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International Conference on Future Generation Communication and Networking (FGCN)

作者： Anish Prasad Shrestha Dong-You Choi Joon Lee Seung-Jo Han Soon-Suck Jarng Department of Information and Communication Engineering Chosun University Gwangju South Korea Department of Computer Engineering Chosun University Gwangju South Korea Department of Control Instrumentation & Robot Engineering Chosun University Gwangju South Korea

ISBN: (纸本)9781424440085

The limitation of each wireless technologies in terms of coverage, bandwidth or delay, has enforced the concept of integrated heterogeneous high speed wireless access. However, with the integration of different technologies provided by different operators, maintaining security remains a challenging proposition. When a mobile device moves in and out of the coverage of one wireless network to another wireless network in such heterogeneous network, they need to be authenticated. The focus of this paper is on improving the authentication architecture based on mobility of users with the use of dynamic security association.

关键词： Authentication Communication system security Wireless networks Switches Delay Land mobile radio cellular systems Wireless LAN Access protocols Computer architecture Computer networks

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Sampled-Data Observer Design With Exponential Time-Varying Gains for Semilinear Parabolic PDE Systems

Sampled-Data Observer Design With Exponential Time-Varying G...

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2021 China Automation Congress, CAC 2021

作者： Wang, Zi-Peng Wu, Huai-Ning Li, Han-Xiong Huang, Tingwen Shen, Tao The School of Electrical Engineering University of Jinan Jinan250022 China The Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering Beihang University Beijing100191 China The Department of Systems Engineering and Engineering Management City University of Hong Kong Hong Kong The Science Program Texas A&M University at Qatar Doha Qatar The HIT Robot Group Co. Ltd China

ISBN: (纸本)9781665426473

For semilinear parabolic PDE systems, the sampled-data observer (SDO) design under spatially point measurements (SPMs) with exponential time-varying gains is concerned. On basis of a Lyapunov functional, a SDO with exponential time-varying gains under SPMs via linear matrix inequalities is presented to guarantee the exponential stability of estimation error PDE system. Lastly, two numerical examples are provided to support the proposed SDO design approach. © 2021 IEEE

关键词： Linear matrix inequalities

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Artificial intelligence based framework for robotic search and rescue operations conducted jointly by international teams 14th

Artificial intelligence based framework for robotic search a...

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14th International Conference on Electromechanics and robotics - Zavalishin's Readings, ER(ZR) 2019

作者： Magid, Evgeni Pashkin, Artyom Simakov, Nikita Abbyasov, Bulat Suthakorn, Jackrit Svinin, Mikhail Matsuno, Fumitoshi Kazan Federal University 35 Kremlyovskaya Street Kazan420008 Russia Biomedical Engineering Department Mahidol University 4 999 Phuttamonthon Salaya73170 Thailand Robot Dynamics and Control Laboratory College of Information Science and Engineering Ritsumeikan University Noji Higashi 1-1-1 Kusatsu525-8577 Japan Mechanical Engineering and Science Department Kyoto University 3 Kyoudaikatsura Nishigyo-Ku Kyoto615-8540 Japan

ISBN: (纸本)9789811392665

Many countries suffer from various natural disasters, including heavy rains, that are associated with further flood and landslide disasters. Based on our experiences of different disasters response, we develop a joint international operation framework for a disaster site management with distributed heterogeneous robotic teams that consist of unmanned aerial, ground, surface, and underwater vehicles. The artificial intelligence-based information collection system, which is targeting to become a worldwide standard, contains interaction protocols, thematic mapping approaches, and map fusion processes. The project provides a new working framework and control strategies for heterogeneous robotic teams’ cooperative behavior in sensing, monitoring, and mapping of flood and landslide disaster areas. In this paper, we present an overview of the system and a first stage toward robot interaction protocols development and the system modeling within robot operating system’s Gazebo environment. © Springer Nature Singapore Pte Ltd 2020.

关键词： robotics

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Secure Framework for Integrated Multipath MANET with Internet

Secure Framework for Integrated Multipath MANET with Interne...

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Symposium on Applications and the Internet (SAINT)

作者： Binod Vaidya Jae-Young Pyun Sungbum Pan Nak-Yong Ko Department of Electronics & Computer Engineering Tribhuvan University Kathmandu Nepal Department of Information & Communication Engineering Chosun University Kwangju South Korea Department of Control Instrumentation & Robot Engineering Chosun University Kwangju South Korea

With the increasing demand of ubiquitous computing, the interconnection of mobile ad hoc networks (MANETs) to Internet is also getting attractive, which is so-called hybrid or connected MANET. In MANET paradigm, routing is a challenging task due to mobility and the resulting inherent dynamic network topology. In many applications, multipath routing scheme is favorable than single-path routing due to many advantages. Security issues in hybrid MANET, however, is still challenging task. There are two critical issues for providing a secure multihop route discovery: Internet connectivity and ad hoc routing. In this paper, we present architecture framework for secure hybrid multipath MANET that can provide global connectivity. We provide security analysis by using BAN logic.

关键词： Manganese IP networks Routing Mobile ad hoc networks Ad hoc networks Security Routing protocols

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FRSMC design for the steering control and diving control of underwater vehicles

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Journal of Marine Science and Technology 2009年第1期17卷 50-59页

作者： Kuo, Tzu-Chun Huang, Ying-Jeh Yu, Hung-Hsiu Department of Electrical Engineering Ching Yun University Chungli Taiwan Department of Electrical Engineering Yuan Ze University Chungli Taiwan Robot Control Technology Department Mechanical and Systems Research Laboratories Industrial Technology Research Institute Hsinchu Taiwan

A robust control method is proposed for the steering and diving control systems of autonomous underwater vehicles. Heading angle and heave position tracking are achieved. All the closed-loop poles in the sliding mode can be placed by using the sliding mode and root locus techniques. Fuzzy logic technique is further employed to effectively tune the control law. Parameter variation and external disturbance such as various vehicle speeds and the ocean current effect are overcome.

关键词： Root loci

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Intelligent surveillance system based on network camera

Intelligent surveillance system based on network camera

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Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems, SCIS and ISIS 2010

作者： Kim, Jong Sun Yeom, Dong Hae Park, Jin Bae Joo, Young Hoon School of Control Robot and Systems Engineering Kunsan National University Kunsan Chonbuk 537-701 Korea Republic of PostBK21 Nourishment of Human Resource for Embedded System Kunsan National University Kunsan Chonbuk 573-701 Korea Republic of Department of Electrical and Electronic Engineering Yonsei University Seoul 120-749 Korea Republic of

In this paper, we propose the intelligent surveillance system using network cameras. To do this, we use two Internet Protocol (IP) cameras, which are installed at the inside and the outside of the restricted area. First of all, the external camera is used to monitor a potential intruder entering the restricted area in real time. To detect the potential intruder from sequential images obtained by external IP camera, we propose the robust algorithm combining the background modeling, the hybrid silhouette, the convex summation, the morphology and the smoothing. Once the intruder is detected by the external camera, the internal camera with pan-tilt mechanism is then activated and starts tracking the intruder and monitoring the prescribed valuables registered with some feature points in the database. To track the intruder, we propose the tracking algorithm using the background elimination and the histogram. And then, we completes the proposed surveillance system by using the Scale Invariant Feature Transform (SIFT) algorithm in order to monitor whether the intruder steals the prescribed valuables or not. Finally, we have shown the effectiveness and the applicability of the proposed method through experiments.

关键词： Internet protocols

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4-Axis robot Design and Simulation Based on SimulationX

4-Axis Robot Design and Simulation Based on SimulationX

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International Conference on robot, Vision and Signal Processing (RVSP)

作者： Luyan Bi Lisheng Liu Control Science and Engineering Department Shenzhen Graduate School of Harbin Industry University Shenzhen China Robot Lab Cooperate Engineering Johnson Electric Company Shenzhen China

This paper presents a 4-axis robot system model which is analyzed from kinematic aspect and simulated by SimulationX. Firstly, the robot kinematics model is established and robot workspace is obtained based on the robot kinematics analysis by means of Denavit-Hartenberg method. Furthermore, robot system model is founded in software SimulationX as well as mechanical and control systems are analyzed through simulation. Based on simulation result of SimulationX which includes every property of components in the model of SimulationX, the performance and feasibility of the 4-axis robot model can be clearly evaluated and verified.

关键词： Service robots Joints Analytical models Kinematics Servomotors Actuators

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Mura Defect Detection on Compact Camera Module (CCM) Using Metric Learning

Mura Defect Detection on Compact Camera Module (CCM) Using M...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Y. G. Kim T. H. Park Department of Control and Robot Engineering Chungbuk National University Cheongju-si Republic of Korea School of Electronics Engineering Chungbuk National University Cheongju-si Republic of Korea

ISBN: (数字)9781728169040

ISBN: (纸本)9781728169057

The Compact Camera Module (CCM) is a device used for various compact electronic devices such as notebooks, smartphones, etc. Various defects occur in the manufacturing process, such as scratches, stamps, and mura. Most notably, mura defect detection is the most challenging issue because of how normal it appears. With this, various methods based on deep learning have been developed to detect mura defects. However, previous research assumes that there is a substantial amount of training data. Therefore, classification accuracy decreases in an environment wherein it is difficult to obtain a sample of an actual defect. This study proposes a metric learning-based mura defect detection method with higher classification accuracy than the previous semantic segmentation method in an environment with little training data. In the training phase, we obtained the center of the normal metric vector of the input image through the metric embedding model and metric loss, while in the test stage, we detected the mura defect based on the center of the normal metric vector. The experimental results show that the proposed method has higher detection accuracy than the previous method in an environment with few training data.

关键词： Measurement Feature extraction Semantics Image segmentation Training Training data Load modeling

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Performance evaluation of haptic device via quasi-quantitative Z-width

Performance evaluation of haptic device via quasi-quantitati...

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International Conference on control, Automation and Systems ( ICCAS)

作者： Jinung An Hwang Cho Key Seo Lee Dong-Soo Kwon Department of Information and Control Engineering Kwangwoon University Seoul South Korea Human Robot Interaction Research Center KAIST Daejeon South Korea

This paper presents the quasi-quantitative Z-width measurement method. The quasi-quantitative Z-width criterion is defined that the haptic interaction is unstable, if the frequency and amplitude of chattering go over certain level, which is a threshold for the instability. Through the literatural study, the threshold for instability was fixed 0.4 rad/sec amplitude with 30 Hz frequency, which is human's discomfort level. The measurement of the instability is achieved by measuring the velocity and the number of zero-crossing of limit cycles during haptic display. Comparing the experimental results with theoretical results, the proposed quasi-quantitative Z-width can be applied to the haptic interfaces as a more reliable Z-width measurement method.

关键词： Haptic interfaces Sea measurements Damping Actuators Limit-cycles Impedance Stability robots Frequency Velocity measurement

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Model-based control for nonprehensile manipulation of a two-rigid-link object by two cooperative arms

Model-based control for nonprehensile manipulation of a two-...

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IEEE International Conference on robotics and Biomimetics

作者： Zakarya Zyada Yoshikazu Hayakawa Shigeyuki Hosoe Robot Control Research Team RIKEN-TRI Collaboration Center of Human-Interactive Robot Research Nagoya Aichi Japan Department of Mechanical Science and Engineering University of Nagoya Nagoya Japan Robot Control Research Team RIKEN-TRI Collaboration Center RIKEN Nagoya Japan RIKEN-TRI Collaboration Center of Human-Interactive Robot Research Nagoya Aichi Japan

robots are expected to come in direct contact with human at care facilities and/or homes soon. Motivated by the application of holding and/or transferring a patient applying a robot, this paper introduces the dynamic model, static analysis and control algorithm for nonprehensile manipulation of a two-rigid-link object applying two cooperative arms. Newton-Euler equations are applied for formulating the object dynamics while a visco-elastic model is applied for modeling the interaction between the object links and the arms. Static analysis specifying the equilibrium points based on the derived dynamical model is introduced. A PD controller with a disturbance observer is designed to control the object lifting-up motion. Static analysis as well as controlled object lifting-up motion simulation results is presented which show the validity of the proposed analysis and control algorithm.

关键词： Dynamics Mathematical model Manipulator dynamics Joints Humans Trajectory

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