On the false positives and false negatives of the Jacobian Matrix in kinematically redundant parallel mechanisms

The Jacobian matrix is a highly popular tool for the control and performance analysis of closed-loop robots. Its usefulness in parallel mechanisms is certainly apparent, and its application to solve motion planning problems, or other higher level questions, has been seldom queried, or limited to non-redundant systems. In this paper, we discuss the shortcomings of the use of the Jacobian matrix under redundancy, in particular when applied to kinematically redundant parallel architectures with non-serially connected actuators. These architectures have become fairly popular recently as they allow the end-effector to achieve full rotations, which is an impossible task with traditional topologies. The problems with the Jacobian matrix in these novel systems arise from the need to eliminate redundant variables when forming it, resulting in both situations where the Jacobian incorrectly identifies singularities (false positive), and where it fails to identify singularities (false negative). These issues have thus far remained unaddressed in the literature. We highlight these limitations herein by demonstrating several cases using numerical examples of both planar and spatial architectures

Kinematically redundant parallel robots for high performance applications

This thesis addresses the development of kinematically redundant parallel robots for high performance applications and methods of kinematic analyses tailored towards them. Parallel robot manipulators are well known to hold various advantages over serial manipulators, including having better speeds, accuracies, and power-to-weight ratios. However, a major disadvantage they have is that they suffer from limited workspaces and rotational capabilities; indeed, it can be argued that this is the main reason serial robots are used more frequently in many industries. This thesis aims to address this major shortcoming of parallel robots, whilst maintaining all of their advantages, by concentrating on the solution of kinematic redundancy. Firstly, an introduction to the topic of kinematically redundant parallel robots for high performance applications is presented and a review of the relevant literature is given. In the second section, a novel kinematically redundant architecture of parallel robot is presented. The kinematic redundancy of the mechanism allows it to achieve full cycle rotations of the end-effector without encountering kinematic singularities, a feat that is not possible for non-redundant systems. The third section addresses the issue with current methods of singularity analyses of parallel robots when applied to kinematically redundant architectures. It is shown that conventional Jacobian-based methods of singularity analysis are unreliable when applied to kinematically redundant architectures. In the fourth section a novel, more robust, method of singularity analysis is presented, which is then used to develop a method of singularity avoidance. The fifth section presents a kinematically redundant architecture that is dynamically balanced, meaning that the shaking forces and moments imposed on the base by the manipulator are nullified. An issue for manipulators moving at high speeds is that shaking forces and moments generated can cause vibration and inhibit the performance of the system. By dynamically balancing the system, the manipulator is able to move at high speeds without experiencing these drawbacks. The aim of this PhD thesis is that the work presented here can provide some of the building blocks for developers of robot manipulators to create high performance parallel robots which exhibit high speed, strength, and dexterity, through the use of kinematic redundancy

Control-Flow Integrity for Real-Time Embedded Systems

Attacks on real-time embedded systems can endanger lives and critical infrastructure. Despite this, techniques for securing embedded systems software have not been widely studied. Many existing security techniques for general-purpose computers rely on assumptions that do not hold in the embedded case. This paper focuses on one such technique, control-flow integrity (CFI), that has been vetted as an effective countermeasure against control-flow hijacking attacks on general-purpose computing systems. Without the process isolation and fine-grained memory protections provided by a general-purpose computer with a rich operating system, CFI cannot provide any security guarantees. This work proposes RECFISH, a system for providing CFI guarantees on ARM Cortex-R devices running minimal real-time operating systems. We provide techniques for protecting runtime structures, isolating processes, and instrumenting compiled ARM binaries with CFI protection. We empirically evaluate RECFISH and its performance implications for real-time systems. Our results suggest RECFISH can be directly applied to binaries without compromising real-time performance; in a test of over six million realistic task systems running FreeRTOS, 85% were still schedulable after adding RECFISH

Detecting the Companions and Ellipsoidal Variations of RS CVn Primaries: II. omicron Draconis, a Candidate for Recent Low-Mass Companion Ingestion

To measure the stellar and orbital properties of the metal-poor RS CVn binary o Draconis (o Dra), we directly detect the companion using interferometric observations obtained with the Michigan InfraRed Combiner at Georgia State University's Center for High Angular Resolution Astronomy (CHARA) Array. The H-band flux ratio between the primary and secondary stars is the highest confirmed flux ratio (370 +/- 40) observed with long-baseline optical interferometry. These detections are combined with radial velocity data of both the primary and secondary stars, including new data obtained with the Tillinghast Reflector Echelle Spectrograph on the Tillinghast Reflector at the Fred Lawrence Whipple Observatory and the 2-m Tennessee State University Automated Spectroscopic Telescope at Fairborn Observatory. We determine an orbit from which we find model-independent masses and ages of the components (M_A = 1.35 +\- 0.05 M_Sun, M_B = 0.99 +\- 0.02 M_Sun, system age = 3.0 -\+ 0.5 Gyr). An average of a 23-year light curve of o Dra from the Tennessee State University Automated Photometric Telescope folded over the orbital period newly reveals eclipses and the quasi-sinusoidal signature of ellipsoidal variations. The modeled light curve for our system's stellar and orbital parameters confirm these ellipsoidal variations due to the primary star partially filling its Roche lobe potential, suggesting most of the photometric variations are not due to stellar activity (starspots). Measuring gravity darkening from the average light curve gives a best-fit of beta = 0.07 +\- 0.03, a value consistent with conventional theory for convective envelope stars. The primary star also exhibits an anomalously short rotation period, which, when taken with other system parameters, suggests the star likely engulfed a low-mass companion that had recently spun-up the star.Comment: 14 pages, 13 figures, Accepted to Ap

Sex differences in investigations and outcomes among patients with type 2 myocardial infarction

Objectives: Type 2 myocardial infarction (MI) is a heterogenous condition and whether there are differences between women and men is unknown. We evaluated sex differences in clinical characteristics, investigations and outcomes in patients with type 2 MI. Methods: In the Swedish Web based system for Enhancement and Development of Evidence based care in Heart disease Evaluated According to Recommended Therapies (SWEDEHEART) registry, we compared patients admitted to coronary care units with a diagnosis of type 1 or type 2 MI. Sex-stratified Cox regression models evaluated the association with all-cause death in men and women separately. Results: We included 57 264 (median age 73 years, 65% men) and 6485 (median age 78 years, 50% men) patients with type 1 and type 2 MI, respectively. No differences were observed in the proportion of men and women with type 2 MI who underwent echocardiography and coronary angiography, but women were less likely than men to have left ventricular (LV) impairment and obstructive coronary artery disease (CAD). Compared with type 1 MI, patients with type 2 MI had higher risk of death regardless of sex (men: adjusted HR 1.55 (95% CI 1.44 to 1.67); women: adjusted HR 1.34 (95% CI 1.24 to 1.45)). In those with type 2 MI, the risk of death was lower for women than men (adjusted HR 0.85 (95% CI 0.76 to 0.92) (men, reference)). Conclusions: Type 2 MI occurred in men and women equally and we found no evidence of sex bias in the selection of patients for cardiac investigations. Patients with type 2 MI had worse outcomes, but women were less likely to have obstructive CAD or severe LV impairment and were more likely to survive than men

Do the photometric colors of Type II-P Supernovae allow accurate determination of host galaxy extinction?

We present infrared photometry of SN 1999em, plus optical photometry, infrared photometry, and optical spectroscopy of SN 2003hn. Both objects were Type II-P supernovae. The V-[RIJHK] color curves of these supernovae evolved in a very similar fashion until the end of plateau phase. This allows us to determine how much more extinction the light of SN 2003hn suffered compared to SN 1999em. Since we have an estimate of the total extinction suffered by SN 1999em from model fits of ground-based and space-based spectra as well as photometry of SN 1999em, we can estimate the total extinction and absolute magnitudes of SN 2003hn with reasonable accuracy. Since the host galaxy of SN 2003hn also produced the Type Ia SN 2001el, we can directly compare the absolute magnitudes of these two SNe of different types.Comment: 24 pages, 6 figure