Computer simulation and design of a three degree-of-freedom shoulder module

An in-depth kinematic analysis of a three degree of freedom fully-parallel robotic shoulder module is presented. The major goal of the analysis is to determine appropriate link dimensions which will provide a maximized workspace along with desirable input to output velocity and torque amplification. First order kinematic influence coefficients which describe the output velocity properties in terms of actuator motions provide a means to determine suitable geometric dimensions for the device. Through the use of computer simulation, optimal or near optimal link dimensions based on predetermined design criteria are provided for two different structural designs of the mechanism. The first uses three rotational inputs to control the output motion. The second design involves the use of four inputs, actuating any three inputs for a given position of the output link. Alternative actuator placements are examined to determine the most effective approach to control the output motion

Securing Databases from Probabilistic Inference

Databases can leak confidential information when users combine query results with probabilistic data dependencies and prior knowledge. Current research offers mechanisms that either handle a limited class of dependencies or lack tractable enforcement algorithms. We propose a foundation for Database Inference Control based on ProbLog, a probabilistic logic programming language. We leverage this foundation to develop Angerona, a provably secure enforcement mechanism that prevents information leakage in the presence of probabilistic dependencies. We then provide a tractable inference algorithm for a practically relevant fragment of ProbLog. We empirically evaluate Angerona's performance showing that it scales to relevant security-critical problems.Comment: A short version of this paper has been accepted at the 30th IEEE Computer Security Foundations Symposium (CSF 2017

Computing General Relativistic effects from Newtonian N-body simulations: Frame dragging in the post-Friedmann approach

We present the first calculation of an intrinsically relativistic quantity in fully non-linear cosmolog- ical large-scale structure studies. Traditionally, non-linear structure formation in standard {\Lambda}CDM cosmology is studied using N-body simulations, based on Newtonian gravitational dynamics on an expanding background. When one derives the Newtonian regime in a way that is a consistent ap- proximation to the Einstein equations, a gravito-magnetic vector potential - giving rise to frame dragging - is present in the metric in addition to the usual Newtonian scalar potential. At leading order, this vector potential does not affect the matter dynamics, thus it can be computed from Newtonian N-body simulations. We explain how we compute the vector potential from simulations in {\Lambda}CDM and examine its magnitude relative to the scalar potential. We also discuss some possible observable effects.Comment: 5 pages, 3 figur