Abstract: An approach for solving a global optimization problem is described. Specifically, one embodiment of the disclosure sets forth a method, which includes the steps of receiving a quantitative initial solution, generating a quantitative feasible solution, mapping the quantitative feasible solution to a qualitative feasible solution, determining whether to accept the qualitative feasible solution based on a first predetermined rule, wherein the qualitative feasible solution that is accepted is reverse mapped to the quantitative feasible solution, and transmitting a result of the determining step.

Abstract: An approach for solving a global optimization problem is described. Specifically, one embodiment of the disclosure sets forth a method, which includes the steps of receiving a quantitative initial solution, generating a quantitative feasible solution, mapping the quantitative feasible solution to a qualitative feasible solution, determining whether to accept the qualitative feasible solution based on a first predetermined rule, wherein the qualitative feasible solution that is accepted is reverse mapped to the quantitative feasible solution, and transmitting a result of the determining step.

Abstract: The present invention provides a reconfigurable modular drive joint that can be used as the basis for building and configuring robotic and automated systems as an interconnected network of individual nodes, with each node representing a single modular joint. Each modular joint can be quickly set up in either a roll, pitch or yaw configuration. A large number of different robot structures can be built using a small number of the modular joints in any of these three configurations. The modules are equipped with quick-connect mechanisms so that a new robot structure can be assembled in a few minutes. A robot or other automated system assembled from such modular joints is a true reconfigurable and modular system. The control system is decentralized. Each modular joint is provided with its own built-in control system and electronics. The modular joints each include a motor and associated sensors.