A system includes a robot with a robot arm having multiple joints and an end effector to carry a substrate. A processing device is to build, with respect to a joint space for the multiple joints and the end effector, a graph of reachable positions and sub-paths between the reachable positions, wherein the reachable positions and the sub-paths satisfy Cartesian limits within the joint space. The processing device is to determine, by executing a graph optimization algorithm on the graph, multiple paths, each made up of a group of the sub-paths and having one of a shortest distance or a lowest cost between a start point and an end point of the end effector. The processing device is to select a path, of the multiple paths, through the graph that minimizes a move time of the end effector between the start point and the end point.

A system including a power plant having thermal generating units that operate according to multiple possible operating modes, which are differentiated by a unique operational or maintenance schedule. The system further includes a hardware processor and machine readable storage medium on which is stored instructions that cause the hardware processor to execute a process related to optimizing the operational or maintenance schedule during a selected operating period. The process may include: receiving the selected operating period; selecting competing operating modes for the power plant during the selected operating period according to a selection criteria; simulating the operation of the power plant during the selected operating period for each of the competing operating modes and deriving simulation results therefrom; evaluating each of the simulation results pursuant to a cost function and, based thereupon, designating at least one of the competing operating modes as an optimized operating mode.

A system includes a robot with a robot arm having multiple joints and an end effector to carry a substrate. A processing device is to build, with respect to a joint space for the multiple joints and the end effector, a graph of reachable positions and sub-paths between the reachable positions, wherein the reachable positions and the sub-paths satisfy Cartesian limits within the joint space. The processing device is to determine, by executing a graph optimization algorithm on the graph, multiple paths, each made up of a group of the sub-paths and having one of a shortest distance or a lowest cost between a start point and an end point of the end effector. The processing device is to select a path, of the multiple paths, through the graph that minimizes a move time of the end effector between the start point and the end point.

A system includes a robot arm with multiple joints and one or more end effector to carry a substrate. A processing device determines, within joint space of the robot arm, start/end points of the one or more end effector for a complete movement. The processing device builds, in joint space for the multiple joints and the one or more end effector, a graph of reachable positions and sub-paths between the reachable positions that satisfy Cartesian limits. The reachable positions are identified at a granularity that divides the complete movement into multiple sub-movements. The processing device executes a graph optimization algorithm on the graph to determine multiple paths, each a group of the sub-paths, that have one of shortest distances or lowest costs between the start/end points, and selects a path thereof that minimizes move time of the one or more end effector between the start/end points.

In one embodiment, a tangible, non-transitory computer readable medium stores instructions that, when executed by a processor, cause the processor to receive one or more inputs relating to mechanical design and desired motion of an industrial machine and iteratively generate an enhanced motion profile until it converges to a motion profile within boundaries based on the one or more inputs, and that minimize energy cost. The enhanced motion profile reduces energy consumption when applied to a motor drive to control a motor connected to the industrial machine. The instructions, when executed by the processor, may also cause the processor to apply the enhanced motion profile to the motor drive to control the motor connected to the industrial machine.

The invention relates to a system for generating sets of control data for networked robots, comprising a plurality of robots (R.sub.i), wherein i=1, 2, 3, . . . , n, and n≧2, an optimizer (OE) and a database (DB), which are networked via a data network, wherein each robot (R.sub.i) comprises at least: a control unit (SE.sub.i) for controlling and/or regulating the robot (R.sub.i); a storage unit (SPE.sub.i) for controlling sets of control data SD.sub.i(A.sub.k), which in each case enable the control of the robot (R.sub.i) in accordance with a predetermined task (A.sub.k), wherein k=1, 2, 3, . . . , m; a unit (EE.sub.i) for specifying a new task A.sub.m+1 for the robot (R.sub.i), wherein A.sub.m+1≠A.sub.k; a unit (EH.sub.i) for determining a set of control data SD,(A.sub.m+1) for execution of the task (A.sub.m+1) by the robot (R.sub.i), an evaluation unit (BE.sub.i), which evaluates the set of control data SD.sub.i(A.sub.m+1) determined by the unit (EH.sub.i), with regard to at least one parameter (P1) with the characteristic number K.sub.P1(SD.sub.i(A.sub.m+1)), and a communication unit (KE.sub.i) for communication with the optimizer (OE) and/or the database (DB) and/or other robots (R.sub.j≠i), the optimizer (OE), which is designed and configured in order to determine, upon request by a robot (R.sub.i), at least one optimized set of control data SD.sub.i,P2(A.sub.m+1) with regard to at least one predetermined parameter (P2), wherein the request by the robot (R.sub.i) occurs when the characteristic number K.sub.P1(SD.sub.i(A.sub.m+1) does not meet a predetermined condition, and the data base (DB) stores the set of control data SD.sub.i,P2(A.sub.m+1) optimized by the optimizer (OE) and provides it to the robot (R.sub.i) for execution of the task (A.sub.m+1).

A system and approach for diagnostic visualizations of, for example, building control systems data. A focus may be on a similarity metric for comparing operations among sites relative to energy consumption. Normalizing factors may be used across sites with varying equipment consumption levels to be compared automatically. There may also be a high level overview of an enterprise of sites. For instance, consumption totals of the sites may be normalized by site size and length of time of a billing period to identify such things as outlier sites. One may use a main view of geographic distribution dynamically linked to subviews showing distribution by size, by aggregated climate, and so on. With these views, one may quickly drill through the enterprise and identify sites of interest for further investigation. A key metric may be intensity which invokes viewing virtually all sites by normalized consumption for a unit amount of time.

A control system for an energy storage system located behind a utility meter uses a unique, feedback-based, communication and control method to reliably and efficiently maximize economic return of the energy storage system. Operating parameters for the energy storage system are calculated at an external, centralized data center, and are selected to prevent electrical power demand of an electric load location from exceeding a specified set-point by discharging energy storage devices, such as DC batteries, through a bidirectional energy converter during peak demand events. The control system can operate autonomously in the case of a communications failure.

An inverse kinematics solving method for redundant robot as well as a redundant robot using the same are provided. The method includes: obtaining an expression of a Jacobian matrix null space of a current configuration of each robotic arm of the redundant robot corresponding to a preset end pose of the robotic arm according to the preset end pose, and obtaining a relation between an angular velocity of the joints of the redundant robot in the Jacobian matrix null space of the current configuration based on the obtained expression; traversing the Jacobian matrix null space using the relation, and building an energy cost function of the redundant robot based on the relation; obtaining a target joint angle of each joint of the redundant robot based on the optimal inverse kinematics solution to transmit to the servo of the joint so as to control the joint.

A control system for an energy storage system located behind a utility meter uses a unique, feedback-based, communication and control method to reliably and efficiently maximize economic return of the energy storage system. Operating parameters for the energy storage system are calculated at an external, centralized data center, and are selected to prevent electrical power demand of an electric load location from exceeding a specified set-point by discharging energy storage devices, such as DC batteries, through a bidirectional energy converter during peak demand events. The control system can operate autonomously in the case of a communications failure.