An optimal control strategy for collision avoidance of mobile robots in non-stationary environments

An optimal control formulation of the problem of collision avoidance of mobile robots in environments containing moving obstacles is presented. Collision avoidance is guaranteed if the minimum distance between the robot and the objects is nonzero. A nominal trajectory is assumed to be known from off-line planning. The main idea is to change the velocity along the nominal trajectory so that collisions are avoided. Furthermore, time consistency with the nominal plan is desirable. A numerical solution of the optimization problem is obtained. Simulation results verify the value of the proposed strategy

A computer architecture for intelligent machines

The Theory of Intelligent Machines proposes a hierarchical organization for the functions of an autonomous robot based on the Principle of Increasing Precision With Decreasing Intelligence. An analytic formulation of this theory using information-theoretic measures of uncertainty for each level of the intelligent machine has been developed in recent years. A computer architecture that implements the lower two levels of the intelligent machine is presented. The architecture supports an event-driven programming paradigm that is independent of the underlying computer architecture and operating system. Details of Execution Level controllers for motion and vision systems are addressed, as well as the Petri net transducer software used to implement Coordination Level functions. Extensions to UNIX and VxWorks operating systems which enable the development of a heterogeneous, distributed application are described. A case study illustrates how this computer architecture integrates real-time and higher-level control of manipulator and vision systems

Software and hardware for intelligent robots

Various architectures and their respective software for Hierarchically Intelligent Robots are discussed. They conform to the Principle of Increasing Precision with Decreasing Intelligence by following a three-level structure. The architecture of the organization and coordination levels is presented here and their algorithms are outlined

Distance estimation and collision prediction for on-line robotic motion planning

An efficient method for computing the minimum distance and predicting collisions between moving objects is presented. This problem has been incorporated in the framework of an in-line motion planning algorithm to satisfy collision avoidance between a robot and moving objects modeled as convex polyhedra. In the beginning the deterministic problem, where the information about the objects is assumed to be certain is examined. If instead of the Euclidean norm, L(sub 1) or L(sub infinity) norms are used to represent distance, the problem becomes a linear programming problem. The stochastic problem is formulated, where the uncertainty is induced by sensing and the unknown dynamics of the moving obstacles. Two problems are considered: (1) filtering of the minimum distance between the robot and the moving object, at the present time; and (2) prediction of the minimum distance in the future, in order to predict possible collisions with the moving obstacles and estimate the collision time

Dynamic skew measurements in 7, 19 and 22-core multi core fibers

We report simultaneous dynamic inter-core skew measurements between 7 cores of several homogeneous MCFs. The largest variation was 4.33 picoseconds for 31km span with diminishing influence of mechanical vibrations, temperature, core-layout and wavelength observed

LIGHTNESS: a function-virtualizable software defined data center network with all-optical circuit/packet switching

©2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.Modern high-performance data centers are responsible for delivering a huge variety of cloud applications to the end-users, which are increasingly pushing the limits of the currently deployed computing and network infrastructure. All-optical dynamic data center network (DCN) architectures are strong candidates to overcome those adversities, especially when they are combined with an intelligent software defined control plane. In this paper, we report the first harmonious integration of an optical flexible hardware framework operated by an agile software and virtualization platform. The LIGHTNESS deeply programmable all-optical circuit and packet switched data plane is able to perform unicast/multicast switch-over on-demand, while the powerful software defined networking (SDN) control plane enables the virtualization of computing and network resources creating a virtual data center and virtual network functions (VNF) on top of the data plane. We experimentally demonstrate realistic intra DCN with deterministic latencies for both unicast and multicast, showcasing monitoring, and database migration scenarios each of which is enabled by an associated network function virtualization element. Results demonstrate a fully functional complete unification of an advanced optical data plane with an SDN control plane, promising more efficient management of the next-generation data center compute and network resources.Peer ReviewedPostprint (author's final draft

High Capacity Transmission Systems Using Homogeneous Multi-Core Fibers [Invited]

We discuss optical transmission using homogeneous, single-mode, multicore fibers. We first describe the key fiber properties that can affect transmission, such as intercore crosstalk and the variation of propagation delay between cores, and the consequences of these properties on spatial super-channel transmission. We then describe a series of experiments and demonstrations of system features including self-homodyne detection and joint spatial superchannel modulation before discussing their suitability to high-capacity transmission

Characteristics of homogeneous multi-core fibers for SDM transmission

We describe optical data transmission systems using homogeneous, single-mode, multi-core fibers (MCFs). We first briefly discuss space-division multiplexing (SDM) fibers, observing that no individual SDM fiber offers overwhelming advantages over bundles of single-mode fiber (SMF) across all transmission regimes. We note that for early adoption of SDM fibers, uncoupled or weakly coupled fibers which are compatible with existing SDM infrastructure have a practical advantage. Yet, to be more attractive than parallel SMF, it is also necessary to demonstrate benefits beyond improved spatial spectral efficiency. It is hoped that the lower spread of propagation delays (skew) between spatial channels in some fibers can be exploited for improved performance and greater efficiency from hardware sharing and joint processing. However, whether these benefits can be practically harnessed and outweigh impairments or effort to mitigate cross talk between spatial channels is not yet clear. Hence, focusing on homogeneous MCFs, we first describe measurements and simulations on the impact of inter-core cross talk in such fibers before reporting experimental investigation into the spatial channel skew variation with a series of the experimental results including a comparison with SMF in varying environmental conditions. Finally, we present some system and transmission experiments using parallel recirculating loops that enable demonstration of both multi-dimensional modulation and joint digital processing techniques across three MCF cores. Both techniques lead to increased transmission reach but highlight the need for further experimental analysis to properly characterize the potential benefits of correlated propagation delays in such fibers

Ninety-Degree Chevron Osteotomy for Correction of Hallux Valgus Deformity: Clinical Data and Finite Element Analysis

Hallux valgus is a very common foot disorder, with its prevalence estimated at 33% in adult shoe-wearing populations. Conservative management is the initial treatment of choice for this condition, but surgery is sometimes needed. The 600 angle Chevron osteotomy is an accepted method for correction of mild to moderate hallux valgus in adults less than 60 years old. A modified 900 angle Chevron osteotomy has also been described; this modified technique can confer some advantages compared to the 600 angle method, and reported results are good. In the current work we present clinical data from a cohort of fifty-one female patients who had surgery for sixty-two hallux valgus deformities. In addition, in order to get a better physical insight and study the mechanical stresses along the two osteotomies, Finite Element Analysis (FEA) was also conducted. FEA indicated enhanced mechanical bonding with the modified 900 Chevron osteotomy, because the compressive stresses that keep the two bone parts together are stronger, and the shearing stresses that tend to slide the two bone parts apart are weaker, compared to the typical 600 technique. Follow-up data on our patient cohort show good or excellent long-term clinical results with the modified 900 angle technique. These results are consistent with the FEA-based hypothesis that a 900 Chevron osteotomy confers certain mechanical advantages compared to the typical 600 procedure