Papers by Stephen J Buckley
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IBM Systems Journal, 2005
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Proceedings IEEE International Symposium on Intelligent Control 1988
A planning program which synthesizes compliant motion strategies, in which an object in the grasp... more A planning program which synthesizes compliant motion strategies, in which an object in the grasp of a robot slides along obstacles in an attempt to reach a goal region, is described. The input to the planner is a model of the task geometry, a start region, and a goal region. To make the planning problem tractable, the task geometry is reduced to a finite state space, whose states are collections of vertices, edges, and faces from the configuration space of the robot. Strategy synthesis is complicated by uncertainty in the starting configuration of the robot and in robot sensing and control. The planner synthesizes compliant motions which are guaranteed to perform state transitions despite uncertainty. Using best first search, compliant motions are synthesized until a strategy is found from the start state to a goal state. A double-hole environment for which the planner produced a compliant motion strategy is shown. The planner was also tested successfully on two other configuration space environments, a cube and a single hole. The single-hole strategy was successfully executed on an IBM 7565 robot. The implemented program represents the first general-purpose compliant motion planner to generate multistep strategies.<<ETX>>
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: This thesis presents a new high level robot programming system. The programming system is used ... more : This thesis presents a new high level robot programming system. The programming system is used to construct strategies consisting of compliant motions, in which a moving robot slides along obstacles in its environment. The programming system is high level because the user is spared of many robot-level details, such as the specification of conditional tests, motion termination conditions, and compliance parameters. The user specifies task-level information, including a geometric model of the robot and its environment. The user may have to specify some suggested motions. There are two mains system components. The first is an interactive teaching system which accepts motion commands from a user and attempts to build a compliant motion strategy using the specified motions as building blocks. The second is an autonomous compliant motion planner, which is intended to spare the user from dealing with simple problems. The planner simplifies the representation of the environment by decompo...
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It has become a matter of survival that many companies improve their supply chain efficiency. Thi... more It has become a matter of survival that many companies improve their supply chain efficiency. This presents an opportunity for simulation. However, there are many challenges that must be overcome for simulation to be a contributor to play an effective role. Four contributors discuss the opportunities that they see for simulation to play a meaningful role in the area of supply chain management.
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Proceedings, 1989 International Conference on Robotics and Automation
... References 1. 2. 3. 4. 5. 6. 7. 8. Erdmann, M., and Lozano-Pbrez, T. 1987. "On MultipleM... more ... References 1. 2. 3. 4. 5. 6. 7. 8. Erdmann, M., and Lozano-Pbrez, T. 1987. "On MultipleMoving Robots", Algorithmica 2(4), pp. 477-521. Kant, K., and Zucker, S. 1984. ... ISRR. Schwartz, J., and Sharir, M. 1982. "On the Piano Movers Proh-lem: 11. ...
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National Conference on Artificial Intelligence, 1988
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Aaai, 1988
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Proceedings of the 2004 Winter Simulation Conference, 2004., 2004
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Proceedings of the 2003 International Conference on Machine Learning and Cybernetics (IEEE Cat. No.03EX693), 2003
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CAD/CAM Robotics and Factories of the Future, 1989
A compliant motion causes an object in the grasp of a robot to slide along obstacles in its envir... more A compliant motion causes an object in the grasp of a robot to slide along obstacles in its environment, using them as a guide to a goal region. This type of motion is particularly useful for parts mating.
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The fast emerging electronic commerce and dynamically changing business environments are placing ... more The fast emerging electronic commerce and dynamically changing business environments are placing strong requirements on supply chain analysis modeling and simulation tools. Ability to model the dynamics of supply chain activities effectively and implement simulation on networked and distributed computing environment with extensibility will be among the most important capabilities of such tools. This paper describes the design and implementation of a supply chain modeling and simulation environment based on DEVS framework running in CORBA run time infrastructure at IBM Research. The supply chain modeling and simulation software tool helps companies make strategic business decisions about the design and operation of its supply chain. The design requirements include scalable and efficient model execution and support for flexible future extensibility based on an open industry standard.
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IEEE International Conference on E-Commerce Technology for Dynamic E-Business, 2004
Business process technology has been one of the drivers and enablers of business transformation i... more Business process technology has been one of the drivers and enablers of business transformation in the last decade. In essence, a business process represents a specific way of executing and coordinating business activities. Middleware that can help model and execute business processes along with integrating those processes with multiple vendor applications has been used widely in many large enterprises, and
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Proceedings of the ninth ACM SIGKDD international conference on Knowledge discovery and data mining - KDD '03, 2003
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WSC'99. 1999 Winter Simulation Conference Proceedings. 'Simulation - A Bridge to the Future' (Cat. No.99CH37038), 1999
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IEEE Transactions on Components, Hybrids, and Manufacturing Technology, 1990
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1998 Winter Simulation Conference. Proceedings (Cat. No.98CH36274), 1998
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Papers by Stephen J Buckley