Mindtap Computing, 2 Terms (12 Months) Printed Access Card For Dean/andrews/west's Network+ Guide To Networks, 7th
Mindtap Computing, 2 Terms (12 Months) Printed Access Card For Dean/andrews/west's Network+ Guide To Networks, 7th
7th Edition
ISBN: 9781305658950
Author: Tamara Dean, Jean Andrews, Jill West
Publisher: Cengage Learning
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Chapter 7, Problem 14RQ
Program Plan Intro

Virtual Private Network (VPN):

  • VPNs are actually virtual networks that are mainly defined for secure communication over public transmission systems.
  • VPN helps to minimize the expense of leasing private point to point connections.
  • Special VPN protocols are used to ensure whether a VPN can carry all types of    data in a private manner. Hence these protocols encapsulate higher level protocols   by a process known as tunneling.

Routing and remote access service (RRAS):

  • RRAS is actually a remote access server software and VPN solution which was developed by Microsoft.
  • RRAS also implements a VPN and also allows a computer to accept different remote client connections on any transmission path.
  • RRAS software controls data encryption and also routes incoming packets to the destination.

Direct Access:

  • Direct access which is also known as unified remote access is a VPN like technology that provides intranet connectivity to client computers when they are connected to the internet.
  • Computers are connected directly when they are connected to the internet in direct access connections.
  • Direct access provides a securely encrypted VPN and also can be deployed for multiple sites.

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Problem 3: Consider the two-link planar elbow manipulator shown below with link information: a₁ = 3, a₂ = 3. a2 S 3/0 Link | a | ai | di ai | di | 0i | มา 02 21 02. 12 01 0 0 01 02 0 0 02 01 To (a) Find the location of the end-effector P° if the joint angles are: 0₁ = 140°, 0₂ = 30° (b) Find the values of joint variables 01, 02 if the robotic manipulator is commanded to reach the desired location of Pº = [4.5, 3,0]. Notice there are possibly two sets of solutions. (c) Also sketch the two poses of the robot for the computed joint variables. Page 5 of 7
Problem 5: The following shows the schematic of a SCARA robot and its DH parameters. Complete the following questions based on this information. 20 01 21 02. 22 done by ai α; di Ꮎ ; 21 d3 1 a1 0 0 0₁** 2 a2 180° 0 0% 3 0 0 d3 0 The Jacobian matrix of this robot is given below: -a1S1a2S12 -a2S12 J(q) = a1c1 + a2c12 0 a2C12 0 10° (a) For a₁ = 1, a2 = 2, is q = 180° a singularity configuration of this robot? a1 3 [10°1 (b) For a₁ = 1, a2 = 2, is q = | 0° a singularity configuration of this robot? 3
(c) Consider the following sequence of rotations: 1) Rotate by 130° about the world z-axis 2) Rotate by 45° about the current x-axis 3) Rotate by -30° about the world/fixed y-axis Compute the resulting overall rotation matrix R. Notice that you need to provide the numerical solution to the matrix R. (d) Find R giving the following rotation matrices. 1 0 0 1 √√3 го о 0 0 R₁₁ = 2 R₁ = 0 1 0 1 0 0 0 2 2
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