Abstract: Systems and methods for manipulating an omnidirectional cart using an armed mobile robot are described herein. In one example, a system includes a processor and a memory in communication with the processor. The memory includes instructions that, when executed by the processor, cause the processor to determine a control input for controlling a mobile robot with at least two arms configured to manipulate an omnidirectional cart. The control input is based on the trajectory and the state of the mobile robot when the at least two arms are manipulating the omnidirectional cart. Once the control input is determined, the system then controls the movement of the mobile robot using the control input.

Abstract: System, methods, and other embodiments described herein relate to implementing risk-bounded control barrier functions. In one embodiment, a method includes estimating a state of a vehicle; planning a trajectory based on the state of the vehicle; determining a nominal control input based on the trajectory; applying a risk-bounded control barrier function to determine a control input; and applying the control input to the vehicle.

Abstract: A mode switch controller includes a memory having instructions stored therein; and a processor configured to execute the instructions stored in the memory to cause the mode switch controller to: instruct a hybrid mode controller to output a first mode control signal to cause a system to operate in a first mode; and instruct the hybrid mode controller, based on a detected parameter signal, a first control barrier function, and a second control barrier function, to output a second mode control signal to cause a system to operate in a second mode, wherein the first control barrier function is based on the system operating in the first mode and the system switching from operating in the first mode to operating in the second mode, and wherein the second control barrier function is based on the system operating in the second mode.

Abstract: System, methods, and other embodiments described herein relate to implementing predictive, risk-aware control barrier functions, the effects of which certify using predicted future trajectories the probability of vehicles (such as tractor-trailers) becoming unsafe over a time interval remains bounded by a user-specified value.

Abstract: A method, computer program product, and computer system for obtaining, by a computing device, a system state and dynamics model. User constraints in a controller for a control optimization may be obtained. A feasible space volume may be determined based upon, at least in part, the system state and dynamics model. A new control optimization may be determined based upon, at least in part, the feasible space volume. A control input for the controller may be executed based upon, at least in part, the new control optimization.

Abstract: System, methods, and other embodiments described herein relate to implementing risk-bounded control barrier functions. In one embodiment, a method includes estimating a state of a vehicle; planning a trajectory based on the state of the vehicle; determining a nominal control input based on the trajectory; applying a risk-bounded control barrier function to determine a control input; and applying the control input to the vehicle.

Abstract: A communications system for an alarm or security system. A plurality of sensors are installed in a facility detect an alarm condition together with a control unit interconnected with the sensors and to which an alarm indication is sent by a sensor going into alarm. A communications path is established by which an alarm signal is transmitted from the control unit to an alarm processing station. A central database, remote from the facility, is accessible from the alarm processing station and includes up-to-date, pertinent information relating to the facility including its address and description, information about the sensor that triggered the alarm, a past history of other alarms, and special instructions regarding how responders should respond in the event hazardous materials are located in an area of the facility where the sensor is located. The system further includes a communications capability for providing this information to responders in route to the facility, including text and graphic information.

Abstract: A method of integrating tasks common to the design, installation, and operation of a fire alarm and security system in a facility. Tasks included in the process include the initial design of the system, and any subsequent changes thereto; monitoring of the bidding process by preparing system's requirement statements, review of RFQ's, providing cost estimates and pricing for equipment, wiring, installation, and other system costs, preparing the bid together with necessary compliance and exception statements. Once a bid is accepted, subsequent monitoring and inspection of the system set-up is also done. The result is a single point source for all of the steps involved in putting an alarm system in place. The method further includes use of a single database storing information developed at each stage of system design and installation to provide a logical reporting progression.

Abstract: A method for bidding upon the construction of an alarm or security system first includes establishing a single database in which is stored all information relevant to the bidding process, and using the database to provide a centralized bidding program for component dealers and equipment installers. The database is used to provide an automated process for device selection, system power requirements, power supplies, battery and panel networks for use in the system, and internal and external system's communications. The database further is used to provide bid assistance to equipment installers including information relating to the system's configuration and to provide a bid submittal formats to be used by anyone bidding on construction or installation of the system. In this regard, bid proposals are prepared in a standardized response format, including standard exceptions with respect to parts of the system.

Abstract: A communications system for an alarm or security system. A plurality of sensors are installed in a facility detect an alarm condition together with a control unit interconnected with the sensors and to which an alarm indication is sent by a sensor going into alarm. A communications path is established by which an alarm signal is transmitted from the control unit to an alarm processing station. A central database, remote from the facility, is accessible from the alarm processing station and includes up-to-date, pertinent information relating to the facility including its address and description, information about the sensor that triggered the alarm, a past history of other alarms, and special instructions regarding how responders should respond in the event hazardous materials are located in an area of the facility where the sensor is located. The system further includes a communications capability for providing this information to responders in route to the facility, including text and graphic information.

Abstract: A method of integrating tasks common to the design, installation, and operation of a fire alarm and security system in a facility. Tasks included in the process include the initial design of the system, and any subsequent changes thereto; monitoring of the bidding process by preparing system's requirement statements, review of RFQ's, providing cost estimates and pricing for equipment, wiring, installation, and other system costs, preparing the bid together with necessary compliance and exception statements. Once a bid is accepted, subsequent monitoring and inspection of the system set-up is also done. The result is a single point source for all of the steps involved in putting an alarm system in place. The method further includes use of a single database storing information developed at each stage of system design and installation to provide a logical reporting progression.