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Whether a task can be completed after a failure of one of the degrees-of-freedom of a redundant manipulator depends on the joint angle at which the failure takes place. It is possible to achieve fault tolerance by globally planning a trajectory that avoids unfavorable joint positions before a failure occurs. In this article, we present a trajectory planning(More)
Engineering design decisions inherently are made under risk and uncertainty. The characterization of this uncertainty is an essential step in the decision process. In this paper, we consider imprecise probabilities (e.g. intervals of probabilities) to express explicitly the precision with which something is known. Imprecision can arise from fundamental(More)
One of the most important parameters to consider when designing a manipulator is the number of degrees-of-freedom (DOFs). This article focuses on the question: How many DOFs are necessary and sufficient for fault tolerance and how should these DOFs be distributed along the length of the manipulator? A manipulator is fault tolerant if it can complete its(More)
A rapidly deployable manipulator system combines the flexibility of reconfigurable modular hardware with modular programming tools, allowing the user to rapidly create a manipulator which is custom-tailored for a given task. This article describes two main aspects of such a system, namely, the Reconfigurable Modular Manipulator System (RMMS) hardware and(More)
This paper presents the design of a localization system for a team of centimeter-scale robots that collaborate to map and explore unknown environments. The localization system uses ultrasound to measure the distance from each moving robot to three stationary robots that serve as beacons. From these distance measurements the position of the robots is derived(More)
In this paper, we combine modeling constructs from SysML and Modelica to improve the support for Model-Based Systems Engineering (MBSE). The Object Management Group has recently developed the Systems Modeling Language (OMG SysML™). This visual modeling language provides a comprehensive set of diagrams and constructs for modeling many common aspects of(More)
System development and integration with a sufficient maturity at entry into service is a competitive challenge in the aerospace sector. With the ever-increasing complexity of products, this can only be achieved using efficient model-based techniques for system design as well as for system testing. However, natural language requirements engineering is an(More)
This article introduces the concept of combining both form (CAD models) and behavior (simulation models) of mechatronic system components into component objects. By composing these component objects, designers automatically create a virtual prototype of the system they are designing. This virtual prototype, in turn, can provide immediate feedback about(More)
This paper introduces the concept of reconfigurable simulation models and describes how these models can be used to support simulation-based design. As in object-oriented programming , a reconfigurable model consists of a separate interface and multiple implementations. An AND-OR tree represents which implementations can be bound to each interface. From the(More)