Humanoid robots require greater software reliability than traditional mechantronic systems if they are to perform useful tasks in typical human-oriented environments. This paper covers a software architecture which di...
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ISBN:
(纸本)9781467362252;9781467362238
Humanoid robots require greater software reliability than traditional mechantronic systems if they are to perform useful tasks in typical human-oriented environments. This paper covers a software architecture which distributes the load of computation and control tasks over multiple processes, enabling fail-safes within the software. These fail-safes ensure that unexpected crashes or latency do not produce damaging behavior in the robot. The distribution also offers benefits for future software development by making the architecture modular and extensible. Utilizing a low-latency inter-process communication protocol (Ach), processes are able to communicate with high control frequencies. The key motivation of this software architecture is to provide a practical framework for safe and reliable humanoid robot software development. The authors test and verify this framework on a HUBO2 Plus humanoid robot.
The versatility and agility of the assembly system is the key to affect the cost and efficiency. This paper focuses on the application scene of wing-body attitude adjustment, and puts forward a modular reconfigurable ...
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Ad hoc networks are autonomous distributed networks without the fixed communication infrastructures such as base stations. Ad hoc networks are at risk of a variety of attacks such as node capture attacks that result i...
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ISBN:
(纸本)9781479941810
Ad hoc networks are autonomous distributed networks without the fixed communication infrastructures such as base stations. Ad hoc networks are at risk of a variety of attacks such as node capture attacks that result in tampering or leaking data. The secure dispersed data transfer method is a method to prevent node capture attacks. The performance of the dispersed data transfer method can be improved by the specific configuration of its parameters and using multiple paths with few bottleneck nodes. In this paper, we propose a configuration to maximize performance of the multipath routing method, which reduces the control packet count and reduce bottlenecking between shared elements. We have implemented our proposed method with the secure dispersed data transfer method on a network simulator, to confirm its effectiveness. In this paper, we discuss the appropriate parameters that give a promising advantage to the secure dispersed data transfer method.
Cloud computing is being embraced more and more by telecommunication operators for on-demand access to computing resources. Knowing that 5G Core reference architecture is envisioned to be cloud-native and service-orie...
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ISBN:
(纸本)9781728150895
Cloud computing is being embraced more and more by telecommunication operators for on-demand access to computing resources. Knowing that 5G Core reference architecture is envisioned to be cloud-native and service-oriented, we propose, in this paper, offloading to the cloud, some of 5G delay-tolerant Network Functions and in particular the Network Data Analytics Function (NWDAF). The dynamic selection of cloud resources to serve off-loaded 5G-NWDAF, while incurring minimum cost and maximizing utilization of served next generation Node-Bs (gNBs) requires agility and automation. This paper introduces a framework to automate the selection process that satisfies resource demands while meeting two objectives, namely, cost minimization and utilization maximization. We first formulate the mapping of gNBs to 5G-NWDAF problem as an Integer Linear Program (ILP). Then, we propose an algorithm to solve it based on branch-cut-and-price technique combining all of branch-and-price, branch-and-cut and branch-and-bound. Results using pricing data from a public cloud provider (Google Cloud Platform), show that our proposal achieves important savings in cloud computing costs and reduction in execution time compared to other state-of-the-art frameworks.
The utilisation of cell phone networks increases continuously, especially driven by the introduction of new mobile services and smart phones. Network operators can follow two directions to deal with the problem: eithe...
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ISBN:
(纸本)9789897580390
The utilisation of cell phone networks increases continuously, especially driven by the introduction of new mobile services and smart phones. Network operators can follow two directions to deal with the problem: either install new hardware or increase the efficiency of the existing infrastructure. This paper presents a novel algorithm to improve the efficiency of current networks by allowing for a self-organised load-dependent reconfiguration of antennas. The algorithm is capable of identifying hotspot traffic, assigning this to a neighbouring cell, and learning the best strategy at runtime. This leads to a self-improving intelligent control mechanism. The simulation-based evaluation results demonstrate the potential benefit, while simultaneously keeping the hardware's deterioration at a comparable level.
With the evolution of industrial automation, the importance and necessity of real-time computing have attained its peak which greatly helps in improving product quality, supervisory control and management. Real-time d...
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Applications like teleconferencing, telerobotics and computer vision, may require the ability to estimate the image projected from a scenario in a point of view where no camera is placed. We will focus in industrial p...
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Applications like teleconferencing, telerobotics and computer vision, may require the ability to estimate the image projected from a scenario in a point of view where no camera is placed. We will focus in industrial processes and how, with a few cameras observing a process, we can obtain arbitrary views allowing a telecommander to operate with realistic visual realimentation. This paper will show different approximations to solve this problem and the results of an image interpolation method. The method is based in some epipolar geometry properties, offering a lot of advantages for hardware acceleration, allowing a real time implementation.
This article proposes a non-iterative zero-error fast inverse kinematics algorithm (NZFIK) based on the follow the leader (FTL) algorithm for human motion restoration with a small amount of sensor data. It can calcula...
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We present an edge-cloud collaborative personalized fall detection pipeline called P-Fall. A personalized fall detection model requires real-time adaptation of a pre-trained model using real-time feedback data provide...
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ISBN:
(纸本)9798400701023
We present an edge-cloud collaborative personalized fall detection pipeline called P-Fall. A personalized fall detection model requires real-time adaptation of a pre-trained model using real-time feedback data provided by the user. We, herein, highlight the design of the software architecture for a collaborative framework, the smartwatch's UI for the ease of collecting a user's feedback data, and the automation of the personalization process.
In an increasingly multidisciplinary engineering environment, and in the face of ever increasing system complexity, there is a growing need for all engineers and technicians involved in process engineering to be aware...
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