Cooperative Adaptive Control for Cloud-Based Robotics

This paper studies collaboration through the cloud in the context of cooperative adaptive control for robot manipulators. We first consider the case of multiple robots manipulating a common object through synchronous centralized update laws to identify unknown inertial parameters. Through this development, we introduce a notion of Collective Sufficient Richness, wherein parameter convergence can be enabled through teamwork in the group. The introduction of this property and the analysis of stable adaptive controllers that benefit from it constitute the main new contributions of this work. Building on this original example, we then consider decentralized update laws, time-varying network topologies, and the influence of communication delays on this process. Perhaps surprisingly, these nonidealized networked conditions inherit the same benefits of convergence being determined through collective effects for the group. Simple simulations of a planar manipulator identifying an unknown load are provided to illustrate the central idea and benefits of Collective Sufficient Richness.Comment: ICRA 201

Learning to Tango: Sustainable development and the multidisciplinary dream

It is widely accepted that the creation of a sustainable future will require considerable collaboration between a range of academic and professional disciplines. This need is usually expressed in calls for the formation of multidisciplinary teams that are designed to explore the issues and develop our understanding of the problem space. However, there would appear to be few attempts to understand how such teams operate and how they should be managed. This paper explores collective music making as a useful metaphor for understanding the role of specialist skills, of generalist, management and support skills and the way they could be harnessed so that each is able to provide the right contribution at the right time ensuring that all contributions intertwine to create a powerful song. In unpacking the multidisciplinary bag, the paper draws on the author’s experience and observations in both collective music making and the development of regulatory structures and technologies for sustainable housing. It provides a reflective reassessment of the nature of multidisciplinary working and how, with a much deeper understanding of the difficulties involved, multidisciplinary approaches can be enabled so as to deliver the solutions required for a more sustainable world

Designing Institutional Infrastructure for E-Science

A new generation of information and communication infrastructures, including advanced Internet computing and Grid technologies, promises more direct and shared access to more widely distributed computing resources than was previously possible. Scientific and technological collaboration, consequently, is more and more dependent upon access to, and sharing of digital research data. Thus, the U.S. NSF Directorate committed in 2005 to a major research funding initiative, “Cyberinfrastructure Vision for 21st Century Discovery”. These investments are aimed at enhancement of computer and network technologies, and the training of researchers. Animated by much the same view, the UK e-Science Core Programme has preceded the NSF effort in funding development of an array of open standard middleware platforms, intended to support Grid enabled science and engineering research. This proceeds from the sceptical view that engineering breakthroughs alone will not be enough to achieve the outcomes envisaged. Success in realizing the potential of e-Science—through the collaborative activities supported by the "cyberinfrastructure," if it is to be achieved, will be the result of a nexus of interrelated social, legal, and technical transformations.e-science, cyberinfrastructure, information sharing, research

Remote Real-Time Collaboration Platform enabled by the Capture, Digitisation and Transfer of Human-Workpiece Interactions

In this highly globalised manufacturing ecosystem, product design and verification activities, production and inspection processes, and technical support services are spread across global supply chains and customer networks. Therefore, a platform for global teams to collaborate with each other in real-time to perform complex tasks is highly desirable. This work investigates the design and development of a remote real-time collaboration platform by using human motion capture technology powered by infrared light based depth imaging sensors borrowed from the gaming industry. The unique functionality of the proposed platform is the sharing of physical contexts during a collaboration session by not only exchanging human actions but also the effects of those actions on the task environment. This enables teams to remotely work on a common task problem at the same time and also get immediate feedback from each other which is vital for collaborative design, inspection and verifications tasks in the factories of the future

Independent Evaluation of the Jim Joseph Foundation's Education Initiative Final Report

The Jim Joseph Foundation created the Education Initiative to increase the number of educators and educational leaders who are prepared to design and implement high-quality Jewish education programs. The Jim Joseph Foundation granted $45 million to three premier Jewish higher education institutions (each institution received$15 million) and challenged them to plan and implement programs that used new content and teaching approaches to increase the number of highly qualified Jewish educators serving the field. The three grantees were Hebrew Union College–Jewish Institute of Religion (HUC-JIR), the Jewish Theological Seminary (JTS), and Yeshiva University (YU). The grant covered program operation costs as well as other costs associated with institutional capacity building. The majority of the funds (75 percent) targeted program planning and operation. The grantees designed and piloted six new master's degree and doctoral degree programs or concentrations;1 eight new certificate, leadership, and professional development programs;2 two new induction programs;3 and four new seminars within the degree programs. 4 The Education Initiative also supported financial assistance for students in eight other advanced degree programs. 5 The grantees piloted innovative teaching models and expanded their use of educational technology in the degree and professional development programs. According to the theory of change that drives the Jim Joseph Foundation's Education Initiative, five types of activities must take place if higher education institutions are to successfully enhance the Jewish education workforce. These activities include (1) improved marketing and recruitment of talented individuals into ongoing education programs, (2) a richer menu of programs requiring different commitments of time to complete and offering varying content, (3) induction programs to support program participants' transition to new employment settings, (4) well-planned and comprehensive strategies for financial sustainability, and (5) interinstitutional collaboration. As shown in Exhibit 1, the five types of activities are divided into two primary categories. The first category (boxes outlined in green) addresses the delivery of programs that provide educators and educational leaders with research-based and theory-based knowledge and vetted instructional tools. The second category (boxes outlined in orange) is not programmatic; rather, it involves sharing knowledge, building staff capabilities, enhancing management structures, and providing technological and financial support to enable the development of quality programming that is sustainable after the grant ends