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In the passivity-based decomposing method, a bilateral tele-operation system is virtually decomposed into 2 sub-systems (shape/locked) to ensure coordination between the master and slave robots and to provide a general referenced motion of the closed-loop bilateral tele-operation along with the passivity of the master and slave robots. So far, the passivity-based decomposing methods in the literature have been studied only for the joint-space control of tele-operation systems with kinematical similar master and slave robots. in this study, a passivity-based decomposing method is proposed for operational space control of bilateral tele-operation systems with kinematic redundancy in the slave robot. The main objectives of the proposed method are to ensure operational space coordination between the robots' end-effector trajectories and to achieve a referenced general movement of the closed-loop tele-operation system. in addition, the kinematic redundancy of the slave robot, which usually complicates the control problem, is turned into an advantage, and secondary tasks are designed for the slave robot. Moreover, experiments are carried out to validate the achievement of the proposed method using a kinematical redundant tele-operation setup., TUBITAKTurkiye Bilimsel ve Teknolojik Arastirma Kurumu (TUBITAK) [113-E-147], This work was supported by TUBITAK project no. 113-E-147.

This deliverable presents a detailed description of the main causes of reading reliability degradation. Two main groups of impairments are recognized: those at the physical layer (e.g., fading, multipath, electromagnetic interference, shadowing due to obstacles, tag orientation misalignment, tag bending, metallic environments, etc.) and those at the medium access control sub-layer (e.g., collisions due to tag-to-tag, reader-to-reader and multiple readers-to-tag interference). The review presented in this deliverable covers previous reliability reports and existing definitions of RFID reading reliability. Performance metrics and methodologies for assessing reading reliability are further discussed.This document also presents a review of state-of-the-art RFID reading reliability improvement schemes. The solutions are classified into physical- (PHY), medium access control- (MAC), upper-, and cross-layer. An additional category is created for a set of implementation guidelines and practical solutions for current RFID deployments, e.g. using multiple tags per object, multiple interrogators per area and cache memories in readers. Among physical layer solutions we find multiple antenna transceivers, novel tag designs with multiple ports, and interference cancellation schemes at the interrogators. At the medium access control layer we mainly review previously proposed algorithms for tag-to-tag collision resolution (e.g., Slotted ALOHA, framed-ALOHA and binary tree algorithms), algorithms for reader-to-reader collision resolution based on scheduling or adaptive power control, and algorithms for multiple reader-to-tag collision (e.g., Colorwave and HiQ). Regarding solutions at upper layers we review existing approaches with systematic error control based on context aware analysis and Bayesian decision methodologies. Particular emphasis is made on cross-layer solutions which are scarce in the literature of RFID and which constitute one of the contributions of this deliverable. Review of promising cross-layer solutions is focused on anti-collision algorithms that make use of joint scheduling and signal processing schemes. An analysis of complexity is also presented so as to calculate the impact of different solutions on hardware platforms.Based on the review of existing approaches for improving reading reliability, this deliverable also covers algorithms that have been proposed by the partners of the consortium. The solutions are mainly focused on the problem of reader-to-reader, tag-to-tag, and multiple readers-to-tag interference. Two algorithms for reader collision management that combine different features of existing solutions are here presented and analyzed. Furthermore, a cross-layer theoretical framework is proposed for the joint analysis of MAC, PHY and context aware solutions. This cross-layer framework provides a useful method to improve existing or new algorithms using information from several layers. Particular cases include a new tag-to-tag collision resolution algorithm based on network retransmission diversity, an ALOHA protocol with imperfect tag activation, and an ALOHA protocol with context aware analysis.

FP7 ICT project ASPIRE is one of the coordinated European efforts to further the advancement of this technology, in the areas of enabling technology development for RFID. The focus of ASPIRE is on the design, development and adoption of an innovative, programmable, royalty-free, lightweight and privacy friendly RFID middleware.Advances in active RFID integration with WSNs allow for more RFID-based applications to be developed. In order to fill the gap between the active RFID system and the existing middleware, a HAL for active reader and ALE server extension to support sensing data from active tag were developed and integrated to the ASPIRE middleware.

The purpose of the document is to initialise Task 3.2 Technical Evaluation by carrying out the first part of the system evaluation. The document describes the evaluation plans that will be followed to determine whether the ISISEMD system requirements are fulfilled by testing services after the components of the system have been integrated in one system. These evaluation plans will serve as a guideline to the system technical evaluation of the ISISEMD integrated prototype.

In this study, we propose an optimum non-iterative algorithm for the minimum cable tension solution of two degree-of-freedom cable-driven robots. The problem is specifically defined for a cable-driven robot with one end-effector connected to four motors by four cables. A two-cable algorithm and a three-cable algorithm are presented with examples, then the optimal two-cable and three-cable solutions are proven for the absolute value norm and Euclidean norm.