AThis domeu nr 2:-, bqeen appsoved l U11.`7 pub lea; aLcd sale; its distrlbution is uniimited. SUMAMRYAND CONCLUSIONS 1. INTRODUCTIONSeveral research groups across the country are Several concepts of modular robotic systems have been interested in the development of modular robotics systems. presented and developed over the past several years. For One issue pertaining to modular robotic systems is the practical operation, the system will need to be configured for integration of modules into a fully functional robot system. a particular application or task from a suite of available Two criteria for modules integration not previously modules. This integration requires the use of different investigated are the reliability and accuracy of the system. criteria on which to base the module selection. One of these This paper presents the results of the development of a criteria is the accuracy of the robotic system. Another framework for a "criterion" embodying these two modular criterion is the reliability of the system. In several robot characteristics.applications, both of these criteria are the over-riding Using a probabilistic representation of manipulator characteristics, including microelectronics assembly [11], kinematics and a reliability block diagram model of the space applications [31 and nuclear reactor maintenance [101. manipulator system, a Reliability Performance Index (RPI) This paper presents a framework for the formulation of a representing the probability of no hardware or sofiware reliability index, quantifying the statistical characteristics of failure and the manipulator achieving a specified position and modular robot system reliability and accuracy. orientation is developed. The RPI is tested with a case stud)y consisting of a three degree-of-freedom planar manipulator Nomenclature and Notation. The notation used in this paper assembled from a choice of six joint modules of varying follows standard statistical practice with the meanings of reliability and precision and a choice of six link module various terms defined as they are used. combinations of varying lengths and machining tolerances. A straight-line, square trajectory is specified and the RPI is 2. RELIABILITY PERFORMANCE INDEX FORMULA TION calculated for each combination of joint modules and links, a For a robotic system, failure can be defined as the total of 1296 different combinations. An Analysis of manipulator not reaching a commanded position and Variance (ANOVA) is performed on the results using the orientation (denoted together as the "pose" of the robot) different joint locations and link options as factors and the within a certain error bound. There are two basic causes for different joint modules and link options as factor levels. The this failure: variation in the kinematic parameters of the different factors are tested for significance and the Tukey robotic system, and/or a failure in the hardware or software of Studentized Range Test is performed to determin the system causing the robot not to achieve the commanded signif...
This paper describes an integrated evaluation of five supply-side and five demand-side electricity options conducted by the Central Hudson Gas & Electric Corporation (CHG&E).This evaluation involved performing decision-tree analyses of the present value of forecast-period revenue requirements using MIDAS (the Multiobjective Integrated Decision Analysis System) --a new, EPRI -devel oped, microcomputer-based utility system-planning and financial model [l].The results --obtained by comparing the results of high, medium, and low loadgrowth and fuel-price scenarios to those of a base case scenario --indicated that the demand-side options yielded a $4.3 million reduction in revenue requirements. By contrast, customer-owned generation yielded an expected increase in revenue requirements of $2.8 million. It was also noteworthy that the variation of outcomes --by load-growth and fuelprice scenario --was $21 million for demand-side options, compared to a range of $495 million for customer-owned generation.Thus the analysis indicated that demand-side options offered both a greater expected benefit and a significantly smaller variation in outcomes [2].
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