Planning Algorithms

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Planning Algorithms
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Author : Steven M. LaValle
language : en
Publisher: Cambridge University Press
Release Date : 2006-05-29
Planning Algorithms written by Steven M. LaValle and has been published by Cambridge University Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2006-05-29 with Computers categories.
Planning algorithms are impacting technical disciplines and industries around the world, including robotics, computer-aided design, manufacturing, computer graphics, aerospace applications, drug design, and protein folding. This coherent and comprehensive book unifies material from several sources, including robotics, control theory, artificial intelligence, and algorithms. The treatment is centered on robot motion planning, but integrates material on planning in discrete spaces. A major part of the book is devoted to planning under uncertainty, including decision theory, Markov decision processes, and information spaces, which are the 'configuration spaces' of all sensor-based planning problems. The last part of the book delves into planning under differential constraints that arise when automating the motions of virtually any mechanical system. This text and reference is intended for students, engineers, and researchers in robotics, artificial intelligence, and control theory as well as computer graphics, algorithms, and computational biology.
Integration Of Process Planning And Scheduling
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Author : Taylor & Francis Group
language : en
Publisher: CRC Press
Release Date : 2021-09-30
Integration Of Process Planning And Scheduling written by Taylor & Francis Group and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-09-30 with categories.
This book is about the Integration of Process Planning and Scheduling (IPPS) functions involving various machining environments. Fundamentals are presented, as well as benchmarking programs, to developed IPPS problems. The book is also for both beginners as well as advanced researchers in the field of manufacturing systems.
Electric Power System Planning
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Author : Hossein Seifi
language : en
Publisher: Springer Science & Business Media
Release Date : 2011-06-24
Electric Power System Planning written by Hossein Seifi and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2011-06-24 with Technology & Engineering categories.
The present book addresses various power system planning issues for professionals as well as senior level and postgraduate students. Its emphasis is on long-term issues, although much of the ideas may be used for short and mid-term cases, with some modifications. Back-up materials are provided in twelve appendices of the book. The readers can use the numerous examples presented within the chapters and problems at the end of the chapters, to make sure that the materials are adequately followed up. Based on what Matlab provides as a powerful package for students and professional, some of the examples and the problems are solved in using M-files especially developed and attached for this purpose. This adds a unique feature to the book for in-depth understanding of the materials, sometimes, difficult to apprehend mathematically. Chapter 1 provides an introduction to Power System Planning (PSP) issues and basic principles. As most of PSP problems aremodeled as optimization problems, optimization techniques are covered in some details in Chapter 2. Moreover, PSP decision makings are based on both technical and economic considerations, so economic principles are briefly reviewed in Chapter 3. As a basic requirement of PSP studies, the load has to be known. Therefore, load forecasting is presented in Chapter 4. Single bus Generation Expansion Planning (GEP) problem is described in Chapter 5. This study is performed using WASP-IV, developed by International Atomic Energy Agency. The study ignores the grid structure. A Multi-bus GEP problem is discussed in Chapter 6 in which the transmission effects are, somehow, accounted for. The results of single bus GEP is used as an input to this problem. SEP problem is fully presented in Chapter 7. Chapter 8 devotes to Network Expansion Planning (NEP) problem, in which the network is planned. The results of NEP, somehow, fixes the network structure. Some practical considerations and improvements such as multi-voltage cases are discussed in Chapter 9. As NEP study is typically based on some simplifying assumptions and Direct Current Load Flow (DCLF) analysis, detailed Reactive Power Planning (RPP) study is finally presented in Chapter 10, to guarantee acceptable ACLF performance during normal as well as contingency conditions. This, somehow, concludes the basic PSP problem. The changing environments due to power system restructuring dictate some uncertainties on PSP issues. It is shown in Chapter 11 that how these uncertainties can be accounted for. Although is intended to be a text book, PSP is a research oriented topic, too. That is why Chapter 12 is devoted to research trends in PSP. The chapters conclude with a comprehensive example in Chapter 13, showing the step-by-step solution of a practical case.
Algorithms For Optimization
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Author : Mykel J. Kochenderfer
language : en
Publisher: MIT Press
Release Date : 2019-03-12
Algorithms For Optimization written by Mykel J. Kochenderfer and has been published by MIT Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-03-12 with Computers categories.
A comprehensive introduction to optimization with a focus on practical algorithms for the design of engineering systems. This book offers a comprehensive introduction to optimization with a focus on practical algorithms. The book approaches optimization from an engineering perspective, where the objective is to design a system that optimizes a set of metrics subject to constraints. Readers will learn about computational approaches for a range of challenges, including searching high-dimensional spaces, handling problems where there are multiple competing objectives, and accommodating uncertainty in the metrics. Figures, examples, and exercises convey the intuition behind the mathematical approaches. The text provides concrete implementations in the Julia programming language. Topics covered include derivatives and their generalization to multiple dimensions; local descent and first- and second-order methods that inform local descent; stochastic methods, which introduce randomness into the optimization process; linear constrained optimization, when both the objective function and the constraints are linear; surrogate models, probabilistic surrogate models, and using probabilistic surrogate models to guide optimization; optimization under uncertainty; uncertainty propagation; expression optimization; and multidisciplinary design optimization. Appendixes offer an introduction to the Julia language, test functions for evaluating algorithm performance, and mathematical concepts used in the derivation and analysis of the optimization methods discussed in the text. The book can be used by advanced undergraduates and graduate students in mathematics, statistics, computer science, any engineering field, (including electrical engineering and aerospace engineering), and operations research, and as a reference for professionals.
Analysis Optimization Of Floor Planning Algorithms For Vlsi Physical Design
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Author : Dr. Ashad Ullah Qureshi
language : en
Publisher: Concepts Books Publication
Release Date : 2022-07-01
Analysis Optimization Of Floor Planning Algorithms For Vlsi Physical Design written by Dr. Ashad Ullah Qureshi and has been published by Concepts Books Publication this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-07-01 with Technology & Engineering categories.
As prevailing copper interconnect technology advances to its fundamental physical limit, interconnect delay due to ever-increasing wire resistivity has greatly limited the circuit miniaturization. Carbon nanotube (CNT) interconnects have emerged as promising replacement materials for copper interconnects due to their superior conductivity. Buffer insertion for CNT interconnects is capable of improving circuit timing of signal nets with limited buffer deployment. However, due to the imperfection of fabricating long straight CNT, there exist significant unidimensional-spatially correlated variations on the critical CNT geometric parameters such as the diameter and density, which will act the circuit performance. This dissertation develops a novel timing driven buffer insertion technique considering unidimensional correlations of variations of CNT. Although the fabrication variations of CNTs are not desired for the circuit designs targeting performance optimization and reliability, these inherent imperfections make them natural candidates for building highly secure physical unclonable function (PUF), which is an advanced hardware security technology. A novel CNT PUF design through leveraging Lorenz chaotic system is developed and we show that it is resistant to many machine learning modeling attacks. In summary, the studies in this dissertation demonstrate that CNT technology is highly promising for performance and security optimizations in advanced VLSI circuit design.
Aeta 2013 Recent Advances In Electrical Engineering And Related Sciences
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Author : Ivan Zelinka
language : en
Publisher: Springer Science & Business Media
Release Date : 2013-11-01
Aeta 2013 Recent Advances In Electrical Engineering And Related Sciences written by Ivan Zelinka and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013-11-01 with Technology & Engineering categories.
Over the past decades, fault diagnosis (FDI) and fault tolerant control strategies (FTC) have been proposed based on different techniques for linear and nonlinear systems. Indeed a considerable attention is deployed in order to cope with diverse damages resulting in faults occurrence.
The Complexity Of Robot Motion Planning
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Author : John Canny
language : en
Publisher: MIT Press
Release Date : 1988
The Complexity Of Robot Motion Planning written by John Canny and has been published by MIT Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 1988 with Computers categories.
The Complexity of Robot Motion Planning makes original contributions both to roboticsand to the analysis of algorithms. In this groundbreaking monograph John Canny resolveslong-standing problems concerning the complexity of motion planning and, for the central problem offinding a collision free path for a jointed robot in the presence of obstacles, obtains exponentialspeedups over existing algorithms by applying high-powered new mathematical techniques.Canny's newalgorithm for this "generalized movers' problem," the most-studied and basic robot motion planningproblem, has a single exponential running time, and is polynomial for any given robot. The algorithmhas an optimal running time exponent and is based on the notion of roadmaps - one-dimensionalsubsets of the robot's configuration space. In deriving the single exponential bound, Cannyintroduces and reveals the power of two tools that have not been previously used in geometricalgorithms: the generalized (multivariable) resultant for a system of polynomials and Whitney'snotion of stratified sets. He has also developed a novel representation of object orientation basedon unnormalized quaternions which reduces the complexity of the algorithms and enhances theirpractical applicability.After dealing with the movers' problem, the book next attacks and derivesseveral lower bounds on extensions of the problem: finding the shortest path among polyhedralobstacles, planning with velocity limits, and compliant motion planning with uncertainty. Itintroduces a clever technique, "path encoding," that allows a proof of NP-hardness for the first twoproblems and then shows that the general form of compliant motion planning, a problem that is thefocus of a great deal of recent work in robotics, is non-deterministic exponential time hard. Cannyproves this result using a highly original construction.John Canny received his doctorate from MITAnd is an assistant professor in the Computer Science Division at the University of California,Berkeley. The Complexity of Robot Motion Planning is the winner of the 1987 ACM DoctoralDissertation Award.
Understanding Planning Tasks
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Author : Malte Helmert
language : en
Publisher: Springer Science & Business Media
Release Date : 2008-01-24
Understanding Planning Tasks written by Malte Helmert and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008-01-24 with Computers categories.
This monograph is a revised version of Malte Helmert's doctoral thesis, Solving Planning Tasks in Theory and Practice, written under the supervision of Professor Bernhard Nebel at Albert-Ludwigs-Universität Freiburg, Germany, in 2006. The book contains an exhaustive analysis of the computational complexity of the benchmark problems that have been used in the past decade. Not only that, but it also provides an in-depth analysis of so-called routing and transportation problems.
Robotics
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Author : Oliver Brock
language : en
Publisher: MIT Press
Release Date : 2009
Robotics written by Oliver Brock and has been published by MIT Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2009 with Technology & Engineering categories.
State-of-the-art robotics research on such topics as manipulation, motion planning, micro-robotics, distributed systems, autonomous navigation, and mapping. Robotics: Science and Systems IV spans a wide spectrum of robotics, bringing together researchers working on the foundations of robotics, robotics applications, and analysis of robotics systems. This volume presents the proceedings of the fourth annual Robotics: Science and Systems conference, held in 2008 at the Swiss Federal Institute of Technology in Zurich. The papers presented cover a range of topics, including computer vision, mapping, terrain identification, distributed systems, localization, manipulation, collision avoidance, multibody dynamics, obstacle detection, microrobotic systems, pursuit-evasion, grasping and manipulation, tracking, spatial kinematics, machine learning, and sensor networks as well as such applications as autonomous driving and design of manipulators for use in functional-MRI. The conference and its proceedings reflect not only the tremendous growth of robotics as a discipline but also the desire in the robotics community for a flagship event at which the best of the research in the field can be presented.
Algorithmic Foundations Of Robotics Vi
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Author : Michael Erdmann
language : en
Publisher: Springer Science & Business Media
Release Date : 2005-06-23
Algorithmic Foundations Of Robotics Vi written by Michael Erdmann and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2005-06-23 with Technology & Engineering categories.
Robot algorithms are abstractions of computational processes that control or reason about motion and perception in the physical world. Because actions in the physical world are subject to physical laws and geometric constraints, the design and analysis of robot algorithms raise a unique combination of questions in control theory, computational and differential geometry, and computer science. Algorithms serve as a unifying theme in the multi-disciplinary field of robotics. This volume consists of selected contributions to the sixth Workshop on the Algorithmic Foundations of Robotics. This is a highly competitive meeting of experts in the field of algorithmic issues related to robotics and automation.