Global and international security cannot be provided from a single point or a set of separate points whatever powerful these might be(even with quantum supercomputers!).It should rather be deeply embedded and integrat...Global and international security cannot be provided from a single point or a set of separate points whatever powerful these might be(even with quantum supercomputers!).It should rather be deeply embedded and integrated with bodies of real systems wherever in physical,virtual,or combined spaces they may exist.So global security capabilities should not only be distributed,but rather be really spatial,self-organized,and dynamic,also exhibiting overall integrity,awareness,and consciousness features.The paper describes applicability of the patented and revealed in 10 books Spatial Grasp Model and Technology(SGT)and its basic Spatial Grasp Language(SGL)which conceptually and functionally match security problems of large distributed and heterogeneous systems.It investigates very practical security solutions for finding and tracing distribution of forbidden items,world roaming criminals,recovery from natural and human-made disasters,tracing and elimination of moving dangerous objects in terrestrial and celestial spaces,as well as analysis and restoration of damaged transport networks.It advises how different security infrastructures can be organized and managed,and how to cooperate and integrate within global security systems with higher awareness and consciousness levels over them.The provided security-oriented version of SGL can be quickly implemented and integrated with existing distributed management and security systems.展开更多
The stable grasping gesture of a novel cable-driven robotic hand is analyzed. The robotic hand is underactuated, using tendon-pulley transmission and a parallel four-linkage mechanism to realize grasp. The structure d...The stable grasping gesture of a novel cable-driven robotic hand is analyzed. The robotic hand is underactuated, using tendon-pulley transmission and a parallel four-linkage mechanism to realize grasp. The structure design and a basic grasping strategy of one finger was introduced. According to the established round object enveloping grasp model, the relationship between the contacting and driving forces in a finger and stable grasping conditions were expounded. A method of interpolation and iteration was proposed to obtain the stable grasping gesture of the cable-driven hand grasping a round target. Quasi-statics analysis in ADAMS validated the variation of grasping forces, which illustrated the feasibility and validity of the proposed analytical method. Three basic types of grasping gestures of the underactuated hand were obtained on the basis of the relationship between the contact forces and position of a grasped object.展开更多
The paper investigates applicability of the developed high-level model and technology for solution of diverse problems in large distributed dynamic systems which can provide sufficient awareness of their structures,or...The paper investigates applicability of the developed high-level model and technology for solution of diverse problems in large distributed dynamic systems which can provide sufficient awareness of their structures,organization,and functionalities.After the review of meanings of awareness and existing approaches for its expression and support,the paper shows application of the Spatial Grasp Model and Technology(SGT)and its basic Spatial Grasp Language(SGL)for very practical awareness solutions in large distributed dynamic systems,with obtaining any knowledge from any point inside or outside the system.The self-evolving,self-replicating,and self-recovering scenario code in SGL can effectively supervise distributed systems under any circumstances including rapidly changing number of their elements.Examples are provided in SGL for distributed networked systems showing how in any node any information about other nodes and links,including the whole system,can be obtained by using network requesting patterns based on recursive scenarios combining forward and backward network matching and coverage.The returned results may be automatically organized in networked patterns too.The presented exemplary solutions are parallel and fully distributed,without the need of using vulnerable centralized resources,also very compact.This can be explained by fundamentally different philosophy and ideology of SGT which is not based on traditional partitioned systems representation and multiple agent communications.On the contrary,SGT and its basic language supervise and control distributed systems by holistic self-spreading recursive code in wavelike,virus-like,and even“soul-like”mode.展开更多
Despite the recent influx of increasingly dexterous prostheses, there remains a lack of sufficiently intuitive control methods to fully utilize this dexterity. As a solution to this problem, a control framework is pro...Despite the recent influx of increasingly dexterous prostheses, there remains a lack of sufficiently intuitive control methods to fully utilize this dexterity. As a solution to this problem, a control framework is proposed which allows the control of an arbitrary number of Degrees of Freedom （DOF） through a single electromyogram （EMG） control input. Initially, the joint motions of nine test subjects were recorded while grasping and catching a cylinder. Inherent differences emerged depending upon whether the cylinder was grasped or caught. These data were used to form a distinct synergy for each task, described as the families of parametric functions of time that share a mutual time vector. These two Temporally Synchronized Synergies （TSS） were derived to reflect the task dependent control strategies adopted by the initial participants. These synergies were then mapped to a dexterous artificial hand that was subsequently controlled by two subjects with transradial amputations. The EMG signals from these subjects were used to replace the time vector shared by the synergies, enabling the subjects to perform both tasks with a dexterous artificial hand using only a single EMG input. After a ten minute training period, the subjects learned to use the dexterous artificial hand to grasp and catch the cylinder with 100.0% and 65.0% average success rates, respectively.展开更多
文摘Global and international security cannot be provided from a single point or a set of separate points whatever powerful these might be(even with quantum supercomputers!).It should rather be deeply embedded and integrated with bodies of real systems wherever in physical,virtual,or combined spaces they may exist.So global security capabilities should not only be distributed,but rather be really spatial,self-organized,and dynamic,also exhibiting overall integrity,awareness,and consciousness features.The paper describes applicability of the patented and revealed in 10 books Spatial Grasp Model and Technology(SGT)and its basic Spatial Grasp Language(SGL)which conceptually and functionally match security problems of large distributed and heterogeneous systems.It investigates very practical security solutions for finding and tracing distribution of forbidden items,world roaming criminals,recovery from natural and human-made disasters,tracing and elimination of moving dangerous objects in terrestrial and celestial spaces,as well as analysis and restoration of damaged transport networks.It advises how different security infrastructures can be organized and managed,and how to cooperate and integrate within global security systems with higher awareness and consciousness levels over them.The provided security-oriented version of SGL can be quickly implemented and integrated with existing distributed management and security systems.
基金The National Natural Science Foundation of China(No.U1613201,51275107)Shenzhen Research Funds(No.JCYJ20170413104438332)
文摘The stable grasping gesture of a novel cable-driven robotic hand is analyzed. The robotic hand is underactuated, using tendon-pulley transmission and a parallel four-linkage mechanism to realize grasp. The structure design and a basic grasping strategy of one finger was introduced. According to the established round object enveloping grasp model, the relationship between the contacting and driving forces in a finger and stable grasping conditions were expounded. A method of interpolation and iteration was proposed to obtain the stable grasping gesture of the cable-driven hand grasping a round target. Quasi-statics analysis in ADAMS validated the variation of grasping forces, which illustrated the feasibility and validity of the proposed analytical method. Three basic types of grasping gestures of the underactuated hand were obtained on the basis of the relationship between the contact forces and position of a grasped object.
文摘The paper investigates applicability of the developed high-level model and technology for solution of diverse problems in large distributed dynamic systems which can provide sufficient awareness of their structures,organization,and functionalities.After the review of meanings of awareness and existing approaches for its expression and support,the paper shows application of the Spatial Grasp Model and Technology(SGT)and its basic Spatial Grasp Language(SGL)for very practical awareness solutions in large distributed dynamic systems,with obtaining any knowledge from any point inside or outside the system.The self-evolving,self-replicating,and self-recovering scenario code in SGL can effectively supervise distributed systems under any circumstances including rapidly changing number of their elements.Examples are provided in SGL for distributed networked systems showing how in any node any information about other nodes and links,including the whole system,can be obtained by using network requesting patterns based on recursive scenarios combining forward and backward network matching and coverage.The returned results may be automatically organized in networked patterns too.The presented exemplary solutions are parallel and fully distributed,without the need of using vulnerable centralized resources,also very compact.This can be explained by fundamentally different philosophy and ideology of SGT which is not based on traditional partitioned systems representation and multiple agent communications.On the contrary,SGT and its basic language supervise and control distributed systems by holistic self-spreading recursive code in wavelike,virus-like,and even“soul-like”mode.
基金Acknowledgment This work was supported in part by the National Science Foundation （Grant no. 1317952）. The authors also appreciate the generosity of Touch Bionics and C. Tederous for helping design the human hand skeletal structure in Fig. 4a.
文摘Despite the recent influx of increasingly dexterous prostheses, there remains a lack of sufficiently intuitive control methods to fully utilize this dexterity. As a solution to this problem, a control framework is proposed which allows the control of an arbitrary number of Degrees of Freedom （DOF） through a single electromyogram （EMG） control input. Initially, the joint motions of nine test subjects were recorded while grasping and catching a cylinder. Inherent differences emerged depending upon whether the cylinder was grasped or caught. These data were used to form a distinct synergy for each task, described as the families of parametric functions of time that share a mutual time vector. These two Temporally Synchronized Synergies （TSS） were derived to reflect the task dependent control strategies adopted by the initial participants. These synergies were then mapped to a dexterous artificial hand that was subsequently controlled by two subjects with transradial amputations. The EMG signals from these subjects were used to replace the time vector shared by the synergies, enabling the subjects to perform both tasks with a dexterous artificial hand using only a single EMG input. After a ten minute training period, the subjects learned to use the dexterous artificial hand to grasp and catch the cylinder with 100.0% and 65.0% average success rates, respectively.
