For robotic manipulators that are redundant or with high degrees of freedom (dof ), an analytical solution to the inverse kinematics is very difficult or impossible. Pioneer 2 robotic arm (P2Arm) is a recently developed and widely used 5-dof manipulator. There is no effective solution to its inverse kinematics to date. This paper presents a first complete analytical solution to the inverse kine...

This paper proposes a method to improve the robustness of a robot arm control program. The control program is generated in simulation by genetic programming. The robustness is measured in the real world. To improve the robustness, the control program is evolved with multiple robot arm configurations. The result shows that the robustness of a control program is improved by 10% compared to a cont...

We present an analysis of the virtualizability of the ARMv7-A architecture carried out in the context of the seminal paper published by Popek and Goldberg 38 years ago. Because their definitions are dated, we first extend their machine model to modern architectures with paged virtual memory, IO and interrupts. We then use our new model to show that ARMv7-A is not classically virtualizable. Insi...

In this technical report you can find pointers to user-contributed compiler packages both in elf and none-eabi mode for the ARM architecture. Instructions for compiling as well as summarized technical information to help understand the reasoning involved are given so that users know concisely how to configure their TinyOS environment and to facilitate other ARM programmers' work. It mainly focu...

With the advancement of many large HEP experiments, amount data that needs to be processed and stored has increased significantly, so we must upgrade computing resources improve performance storage software. This article discusses porting EOS software from x86_64 architecture aarch64 architecture, with aim finding a more cost-effective solution. In process porting, biggest challenge is dependen...

In this paper, a hierarchical control architecture incorporating a novel dual-arm impedance controller is proposed and experimentally evaluated in a valve turning setup. Proposed control architecture incorporates various control/interface modules to render a desired interaction performance in our intrinsically compliant humanoid robot, COMAN: the sensing module provides the manipulation module ...

ARM® is the prevalent processor architecture for embedded and mobile applications. For the smartphones, it is the processor for which software applications are running, whether the platform is with Apple’s iOS or Google’s Android. Software operations under these platforms are prone to semantic gap, which refers to potential difference between intended operations described in software and actual...

This work describes the porting of Hyperkernel, an x86 kernel, to the ARMv8-A architecture. Hyperkernel was created to demonstrate various OS design decisions that are amenable to push-button verification. Hyperkernel simplifies reasoning about virtual memory by separating the kernel and user address spaces. In addition, Hyperkernel adopts an exokernel design to minimize code complexity, and th...