Parallel Manipulators

In recent years, parallel kinematics mechanisms have attracted a lot of attention from the academic and industrial communities due to potential applications not only as robot manipulators but also as machine tools. Generally, the criteria used to compare the performance of traditional serial robots and parallel robots are the workspace, the ratio between the payload and the robot mass, accuracy, and dynamic behaviour. In addition to the reduced coupling effect between joints, parallel robots bring the benefits of much higher payload-robot mass ratios, superior accuracy and greater stiffness; qualities which lead to better dynamic performance. The main drawback with parallel robots is the relatively small workspace. A great deal of research on parallel robots has been carried out worldwide, and a large number of parallel mechanism systems have been built for various applications, such as remote handling, machine tools, medical robots, simulators, micro-robots, and humanoid robots. This book opens a window to exceptional research and development work on parallel mechanisms contributed by authors from around the world. Through this window the reader can get a good view of current parallel robot research and applications

Modular and Analytical Methods for Solving Kinematics and Dynamics of Series-Parallel Hybrid Robots

While serial robots are known for their versatility in applications, larger workspace, simpler modeling and control, they have certain disadvantages like limited precision, lower stiffness and poor dynamic characteristics in general. A parallel robot can offer higher stiffness, speed, accuracy and payload capacity, at the downside of a reduced workspace and a more complex geometry that needs careful analysis and control. To bring the best of the two worlds, parallel submechanism modules can be connected in series to achieve a series-parallel hybrid robot with better dynamic characteristics and larger workspace. Such a design philosophy is being used in several robots not only at DFKI (for e.g., Mantis, Charlie, Recupera Exoskeleton, RH5 humanoid etc.) but also around the world, for e.g. Lola (TUM), Valkyrie (NASA), THOR (Virginia Tech.) etc.These robots inherit the complexity of both serial and parallel architectures. Hence, solving their kinematics and dynamics is challenging because they are subjected to additional geometric loop closure constraints. Most approaches in multi-body dynamics adopt numerical resolution of these constraints for the sake of generality but may suffer from inaccuracy and performance issues. They also do not exploit the modularity in robot design. Further, closed loop systems can have variable mobility, different assembly modes and can impose redundant constraints on the equations of motion which deteriorates the quality of many multi-body dynamics solvers. Very often only a local view to the system behavior is possible. Hence, it is interesting for geometers or kinematics researchers, to study the analytical solutions to geometric problems associated with a specific type of parallel mechanism and their importance over numerical solutions is irrefutable. Techniques such as screw theory, computational algebraic geometry, elimination and continuation methods are popular in this domain. But this domain specific knowledge is often underrepresented in the design of model based kinematics and dynamics software frameworks. The contributions of this thesis are two-fold. Firstly, a rigorous and comprehensive kinematic analysis is performed for the novel parallel mechanisms invented recently at DFKI-RIC such as RH5 ankle mechanism and Active Ankle using approaches from computational algebraic geometry and screw theory. Secondly, the general idea of a modular software framework called Hybrid Robot Dynamics (HyRoDyn) is presented which can be used to solve the geometry, kinematics and dynamics of series-parallel hybrid robotic systems with the help of a software database which stores the analytical solutions for parallel submechanism modules in a configurable and unit testable manner. HyRoDyn approach is suitable for both high fidelity simulations and real-time control of complex series-parallel hybrid robots. The results from this thesis has been applied to two robotic systems namely Recupera-Reha exoskeleton and RH5 humanoid. The aim of this software tool is to assist both designers and control engineers in developing complex robotic systems of the future. Efficient kinematic and dynamic modeling can lead to more compliant behavior, better whole body control, walking and manipulating capabilities etc. which are highly desired in the present day and future robotic applications

Assumptions, Efficiency and Trust in Non-Interactive Zero-Knowledge Proofs

Vi lever i en digital verden. En betydelig del av livene våre skjer på nettet, og vi bruker internett for stadig flere formål og er avhengig av stadig mer avansert teknologi. Det er derfor viktig å beskytte seg mot ondsinnede aktører som kan forsøke å utnytte denne avhengigheten for egen vinning. Kryptografi er en sentral del av svaret på hvordan man kan beskytte internettbrukere. Historisk sett har kryptografi hovedsakelig vært opptatt av konfidensiell kommunikasjon, altså at ingen kan lese private meldinger sendt mellom to personer. I de siste tiårene har kryptografi blitt mer opptatt av å lage protokoller som garanterer personvern selv om man kan gjennomføre komplekse handlinger. Et viktig kryptografisk verktøy for å sikre at disse protokollene faktisk følges er kunnskapsløse bevis. Et kunnskapsløst bevis er en prosess hvor to parter, en bevisfører og en attestant, utveksler meldinger for å overbevise attestanten om at bevisføreren fulgte protokollen riktig (hvis dette faktisk er tilfelle) uten å avsløre privat informasjon til attestanten. For de fleste anvendelser er det ønskelig å lage et ikke-interaktivt kunnskapsløst bevis (IIK-bevis), der bevisføreren kun sender én melding til attestanten. IIK-bevis har en rekke ulike bruksområder, som gjør de til attraktive studieobjekter. Et IIK-bevis har en rekke ulike egenskaper og forbedring av noen av disse fremmer vår kollektive kryptografiske kunnskap. I den første artikkelen i denne avhandlingen konstruerer vi et nytt ikke-interaktivt kunnskapsløst bevis for språk basert på algebraiske mengder. Denne artikkelen er basert på arbeid av Couteau og Hartmann (Crypto 2020), som viste hvordan man omformer et bestemt interaktivt kunnskapsløst bevis til et IIK-bevis. Vi følger deres tilnærming, men vi bruker et annet interaktivt kunnskapsløst bevis. Dette fører til en forbedring sammenlignet med arbeidet deres på flere områder, spesielt når det gjelder både formodninger og effektivitet. I den andre artikkelen i denne avhandlingen studerer vi egenskapene til ikke-interaktive kunnskapsløse bevis som er motstandsdyktige mot undergraving. Det er umulig å lage et IIK-bevis uten å stole på en felles referansestreng (FRS) generert av en pålitelig tredjepart. Men det finnes eksempler på IIK-bevis der ingen lærer noe privat informasjon fra beviset selv om den felles referansestrengen ble skapt på en uredelig måte. I denne artikkelen lager vi en ny kryptografisk primitiv (verifiserbart-uttrekkbare enveisfunksjoner) og viser hvordan denne primitiven er relatert til IIK-bevis med den ovennevnte egenskapen.We live in a digital world. A significant part of our lives happens online, and we use the internet for incredibly many different purposes and we rely on increasingly advanced technology. It therefore is important to protect against malicious actors who may try to exploit this reliance for their own gain. Cryptography is a key part of the answer to protecting internet users. Historically, cryptography has mainly been focused on maintaining the confidentiality of communication, ensuring that no one can read private messages sent between people. In recent decades, cryptography has become concerned with creating protocols which guarantee privacy even as they support more complex actions. A crucial cryptographic tool to ensure that these protocols are indeed followed is the zero-knowledge proof. A zero-knowledge proof is a process where two parties, a prover and a verifier, exchange messages to convince the verifier that the prover followed the protocol correctly (if indeed the prover did so) without revealing any private information to the verifier. It is often desirable to create a non-interactive zero-knowledge proof (NIZK), where the prover only sends one message to the verifier. NIZKs have found a number of different applications, which makes them an attractive object of study. A NIZK has a variety of different properties, and improving any of these aspects advances our collective cryptographic knowledge. In the first paper in this thesis, we construct a new non-interactive zero-knowledge proof for languages based on algebraic sets. This paper is based on work by Couteau and Hartmann (Crypto 2020), which showed how to convert a particular interactive zero-knowledge proof to a NIZK. We follow their approach, but we start with a different interactive zero-knowledge proof. This leads to an improvement compared to their work in several ways, in particular in terms of both assumptions and efficiency. In the second paper in this thesis, we study the property of subversion zero-knowledge in non-interactive zero-knowledge proofs. It is impossible to create a NIZK without relying on a common reference string (CRS) generated by a trusted party. However, a NIZK with the subversion zero-knowledge property guarantees that no one learns any private information from the proof even if the CRS was generated dishonestly. In this paper, we create a new cryptographic primitive (verifiably-extractable one-way functions) and show how this primitive relates to NIZKs with subversion zero-knowledge.Doktorgradsavhandlin

Automatische Konfiguration der Bewegungssteuerung von Industrierobotern

Robotersteuerungen erfordern sehr lange Entwicklungszeiten und hohe Entwicklungskosten. Die Software wird sehr aufwändig von Hand entwickelt und implementiert. Die automatische, schnelle und zuverlässige Konfiguration der Bewegungssteuerung von beliebigen Robotertypen ist neuartig. Hierfür wurde in dieser Arbeit ein System zur automatisierten Konfiguration komponentenbasierter Software auf Basis einer Beschreibung der mechanischen Struktur und Eigenschaften von Industrierobotern entwickelt

Expanding the Horizons of Manufacturing: Towards Wide Integration, Smart Systems and Tools

This research topic aims at enterprise-wide modeling and optimization (EWMO) through the development and application of integrated modeling, simulation and optimization methodologies, and computer-aided tools for reliable and sustainable improvement opportunities within the entire manufacturing network (raw materials, production plants, distribution, retailers, and customers) and its components. This integrated approach incorporates information from the local primary control and supervisory modules into the scheduling/planning formulation. That makes it possible to dynamically react to incidents that occur in the network components at the appropriate decision-making level, requiring fewer resources, emitting less waste, and allowing for better responsiveness in changing market requirements and operational variations, reducing cost, waste, energy consumption and environmental impact, and increasing the benefits. More recently, the exploitation of new technology integration, such as through semantic models in formal knowledge models, allows for the capture and utilization of domain knowledge, human knowledge, and expert knowledge toward comprehensive intelligent management. Otherwise, the development of advanced technologies and tools, such as cyber-physical systems, the Internet of Things, the Industrial Internet of Things, Artificial Intelligence, Big Data, Cloud Computing, Blockchain, etc., have captured the attention of manufacturing enterprises toward intelligent manufacturing systems

Proceedings of the 22nd Conference on Formal Methods in Computer-Aided Design – FMCAD 2022

The Conference on Formal Methods in Computer-Aided Design (FMCAD) is an annual conference on the theory and applications of formal methods in hardware and system verification. FMCAD provides a leading forum to researchers in academia and industry for presenting and discussing groundbreaking methods, technologies, theoretical results, and tools for reasoning formally about computing systems. FMCAD covers formal aspects of computer-aided system design including verification, specification, synthesis, and testing