Computer hardware and software for robotic control

The KSC has implemented an integrated system that coordinates state-of-the-art robotic subsystems. It is a sensor based real-time robotic control system performing operations beyond the capability of an off-the-shelf robot. The integrated system provides real-time closed loop adaptive path control of position and orientation of all six axes of a large robot; enables the implementation of a highly configurable, expandable testbed for sensor system development; and makes several smart distributed control subsystems (robot arm controller, process controller, graphics display, and vision tracking) appear as intelligent peripherals to a supervisory computer coordinating the overall systems

DeSyRe: on-Demand System Reliability

The DeSyRe project builds on-demand adaptive and reliable Systems-on-Chips (SoCs). As fabrication technology scales down, chips are becoming less reliable, thereby incurring increased power and performance costs for fault tolerance. To make matters worse, power density is becoming a significant limiting factor in SoC design, in general. In the face of such changes in the technological landscape, current solutions for fault tolerance are expected to introduce excessive overheads in future systems. Moreover, attempting to design and manufacture a totally defect and fault-free system, would impact heavily, even prohibitively, the design, manufacturing, and testing costs, as well as the system performance and power consumption. In this context, DeSyRe delivers a new generation of systems that are reliable by design at well-balanced power, performance, and design costs. In our attempt to reduce the overheads of fault-tolerance, only a small fraction of the chip is built to be fault-free. This fault-free part is then employed to manage the remaining fault-prone resources of the SoC. The DeSyRe framework is applied to two medical systems with high safety requirements (measured using the IEC 61508 functional safety standard) and tight power and performance constraints

Applying autonomy to distributed satellite systems: Trends, challenges, and future prospects

While monolithic satellite missions still pose significant advantages in terms of accuracy and operations, novel distributed architectures are promising improved flexibility, responsiveness, and adaptability to structural and functional changes. Large satellite swarms, opportunistic satellite networks or heterogeneous constellations hybridizing small-spacecraft nodes with highperformance satellites are becoming feasible and advantageous alternatives requiring the adoption of new operation paradigms that enhance their autonomy. While autonomy is a notion that is gaining acceptance in monolithic satellite missions, it can also be deemed an integral characteristic in Distributed Satellite Systems (DSS). In this context, this paper focuses on the motivations for system-level autonomy in DSS and justifies its need as an enabler of system qualities. Autonomy is also presented as a necessary feature to bring new distributed Earth observation functions (which require coordination and collaboration mechanisms) and to allow for novel structural functions (e.g., opportunistic coalitions, exchange of resources, or in-orbit data services). Mission Planning and Scheduling (MPS) frameworks are then presented as a key component to implement autonomous operations in satellite missions. An exhaustive knowledge classification explores the design aspects of MPS for DSS, and conceptually groups them into: components and organizational paradigms; problem modeling and representation; optimization techniques and metaheuristics; execution and runtime characteristics and the notions of tasks, resources, and constraints. This paper concludes by proposing future strands of work devoted to study the trade-offs of autonomy in large-scale, highly dynamic and heterogeneous networks through frameworks that consider some of the limitations of small spacecraft technologies.Postprint (author's final draft

Atomic-SDN: Is Synchronous Flooding the Solution to Software-Defined Networking in IoT?

The adoption of Software Defined Networking (SDN) within traditional networks has provided operators the ability to manage diverse resources and easily reconfigure networks as requirements change. Recent research has extended this concept to IEEE 802.15.4 low-power wireless networks, which form a key component of the Internet of Things (IoT). However, the multiple traffic patterns necessary for SDN control makes it difficult to apply this approach to these highly challenging environments. This paper presents Atomic-SDN, a highly reliable and low-latency solution for SDN in low-power wireless. Atomic-SDN introduces a novel Synchronous Flooding (SF) architecture capable of dynamically configuring SF protocols to satisfy complex SDN control requirements, and draws from the authors' previous experiences in the IEEE EWSN Dependability Competition: where SF solutions have consistently outperformed other entries. Using this approach, Atomic-SDN presents considerable performance gains over other SDN implementations for low-power IoT networks. We evaluate Atomic-SDN through simulation and experimentation, and show how utilizing SF techniques provides latency and reliability guarantees to SDN control operations as the local mesh scales. We compare Atomic-SDN against other SDN implementations based on the IEEE 802.15.4 network stack, and establish that Atomic-SDN improves SDN control by orders-of-magnitude across latency, reliability, and energy-efficiency metrics

Architecting Enterprise Applications for the Cloud: The Unicorn Universe Cloud Framework

© Springer International Publishing AG, part of Springer Nature 2018. Recent IT advances that include extensive use of mobile and IoT devices and wide adoption of cloud computing are creating a situation where existing architectures and software development frameworks no longer fully support the requirements of modern enterprise application. Furthermore, the separation of software development and operations is no longer practicable in this environment characterized by fast delivery and automated release and deployment of applications. This rapidly evolving situation requires new frameworks that support the DevOps approach and facilitate continuous delivery of cloud-based applications using micro-services and container-based technologies allowing rapid incremental deployment of application components. It is also becoming clear that the management of large-scale container-based environments has its own challenges. In this paper, we first discuss the challenges that developers of enterprise applications face today and then describe the Unicorn cloud framework (uuCloud) designed to support the development and deployment of cloud-based applications that incorporate mobile and IoT devices. We use a doctor surgery reservation application “Lekar” case study to illustrate how uuCloud is used to implement a large-scale cloud-based application

Apparatus and methods for manipulation and optimization of biological systems

The invention provides systems and methods for manipulating, e.g., optimizing and controlling, biological systems, e.g., for eliciting a more desired biological response of biological sample, such as a tissue, organ, and/or a cell. In one aspect, systems and methods of the invention operate by efficiently searching through a large parametric space of stimuli and system parameters to manipulate, control, and optimize the response of biological samples sustained in the system, e.g., a bioreactor. In alternative aspects, systems include a device for sustaining cells or tissue samples, one or more actuators for stimulating the samples via biochemical, electromagnetic, thermal, mechanical, and/or optical stimulation, one or more sensors for measuring a biological response signal of the samples resulting from the stimulation of the sample. In one aspect, the systems and methods of the invention use at least one optimization algorithm to modify the actuator's control inputs for stimulation, responsive to the sensor's output of response signals. The compositions and methods of the invention can be used, e.g., to for systems optimization of any biological manufacturing or experimental system, e.g., bioreactors for proteins, e.g., therapeutic proteins, polypeptides or peptides for vaccines, and the like, small molecules (e.g., antibiotics), polysaccharides, lipids, and the like. Another use of the apparatus and methods includes combination drug therapy, e.g. optimal drug cocktail, directed cell proliferations and differentiations, e.g. in tissue engineering, e.g. neural progenitor cells differentiation, and discovery of key parameters in complex biological systems

Management of Islanded Operation of Microgirds

Distributed generations with continuously growing penetration levels offer potential solutions to energy security and reliability with minimum environmental impacts. Distributed Generations when connected to the area electric power systems provide numerous advantages. However, grid integration of distributed generations presents several technical challenges which has forced the systems planners and operators to account for the repercussions on the distribution feeders which are no longer passive in the presence of distributed generations. Grid integration of distributed generations requires accurate and reliable islanding detection methodology for secure system operation. Two distributed generation islanding detection methodologies are proposed in this dissertation. First, a passive islanding detection technique for grid-connected distributed generations based on parallel decision trees is proposed. The proposed approach relies on capturing the underlying signature of a wide variety of system events on a set of critical system parameters and utilizes multiple optimal decision tress in a parallel network for classification of system events. Second, a hybrid islanding detection method for grid-connected inverter based distributed generations combining decision trees and Sandia frequency shift method is also proposed. The proposed method combines passive and active islanding detection techniques to aggregate their individual advantages and reduce or eliminate their drawbacks. In smart grid paradigm, microgrids are the enabling engine for systematic integration of distributed generations with the utility grid. A systematic approach for controlled islanding of grid-connected microgrids is also proposed in this dissertation. The objective of the proposed approach is to develop an adaptive controlled islanding methodology to be implemented as a preventive control component in emergency control strategy for microgrid operations. An emergency power management strategy for microgrid autonomous operation subsequent to inadvertent islanding events is also proposed in this dissertation. The proposed approach integrates microgrid resources such as energy storage systems, demand response resources, and controllable micro-sources to layout a comprehensive power management strategy for ensuring secure and stable microgrid operation following an unplanned islanding event. In this dissertation, various case studies are presented to validate the proposed methods. The simulation results demonstrate the effectiveness of the proposed methodologies