Warren B. Jackson

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— The general solution to constrained linear and piecewise linear model predictive control (MPC) has recently been explicitly characterized in terms of piecewise linear (PWL) state feedback control. This means that a PWL controller can be precomputed using parametric programming, and the exact explicit MPC implementation amounts to the evaluation of a PWL(More)
This paper presents an overview of the Xerox PARC levitating media transport, including initial experimental results. The levitating media transport is a closed-loop MEMS-based motion control system that employs 12 in. x 12 in. arrays of directed air jets to levitate and control the motion of planar objects, such as sheets of paper, without contacting them.(More)
Continuous constrained optimization is at the core of many real-world applications such as planning, scheduling, control, and diagnosis of physical systems (car, planes, factories). Effective constraint-based techniques must handle the complexity of real-world continuous constraint problems by dynamically adapting solvers to the structure of the problem.(More)
Hyper-redundant robotic manipulators are robots that have many more degrees of freedom than required for a task such as grasping an object in 3D space. The large number of joints, possibly ranging from dozens to thousands, offers both challenges and opportunities for control of such robots. A challenge is to develop algorithms that scale and adapt to(More)
— Solutions to constrained linear and hybrid model predictive control (MPC) can be explicitly characterized in terms of piecewise linear (PWL) state feedback control. A PWL controller is pre-computed using parametric programming , and the exact explicit MPC implementation corresponds to the evaluation of a PWL function in the control unit. It has recently(More)
Continuous constraint satisfaction is at the core of many real-world applications. One example is in the control of modular, hyper-redundant robots, which are robots with many more degrees of freedom than required for typical tasks. Casting the control problem as a constraint problem is a promising approach for robustly handling a variety of non-standard(More)
Hyper-redundant robotic manipulators are robots that have many more degrees of freedom than required for a typical task such as grasping an object in 3D space. The large number of joints, which may range from dozens to thousands, offers both opportunities and challenges for the control of such robots. An opportunity is to use the extra degrees of freedom to(More)
The remarkable increase in computer capabilities per unit price has led to an explosion of computer applications in processing information. Similarly, the significant increase in sensor and actuator capabilities per unit price now under way combined with the aforementioned computer advances will enable a rapid increase in the number of control systems,(More)
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