Motion planning and control of robotic manipulators on seaborne platforms

Robots on ships have to endure large inertial forces due to the non-inertial motion of the ship. The ship motion affects both the motion planning and control of the manipulator, and accurate predictions can improve performance substantially. It is thus important to investigate to what extent it is possible to predict the future motion of a ship. Based on these predictions, this paper presents a new approach to motion planning and control of such manipulators. It is shown that the effects of the non-inertial forces can be eliminated—in fact, the robot can even leverage the inertial forces to improve performance compared to robots on a fixed base. In particular it is shown that by including the inertial forces in the motion planning the wear and tear on the robot due to these forces can be reduced substantially. To perform realistic experiments a 9-DoF robot is used. The first five joints are used to generate the real ship motion, and the last four joints are used for motion planning. The dynamic coupling between the first five and the last four joints is thus exactly the same as the dynamic coupling between a ship and a manipulator, which allows for very realistic experiments.     

Filter-resistant code injection on ARM

Code injection attacks are one of the most powerful and important classes of attacks on software. In these attacks, the attacker sends malicious input to a software application, where it is stored in memory. The malicious input is chosen in such a way that its representation in memory is also a valid representation of a machine code program that performs actions chosen by the attacker. The attacker then triggers a bug in the application to divert the control flow to this injected machine code. A typical action of the injected code is to launch a command interpreter shell, and hence the malicious input is often called shellcode. Attacks are usually performed against network facing applications, and such applications often perform validations or encodings on input. Hence, a typical hurdle for attackers, is that the shellcode has to pass one or more filtering methods before it is stored in the vulnerable application??s memory space. Clearly, for a code injection attack to succeed, the malicious input must survive such validations and transformations. Alphanumeric input (consisting only of letters and digits) is typically very robust for this purpose: it passes most filters and is untouched by most transformations. This paper studies the power of alphanumeric shellcode on the ARM architecture. It shows that the subset of ARM machine code programs that (when interpreted as data) consist only of alphanumerical characters is a Turing complete subset. This is a non-trivial result, as the number of instructions that consist only of alphanumeric characters is very limited. To craft useful exploit code (and to achieve Turing completeness), several tricks are needed, including the use of self-modifying code.     

Radiometric Transfer: Example‐based Radiometric Linearization of Photographs

We present an example‐based approach for radiometrically linearizing photographs that takes as input a radiometrically linear exemplar image and a target regular uncalibrated image of the same scene, possibly from a different viewpoint and/or under different lighting. The output of our method is a radiometrically linearized version of the target image. Modeling the change in appearance of a small image patch seen from a different viewpoint and/or under different lighting as a linear 1D subspace, allows us to recast radiometric transfer in a form similar to classic radiometric calibration from exposure stacks. The resulting radiometric transfer method is lightweight and easy to implement. We demonstrate the accuracy and validity of our method on a variety of scenes.     

New driving scheme for intelligent power‐efficient high‐voltage display drivers

Abstract— A new bistable‐display driver is presented. The innovation in the developed driver is the addition of a new logical block that calculates the most energy‐efficient driving waveforms. In this paper, the algorithms being applied to the row and column waveforms in order to reduce the power consumption are discussed. Some theoretical as well as experimental results are shown, proving a reduction in the power consumption by about 50%. The proposed algorithms are especially important for battery‐powered applications.     

An investigation of the option space in conceptual building design for advanced building simulation

This article describes research conducted to gather empirical evidence on size, character and content of the option space in building design projects. This option space is the key starting point for the work of any climate engineer using building performance simulation who is supporting the design process. The underlying goal is to strengthen the role of advanced computing in building design, especially in the early conceptual stage, through a better integration of building performance simulation tools augmented with uncertainty analysis and sensitivity analysis. Better integration will need to assist design rather than automate design, allowing a spontaneous, creative and flexible process that acknowledges the expertise of the design team members. This research investigates and contrasts emergent option spaces and their inherent uncertainties in an artificial setting (student design studios) and in real-life scenarios (commercial design project case studies). The findings provide empirical evidence of the high variability of the option space that can be subjected to uncertainty analysis and sensitivity analysis.     

Optical fibers coated with non-linear Langmuir-Blodgett films

We report second harmonic generation (SHG) in structures composed of optical fiber cores coated with Langmuir-Blodgett non-linear films. Such structures may serve as attractive alternatives to currently available coated slab non-linear waveguides. The fabrication of frequency doublers, couplers and modulators on optical fibers would eliminate the difficult problems of coupling from planar signal conditioners, sensors and detectors onto fiber transmission systems. In addition, the small size of fibers allows for the high energy densities required for non-linear interactions to exist over large distances.

Our results confirm that fibers can be coated and the deposition ratio monitored, provided that a sufficient number are dipped simultaneously. The dependence of SHG on distance as well as the variation with number of layers for a hemicyanine dye deposited on multimode fiber cores are discussed.     

Third–Generation Pleated Pneumatic Artificial Muscles for Robotic Applications: Development and Comparison with McKibben Muscle

This paper introduces the third generation of Pleated Pneumatic Artificial Muscles (PPAM), which has been developed to simplify the production over the first and second prototype. This type of artificial muscle was developed to overcome dry friction and material deformation, which is present in the widely used McKibben muscle. The essence of the PPAM is its pleated membrane structure which enables the muscle to work at low pressures and at large contractions. In order to validate the new PPAM generation, it has been compared with the mathematical model and the previous generation. The new production process and the use of new materials introduce improvements such as 55% reduction in the actuator’s weight, a higher reliability, a 75% reduction in the production time and PPAMs can now be produced in all sizes from 4 to 50?cm. This opens the possibility to commercialize this type of muscles so others can implement it. Furthermore, a comparison with experiments between PPAM and Festo McKibben muscles is discussed. Small PPAMs present similar force ranges and larger contractions than commercially available McKibben-like muscles. The use of series arrangements of PPAMs allows for large strokes and relatively small diameters at the same time and, since PPAM 3.0 is much more lightweight than the commong McKibben models made by Festo, it presents better force-to-mass and energy to mass ratios than Festo models.     

Thermal Probe Technology for Buildings: Transition from Laboratory to Field Measurements

This paper reports the results of an investigation into the transfer of thermal probe measurement technology from laboratory use to actual buildings in order to undertake the in situ determination of thermal material properties. The imperative reasons for using in situ measurements are (1) the impact of moisture content on thermal properties; (2) the possible wide range of variation of properties across most materials used in construction; and (3) the lack of data for new and innovative materials. Thermal probe technology offers the prospect of taking building specific data, addressing these issues. Based on commercially available thermal probes a portable measurement kit and accompanying measurement procedure have been developed. Three case study buildings, each having different materials, have been studied to ascertain whether or not the technique can be transferred to relatively uncontrolled environments and remain capable of achieving a precision that is similar to an ASTM standard that can be related to thermal conductivity measurements of building materials. The results show that this is indeed the case, and that the use of thermal probe technology may yield thermal properties that vary significantly from the laboratory values currently used in building thermal engineering calculations.