Control strategy for cooperating disparate manipulators

To manipulate large payloads typical of space construction, the concept of a small arm mounted on the end of a large arm is introduced. The main purposes of such a configuration are to increase the structural stiffness of the robot by bracing against or locking to a stationary frame, and to maintain a firm position constraint between the robot's base and workpieces by grasping them. Possible topologies for a combination of disparate large and small arms are discussed, and kinematics, dynamics, controls, and coordination of the two arms, especially when they brace at the tip of the small arm, are developed. The feasibility and improvement in performance are verified, not only with analytical work and simulation results but also with experiments on the existing arrangement Robotic Arm Large and Flexible and Small Articulated Manipulator

An Evaluation Schema for the Ethical Use of Autonomous Robotic Systems in Security Applications

We propose a multi-step evaluation schema designed to help procurement agencies and others to examine the ethical dimensions of autonomous systems to be applied in the security sector, including autonomous weapons systems

Intelligent Agents in Military, Defense and Warfare: Ethical Issues and Concerns

Due to tremendous progress in digital electronics now intelligent and autonomous agents are gradually being adopted into the fields and domains of the military, defense and warfare. This paper tries to explore some of the inherent ethical issues, threats and some remedial issues about the impact of such systems on human civilization and existence in general. This paper discusses human ethics in contrast to machine ethics and the problems caused by non-sentient agents. A systematic study is made on paradoxes regarding the long-term advantages of such agents in military combat. This paper proposes an international standard which could be adopted by all nations to bypass the adverse effects and solve ethical issues of such intelligent agents

License to Kill: An Analysis of the Legality of Fully Autonomous Drones in the Context of International Use of Force Law

We live in a world of constant technological change; and with this change, comes unknown effects and consequences. This is even truer with weapons and warfare. Indeed, as the means and methods of warfare rapidly modify and transform, the effects and consequences on the laws of war are unknown. This Article addresses one such development in weapon and warfare technology—Fully Autonomous Weapons or “Killer Robots”—and discusses the inevitable use of these weapons within the current international law framework. Recognizing the current, inadequate legal framework, this Article proposes a regulation policy to mitigate the risks associated with Fully Autonomous Weapons. But the debate should not end here; States and the U.N. must work together to adopt a legal framework that coincides with the advancement of technology. This Article starts that discussion

A novel plasticity rule can explain the development of sensorimotor intelligence

Grounding autonomous behavior in the nervous system is a fundamental challenge for neuroscience. In particular, the self-organized behavioral development provides more questions than answers. Are there special functional units for curiosity, motivation, and creativity? This paper argues that these features can be grounded in synaptic plasticity itself, without requiring any higher level constructs. We propose differential extrinsic plasticity (DEP) as a new synaptic rule for self-learning systems and apply it to a number of complex robotic systems as a test case. Without specifying any purpose or goal, seemingly purposeful and adaptive behavior is developed, displaying a certain level of sensorimotor intelligence. These surprising results require no system specific modifications of the DEP rule but arise rather from the underlying mechanism of spontaneous symmetry breaking due to the tight brain-body-environment coupling. The new synaptic rule is biologically plausible and it would be an interesting target for a neurobiolocal investigation. We also argue that this neuronal mechanism may have been a catalyst in natural evolution.Comment: 18 pages, 5 figures, 7 video