Folding Assembly by Means of Dual-Arm Robotic Manipulation

In this paper, we consider folding assembly as an assembly primitive suitable for dual-arm robotic assembly, that can be integrated in a higher level assembly strategy. The system composed by two pieces in contact is modelled as an articulated object, connected by a prismatic-revolute joint. Different grasping scenarios were considered in order to model the system, and a simple controller based on feedback linearisation is proposed, using force torque measurements to compute the contact point kinematics. The folding assembly controller has been experimentally tested with two sample parts, in order to showcase folding assembly as a viable assembly primitive.Comment: 7 pages, accepted for ICRA 201

Second Workshop on Practical Use of Coloured Petri Nets and Design/CPN.

This report contains the proceedings of the Second Workshop on Practical Use of Coloured Petri Nets and Design/CPN, October 13-15, 1999. The workshop was organised by the CPN group at the Department of Computer Science at the University of Aarhus, Denmark. The individual papers are available in electronic form via the web pages: http://www.daimi.au.dk/CPnets/workshop99

Dynamic risk assessment in IT environments: a decision guide

Security and reliability of information technologies have emerged as major concerns nowadays. Risk assessment, an estimation of negative impacts that might be imposed to a network by a series of potential sources, is one of the main tasks to ensure the security and is performed either statically or dynamically. Static risk assessment cannot satisfy the requirements of real-time and ubiquitous computing networks as it is pre-planned and does not consider upcoming changes such as the creation of new attack strategies. However, dynamic risk assessment (DRA) considers real-time evidences, being capable of diagnosing abnormal events in changing environments. Several DRA approaches have been proposed recently, but it is unclear which technique fits best into IT scenarios with different requirements. Thus, this chapter introduces recent trends in DRA, by analyzing 27 works and proposes a decision guide to help IT managers in choosing the most suitable DRA technique considering three illustrative scenarios – regular computer networks, internet of things, and industrial control systems