Experimental study of contact transition control incorporating joint acceleration feedback

Joint acceleration and velocity feedbacks are incorporated into a classical internal force control of a robot in contact with the environment. This is intended to achieve a robust contact transition and force tracking performance for varying unknown environments, without any need of adjusting the controller parameters, A unified control structure is proposed for free motion, contact transition, and constrained motion in view of the consumption of the initial kinetic energy generated by a nonzero impact velocity. The influence of the velocity and acceleration feedbacks, which are introduced especially for suppressing the transition oscillation, on the postcontact tracking performance is discussed. Extensive experiments are conducted on the third joint of a three-link direct-drive robot to verify the proposed scheme for environments of various stiffnesses, including elastic (sponge), less elastic (cardboard), and hard (steel plate) surfaces. Results are compared with those obtained by the transition control scheme without the acceleration feedback. The ability of the proposed control scheme in resisting the force disturbance during the postcontact period is also experimentally investigated

The Glasgow raspberry pi cloud: a scale model for cloud computing infrastructures

Data Centers (DC) used to support Cloud services often consist of tens of thousands of networked machines under a single roof. The significant capital outlay required to replicate such infrastructures constitutes a major obstacle to practical implementation and evaluation of research in this domain. Currently, most research into Cloud computing relies on either limited software simulation, or the use of a testbed environments with a handful of machines. The recent introduction of the Raspberry Pi, a low-cost, low-power single-board computer, has made the construction of a miniature Cloud DCs more affordable. In this paper, we present the Glasgow Raspberry Pi Cloud (PiCloud), a scale model of a DC composed of clusters of Raspberry Pi devices. The PiCloud emulates every layer of a Cloud stack, ranging from resource virtualisation to network behaviour, providing a full-featured Cloud Computing research and educational environment

Point trajectory planning of flexible redundant robot manipulators using genetic algorithms

The paper focuses on the problem of point-to-point trajectory planning for flexible redundant robot manipulators (FRM) in joint space. Compared with irredundant flexible manipulators, a FRM possesses additional possibilities during point-to-point trajectory planning due to its kinematics redundancy. A trajectory planning method to minimize vibration and/or executing time of a point-to-point motion is presented for FRMs based on Genetic Algorithms (GAs). Kinematics redundancy is integrated into the presented method as planning variables. Quadrinomial and quintic polynomial are used to describe the segments that connect the initial, intermediate, and final points in joint space. The trajectory planning of FRM is formulated as a problem of optimization with constraints. A planar FRM with three flexible links is used in simulation. Case studies show that the method is applicable

Data-Driven Software Framework for Web-Based ISS Telescience

Software that enables authorized users to monitor and control scientific payloads aboard the International Space Station (ISS) from diverse terrestrial locations equipped with Internet connections is undergoing development. This software reflects a data-driven approach to distributed operations. A Web-based software framework leverages prior developments in Java and Extensible Markup Language (XML) to create portable code and portable data, to which one can gain access via Web-browser software on almost any common computer. Open-source software is used extensively to minimize cost; the framework also accommodates enterprise-class server software to satisfy needs for high performance and security. To accommodate the diversity of ISS experiments and users, the framework emphasizes openness and extensibility. Users can take advantage of available viewer software to create their own client programs according to their particular preferences, and can upload these programs for custom processing of data, generation of views, and planning of experiments. The same software system, possibly augmented with a subset of data and additional software tools, could be used for public outreach by enabling public users to replay telescience experiments, conduct their experiments with simulated payloads, and create their own client programs and other custom software

Remote surface inspection system

This paper reports on an on-going research and development effort in remote surface inspection of space platforms such as the Space Station Freedom (SSF). It describes the space environment and identifies the types of damage for which to search. This paper provides an overview of the Remote Surface Inspection System that was developed to conduct proof-of-concept demonstrations and to perform experiments in a laboratory environment. Specifically, the paper describes three technology areas: (1) manipulator control for sensor placement; (2) automated non-contact inspection to detect and classify flaws; and (3) an operator interface to command the system interactively and receive raw or processed sensor data. Initial findings for the automated and human visual inspection tests are reported

Telerobot control system

This invention relates to an operator interface for controlling a telerobot to perform tasks in a poorly modeled environment and/or within unplanned scenarios. The telerobot control system includes a remote robot manipulator linked to an operator interface. The operator interface includes a setup terminal, simulation terminal, and execution terminal for the control of the graphics simulator and local robot actuator as well as the remote robot actuator. These terminals may be combined in a single terminal. Complex tasks are developed from sequential combinations of parameterized task primitives and recorded teleoperations, and are tested by execution on a graphics simulator and/or local robot actuator, together with adjustable time delays. The novel features of this invention include the shared and supervisory control of the remote robot manipulator via operator interface by pretested complex tasks sequences based on sequences of parameterized task primitives combined with further teleoperation and run-time binding of parameters based on task context

The JPL telerobotic Manipulator Control and Mechanization (MCM) subsystem

The Manipulator Control and Mechanization (MCM) subsystem of the telerobot system provides the real-time control of the robot manipulators in autonomous and teleoperated modes and real time input/output for a variety of sensors and actuators. Substantial hardware and software are included in this subsystem which interfaces in the hierarchy of the telerobot system with the other subsystems. The other subsystems are: run time control, task planning and reasoning, sensing and perception, and operator control subsystem. The architecture of the MCM subsystem, its capabilities, and details of various hardware and software elements are described. Important improvements in the MCM subsystem over the first version are: dual arm coordinated trajectory generation and control, addition of integrated teleoperation, shared control capability, replacement of the ultimate controllers with motor controllers, and substantial increase in real time processing capability

Access Control of Web- and Java-Based Applications

Cybersecurity has become a great concern as threats of service interruption, unauthorized access, stealing and altering of information, and spreading of viruses have become more prevalent and serious. Application layer access control of applications is a critical component in the overall security solution that also includes encryption, firewalls, virtual private networks, antivirus, and intrusion detection. An access control solution, based on an open-source access manager augmented with custom software components, was developed to provide protection to both Web-based and Javabased client and server applications. The DISA Security Service (DISA-SS) provides common access control capabilities for AMMOS software applications through a set of application programming interfaces (APIs) and network- accessible security services for authentication, single sign-on, authorization checking, and authorization policy management. The OpenAM access management technology designed for Web applications can be extended to meet the needs of Java thick clients and stand alone servers that are commonly used in the JPL AMMOS environment. The DISA-SS reusable components have greatly reduced the effort for each AMMOS subsystem to develop its own access control strategy. The novelty of this work is that it leverages an open-source access management product that was designed for Webbased applications to provide access control for Java thick clients and Java standalone servers. Thick clients and standalone servers are still commonly used in businesses and government, especially for applications that require rich graphical user interfaces and high-performance visualization that cannot be met by thin clients running on Web browser

Economical (k,m)-threshold controlled quantum teleportation

We study a (k,m)-threshold controlling scheme for controlled quantum teleportation. A standard polynomial coding over GF(p) with prime p > m-1 needs to distribute a d-dimensional qudit with d >= p to each controller for this purpose. We propose a scheme using m qubits (two-dimensional qudits) for the controllers' portion, following a discussion on the benefit of a quantum control in comparison to a classical control of a quantum teleportation.Comment: 11 pages, 2 figures, v2: minor revision, discussions improved, an equation corrected in procedure (A) of section 4.3, v3: major revision, protocols extended, citations added, v4: minor grammatical revision, v5: minor revision, discussions extende