This paper describes the scientific advances of the AllemaniACs team for the 2008 RoboCup@Home competitions. We present important modules of our robot control software which allows us to perform reliable service robotics applications in the @Home league. Furthermore, we report on our high-level programming language providing a powerful framework for agent behavior specification.

In this paper we present our bio-mimetic artificial arm and the simulation results on its low level control system. In accordance with the general view of the Biorobotics field we try to replicate the structure and the functionalities of the natural limb. The control system is organized in a hierarchical way, the low level control reproduces the human spinal reflexes and the high level control ...

This paper proposes a two-level control strategy for wet clutches. On the low level, the control signal is calculated by solving a constrained optimal control problem. On the high level, the measured responses are used to update the system models and constraints that are used in the optimization for the next control signal. In this way a learning algorithm is obtained, which is able to optimize...

XACML is apparently the most convenient way to express attribute-based access control policies. Though XACML has been used in several access control areas, processing XACML policies for attribute-based database access control still has not been studied in depth. In this work we compile XACML policies, and utilize the underlying database access mechanisms such as ACLs to protect sensitive data. ...

This paper explains how advanced programming language concepts can be used to increase the readability and maintainability of control process software. The programming language concepts presented in this paper are: function pointers, variable argument functions and three concepts related to object-oriented programming: polymorphism, relationship of composition between classes and class methods....

The use of IP filtering as a means of improving system security is well established. Although there are limitations at what can be achieved doing relatively low-level filtering, IP level filtering has proved to be efficient and effective. In the design of a security policy there is always a trade-off between usability and security. Restricting access means that legitimate use of the network is ...

Role-based access control (RBAC) has significantly simplified the management of users and permissions in computing systems. In dynamic environments, systems are subject to changes, so that the associated configurations need to be updated accordingly in order to reflect the systems’ evolution. Access control update is complex, especially for large-scale systems; because the updated system is exp...

This paper presents a hierarchical control theory for discrete event systems based on state aggregation and advanced control structures. The proposed hierarchical structure consists of two levels, a low-level represented by the classical model of Ramadge-Wonham, and a high-level, obtained by state aggregation. In this model, the high-level events are a subset of the low-level events, but for co...

Dynamic program visualization, i.e. the visualization of the runtime behavior of a program as opposed to the static structure of its source code has been investigated for various kinds of programs, usually on a fairly low level. The focus has been on control flow in procedural programs or on the communication between objects in object-oriented