This paper discusses the development of an autonomous robot for a competition that requires picking up balls and scoring them in goals of varying heights. The robot must autonomously navigate the field and complete the task within 4 minutes. Key aspects of the robot include its mechanical design including the chassis, ball launcher, and navigation system. The electrical systems include motors, sensors and microcontroller. Algorithms are presented for line tracking, junction detection and path planning. Power management and simulation results are also summarized.
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SPICE MODEL of LM119W/883 in SPICE PARK. English Version is http://www.spicepark.net. Japanese Version is http://www.spicepark.com by Bee Technologies.
SPICE MODEL of LM119J/883 in SPICE PARK. English Version is http://www.spicepark.net. Japanese Version is http://www.spicepark.com by Bee Technologies.
SPICE MODEL of LM119WG/883 in SPICE PARK. English Version is http://www.spicepark.net. Japanese Version is http://www.spicepark.com by Bee Technologies.
SPICE MODEL of LM119W/883 in SPICE PARK. English Version is http://www.spicepark.net. Japanese Version is http://www.spicepark.com by Bee Technologies.
GDG Cloud Southlake #33: Boule & Rebala: Effective AppSec in SDLC using Deplo...James Anderson
Effective Application Security in Software Delivery lifecycle using Deployment Firewall and DBOM
The modern software delivery process (or the CI/CD process) includes many tools, distributed teams, open-source code, and cloud platforms. Constant focus on speed to release software to market, along with the traditional slow and manual security checks has caused gaps in continuous security as an important piece in the software supply chain. Today organizations feel more susceptible to external and internal cyber threats due to the vast attack surface in their applications supply chain and the lack of end-to-end governance and risk management.
The software team must secure its software delivery process to avoid vulnerability and security breaches. This needs to be achieved with existing tool chains and without extensive rework of the delivery processes. This talk will present strategies and techniques for providing visibility into the true risk of the existing vulnerabilities, preventing the introduction of security issues in the software, resolving vulnerabilities in production environments quickly, and capturing the deployment bill of materials (DBOM).
Speakers:
Bob Boule
Robert Boule is a technology enthusiast with PASSION for technology and making things work along with a knack for helping others understand how things work. He comes with around 20 years of solution engineering experience in application security, software continuous delivery, and SaaS platforms. He is known for his dynamic presentations in CI/CD and application security integrated in software delivery lifecycle.
Gopinath Rebala
Gopinath Rebala is the CTO of OpsMx, where he has overall responsibility for the machine learning and data processing architectures for Secure Software Delivery. Gopi also has a strong connection with our customers, leading design and architecture for strategic implementations. Gopi is a frequent speaker and well-known leader in continuous delivery and integrating security into software delivery.
Securing your Kubernetes cluster_ a step-by-step guide to success !KatiaHIMEUR1
Today, after several years of existence, an extremely active community and an ultra-dynamic ecosystem, Kubernetes has established itself as the de facto standard in container orchestration. Thanks to a wide range of managed services, it has never been so easy to set up a ready-to-use Kubernetes cluster.
However, this ease of use means that the subject of security in Kubernetes is often left for later, or even neglected. This exposes companies to significant risks.
In this talk, I'll show you step-by-step how to secure your Kubernetes cluster for greater peace of mind and reliability.
Pushing the limits of ePRTC: 100ns holdover for 100 daysAdtran
At WSTS 2024, Alon Stern explored the topic of parametric holdover and explained how recent research findings can be implemented in real-world PNT networks to achieve 100 nanoseconds of accuracy for up to 100 days.
Epistemic Interaction - tuning interfaces to provide information for AI supportAlan Dix
Paper presented at SYNERGY workshop at AVI 2024, Genoa, Italy. 3rd June 2024
https://alandix.com/academic/papers/synergy2024-epistemic/
As machine learning integrates deeper into human-computer interactions, the concept of epistemic interaction emerges, aiming to refine these interactions to enhance system adaptability. This approach encourages minor, intentional adjustments in user behaviour to enrich the data available for system learning. This paper introduces epistemic interaction within the context of human-system communication, illustrating how deliberate interaction design can improve system understanding and adaptation. Through concrete examples, we demonstrate the potential of epistemic interaction to significantly advance human-computer interaction by leveraging intuitive human communication strategies to inform system design and functionality, offering a novel pathway for enriching user-system engagements.
Encryption in Microsoft 365 - ExpertsLive Netherlands 2024Albert Hoitingh
In this session I delve into the encryption technology used in Microsoft 365 and Microsoft Purview. Including the concepts of Customer Key and Double Key Encryption.
Alt. GDG Cloud Southlake #33: Boule & Rebala: Effective AppSec in SDLC using ...James Anderson
Effective Application Security in Software Delivery lifecycle using Deployment Firewall and DBOM
The modern software delivery process (or the CI/CD process) includes many tools, distributed teams, open-source code, and cloud platforms. Constant focus on speed to release software to market, along with the traditional slow and manual security checks has caused gaps in continuous security as an important piece in the software supply chain. Today organizations feel more susceptible to external and internal cyber threats due to the vast attack surface in their applications supply chain and the lack of end-to-end governance and risk management.
The software team must secure its software delivery process to avoid vulnerability and security breaches. This needs to be achieved with existing tool chains and without extensive rework of the delivery processes. This talk will present strategies and techniques for providing visibility into the true risk of the existing vulnerabilities, preventing the introduction of security issues in the software, resolving vulnerabilities in production environments quickly, and capturing the deployment bill of materials (DBOM).
Speakers:
Bob Boule
Robert Boule is a technology enthusiast with PASSION for technology and making things work along with a knack for helping others understand how things work. He comes with around 20 years of solution engineering experience in application security, software continuous delivery, and SaaS platforms. He is known for his dynamic presentations in CI/CD and application security integrated in software delivery lifecycle.
Gopinath Rebala
Gopinath Rebala is the CTO of OpsMx, where he has overall responsibility for the machine learning and data processing architectures for Secure Software Delivery. Gopi also has a strong connection with our customers, leading design and architecture for strategic implementations. Gopi is a frequent speaker and well-known leader in continuous delivery and integrating security into software delivery.
Observability Concepts EVERY Developer Should Know -- DeveloperWeek Europe.pdfPaige Cruz
Monitoring and observability aren’t traditionally found in software curriculums and many of us cobble this knowledge together from whatever vendor or ecosystem we were first introduced to and whatever is a part of your current company’s observability stack.
While the dev and ops silo continues to crumble….many organizations still relegate monitoring & observability as the purview of ops, infra and SRE teams. This is a mistake - achieving a highly observable system requires collaboration up and down the stack.
I, a former op, would like to extend an invitation to all application developers to join the observability party will share these foundational concepts to build on:
Accelerate your Kubernetes clusters with Varnish CachingThijs Feryn
A presentation about the usage and availability of Varnish on Kubernetes. This talk explores the capabilities of Varnish caching and shows how to use the Varnish Helm chart to deploy it to Kubernetes.
This presentation was delivered at K8SUG Singapore. See https://feryn.eu/presentations/accelerate-your-kubernetes-clusters-with-varnish-caching-k8sug-singapore-28-2024 for more details.
UiPath Test Automation using UiPath Test Suite series, part 4DianaGray10
Welcome to UiPath Test Automation using UiPath Test Suite series part 4. In this session, we will cover Test Manager overview along with SAP heatmap.
The UiPath Test Manager overview with SAP heatmap webinar offers a concise yet comprehensive exploration of the role of a Test Manager within SAP environments, coupled with the utilization of heatmaps for effective testing strategies.
Participants will gain insights into the responsibilities, challenges, and best practices associated with test management in SAP projects. Additionally, the webinar delves into the significance of heatmaps as a visual aid for identifying testing priorities, areas of risk, and resource allocation within SAP landscapes. Through this session, attendees can expect to enhance their understanding of test management principles while learning practical approaches to optimize testing processes in SAP environments using heatmap visualization techniques
What will you get from this session?
1. Insights into SAP testing best practices
2. Heatmap utilization for testing
3. Optimization of testing processes
4. Demo
Topics covered:
Execution from the test manager
Orchestrator execution result
Defect reporting
SAP heatmap example with demo
Speaker:
Deepak Rai, Automation Practice Lead, Boundaryless Group and UiPath MVP
A tale of scale & speed: How the US Navy is enabling software delivery from l...sonjaschweigert1
Rapid and secure feature delivery is a goal across every application team and every branch of the DoD. The Navy’s DevSecOps platform, Party Barge, has achieved:
- Reduction in onboarding time from 5 weeks to 1 day
- Improved developer experience and productivity through actionable findings and reduction of false positives
- Maintenance of superior security standards and inherent policy enforcement with Authorization to Operate (ATO)
Development teams can ship efficiently and ensure applications are cyber ready for Navy Authorizing Officials (AOs). In this webinar, Sigma Defense and Anchore will give attendees a look behind the scenes and demo secure pipeline automation and security artifacts that speed up application ATO and time to production.
We will cover:
- How to remove silos in DevSecOps
- How to build efficient development pipeline roles and component templates
- How to deliver security artifacts that matter for ATO’s (SBOMs, vulnerability reports, and policy evidence)
- How to streamline operations with automated policy checks on container images
Dev Dives: Train smarter, not harder – active learning and UiPath LLMs for do...UiPathCommunity
💥 Speed, accuracy, and scaling – discover the superpowers of GenAI in action with UiPath Document Understanding and Communications Mining™:
See how to accelerate model training and optimize model performance with active learning
Learn about the latest enhancements to out-of-the-box document processing – with little to no training required
Get an exclusive demo of the new family of UiPath LLMs – GenAI models specialized for processing different types of documents and messages
This is a hands-on session specifically designed for automation developers and AI enthusiasts seeking to enhance their knowledge in leveraging the latest intelligent document processing capabilities offered by UiPath.
Speakers:
👨🏫 Andras Palfi, Senior Product Manager, UiPath
👩🏫 Lenka Dulovicova, Product Program Manager, UiPath
Smart TV Buyer Insights Survey 2024 by 91mobiles.pdf91mobiles
91mobiles recently conducted a Smart TV Buyer Insights Survey in which we asked over 3,000 respondents about the TV they own, aspects they look at on a new TV, and their TV buying preferences.
Removing Uninteresting Bytes in Software FuzzingAftab Hussain
Imagine a world where software fuzzing, the process of mutating bytes in test seeds to uncover hidden and erroneous program behaviors, becomes faster and more effective. A lot depends on the initial seeds, which can significantly dictate the trajectory of a fuzzing campaign, particularly in terms of how long it takes to uncover interesting behaviour in your code. We introduce DIAR, a technique designed to speedup fuzzing campaigns by pinpointing and eliminating those uninteresting bytes in the seeds. Picture this: instead of wasting valuable resources on meaningless mutations in large, bloated seeds, DIAR removes the unnecessary bytes, streamlining the entire process.
In this work, we equipped AFL, a popular fuzzer, with DIAR and examined two critical Linux libraries -- Libxml's xmllint, a tool for parsing xml documents, and Binutil's readelf, an essential debugging and security analysis command-line tool used to display detailed information about ELF (Executable and Linkable Format). Our preliminary results show that AFL+DIAR does not only discover new paths more quickly but also achieves higher coverage overall. This work thus showcases how starting with lean and optimized seeds can lead to faster, more comprehensive fuzzing campaigns -- and DIAR helps you find such seeds.
- These are slides of the talk given at IEEE International Conference on Software Testing Verification and Validation Workshop, ICSTW 2022.
zkStudyClub - Reef: Fast Succinct Non-Interactive Zero-Knowledge Regex ProofsAlex Pruden
This paper presents Reef, a system for generating publicly verifiable succinct non-interactive zero-knowledge proofs that a committed document matches or does not match a regular expression. We describe applications such as proving the strength of passwords, the provenance of email despite redactions, the validity of oblivious DNS queries, and the existence of mutations in DNA. Reef supports the Perl Compatible Regular Expression syntax, including wildcards, alternation, ranges, capture groups, Kleene star, negations, and lookarounds. Reef introduces a new type of automata, Skipping Alternating Finite Automata (SAFA), that skips irrelevant parts of a document when producing proofs without undermining soundness, and instantiates SAFA with a lookup argument. Our experimental evaluation confirms that Reef can generate proofs for documents with 32M characters; the proofs are small and cheap to verify (under a second).
Paper: https://eprint.iacr.org/2023/1886
zkStudyClub - Reef: Fast Succinct Non-Interactive Zero-Knowledge Regex Proofs
An Autonomous Robot for NERC Contest
1. An Autonomous Robot for NERC Contest
Muhammad Usman Asad, Muhammad Amar, Asif Raza,
Osama Tahir, Asim Iqbal
1
2. Abstract
This paper discusses the development of an autonomous robot
designed to pick up the balls and pot into the goal posts of different
heights placed diagonally in the floor plan .The robot needs to be
completely autonomous and capable of playing the game according to
given guidelines. The contest is comprised of double elimination
rounds so speed is crucial
3. THE CONTEST
Background:
Inspired by the international contest “ABU ROBOCON” and having the capability
and capacity National Engineering Robotics Contest is regularly organized by the
department of Mechatronics Engineering, College of Electrical & Mechanical
Engineering every year.
Rules Outlines:
The goal of this year’s theme is to build an autonomous robot that has maximum
weight of 14kg and height of 65cm with covered area of 1300cm2. The robot has to
pick the balls from ball stand of specified height and to pot these picked as well as pre
loaded balls into the goal posts of different height.
4. MECHANICAL SYSTEM DESIGN
1. Chassis:
The robot main chassis is constructed
out of aluminum angles for weight
reduction. The size of chassis was
picked to minimize the area as per
defined in published guideline. The
robot was cut to these specifications
with a square pattern, giving rise to
an edge in line tracking.
5. 2. Ball Launcher
The design of shooter was an
important strategic link for the robot’s
success. To understand its
development, we started with a basic
study of the forces involved with
delivering a ball to the target. The
shooter consists of worm DC motor
that rotates at no- load speed of
200rpm. We use spring to propel the
ball, a system similar to the gun
mechanism. To analyze and
manipulate the performance of our
shooter system, we are going to pick a
mathematical model.
6. Equations defining the shooter mechanism
Fmax = k (Lfree - Lsolid) (1)
F = m× a (2)
F = K× x (3)
m × g = K × displacement (4)
F = B× v (5)
B = m× a/v (6)
7. ELECTRICAL SYSTEM DESIGN
1. Drive System
Two geared motors of three hundred rpm are used for powering the wheels.
For perfect detection of the line and junction on the floor plan, speed of the
motors must not be high. The problem is solved by using pulse width
modulation (PWM), thereby reducing the speed of the motors. There are two
main wheels, each of which is attached to its own motor. Woody slip
resistant wheels are used because slightest wheel slippage causes swear
problem in line tracking, junction detection and turning.
8. +Vs
+5V
2
2
1nF
+5V 1 2
A
+
-
12
12
330
4N25 IN5822
1
1
10k 1k +Vss
1nF
+5V
EN IN 1 IN 2 MOTOR 330
Ven
+5V L298N
1 X X OFF IN1
EN
0 0 0 OFF IN2
1k
0 1 1 OFF 10k
0 0 1 FORWARD +5V
0 1 0 REVERSE
330
+5V
1k
10k
10. Equations defining the robot main drive system
Well known mathematical model of
differentially driven vehicle is as follows:
wr (t) = vr (t) / R+ (L/2) (1)
wl (t) = vl (t) / R- (L/2) (2)
w (t) = (vr (t) - vl (t)) / L. (3)
R = (L (vr (t) + vl (t))) / (2(vr (t) - vl (t))) (4)
v (t) = w (t) R = (vr (t) + vl (t)) / 2 (5)
11. 2. Navigation System
+5V
The robot utilizes the Fairchild
Semiconductor QRD1114 QRD1114
emitter/detector pairs to locate the 1k
<2v
8
5
white line on the floor plan. The 2 6
100k
V+
B
+ B/S
sensor can easily distinguish the
>4v OUT
7
reflective surface from the non- 330 47k
3 1 To uC
V-
- G
reflective one. When the sensor is
4v LM311
over the dark surface, the reflectivity
4
4.7k
is very low; when the QTI is over the
light surface, the reflectivity is very
high and will cause a different
reading from the sensor.
12. 3. Algorithm
LINE-SENSING ( ) JUNCTION-DETECT ( )
1 While True 1 Junction_head ← False
2 do 2 While TRUE
3 if Left sensor is on 3 do
4 then 4 if FL sensor is on or FR sensor is on
5 do repeat Take right turn 5 then Junction_head ←True
6 until left sensor is on 6 if Junction_head = True
7 else 7 then
8 do repeat Take left turn 8 if CL sensor is on or CR sensor is on
9 until right sensor is on 9 then count ← count+1
10 Junction_head ← False
11 break
12 return count
13. 3. Algorithm
TURN-90DGE-LEFT ( )
1 repeat Turn right motor ON and left motor off
2 until CL sensor is ON or CR sensor is ON
TURN-90DGE-RIGHT ( )
1 repeat Turn left motor is ON and right motor off
2 until CL sensor is ON or CR sensor is ON
TURN-180DGE-RIGHT ( )
1 TURN – 90DGE-LEFT ( )
2 TURN – 90DGE-LEFT ( )
15. POWER MANAGEMENT
Power management in autonomous
robots is difficult task. Robot has to
complete the given task in maximum
four minutes so power system should
be strong enough to drive the robot
and to shoot and pick the balls.
Maximum of 48V could be used as
per mentioned in rules outline. The
microcontroller, motor controller and
the sensor arrays are driven off from
one of the two 6V batteries
16. CONCLUSION
This project to build an autonomous robot is successfully completed.
Although we are not able to qualify for the finals but it was a worthwhile
experience to build such a autonomous robot. Our design is unique and
innovative because of our chassis and shooting mechanism. Its simplicity
made it stand out.
17. AKNOWLEDGEMENT
The financial support at Institute of Quality and Technology Management (IQTM)
University of The Punjab, Lahore is greatly acknowledged. Authors will also like to
thank Mr. Umar Farooq, Lecturer at Department of Electronics &
Telecommunication Engineering, University of The Punjab Lahore, for his untiring
efforts during the course of the project.
18. REFERENCES
[1] National Engineering Robotic Contest website-E.M.E. N.U.S.T. [on-line]
http://www.ceme.edu.pk/nerc
[2] National Engineering Robotic Contest website- E.M.E. N.U.S.T. [online]
http://www.ceme.edu.pk/robocon
[3] Joseph Register, Veena Ramasamy, Ryan Copley, Fazir Mohammed, “
Autonomous Robot for IEEE SoutheastCon Contest,” Senior design report,
University of South Florida.
[4] Gordon McComb, “Robot Builder's Bonanza”, McGraw-Hill Professional
Publishing, 2005
[5] Rajput, Jahanzeb; Memon, Farida; Unar, Mukhtiar A., "Simulation of a
Differentially-Driven Vehicle Robot in Simulink®," 9th International
Multitopic Conference, IEEE INMIC 2005, vol., no., pp.1-6, Dec. 2005
[6] A differential drive [online] http:// planning. cs. uiuc. edu/ node659.htm
[7] V. Peri and D. Simon, “Fuzzy Logic Control for an Autonomous Mobile
Robot,” North American Fuzzy Information Processing Society Confer. Ann
Arbor, MI, June 2005