Large distributed systems challenge traditional schedulers, as it is often hard to determine a priori how long each task will take to complete on each resource, information that is input for such schedulers. Task replication has been applied in a variety of scenarios as a way to circumvent this problem. Task replication consists of dispatching multiple replicas of a task and using the result fr...

The designs of applications for multilevel systems cannot merely duplicate those of the untrusted world. When applications are built on a high assurance base, they will be constrained by the underlying policy enforcement mechanism. Consideration must be given to the creation and management of multilevel data structures by untrusted subjects. Applications should be designed to rely upon the TCB'...

In the paper some control algorithms for redundant manipulators are compared from the viewpoint of the behaviour of the system during the collision with an obstacle. The emphasis is given to the contact forces and their minimization, and how they can utilize the self-motion caused by the contact forces to avoid the obstacles and to minimize the tracking errors in the task space. A controller wh...

This paper reformulates image-based visual ser-voing as a constraint-based robot task, in order to integrate it seamlessly with other task constraints in image space, in Cartesian space, in the joint space of the robot, or in the " image space " of any other sensor (e. g. force, distance). This approach allows us to fuse various kinds of sensor data. The integration takes place via the specific...

This paper presents practical enhancements of the operational space formulation (OSF) to exploit inequality constraints for whole-body control a high degree freedom robot with floating base and multiple contacts, such as humanoids. A task-oriented optimisation method is developed obtain feasible torque resolution solely task variables based on OSF, which effectively reduces number variables. In...

by having daylighting in mind through a building design process rather than end of it, achieving a more sustainable space is much easier and feasible. since many people spend an important amount of their lives at their working spaces, accessing enough natural light together with satisfying view are essential for their physiological and psychological health. moreover as a daylighted space has a ...

This paper is focused on the kinematic control of redundant modular robots for trajectory tracing. Based on the geometric numerical inverse kinematic algorithm developed for modular robots, a new online control method is presented. In this method, the inverse kinematic solution can be optimized through constructing a weighted matrix. Following this approach, some fundamental interpolation algor...

this article reports on the findings of a study that investigated the impact of manipulating task performance conditions on listening task performance by learners of english as a foreign language (efl). the study was designed to explore the effects of changing complexity dimensions on listening task performance and to achieve two aims: to see how listening comprehension task performance was aff...