Anthony Maciejewski

Anthony Maciejewski
Colorado State University | CSU · Department of Electrical & Computer Engineering

PhD

About

318
Publications
32,159
Reads
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7,072
Citations
Additional affiliations
August 2001 - present
Colorado State University
Position
  • Faculty: Colorado State University
June 1988 - July 2001
Purdue University
Position
  • Faculty: Purdue University
January 1979 - December 1987
The Ohio State University
Position
  • Student: The Ohio State University

Publications

Publications (318)
Article
This article considers the problem of planning a trajectory that maximizes the probability that a robot will be able to complete a set of point-to-point tasks, after experiencing locked joint failures. The proposed approach first develops a method to calculate the probability of task failure for an arbitrary trajectory based on its failure scenario...
Article
An emission rate-based carbon tax is applied to fossil-fueled generators with a demand response approach called Smart Grid resource allocation (SGRA). The former reduces the capacity factors (CFs) of base load serving fossil-fueled units, while the latter reduces the CFs of peak load serving units. The objective is to quantify the integration of th...
Article
Full-text available
One measure of the global fault tolerance of a redundant robot is the size of its self-motion manifold. If this size is defined as the range of its joint angles, then the optimal self-motion manifold size for an n-degree-of-freedom (DoF) robot is n2\pi, which is not typical for existing robot designs. This paper presents a novel two-step algorithm...
Article
Contribution: This article presents quantitative support that the changes implemented as part of Colorado State University's (CSU's) Revolutionizing Engineering Departments (REDs) grant produce statistically significant positive change through a series of nonparametric analysis techniques. Additionally, the set of nonparametric analysis techniques...
Article
Full-text available
One measure of a robot's fault tolerance is the size of its self-motion manifold. This paper presents a new methodology for finding the largest self-motion manifold(s) of kinematically redundant robots, that consists of two algorithms. Because large self-motion manifolds occur near singular configurations, the first algorithm is designed to identif...
Article
This paper discusses an integrated approach to electrical‐engineering education that incorporates computer‐assisted MATLAB‐based instruction and learning into the junior‐level electromagnetics course and newly created learning studio modules (LSMs). In this model, creativity class sessions are followed by two comprehensive and rather challenging mu...
Article
The recent proliferation and associated high electricity costs of distributed data centers have motivated researchers to study energy-cost minimization at the geo-distributed level. The development of time-of-use (TOU) electricity pricing models and renewable energy source models has provided the means for researchers to reduce these high energy co...
Conference Paper
The ability to effectively track moving targets is a critical capability for future autonomous aircraft. While many methods have been developed for performing target tracking, minimal work has focused on fuel-efficient options to extend mission duration. The ability to tightly track a target is critical for certain missions; however, increased trac...
Article
With the increases in complexity and number of nodes in large-scale high performance computing (HPC) systems over time, the probability of applications experiencing runtime failures has increased significantly. Projections indicate that exascale-sized systems are likely to operate with mean time between failures (MTBF) of as little as a few minutes...
Article
A measure of fault tolerance for different joint failure probabilities is defined based on the properties of the singular values of the Jacobian after failures. Using this measure, methods to design optimally fault tolerant robots for an arbitrary set of joint failure probabilities and multiple cases of joint failure probabilities are introduced se...
Article
The worth of completing parallel tasks is modeled using utility functions, which monotonically-decrease with time and represent the importance and urgency of a task. These functions define the utility earned by a task at the time of its completion. The performance of a computing system is measured as the total utility earned by all completed tasks...
Conference Paper
Full-text available
Significant development in path planning algorithms for unmanned aerial vehicles (UAVs) has been performed using numerous different methods. One such method, Partially Observable Markov Decision Processes (POMDP), has been used effectively for tracking fixed and moving targets. One limitation of those efforts has been the assumption that the UAVs c...
Article
A measure of local fault tolerance for kinematically redundant robots has previously been defined based on the properties of the singular values of the Jacobian matrix. Based on these measures, one can determine a Jacobian that is optimal. Because these measures are solely based on the singular values of the Jacobian, permutation of the columns doe...
Article
Today's data centers contain large numbers of compute nodes that require substantial power, and therefore require a large amount of cooling resources to operate at a reliable temperature. The high power consumption of the computing and cooling systems produces extraordinary electricity costs, requiring some data center operators to be constrained b...
Article
Full-text available
Our diverse team of educators at Colorado State University are redefining what it means to teach and learn in the Department of Electrical and Computer Engineering. Supported by a five-year “RED” grant from the National Science Foundation, we are, in effect, throwing away courses to overcome the challenges of the current engineering educational sys...
Chapter
This chapter relates a strategy that emerged from a larger effort of a land-grant institution in the U.S. to more rapidly increase the number of international students on campus and diversify its student body through the development and implementation of pathway programs. Pathway students are international students that do not meet the criteria for...
Article
Robots designed for space applications, deep sea applications, handling of hazardous material and surgery should ideally be able to handle as many potential faults as possible. This paper provides novel indices for fault tolerance analysis of redundantly actuated parallel robots. Such robots have the potential for higher accuracy, improved stiffnes...
Article
Full-text available
Multicore processors have become an integral part of modern large-scale and high-performance parallel and distributed computing systems. Unfortunately, applications co-located on multicore processors can suffer from decreased performance and increased dynamic energy use as a result of interference in shared resources, such as memory. As this interf...
Article
Full-text available
Cloud computing has enabled entirely new business models for high-performance computing. Having a dedicated local high-performance computer is still an option for some, but more are turning to cloud computing resources to fulfill their high-performance computing needs. With cloud computing it is possible to tailor your computing infrastructure to p...
Conference Paper
We utilize a for-profit aggregator-based residential demand response (DR) approach to the smart grid resource allocation problem. The aggregator entity, using a given set of schedulable residential customer assets (e.g., smart appliances), must set a schedule to optimize for a given objective. Here, we consider optimizing for the profit of the aggr...
Article
Real-time pricing (RTP) is a utility-offered dynamic pricing program to incentivize customer to make changes in their energy usage. A home energy management system (HEMS) automates the energy usage in a smart home in response to utility pricing signals. We present three new HEMS techniques —one myopic approach and two non-myopic partially observabl...
Conference Paper
Cooperating robotic systems, especially in the context of fault-tolerance of complex robotic mechanisms, is an important question for theoretical and applied studies. In this paper, we focus on one measure of fault tolerance in robots, namely, the multiplicity of the configurations for reaching a particular point in the workspace, which is difficul...
Article
The 21st century electric power grid is transforming with an unprecedented increase in demand and increase in new technologies. In the United States Energy Independence and Security Act of 2007, Title XIII sets the tenets for modernizing the electricity grid through what is known as the ?Smart Grid Initiative.? This initiative calls for increased d...
Article
Full-text available
The use of unmanned aerial systems (UASs) in both the public and military environments is predicted to grow significantly. As the demand for UASs grows, the availability of more robust and capable vehicles that can perform multiple mission types will be needed. In the public sector, the demand will grow for UASs to be used for agriculture, forestry...
Article
Full-text available
This chapter focuses on redundancy resolution schemes, i. e., the techniques for exploiting the redundant degrees of freedom in the solution of the inverse kinematics problem. This is obviously an issue of major relevance for motion planning and control purposes. In particular, task-oriented kinematics and the basic methods for its inversion at the...
Data
CSV data files for reproducing the results.
Data
C++ source code for the implementation of the algorithms.
Article
Full-text available
The rising costs and demand of electricity for high-performance computing systems pose difficult challenges to system administrators that are trying to simultaneously reduce operating costs and offer state-of-the-art performance. However, system performance and energy consumption are often conflicting objectives. Algorithms are necessary to help sy...
Conference Paper
The proliferation of distributed data centers has recently motivated researchers to study energy cost minimization at the geo-distributed level. Researchers have been using models for time-of-use (TOU) electricity pricing and renewable energy sources to help reduce energy costs when performing geographical workload distribution, but have made overs...
Article
Full-text available
Resource management for large-scale high performance computing systems pose difficult challenges to system administrators. The extreme scale of these modern systems require task scheduling algorithms that are capable of handling at least millions of tasks and thousands of machines. These large computing systems consume vast amounts of electricity l...
Article
We utilize a for-profit aggregator-based residential demand response (DR) approach to the smart grid resource allocation problem. The aggregator entity, using a given set of schedulable residential customer assets (e.g., smart appliances), must set a schedule to optimize for a given objective. Here, we consider optimizing for the profit of the aggr...
Article
It is well known that anthropomorphic manipulators, such as the PA-10, are intolerant to a single locked joint failure of the elbow. This is because the elbow is the only joint that can change the distance between the spherical shoulder joint and the spherical wrist. In this work, it is shown how such arms can be made significantly more fault toler...
Article
Timothy M. Hansen received his B.S. degree in Computer Engineering from the Milwaukee School of Engineering in 2011. He is currently a Ph.D. candidate in the Department of Electrical and Computer Engineering at Colorado State University, working in the Robust Computing and Advanced Power Engineering Laboratory groups. His research interests include...
Article
Today’s data centers face the issue of balancing electricity use and completion times of their workloads. Rising electricity costs are forcing data center operators to either operate within an electricity budget or to reduce electricity use as much as possible while still maintaining service agreements. Energy-aware resource allocation is one techn...
Article
The rapid increase in power consumption of high performance computing (HPC) systems has led to an increase in the amount of cooling resources required to operate these facilities at a reliable threshold. The cooling systems contribute a large portion of the total power consumption of the facility, thus driving up the costs of providing power to the...
Article
Many of today's data centers experience physical limitations on the power needed to run the data center. The first problem that we study is maximizing the performance (quantified by the reward collected for completing tasks by their individual deadlines) of a data center that is subject to total power consumption (of compute nodes and CRAC units) a...
Article
A local definition of fault tolerance, based on properties of the manipulator Jacobian, is used to generate the kinematics of seven degree-of-freedom (DOF) revolute joint manipulators. The measure of fault tolerance used is the smallest singular value over all possible Jacobians resulting from single locked joint failures. The canonical form for an...
Article
We model an oversubscribed heterogeneous computing system where tasks arrive dynamically and a scheduler maps the tasks to machines for execution. The environment and workloads are based on those being investigated by the Extreme Scale Systems Center at Oak Ridge National Laboratory. Utility functions that are designed based on specifications from...
Article
Full-text available
The creation of a Massive Multi-Player On-line Game (MMOG) has significant costs, such as maintenance of server rooms, server administration, and customer service. The capacity of servers in a client/server MMOG is hard to scale and cannot adjust quickly to peaks in demand while maintaining the required response time. To handle these peaks in deman...