Fast Parallel Computation of Redundancy
نویسنده
چکیده
For redundant manipulators, the inverse kinematics equations are typically solved by taking the pseudoinverse of the Jacobian, or by adding enough constraints to algebraically remove the redundancy. Many popular measures of redundancy also depend on computing the algebraic rank or determinant of the Jacobian. We present fast, parallelizable algorithms to dynamically update all the pseudo-inverse, determinant, rank, and many other redundancy measures and properties as the arm goes through its motions.
منابع مشابه
Efficient implementation of low time complexity and pipelined bit-parallel polynomial basis multiplier over binary finite fields
This paper presents two efficient implementations of fast and pipelined bit-parallel polynomial basis multipliers over GF (2m) by irreducible pentanomials and trinomials. The architecture of the first multiplier is based on a parallel and independent computation of powers of the polynomial variable. In the second structure only even powers of the polynomial variable are used. The par...
متن کاملFast Finite Element Method Using Multi-Step Mesh Process
This paper introduces a new method for accelerating current sluggish FEM and improving memory demand in FEM problems with high node resolution or bulky structures. Like most of the numerical methods, FEM results to a matrix equation which normally has huge dimension. Breaking the main matrix equation into several smaller size matrices, the solving procedure can be accelerated. For implementing ...
متن کاملComparing Parallel Simulated Annealing, Parallel Vibrating Damp Optimization and Genetic Algorithm for Joint Redundancy-Availability Problems in a Series-Parallel System with Multi-State Components
In this paper, we study different methods of solving joint redundancy-availability optimization for series-parallel systems with multi-state components. We analyzed various effective factors on system availability in order to determine the optimum number and version of components in each sub-system and consider the effects of improving failure rates of each component in each sub-system and impr...
متن کاملSet a bi-objective redundancy allocation model to optimize the reliability and cost of the Series-parallel systems using NSGA II problem
With the huge global and wide range of attention placed upon quality, promoting and optimize the reliability of the products during the design process has turned out to be a high priority. In this study, the researcher have adopted one of the existing models in the reliability science and propose a bi-objective model for redundancy allocation in the series-parallel systems in accordance with th...
متن کاملA Multi Objective Optimization Model for Redundancy Allocation Problems in Series-Parallel Systems with Repairable Components
The main goal in this paper is to propose an optimization model for determining the structure of a series-parallel system. Regarding the previous studies in series-parallel systems, the main contribution of this study is to expand the redundancy allocation parallel to systems that have repairable components. The considered optimization model has two objectives: maximizing the system mean time t...
متن کامل