The dynamics and kinematics of a parallel manipulator has been widely researched by virtue of its a high force-to-weight ratio and widespread applications ranging from vehicle or flight simulator to machine tool despite a smaller workspace than a serial robot system (Merlet, 2000). Such a parallel system has been paid special attention as a typical multi-input multi-output nonlinear system to r...

Space station configuration is built in space by separate modules attaching. Its life is supported by transport vehicles. Under these conditions the task of safe and reliable interaction between space vehicles or the task of flight control of interacting vehicles takes on great significance. To solve this task it is necessary to take into consideration additional mutual requirements and constra...

We have recently shown that vision is important to improve spatial auditory cognition. In this study, we investigate whether touch is as effective as vision to create a cognitive map of a soundscape. In particular, we tested whether the creation of a mental representation of a room, obtained through tactile exploration of a 3D model, can influence the perception of a complex auditory task in si...

In this paper we propose a bridge between a symbolic reasoning system and a task function based controller. We suggest to use modular positionand force constraints, which are represented as action-object-object triples on the symbolic side and as task function parameters on the controller side. This description is a considerably more fine-grained interface than what has been seen in high-level ...

When robots are controlled in the task space, singularities and joint limits are among the most critical and difficult issues that can arise. In this paper, we propose a new approach for the robots to operate in the regions near singularities and joint limits using the operational space control framework. Specifically, a continuous task transition algorithm called the intermediate desired value...

This paper presents improvement of a core-based chip’s test control architecture that uses Std IEEE 1149.1 TAP to access core level register Test Control Blocks (TCB). We show enhancements for the register TCB, to improve its test coverage, to enable IEEE 1149.1 compliant RUNBIST and to optimize chip level TCB access. In addition, Test Control Expansion (TCE) is presented. TCE automatically val...

In this paper, we present an approach for analyzing the integrity protection in the SELinux example policy. The SELinux example policy is intended as an example from which administrators customize to create a policy for their site’s security goals, but the complexity of the model and size of the policy make this quite complex. Our aim is to provide an access control model to express site securi...

In humanoids, a whole-body task involves the control of multiple subtasks while complying with physical constraints imposed by the robot’s structure and the external environment. To interact in realtime with the robot, we must guarantee that these constraints are fulfilled and that essential subtasks are first accomplished. In this paper, we present a hierarchical framework that focuses on two ...

We explore the idea that eye-movement strategies in reading are precisely adapted to the joint constraints of task structure, task payoff, and processing architecture. We present a model of saccadic control that separates a parametric control policy space from a parametric machine architecture, the latter based on a small set of assumptions derived from research on eye movements in reading (Eng...