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 Title
 Applications of logic programming to manipulator kinematics and problems in controls and signal processing.
 Creator
 DiazRobainas, Regino R., Florida Atlantic University, Huang, Ming Z.
 Abstract/Description

A PCbased Expert System that uses symbolic manipulations and an inference engine rulebased system to solve direct and inverse kinematics of revolutejointed manipulators of arbitrary configuration is presented and discussed. Similar applications in the areas of Discrete Signal Processing and Optimal Control are analyzed.
 Date Issued
 1992
 PURL
 http://purl.flvc.org/fcla/dt/14794
 Subject Headings
 Signal processing, Kinematics, Computeraided design
 Format
 Document (PDF)
 Title
 Objects interaction using superquadrics for telemanipulation system simulation.
 Creator
 Agba, Emmanuel I., Wong, TinLup, Huang, Ming Z., Clark, A. M., Harbor Branch Oceanographic Institute
 Date Issued
 1993
 PURL
 http://purl.flvc.org/FCLA/DT/3342309
 Subject Headings
 Robotics, Telemanipulator, Simulation
 Format
 Document (PDF)
 Title
 Applications of evolutionary algorithms in mechanical engineering.
 Creator
 Nelson, Kevin M., Florida Atlantic University, Huang, Ming Z., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
 Abstract/Description

Many complex engineering designs have conflicting requirements that must be compromised to effect a successful product. Traditionally, the engineering approach breaks up the complex problem into smaller subcomponents in known areas of study. Tradeoffs occur between the conflicting requirements and a suboptimal design results. A new computational approach based on the evolutionary processes observed in nature is explored in this dissertation. Evolutionary algorithms provide methods to solve...
Show moreMany complex engineering designs have conflicting requirements that must be compromised to effect a successful product. Traditionally, the engineering approach breaks up the complex problem into smaller subcomponents in known areas of study. Tradeoffs occur between the conflicting requirements and a suboptimal design results. A new computational approach based on the evolutionary processes observed in nature is explored in this dissertation. Evolutionary algorithms provide methods to solve complex engineering problems by optimizing the entire system, rather than subcomponents of the system. Three standard forms of evolutionary algorithms have been developed: evolutionary programming, genetic algorithms and evolution strategies. Mathematical and algorithmic details are described for each of these methods. In this dissertation, four engineering problems are explored using evolutionary programming and genetic algorithms. Exploiting the inherently parallel nature of evolution, a parallel version of evolutionary programming is developed and implemented on the MasPar MP1. This parallel version is compared to a serial version of the same algorithm in the solution of a trial set of unimodal and multimodal functions. The parallel version had significantly improved performance over the serial version of evolutionary programming. An evolutionary programming algorithm is developed for the solution of electronic part placement problems with different assembly devices. The results are compared with previously published results for genetic algorithms and show that evolutionary programming can successfully solve this class of problem using fewer genetic operators. The finite element problem is cast into an optimization problem and an evolutionary programming algorithm is developed to solve 2D truss problems. A comparison to LUdecomposition showed that evolutionary programming can solve these problems and that it has the capability to solve the more complex nonlinear problems. Finally, ordinary differential equations are discretized using finite difference representation and an objective function is formulated for the application of evolutionary programming and genetic algorithms. Evolutionary programming and genetic algorithms have the benefit of permitting overconstraining a problem to obtain a successful solution. In all of these engineering problems, evolutionary algorithms have been shown to offer a new solution method.
Show less  Date Issued
 1997
 PURL
 http://purl.flvc.org/fcla/dt/12514
 Subject Headings
 Mechanical engineering, Genetic algorithms, Evolutionary programming (Computer science)
 Format
 Document (PDF)
 Title
 Optimal coordination of robotic systems with redundancy.
 Creator
 Varma, K. R. Hareendra., Florida Atlantic University, Huang, Ming Z., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
 Abstract/Description

The research work described in this dissertation is primarily aimed at developing efficient algorithms for the rate allocation problem in redundant serial chain manipulators. While the problem of redundancy resolution in the context of robot manipulators, had been a well researched one, search for optimality in computational efficiency has caught the attention only recently. Further, the idea of modifying the already developed performance criteria to improve computational efficiency, had...
Show moreThe research work described in this dissertation is primarily aimed at developing efficient algorithms for the rate allocation problem in redundant serial chain manipulators. While the problem of redundancy resolution in the context of robot manipulators, had been a well researched one, search for optimality in computational efficiency has caught the attention only recently. Further, the idea of modifying the already developed performance criteria to improve computational efficiency, had rarely been treated with the importance it deserves. The present work in fact, provides many alternative formulations to the existing performance criteria. As a result of the present investigation, we developed a mathematical tool for the minimum norm solution for underdetermined systems of linear equations, using the orthogonal null space. Closed form equations were provided for cases with two or three degrees of redundancy. Detailed study of computational efficiency showed substantial reduction in the arithmetic operations necessary for such a solution. The above concept was later generalized to utilize the self motion characteristics of redundant manipulators, to provide alternate solutions. The duality concept between the Jacobian and the null space, established in this work, enabled the authors to develop a highly efficient formulation as an alternative to the commonly used pseudoinversebased solution. In addition, by providing the example of a 7R anthropomorphic arm, the feasibility of obtaining analytical formulation of null space coefficient matrix and the transformed end effector velocity vector for any geometry has been demonstrated. By utilizing the duality between the Jacobian and its null space, different performance criteria commonly used in the redundancy resolution problem have been modified, increasing the computational efficiency. Various simulations performed as part of the present work, utilizing the analytical null space coefficient matrix and the transformed end effector velocity vector for 3R planar case and 7R spatial anthropomorphic arm corroborates the theories. Another practical application has been demonstrated by the example of a Titan 7F arm mounted on a mobile base. The work is consolidated by reiterating the insight obtained to the physical aspects of the redundancy resolution problem and providing a direction for future work. Suggestions are given for extending the work for high d.o.r. systems, with relevant mathematical foundations. Future work in the area of dynamic modelling, is delineated which also includes an example of modified dynamic manipulability measure.
Show less  Date Issued
 1992
 PURL
 http://purl.flvc.org/fcla/dt/12292
 Subject Headings
 Algorithms, Redundancy (Engineering), Robotics, RobotsMotion
 Format
 Document (PDF)
 Title
 Kinematic modeling and analysis of a parallelseries hybrid manipulator.
 Creator
 Sheng, Yang., Florida Atlantic University, Huang, Ming Z., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
 Abstract/Description

Traditional industrial manipulators possess fixed configuration and are widely used in manufacturing application in which the manipulator base is fixed. However, some applications exist which would require the robotic manipulators to function in nonstationary environment especially in space. In this thesis, a six degree of freedom parallelseries hybrid manipulator is described. It consists of a 3 d.o.f. inseries manipulator mounted on a 3 d.o.f. inparallel manipulator. A compatibility...
Show moreTraditional industrial manipulators possess fixed configuration and are widely used in manufacturing application in which the manipulator base is fixed. However, some applications exist which would require the robotic manipulators to function in nonstationary environment especially in space. In this thesis, a six degree of freedom parallelseries hybrid manipulator is described. It consists of a 3 d.o.f. inseries manipulator mounted on a 3 d.o.f. inparallel manipulator. A compatibility equation is found to govern the relationship between inseries component angular velocity and linear velocity; a constraint equation is added to the Jacobian of inparallel component. Using these two equations, a decomposition strategy is proposed for solving the inverse velocity problem of the hybrid manipulator together with the simulation examples of inverse position tracking and straight line trajectory planning. Effectiveness of this method and factors affecting the simulation result are examined.
Show less  Date Issued
 1993
 PURL
 http://purl.flvc.org/fcla/dt/14893
 Subject Headings
 Kinematics, RoboticsComputer programs, Manipulators (Mechanism)
 Format
 Document (PDF)
 Title
 A novel closedloop approach for identification of manipulator kinematic parameters.
 Creator
 Wang, Yuemin., Florida Atlantic University, Huang, Ming Z., College of Engineering and Computer Science, Department of Computer and Electrical Engineering and Computer Science
 Abstract/Description

During the manufacture of industrial robots, differences between actual and nominal linkage parameters occur. Thus, when a robot system attempts to perform a desired task using nominal parameter based planning schemes, it usually performs the task quite differently from the desired one. A method for automatically determining the differences between nominal and actual parameter models, namely calibration, is presented in this thesis. The method features a simple and efficient measurement...
Show moreDuring the manufacture of industrial robots, differences between actual and nominal linkage parameters occur. Thus, when a robot system attempts to perform a desired task using nominal parameter based planning schemes, it usually performs the task quite differently from the desired one. A method for automatically determining the differences between nominal and actual parameter models, namely calibration, is presented in this thesis. The method features a simple and efficient measurement scheme using an instrumented articulated linkage. The basis of parameter identification approach is similar to that of closedloop mechanism syntheses. Jacobian formulation using a vector cross product method with mixed choices of kinematic model for coordinate system representation is adopted. Effectiveness of this method and factors affecting the calibration are examined using simulation. A complete design of the measurement device, both electrical and mechanical, is also presented.
Show less  Date Issued
 1991
 PURL
 http://purl.flvc.org/fcla/dt/14732
 Subject Headings
 Calibration, Robots, IndustrialCalibration
 Format
 Document (PDF)
 Title
 A unified theory of coordination for robotic mechanisms with general parallel or hybrid structures.
 Creator
 Ling, ShouHung., Florida Atlantic University, Huang, Ming Z., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
 Abstract/Description

A well designed robot manipulator should have adequate workspace and good staticdynamic performance. It is well known that serial manipulators, while compared to similar size parallel ones, have larger workspace. However, due to their cantileverlike structure, the serial manipulators suffer from the disadvantage of having relatively poor staticdynamic performance. Contrarily, for fully parallel manipulators the good staticdynamic performance comes from the sacrifice of the workspace....
Show moreA well designed robot manipulator should have adequate workspace and good staticdynamic performance. It is well known that serial manipulators, while compared to similar size parallel ones, have larger workspace. However, due to their cantileverlike structure, the serial manipulators suffer from the disadvantage of having relatively poor staticdynamic performance. Contrarily, for fully parallel manipulators the good staticdynamic performance comes from the sacrifice of the workspace. Therefore, manipulators with more general geometries, in particular those with both the serial and the parallel modules, namely the hybrid manipulators, have attracted much of the research attention in robotics recently. While it can be asserted that kinematic theories and techniques are well established for fully serialchain manipulators, the same assertion cannot be made when they are considered in the above general context. The research described in this dissertation is an undertaking toward the establishment of a general theory of coordination for robotic mechanisms with general parallel or hybrid structures. The scope of this research is concentrated in the kinematics aspect of the aforementioned class of robot manipulators with the main emphasis on the velocity (instantaneous) kinematics. A kinestatic approach, which is based on screw system theory, is adopted in this dissertation. This kinestatic approach leads to the establishment of a fundamental theorem, dubbed as the Parallel Manipulator Coordination Theorem, which integrates the idea of parallel and serial manipulators. Furthermore, the theorem enables us to develop an analysis strategy for systematic formulation and characterization of robotic mechanisms with general parallel (nonredundant) and hybrid geometries. The analysis strategy entails constraints, statics, velocity, and singularity considerations. One distinct advantage of using the screw system theory as the analysis tool is that it facilitates the analysis in a fashion that physical meanings are preserved through out the derivation. The very aspect of preserving the physical meaning distinguishes this method from other algebraicallybased and numericallybased methods. An intelligent faulttolerant system has been studied at the end. The technique and conclusions from the study of parallel manipulator modules have been used to analyze the proposed design.
Show less  Date Issued
 1994
 PURL
 http://purl.flvc.org/fcla/dt/12385
 Subject Headings
 Manipulators (Mechanism), Robotics, Kinematics, Screws, Theory of
 Format
 Document (PDF)
 Title
 Fuzzy identification of processes on finite training sets with known features.
 Creator
 DiazRobainas, Regino R., Florida Atlantic University, Huang, Ming Z., Zilouchian, Ali, College of Engineering and Computer Science, Department of Computer and Electrical Engineering and Computer Science
 Abstract/Description

A methodology is presented to construct an approximate fuzzymapping algorithm that maps multiple inputs to single outputs given a finite training set of argument vectors functionally linked to corresponding scalar outputs. Its scope is limited to problems where the features are known in advance, or equivalently, where the expected functional representation is known to depend exclusively on the known selected variables. Programming and simulations to implement the methodology make use of...
Show moreA methodology is presented to construct an approximate fuzzymapping algorithm that maps multiple inputs to single outputs given a finite training set of argument vectors functionally linked to corresponding scalar outputs. Its scope is limited to problems where the features are known in advance, or equivalently, where the expected functional representation is known to depend exclusively on the known selected variables. Programming and simulations to implement the methodology make use of Matlab Fuzzy and Neural toolboxes and a PC application of Prolog, and applications range from approximate representations of the direct kinematics of parallel manipulators to fuzzy controllers.
Show less  Date Issued
 1996
 PURL
 http://purl.flvc.org/fcla/dt/12487
 Subject Headings
 Fuzzy algorithms, Set theory, Logic, Symbolic and mathematical, Finite groups, Representations of groups
 Format
 Document (PDF)