Teleoperation has captured the interest of robotics researchers for more than two decades. Many focused on the stability problem when the system experiences time delays. Most of the time, guaranteeing stability has overshadowed the tracking performance. This work differentiates teleoperation systems into two groups as limited and unlimited-workspace teleoperation depending on their position tra...

This paper deals with a maintainability analysis of a system which consists of three subsystems. Two subsystems in the system are the same and constitute a warm standby redundant system. This warm stand by redundant system and the residual subsystem are connected in series. In this paper, two repair disciplines are considered. One is a priority repair discipline and the other is a non priority ...

Relative to the current Master/Slave computing model cloud storage file systems, including GFS, HDFS, Sector, we proposed a general model of Peer-to-Peer based Cloud Storage file system, and constructed a prototype system named MingCloud based on Kademlia algorithm. Focused on redundant strategy selection and design of the storage system, our experiment used the Cauchy Codes as coding algorithm...

This paper presents an anlysis based on the momentum conservation equations of a redundant free-flying spacecraft/manipulator system, acting in zero-gravity environment. In order to follow a predefined end-effector path, the inverse kinematics at velocity level is considered. The redundancy i solved alternatively in terms of pseudoinverses and null-space components of the manipulator inertia ma...

In this paper we propose a new coverage model which shows improvement in the availability of the system and the reduction in the cost which are important measures for reliability. The present study discusses the effect of coverage factor on the reliability characteristics of a parallel redundant complex system. The system is analysed under Preemptive resume-repair policy. Using the concept of c...

In this paper we detail our effort to formalize and prove requirements for the Quad-redundant Flight Control System (QFCS) within NASA’s Transport Class Model (TCM). We use a compositional approach with assume-guarantee contracts that correspond to the requirements for software components embedded in an AADL system architecture model. This approach is designed to exploit the verification effort...

Defect rate in Nanoelectronics is much higher than conventional CMOS circuits. Hardware redundancy can be a suitable solution for fault tolerance in nano level. A voter circuit is a part of a redundancy based fault tolerant system that enables a system to continue operating properly in the event of one or more faults within its components. Robustness of the voter circuit defines the reliability...

In this paper residue number system (RNS) arithmetic and redundant residue number system (RRNS) based codes as well as their properties are reviewed. We propose a number of applications for RRNS codes and demonstrate how RRNS codes can be employed in global communication systems, in order to simplify the associated systems by unifying the entire encoding and decoding procedure across global com...

The reliability and robustness of image-based visual servoing systems have recently received a growing interest. In order to address this issue, a redundant and cooperative 2D visual servoing system based on the information provided by two cameras in eye-in-hand/eye-to-hand configurations to control the 6 dof of an industrial robot manipulator (Mitsubishi PA-10) is proposed. Its control law has...

One of the most important features of the next generation of robots is the mobility and the ability to work in an unstructured environment. Conventional manipulator arms have bounded workspace and are thus appropriate only for some limited tasks. Hence, they need additional devices such as conveyor belts and handling devices in order to perform a task requiring large workspace. A new promising ...