CISE Research Instrumentation

该奖项将提供一种工业机器人手臂，用于三个项目。ARM将由明尼苏达大学当地提供的并行计算机控制。研究项目涉及纠错、运动规划和控制。所有这些问题都可以利用并行计算机的额外能力，前提是这种能力可以通过算法来利用。因此，本研究围绕分布式存储多处理环境中这些领域的算法开发展开。用于控制机器人的许多算法在计算上都很昂贵。以合理的成本提供额外计算能力的一种方法是使用并行计算机。该研究奖旨在提供一种输出设备(机械臂)，用于研究使用并行计算机的机器人控制算法。这些计算机已经存在于明尼苏达大学，因此该奖项丰富了并行计算研究环境，并将导致在有效利用机器人设备的适当硬件/软件配置方面取得成果。

This award will provide an industrial robot arm to be used in three projects. The arm will be controlled by parallel computers available locally at the University of Minnesota. The research projects deal with error correction, motion planning, and control. All of these problems can use the added power of a parallel computer provided that that power can be algorithmically utilized. Thus the research revolves around algorithm development in these areas for a distributed memory multiprocessing environment. Many algorithms used in controlling robots are computationally expensive. One means of providing additional computational power for a reasonable cost is to use parallel computers. This research award is to provide an output device (a robot arm) for use in the investigation of robot control algorithms using parallel computers. The computers already exist at the University of Minnesota so this award enriches the parallel computing research environment and will lead to results on the appropriate hardware/software configurations for effective utilization of robotic devices.