In this paper we study the control of redundant planar robotic manipulators using a switched (or hybrid) control scheme, focusing on manipulators with a degree of redundancy of one. We emphasize the eeectiveness of switched control systems with respect to stabilization and performance enhancement for this class of manip-ulators. We present a simulation study of logic{based switching control of ...

This paper investigates the question of the interpretability of fuzzy linguistic summaries, both at the sentence level and at the summary level, seen as a set of sentences. The individual sentence interpretability is examined as depending both on its representativity measured by a quality degree and on its linguistic expression. Different properties at the summary level are also discussed, name...

In this paper we describe a surveillance system made up of a fixed camera and a binocular active vision system. The fixed camera is used to provide the system with peripheral motion detection capabilities. The binocular active system is used to track in 3D and reconstruct the trajectories of specific targets. Both are fully integrated and the redundancy is exploited to achieve a higher degree o...

This paper presents a novel method for enabling communication in cyclostationary interference limited environments by adaptively inserting and exploiting spectral redundancy in an orthogonal frequency division multiplexing (OFDM) signal. The redundancy is formed through repeating data symbols across OFDM symbols in both time and frequency. A novel frequency shift (FRESH) filter is applied to ex...

This paper proposes a framework for software implemented, adaptive fault tolerance in a real-time context. It extends previous work in two main ways: by including features that explicitly address the real-time constraints; and by a exible and adaptable control strategy for managing redundancy within application software modules. This redundancy management design is introduced as an intermediate...

Redundant manipulators have potential advantages of using their degree(s) of redundancy to satisfy additional task(s). To achieve desirable performance criteria, various optimization techniques can be applied to redundant manipulators. In the work presented, the redundancy resolution of planar wire-actuated parallel manipulators is investigated at the kinematic and dynamic levels in order to pe...

A production rule of a knowledge base ia called Ed sential if it is present in any prime knowledge ba8e which is logically equivalent to the given one. The identification of essential rules indicates the degree of fkeedom we have in constructing logically equivalent transfomaationa of the base, by specifying the set of rules which must remain in place, and implicitly showing which rulea could b...

The problem of robust decoding of VLC encoded streams in presence of channel errors is essentially a problem of joint estimation and segmentation of the bit stream. A correct segmentation and estimation of a VLC compressed stream in presence of channel noise requires to re-augment the redundancy of the stream. Instead of using a channel code, the approach described here dedicates specifically e...

Signal voting of redundant sensor values and communication channels is of central importance in today’s X-by-wire systems. The required degree of sensor redundancy, the type of redundancy, and finally the voting strategy must be designed to meet the system's dependability requirements. These design decisions depend on an analysis of the probabilities and effects of all underlying fault scenario...

This paper proposes a framework for software-implemented, adaptive fault tolerance in a real-time context. It extends previous work in two main ways: by including features that explicitly address the realtime constraints; and by a flexible and adaptable control strategy for managing redundancy within application software modules. This redundancy-management design is introduced as an intermediat...