Tuesday, December 22, 2015

How to Setup a VPN (PPTP) Server on Debian Linux

sudo apt-get install pptpd
sudo nano /etc/pptpd.conf
3: Add server IP and client IP at the end of the file. You can add like below:
localip is the ip address of the server in the network and remoteip is the range you specify for vpn clients to join your network.

Monday, December 21, 2015

How to settup HTTP Proxy server in Ubuntu

Squid - Proxy Server

Squid is a full-featured web proxy cache server application which provides proxy and cache services for Hyper Text Transport Protocol (HTTP), File Transfer Protocol (FTP), and other popular network protocols. Squid can implement caching and proxying of Secure Sockets Layer (SSL) requests and caching of Domain Name Server (DNS) lookups, and perform transparent caching. Squid also supports a wide variety of caching protocols, such as Internet Cache Protocol (ICP), the Hyper Text Caching Protocol (HTCP), the Cache Array Routing Protocol (CARP), and the Web Cache Coordination Protocol (WCCP).
The Squid proxy cache server is an excellent solution to a variety of proxy and caching server needs, and scales from the branch office to enterprise level networks while providing extensive, granular access control mechanisms, and monitoring of critical parameters via the Simple Network Management Protocol (SNMP). When selecting a computer system for use as a dedicated Squid caching proxy server for many users ensure it is configured with a large amount of physical memory as Squid maintains an in-memory cache for increased performance. 

Wednesday, August 12, 2015

Simple Cartesian Trajectory for Fast Research Libarary for KUKA LWR

There is a great library developed by Stanford University for Fast Research Interface (FRI) of KUKA LWR that can be downloaded here. It has many useful examples but it lacks a Simple Trajectory Generator in Cartesian Impedance Mode.
I have developed one and can be downloaded:

You only require to import it to the main solution of FastResearchLibrary.

Saturday, July 18, 2015

How to set up a personal home web server (100% free)

First step is assigning a globally known address to your home network. Remote access via Dynamic DNS makes this possible. There are many websites provide such service. I have used http://www.noip.com because my internet modem/router supports this website! You have to register in noip website and then you have to add a Host (DNS Host (A)).

Next thing is configuring your modem/router for updating the website with your Dynamic Valid IP address. For doing this you have to find DDNS (Dynamic DNS) under Network settings and enter your noip account details.

For security reason you still cannot access you computers via internet. For doing this you have to use DMZ service. First assign a static IP address for the computer that you want to use it as the  server (e.g. Then add this IP address as DMZ device.

Now you have a connected server. You can now install LAMP or WAMP.

Tuesday, July 14, 2015

Connecting Matlab and C++ using UDP

Here is the code for connecting Simulink Desktop Real-Time™ and a C++ program using connectionless UDP. WinSock2 is used in C++.

Friday, July 10, 2015

What is Real-Time?!

When the simulation clock reaches a certain time in real-time simulation, the same amount of time must have passed in the real world.

Real-Time Windows Target™ (now Simulink Desktop Real-Time™) and xPC Target™ (now Simulink Real-Time™) are no the same!

 Simulink® Real-Time™ lets you create real-time applications from Simulink models and run them on dedicated target computer hardware connected to your physical system. It supports real-time simulation and testing, including rapid control prototyping, DSP and vision system prototyping, and hardware-in-the-loop (HIL) simulation.

 Simulink® Desktop Real-Time™ provides a real-time kernel for executing Simulink models on a Windows® or Mac laptop or desktop. It includes library blocks that connect to a range of I/O devices. You can create and tune a real-time system for rapid prototyping or hardware-in-the-loop simulation with your computer.

Simulink Real-Time provides native I/O drivers and functions for target computer hardware purchased directly from the respective hardware manufacturer, which provides backward compatibility for target applications built with xPC Target™,  Simulink Desktop Real-Time™ provides a real-time kernel for executing Simulink® models on a laptop or desktop running Windows® or Mac OS X. It includes library blocks that connect to a range of I/O devices.

Wednesday, July 8, 2015

Sniffing or localhost packets

Unfortunately this task is not possible in windows using SharkWire so the alternative is using RawCap. You can download it here: http://www.netresec.com/?page=RawCap

Monday, June 29, 2015

How to install GraspIt!

GraspIt! was created to serve as a tool for grasping research. It is a simulator that can accommodate arbitrary hand and robot designs. It can also load objects and obstacles of arbitrary geometry to populate a complete simulation world. The GraspIt! engine includes a rapid collision detection and contact determination system that allows a user to interactively manipulate a robot or an object and create contacts between them. Once a grasp is created, one of the key features of the simulator is the set of grasp quality metrics. Each grasp is evaluated with numeric quality measures, and visualization methods allow the user to see the weak point of the grasp and create arbitrary 3D projections of the 6D grasp wrench space. Here is the website: http://www.cs.columbia.edu/~cmatei/graspit/

If you are running Ubuntu 12 you can use this precompiled version: https://drive.google.com/file/d/0B7S255p3kFXNSmFLREd6dWdDOVk/view?pli=1