This paper deals with the design of control schemes for a robot manipulator in contact with a compliant surface. A passivity-based approach is adopted in the task space, where the control law contains a nonlinear model-based term and a linear term obtained as the sum of a position action and a force action. The force control action dominates the position control action along the constrained tas...

Abstract: This paper studies the task-space tracking problem for networked robot manipulators, while the dynamic and kinematic parameters of each manipulator are unknown. A velocity observer is first developed to estimate the task-space velocity, and reference sufficient conditions for observer parameters are also given to guarantee the convergence of observation error. Based on the proposed ob...

This paper presents a robust tracking controller equipped with a fast friction estimator for a 6-DOF parallel electrical manipulator in the joint-task space. Parallel manipulator control scheme mainly stems from two frameworks: the task space control and the joint space control. The former requires the system states obtained via costly direct measurements or time-consuming forward kinematics. T...

Hierarchical task network (HTN) planning is wellknown for being an efficient planning approach. This is mainly due to the success of the HTN planning system SHOP2. However, its performance depends on hand-designed search control knowledge. At the time being, there are only very few domainindependent heuristics, which are designed for differing hierarchical planning formalisms. Here, we propose ...

The initial research of Task Computing in the ubiquitous computing (UbiComp) environment revealed the need for access control of services. Context-awareness of service requests in ubiquitous computing necessitates a well-designed model to enable effective and adaptive invocation. However, nowadays little work is being undertaken on service access control under the UbiComp environment, which mak...

the intervention of urban design in irans architectural structures has been for many years a challenging issue for architects and urban designers over their professional realm. the preservation of architectural structures in iran has always resorted to extremes. this control and direction has sometimes resulted in exclusion of architecture position and has sometimes, once faced with lack of pro...

While PKI applications differ in how they use keys, all applications share one assumption: users have keypairs. In previous work, we established that desktop keystores are not safe places to store private keys, because the TCB is too large. These keystores are also immobile, difficult to use, and make it impossible for relying parties to make reasonable trust judgments. Since we would like to u...