Abstract:Performance measures are quintessential to the design, synthesis, study and application of robotic manipulators. Numerous performance measures have been defined to study the performance and behavior of manipulators since the early days of robotics; some more widely accepted than others, but their real significance and limitations have not always been well understood. The aim of this survey is to review the definition, classification, scope, and limitations of some of the widely used performance measures. This work provides an extensive bibliography that can be of help to researchers interested in studying and evaluating the performance and behavior of robotic manipulators. Finally, a few recommendations are proposed based on the review so that the most commonly noticed limitations can be avoided when new performance measures are proposed.Response to Reviewers: Authors' response to the reviewers' comments is attached as .PDF files Powered by Editorial Manager® and ProduXion Manager® from Aries Systems CorporationManipulator Performance Measures The total number of words of the manuscript, including entire text from title page to figure legends: 12840The number of words of the abstract: 125The number of figures: 7The number of tables: 0 AbstractPerformance measures are quintessential to the design, synthesis, study and application of robotic manipulators. Numerous performance measures have been defined to study the performance and behavior of manipulators since the early days of robotics; some more widely accepted than others, but their real significance and limitations have not always been well understood. The aim of this survey is to review the definition, classification, scope, and limitations of some of the widely used performance measures. This work provides an extensive bibliography that can be of help to researchers interested in studying and evaluating the performance and behavior of robotic manipulators. Finally, a few recommendations are proposed based on the review so that the most commonly noticed limitations can be avoided when new performance measures are proposed.
Autonomous robots are complex systems that require the interaction between numerous heterogeneous components (software and hardware). Because of the increase in complexity of robotic applications and the diverse range of hardware, robotic middleware is designed to manage the complexity and heterogeneity of the hardware and applications, promote the integration of new technologies, simplify software design, hide the complexity of low-level communication and the sensor heterogeneity of the sensors, improve software quality, reuse robotic software infrastructure across multiple research efforts, and to reduce production costs. This paper presents a literature survey and attribute-based bibliography of the current state of the art in robotic middleware design. The main aim of the survey is to assist robotic middleware researchers in evaluating the strengths and weaknesses of current approaches and their appropriateness for their applications. Furthermore, we provide a comprehensive set of appropriate bibliographic references that are classified based on middleware attributes.
Abstract-Wireless sensor networks (WSNs) consist of many sensors working as hosts. These sensors can sense a phenomenon and represent it in a form of data. There are many applications for WSNs such as object tracking and monitoring where the objects need protection. Providing an efficient location privacy solution would be challenging to achieve due to the exposed nature of the WSN. The communication protocol needs to provide location privacy measured by anonymity, observability, capture-likelihood and safety period. We extend this work to allow for countermeasures against semi-global and global adversaries. We present a network model that is protected against a sophisticated passive and active attacks using local, semi-global, and global adversaries.
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