbesondere die Tautologien) einer vorgegebenen Formelmenge unter Verwendung gewisser Reglements schrittweise hergeleitet werden können. Hierbei ist die Logik bestimmt durch eine konsequente Trennung von Syntax und Semantik. Diese Abhandlung stellt exemplarisch das Tableau-Kalkül und das Kalkül des natürlichen Schließens vor.