Investigating Task Prioritization and Holistic Coordination using Relative Jacobian for Combined 3-Arm Cooperating Parallel Manipulators . and Frank Ibikunle

Abstract—A new modular relative Jacobian formulation for single end-effector control of combined 3-arm cooperating parallel manipulators is derived. It is based on a previous method of derivation for dual-arm robots, with the same approach of modularity and single end-effector control for combined manipulators. This paper will present this new formulation, as well as investigate task prioritization scheme to verify the claim that a single end-effector controller of combined manipulators will indeed implement a strict task prioritization, by intentionally adding more tasks. In addition, this paper will investigate a claim that the holistic approach to control of combined manipulators affords easier control coordination of each of the stand-alone components. Switching control from an individual manipulator control in the null space to relative control in the tasks space is shown to investigate the smoothness of task execution during switching. Simulation results using Gazebo 2.2.5 running in Ubuntu 14.04 is shown. Index Terms—Task prioritization, holistic control coordination, 3-arm cooperating parallel manipulators, single endeffector control, relative Jacobian, modular kinematic

Second Annual Workshop on Space Operations Automation and Robotics (SOAR 1988)

Papers presented at the Second Annual Workshop on Space Operation Automation and Robotics (SOAR '88), hosted by Wright State University at Dayton, Ohio, on July 20, 21, 22, and 23, 1988, are documented herein. During the 4 days, approximately 100 technical papers were presented by experts from NASA, the USAF, universities, and technical companies. Panel discussions on Human Factors, Artificial Intelligence, Robotics, and Space Systems were held but are not documented herein. Technical topics addressed included knowledge-based systems, human factors, and robotics

A complex systems approach to education in Switzerland

The insights gained from the study of complex systems in biological, social, and engineered systems enables us not only to observe and understand, but also to actively design systems which will be capable of successfully coping with complex and dynamically changing situations. The methods and mindset required for this approach have been applied to educational systems with their diverse levels of scale and complexity. Based on the general case made by Yaneer Bar-Yam, this paper applies the complex systems approach to the educational system in Switzerland. It confirms that the complex systems approach is valid. Indeed, many recommendations made for the general case have already been implemented in the Swiss education system. To address existing problems and difficulties, further steps are recommended. This paper contributes to the further establishment complex systems approach by shedding light on an area which concerns us all, which is a frequent topic of discussion and dispute among politicians and the public, where billions of dollars have been spent without achieving the desired results, and where it is difficult to directly derive consequences from actions taken. The analysis of the education system's different levels, their complexity and scale will clarify how such a dynamic system should be approached, and how it can be guided towards the desired performance

Safety and Reliability - Safe Societies in a Changing World

The contributions cover a wide range of methodologies and application areas for safety and reliability that contribute to safe societies in a changing world. These methodologies and applications include: - foundations of risk and reliability assessment and management - mathematical methods in reliability and safety - risk assessment - risk management - system reliability - uncertainty analysis - digitalization and big data - prognostics and system health management - occupational safety - accident and incident modeling - maintenance modeling and applications - simulation for safety and reliability analysis - dynamic risk and barrier management - organizational factors and safety culture - human factors and human reliability - resilience engineering - structural reliability - natural hazards - security - economic analysis in risk managemen