. The bilateral teleoperation controller design problem is then formulated as the optimization of this new metric with constraints on free space tracking requirements and robust stability of the system under environment and human operator uncertainties. The robust stability analysis can be applied to any

Reliability is even more important in object-oriented programming than elsewhere. This article shows how to reduce bugs by building software components on the basis of carefully designed contracts. 40 s object-oriented techniques steadily gain ground in the world of software development. users

In this paper, teleoperation controller design for haptic exploration and telemanipulation of soft environments is studied. First, a new measure for fidelity in teleoperation is introduced which quantifies the teleoperation system’s ability to transmit changes in the compliance of the environment

The problem of multiprogram scheduling on a single processor is studied from the viewpoint...

The problems of designing large software systems were studied through interviewing personnel from 17 large projects. A layered behavioral model is used to analyze how three lgf these problems-the thin spread of application domain knowledge, fluctuating and conflicting requirements

This paper presents SIENA, an event notification service that we have designed and implemented to exhibit both expressiveness and scalability. We describe the service's interface to applications, the algorithms used by networks of servers to select and deliver event notifications

with the real world – design principles for

, design, and documentation of large and complex reactive systems, such as real-time embedded sys- tems, control and communication systems, and interactive software or hardware. It enables a user to prepare, analyze, and debug diagram- matic, yet precise, descriptions of the system under development from

This dissertation addresses three related topics in the application of virtual fix-tures to bilateral telemanipulation systems. Bilateral telemanipulation is the direct human control of a remote robot, with force and/or tactile feedback, and virtual fixtures are guidance modes, implemented

Cognitive radio is viewed as a novel approach for improving the utilization of a precious natural resource: the radio electromagnetic spectrum. The cognitive radio, built on a software-defined radio, is defined as an intelligent wireless communication system that is aware of its environment