This unique book provides an introduction to a subject whose use has steadily increased over the past 40 years. An update of Ramon Moore s previous books on the topic, it provides broad coverage of the subject as well as the historical perspective of one of the originators of modern interval analysis. The authors provide a hands-on introduction to INTLAB, a high-quality, comprehensive MATLAB toolbox for interval computations, making this the first interval analysis book that does with INTLAB what general numerical analysis texts do with MATLAB. Readers will find the following features of interest: elementary motivating examples and notes that help maximize the reader s chance of success in applying the techniques; exercises and hands-on MATLAB-based examples woven into the text; INTLAB-based examples and explanations integrated into the text, along with a comprehensive set of exercises and solutions, and an appendix with INTLAB commands; an extensive bibliography and appendices that will continue to be valuable resources once the reader is familiar with the subject; and a Web page with links to computational tools and other resources of interest. Audience: Introduction to Interval Analysis will be valuable to engineers and scientists interested in scientific computation, especially in reliability, effects of roundoff error, and automatic verification of results. The introductory material is particularly important for experts in global optimization and constraint solution algorithms. This book is suitable for introducing the subject to students in these areas. Contents: Preface; Chapter 1: Introduction; Chapter 2: The Interval Number System; Chapter 3: First Applications of Interval Arithmetic; Chapter 4: Further Properties of Interval Arithmetic; Chapter 5: Introduction to Interval Functions; Chapter 6: Interval Sequences; Chapter 7: Interval Matrices; Chapter 8: Interval Newton Methods; Chapter 9: Integration of Interval Functions; Chapter 10: Integral and Differential Equations; Chapter 11: Applications; Appendix A: Sets and Functions; Appendix B: Formulary; Appendix C: Hints for Selected Exercises; Appendix D: Internet Resources; Appendix E: INTLAB Commands and Functions; References; Index.

Introduction to Interval Analysis

Constraint programming is a powerful paradigm for solving combinatorial search problems that draws on a wide range of techniques from artificial intelligence, computer science, databases, programming languages, and operations research. Constraint programming is currently applied with success to many domains, such as scheduling, planning, vehicle routing, configuration, networks, and bioinformatics.

The aim of this handbook is to capture the full breadth and depth of the constraint programming field and to be encyclopedic in its scope and coverage. While there are several excellent books on constraint programming, such books necessarily focus on the main notions and techniques and cannot cover also extensions, applications, and languages. The handbook gives a reasonably complete coverage of all these lines of work, based on constraint programming, so that a reader can have a rather precise idea of the whole field and its potential. Of course each line of work is dealt with in a survey-like style, where some details may be neglected in favor of coverage. However, the extensive bibliography of each chapter will help the interested readers to find suitable sources for the missing details. Each chapter of the handbook is intended to be a self-contained survey of a topic, and is written by one or more authors who are leading researchers in the area.

The intended audience of the handbook is researchers, graduate students, higher-year undergraduates and practitioners who wish to learn about the state-of-the-art in constraint programming. No prior knowledge about the field is necessary to be able to read the chapters and gather useful knowledge. Researchers from other fields should find in this handbook an effective way to learn about constraint programming and to possibly use some of the constraint programming concepts and techniques in their work, thus providing a means for a fruitful cross-fertilization among different research areas.

The handbook is organized in two parts. The first part covers the basic foundations of constraint programming, including the history, the notion of constraint propagation, basic search methods, global constraints, tractability and computational complexity, and important issues in modeling a problem as a constraint problem. The second part covers constraint languages and solver, several useful extensions to the basic framework (such as interval constraints, structured domains, and distributed CSPs), and successful application areas for constraint programming.

- Covers the whole field of constraint programming
- Survey-style chapters
- Five chapters on applications

Table of Contents

Foreword (Ugo Montanari) 
Part I : Foundations
Chapter 1. Introduction (Francesca Rossi, Peter van Beek, Toby Walsh) 
Chapter 2. Constraint Satisfaction: An Emerging Paradigm (Eugene C. Freuder, Alan K. Mackworth) 
Chapter 3. Constraint Propagation (Christian Bessiere) 
Chapter 4. Backtracking Search Algorithms (Peter van Beek) 
Chapter 5. Local Search Methods (Holger H. Hoos, Edward Tsang) 
Chapter 6. Global Constraints (Willem-Jan van Hoeve, Irit Katriel)
Chapter 7. Tractable Structures for CSPs (Rina Dechter)
Chapter 8. The Complexity of Constraint Languages
(David Cohen, Peter Jeavons) 
Chapter 9. Soft Constraints (Pedro Meseguer, Francesca Rossi, Thomas Schiex) 
Chapter 10. Symmetry in Constraint Programming
(Ian P. Gent, Karen E. Petrie, Jean-Francois Puget)
Chapter 11. Modelling (Barbara M. Smith) 
Part II : Extensions, Languages, and Applications

Chapter 12. Constraint Logic Programming (Kim Marriott, Peter J. Stuckey, Mark Wallace) 
Chapter 13. Constraints in Procedural and Concurrent Languages (Thom Fruehwirth, Laurent Michel, Christian Schulte)
Chapter 14. Finite Domain Constraint Programming Systems (Christian Schulte, Mats Carlsson) 
Chapter 15. Operations Research Methods in Constraint Programming (John Hooker) 
Chapter 16. Continuous and Interval Constraints(Frederic Benhamou, Laurent Granvilliers) 
Chapter 17. Constraints over Structured Domains
(Carmen Gervet) 
Chapter 18. Randomness and Structure (Carla Gomes, Toby Walsh)
Chapter 19. Temporal CSPs (Manolis Koubarakis)
Chapter 20. Distributed Constraint Programming
(Boi Faltings) 
Chapter 21. Uncertainty and Change (Kenneth N. Brown, Ian Miguel)
Chapter 22. Constraint-Based Scheduling and Planning
(Philippe Baptiste, Philippe Laborie, Claude Le Pape, Wim Nuijten)
Chapter 23. Vehicle Routing (Philip Kilby, Paul Shaw) 
Chapter 24. Configuration (Ulrich Junker)
Chapter 25. Constraint Applications in Networks
(Helmut Simonis)
Chapter 26. Bioinformatics and Constraints (Rolf Backofen, David Gilbert)

/pdf/handbook-of-constraint-programming-53srutguo2.pdf

Handbook of Constraint Programming

해외산업간호정보 - 미국 산업안전보건연구원(National Institute for Occupational Safety and Health) 소개

Although the concepts of Jacobian matrix, manipulability, and condition number have existed since the very early beginning of robotics their real significance is not always well understood. In this paper we revisit these concepts for parallel robots as accuracy indices in view of optimal design. We first show that the usual Jacobian matrix derived from the input-output velocities equations may not be sufficient to analyze the positioning errors of the platform. We then examine the concept of manipulability and show that its classical interpretation is erroneous. We then consider various common local dexterity indices, most of which are based on the condition number of the Jacobian matrix. It is emphasized that even for a given robot in a particular pose there are a variety of condition numbers and that their values are not coherent between themselves but also with what we may expect from an accuracy index. Global conditioning indices are then examined. Apart from the problem of being based on the local accuracy indices that are questionable, there is a computational problem in their calculation that is neglected most of the time. Finally, we examine what other indices may be used for optimal design and show that their calculation is most challenging.

/pdf/jacobian-manipulability-condition-number-and-accuracy-of-5ecm213mgd.pdf

Jacobian, Manipulability, Condition Number, and Accuracy of Parallel Robots

Parallel robots are nowadays leaving academic laboratories and are finding their way in an increasingly larger number of application fields such as telescopes, fine positioning devices, fast packaging, machine-tool, medical application. A key issue for such use is optimal design as performances of parallel robots are very sensitive to their dimensioning. Optimal design methodologies have to rely on kinetostatic performance indices and accuracy is clearly a key-issue for many applications. It has also be a key-issue for serial robots and consequently this problem has been extensively studied and various accuracy indices have been defined. The results have been in general directly transposed to parallel robots. We will now review how well these indices are appropriate for parallel robots.

/pdf/jacobian-manipulability-condition-number-and-accuracy-of-3enayjm37o.pdf

Jacobian, manipulability, condition number and accuracy of parallel robots

Cet article traite de la conception d'une commande de retroaction haptique du robot parallele Ortho-glide pour effectuer des tâches de co-manipulation. Nous rappelons les differents modeles geometrique, cinematique et dynamique de Orthoglide. A partir de la mesure de la force d'interaction entre l'ope-rateur humain et l'effecteur final du robot, une trajectoire de reference de la plate-forme est calculee dans l'espace Cartesien. Cette trajectoire de reference est projetee dans l'espace articulaire pour ob-tenir la trajectoire de reference des variables actives de l'articulation lineaire. Un modele dynamique simplifie est propose et justifie pour concevoir une loi de commande de couple calculee des articula-tions lineaires actionnees dans l'espace articulaire. L'etude theorique et les resultats experimentaux sur Orthoglide montrent comment les robots industriels rigides classiques avec une bande passante en boucle fermee a vitesse et position elevees peuvent etre adaptes a des tâches de co-manipulation tres efficaces. Cet article offre des perspectives interessantes pour de nombreuses applications fondees sur l'interaction robot/humain dans un environnement industriel.

https://hal.archives-ouvertes.fr/hal-02264290/document

Haptic control of the parallel robot Orthoglide

The paper addresses the geometric synthesis of Orthoglide-type mechanism, a family of 3-DOF parallel manipulators for rapid machining applications, which combine advantages of both serial mechanisms and parallel kinematic architectures. These manipulators possess quasi-isotropic kinematic performances and are made up of three actuated fixed prismatic joints, which are mutually orthogonal and connected to a mobile platform via three parallelogram chains. The platform moves in the Cartesian space with fixed orientation, similar to conventional XYZ-machine. Three strategies have been proposed to define the Orthoglide geometric parameters (manipulator link lengths and actuated joint limits) as functions of a cubic workspace size and dextrous properties expressed by bounds on the velocity transmission factors, manipulability or the Jacobian condition number. Low inertia and intrinsic stiffness have been set as additional design goals expressed by the minimal link length requirement. For each design strategy, analytical expressions for computing the Orthoglide parameters are proposed. It is showed that the proposed strategies yield Pareto-optimal solutions, which differ by the kinematic performances outside the prescribed Cartesian cube (but within the workspace bounded by the actuated joint limits). The proposed technique is illustrated with numerical examples for the Orthoglide prototype design.

Design Strategies for the Geometric Synthesis of Orthoglide-type Mechanisms

The design of a novel prismatic drive is reported in this paper. This transmission is based on Slide-O-Cam, a cam mechanism with multiple rollers mounted on a common translating follower. The design of Slide-O-Cam was reported elsewhere. This drive thus provides pure-rolling motion, thereby reducing the friction of rack-and-pinions and linear drives. Such properties can be used to design new transmissions for parallel-kinematics machines. In this paper, this transmission is optimized to replace ball-screws in Orthoglide, a three-DOF parallel robot optimized for machining applications.

The Design of a Novel Prismatic Drive for a Three-DOF Parallel-Kinematics Machine

The goal of this paper is to explain, using a typical example, the distribution of the different assembly modes in the workspace and their effective role in the execution of trajectories. The singular and non-singular changes of assembly mode are described and compared to each other. The non-singular change of assembly mode is more deeply analysed and discussed in the context of trajectory planning. In particular, it is shown that, according to the location of the initial and final configurations with respect to the uniqueness domains in the workspace, there are three different cases to consider before planning a linking trajectory.

Workspace and Assembly modes in Fully-Parallel Manipulators : A Descriptive Study

A surgery assistance device (1) comprises means for offsetting a first type of rotation and a second type of rotation, a mechanism (40a) for transmitting a third type of rotation, a mechanism (40b) for transforming the third type of rotation into a translation and a resilient element (41) connected at one end to the mechanism (40a) for transmitting the third type of rotation. The mechanism (40a) for transmitting the third type of rotation is connected to a rotary motor, the rotation of the rotary motor in a first direction causing the lowering of a tool (5) and an extension of the resilient element, the rotation of the rotary motor in a second direction causing the raising of the tool (5) and a contraction of the resilient element, and when the tool (5) is in a lowered position and the rotary motor does not exert any torque, the resilient element (41) returns to an initial shape causing the raising of tool (5).

Damien Chablat

Papers

Haptic control of the parallel robot Orthoglide

Design Strategies for the Geometric Synthesis of Orthoglide-type Mechanisms

The Design of a Novel Prismatic Drive for a Three-DOF Parallel-Kinematics Machine

Workspace and Assembly modes in Fully-Parallel Manipulators : A Descriptive Study

Surgery assistance device