Status of This Memo This document specifies an Internet standards track protocol for the Internet community, and requests discussion and suggestions for improvements. Please refer to the current edition of the "Internet Official Protocol Standards" (STD 1) for the standardization state and status of this protocol. Distribution of this memo is unlimited. Abstract The Layer 2 Tunneling Protocol, ...

Elastic Optical Networks have emerged as a promising technology for the efficient use of optical network resources. Its adaptable characteristics and adjustable data rate enable operators to meet the diverse granularity of their clients needs. In order to automate an elastic optical network operation, a control plane is required. Wavelength Switched Optical Networks (WSON) may already rely on a...

Control planes of cloud frameworks trade off between scheduling granularity and performance. Centralized systems schedule at task granularity, but only schedule a few thousand tasks per second. Distributed systems schedule hundreds of thousands of tasks per second but changing the schedule is costly. We present execution templates, a control plane abstraction that can schedule hundreds of thous...

Extremely large optical telescopes are being designed with primary mirrors composed of hundreds of segments. The "out-of-plane" piston, tip, and tilt degrees of freedom of each segment are actively controlled using feedback from relative height measurements between neighboring segments. The "in-plane" segment translations and clocking (rotation) are not actively controlled; however, in-plane mo...

We introduce a miniature gate valve as a readily implementable strategy for actively controlling the flow of liquids on-chip, within a footprint of less than one square millimetre. Bubble gates provide for simple, consistent and scalable control of liquid flow in microchannel networks, are compatible with different bulk microfabrication processes and substrate materials, and require neither ele...

Visual servoing is generally based upon geometrical features. Recent developments were made in the way of a generalization of this approach to dynamic features. The idea is that velocity in the image can be measured without the constraint of having an a priori knowledge of the scene. In this paper, a control law to position a camera mounted on the end eeector of a robot, in such a way the image...

Predictive control strategies began to be used to solve the image based visual servoing problems. Thus, in literature, a GPC controller and a nonlinear predictive one were reported. In this paper, a predictive control strategy is developed based on a new approach for computing the feature trajectories prediction of a robot with eye-in-hand configuration. The cost function based on errors in ima...

We consider the problem of having a group of nonholonomic mobile robots equipped with omnidirectional cameras maintain a desired leader-follower formation. Our approach is to translate the formation control problem from the configuration space into a separate visual servoing task for each follower. We derive the equations of motion of the leader in the image plane of the follower and propose tw...

A new method to control the navigation of a mobile robot which is based on visual servoing techniques is presented. The new contribution of this paper could be divided in two aspects: the first one is the solution of the problem which takes place in the control law when features appear or disappear from the image plane during the navigation; and the second one is the way of providing to the con...

An optimal locus concept is introduced as the basis for an optimization methodology for real-time control subject to time-varying constraints. The optimal locus in the control plane contains all possible optimum points, and the actual point is found at the intersection of the optimal locus with the most limiting constraint. The mathematical basis of the approach is a given set of equations whic...