An experimental study on the failure tolerant control of a redundant planar serial manipulator via pseudo-inverse approach

In this paper, fault-tolerant control of redundant planar serial manipulators has been investigated experimentally via an offline method called psuedo-inverse reconfiguration method. Minimizing the end-effector's velocity jump via an optimal mapping of joint failures into healthy joints velocity space can be regarded as the main contribution of this reconfiguration approach. This algorithm has been simulated and implemented on a four-link serial manipulator named as TaArm. It should be mentioned that for simulation and practical tests, C++ programming language in QtCreator environment has been used which provided high computational speed. Two scenarios has been selected for simulation and implementation studies and results shows that the algorithm considerably removes the velocity jump of the end-effector in both simulation and experimetal studies.

Control and simulation of robotic swarms in heterogeneous environments

Simulation provides a low cost method of initial testing of control for robotic swarms. The expansion of robotic swarms to heterogeneous environments drives the need to model cooperative operation in those environments. The Autonomous Control Engineering center at The University of Texas at San Antonio is investigating methods of simulation techniques and simulation environments. This paper presents results from adapting simulation tools for diverse environments.

Partial state estimation of time-delay systems.

This thesis broadly studies three crucial and rigorous inter-related control theoretical subjects: (i) Partial state estimation of linear systems; (ii) Stability analysis of time-delay systems with interval time-varying delays; and (iii) Functional observer design for time-delay systems.

Achieving simple, secure and efficient hierarchical access control in cloud computing

Access control is an indispensable security component of cloud computing, and hierarchical access control is of particular interest since in practice one is entitled to different access privileges. This paper presents a hierarchical key assignment scheme based on linear-geometry as the solution of flexible and fine-grained hierarchical access control in cloud computing. In our scheme, the encryption key of each class in the hierarchy is associated with a private vector and a public vector, and the inner product of the private vector of an ancestor class and the public vector of its descendant class can be used to derive the encryption key of that descendant class. The proposed scheme belongs to direct access schemes on hierarchical access control, namely each class at a higher level in the hierarchy can directly derive the encryption key of its descendant class without the need of iterative computation. In addition to this basic hierarchical key derivation, we also give a dynamic key management mechanism to efficiently address potential changes in the hierarchy. Our scheme only needs light computations over finite field and provides strong key indistinguishability under the assumption of pseudorandom functions. Furthermore, the simulation shows that our scheme has an optimized trade-off between computation consumption and storage space.

Network and traffic engineering in emerging distributed computing applications

This book focuses on network management and traffic engineering for Internet and distributed computing technologies, as well as present emerging technology trends and advanced platform

Control of crystallization in supramolecular soft materials engineering

As one class of the most important supramolecular functional materials, gels formed by low molecular weight gelators (LMWGs) have many important applications. The key important parameters affecting the in-use performance of a gel are determined by the hierarchical fiber network structures. Fiber networks consisting of weakly interacting multiple domains are commonly observed in gels formed by LMWGs. The rheological properties, particularly the elasticity, of a gel with such a fiber network are weak due to the weak interactions between the individual domains. As achieving desirable rheological properties of such a gel is practically relevant, in this work, we demonstrate the engineering of gels with such a type of fiber network by controlling crystallization of the gelator. Two example gels formed by a glutamic acid derivative in a non-ionic surfactant Tween 80 and in propylene glycol were engineered by controlling the thermodynamic driving force for crystallization. For a fixed gelator concentration, the thermodynamic driving force was manipulated by controlling the temperature for fiber crystallization. It was observed that there exists an optimal temperature at which a gel with maximal elasticity can be fabricated. This will hopefully provide guidelines for producing high performance soft materials by engineering their fiber network structures.

FEACS: a flexible and efficient access control scheme for cloud computing

In the past few years, cloud computing has emerged as one of the most influential paradigms in the IT industry. As promising as it is, this paradigm brings forth many new challenges for data security because users have to outsource sensitive data on untrusted cloud servers for sharing. In this paper, to guarantee the confidentiality and security of data sharing in cloud environment, we propose a Flexible and Efficient Access Control Scheme (FEACS) based on Attribute-Based Encryption, which is suitable for fine-grained access control. Compared with existing state-of-the-art schemes, FEACS is more practical by following functions. First of all, considering the factor that the user membership may change frequently in cloud environment, FEACS has the capability of coping with dynamic membership efficiently. Secondly, full logic expression is supported to make the access policy described accurately and efficiently. Besides, we prove in the standard model that FEACS is secure based on the Decisional Bilinear Diffie-Hellman assumption. To evaluate the practicality of FEACS, we provide a detailed theoretical performance analysis and a simulation comparison with existing schemes. Both the theoretical analysis and the experimental results prove that our scheme is efficient and effective for cloud environment.

Software engineering for multi-tenancy computing challenges and implications

Multi-tenancy is a cloud computing phenomenon. Multiple instances of an application occupy and share resources from a large pool, allowing different users to have their own version of the same application running and coexisting on the same hardware but in isolated virtual spaces. In this position paper we survey the current landscape of multi-tenancy, laying out the challenges and complexity of software engineering where multi-tenancy issues are involved. Multitenancy allows cloud service providers to better utilise computing resources, supporting the development of more exible services to customers based on economy of scale, reducing overheads and infrastructural costs. Nevertheless, there are major challenges in migration from single tenant applications to multi-tenancy. These have not been fully explored in research or practice to date. In particular, the reengineering effort of multi-tenancy in Software-as-a-Service cloud applications requires many complex and important aspects that should be taken into consideration, such as security, scalability, scheduling, data isolation, etc. Our study emphasizes scheduling policies and cloud provisioning and deployment with regards to multi-tenancy issues. We employ CloudSim and MapReduce in our experiments to simulate and analyse multi-tenancy models, scenarios, performance, scalability, scheduling and reliability on cloud platforms.

Congestion control mechanism for sensor-cloud Infrastructure

 This thesis has developed a sensor-Cloud system that integrates WBANs with Cloud computing to enable real-time sensor data collection, storage, processing, sharing and management. As the main contribution of this study, a congestion detection and control protocol is proposed to ensure acceptable data flows are maintained during the network lifetime.

Precision engineering of the chicken genome for disease control

The thesis examines the application of precision genome engineering technology to improve the disease resistance in chicken model.