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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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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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A new tool applied to robot perception by selecting evidence sources

A new tool applied to robot perception by selecting evidence...

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IEEE International Conference on Automation and Logistics

作者： Hong Wen Xinhan Huang Xinde Li Intell. Contr. and Robot. Laboratory Department of Contr. Science and Engineering Huazhong University of Science and Technology Wuhan China Combat and Command Department Navy Submarine of Academy Qingdao China Intell. Control and Robot Laboratory Department of Contr. Science and Engineering Huazhong University of Science and Technology Wuhan China Institute of Intell.t Robot and Intell. Contr School of Automation South-East University Nanjing China

ISBN: (纸本)9781424425020

In this paper, considering the imperfect (incomplete, imprecise, uncertain, inconsistent) information sources in information fusion, To avoid and reduce the influence of the mistaken or misleading information on the final precision of fusion, the ESMS (evidence supporting measure of similarity) filter is designed and added to generalized fusion machine (GFM), and an ESMS function (not unique) to select evidence sources before the multi-sources information entering into the Fusion Machine is proposed and proved. Due to considering the barycentre of belief masses in four cases respectively, the fusion result becomes more precise. At last, we apply the new tool coupling with the fusion machine based on DSmT and PCR5 to robotpsilas robot perception. It shows a better performance in solving the challenging work with ESMS filter than that without one.

关键词： Information filters Filtering theory Information filtering robots Distance measurement Sensors Reliability

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Network module design based on photonic-EthetCAT for robot drive

Network module design based on photonic-EthetCAT for robot d...

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International Conference on control, Automation and Systems ( ICCAS)

作者： Yongseon Moon Nak Yong Ko Eunju Kim Youngchul Bae School of Information Communication Engineering Sunchon National University Suncheon South Korea Department of Control Instrumentation and Robot Engineering Chosun University Gwangju South Korea KISTI Gwangju South Korea School of Electrical Electronic Communication and Computer Engineering Chonnam National University Yeosu South Korea

In this paper, we design and implement an optical cable interface module of 100 BaseFx for physical layer of network based on EtherCAT, industrial Ethernet protocol. We propose the suitability as control network of th... 详细信息

关键词： Optical sensors Service robots Optical fiber networks Optical control control systems Intelligent sensors Intelligent actuators Optoelectronic and photonic sensors robot sensing systems Optical design

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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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Design and control of Bridge Inspection robot System

Design and Control of Bridge Inspection Robot System

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IEEE International Conference on Mechatronics and Automation

作者： Je-Keun Oh An-Yong Lee Se Min Oh Youngjin Choi Byung-Ju Yi Hai Won Yang Bridge Inspection Robot Development Interface (BIRDI) Department of Electronic Electrical Control and Instrumentation Engineering Hanyang University Ansan Gyeonggi South Korea

This paper proposes design and control methods for a bridge inspection robot system. A "bridge inspection robot" has been developed with the aim of checking the safety status of a real bridge, gathering accurate data and performing maintenance. The developed robot system is composed of the specially designed car for bridge inspection, the guide rail and the inspection robot. Especially, this paper emphasizes the system integration method to design and control the entire robot system. As a result, this robot has both automatic and manual modes for inspecting a real bridge. In other words, the robot is automatically able to inspect beneath the bridges and manually to inspect them by long-distance user. Also, the users can see the operating conditions of long-distance robot with 3-dimensional graphical user interface. Moreover, the users can feel the operating status of long-distance robot through haptic device.

关键词： control systems Bridges Inspection robotics and automation Design methodology Safety Rails Automatic control robot control Graphical user interfaces

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A Study On Iterative Learning control With Adjustment Of Learning Interval For Monotone Convergence In The Sense Of Sup-Norm

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Asian Journal of control 2008年第1期4卷

作者： Kwang-Hyun Park Zeungnam Bien Division of EE Department of EECS Korea Advanced Institute of Science and Technology 373–1 Kusong-dong Yusong-gu Taejon 305–701 Korea. Zeungname Bien:received the B.S. degree in electronics engineering from Seoul National University Seoul Korea in 1969 and the M.S. and Ph.D. degrees in electrical engineering from the University of Iowa Iowa City Iowa U.S.A. in 1972 and 1975 respectively. During 1976–1977 academic years he taught as assistant professor at the Department of Electrical Engineering University of Iowa. Then Dr. Bien joined Korea Advanced Institute of Science and Technology summer 1977 and is now Professor of Control Engineering at the Department of Electrical Engineering and Computer Science KAIST. Dr. Bien was the president of the Korea Fuzzy Logic and Intelligent Systems Society during 1990–1995 and also the general chair of IFSA World Congress 1993 and for FUZZ-IEEE99 respectively. He is currently co-Editor-in-Chief for International Journal of Fuzzy Systems (IJFS) Associate Editor for IEEE Transactions on Fuzzy Systems and a regional editor for the International Journal of Intelligent Automation and Soft Computing. He has been serving as Vice President for IFSA since 1997 and is now Chief Chairman of Institute of Electronics Engineers of Korea and Director of Humanfriendly Welfare Robot System Research Center. His current research interests include intelligent control methods with emphasis on fuzzy logic systems service robotics and rehabilitation engineering and large-scale industrial control systems. Kwang-Hyun Park:received the B.S. M.S. and Ph.D. degrees in electrical engineering and computer science from KAIST Korea in 1994 19997 and 2001 respectively. He is now a researcher at Human-friendly Welfare Robot System Research Center. His research interests include learning control machine learning human-friendly interfaces and service robotics.

It has been found that some huge overshoot in the sense of sup-norm may be observed when typical iterative learning control (ILC) algorithms are applied to LTI systems, even though monotone convergence in the sense of λ-norm is guaranteed. In this paper, a new ILC algorithm with adjustment of learning interval is proposed to resolve such an undesirable phenomenon, and it is shown that the output error can be monotonically converged to zero in the sense of sup-norm when the proposed ILC algorithm is applied. A numerical example is given to show the effectiveness of the proposed algorithm.

关键词： Iterative learning control monotone convergence learning interval sup-norm

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TRACKING control IN THE PRESENCE OF NONLINEAR DYNAMIC FRICTIONAL EFFECTS: robot EXTENSION

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Asian Journal of control 2008年第3期1卷

作者： M. Feemster D.M. Dawson A. Behal W. Dixon Matthew Feemster received the B.S degree in Electrical Engineering from Clemson University Clemson South Carolina in December 1994. Upon graduation he remained at Clemson University and received the M.S. degree in Electrical Engineering in 1997. During this time he also served as a research/teaching assistant. His research work focused on the design and implementation of various nonlinear control algorithms with emphasis on the induction motor and mechanical systems with friction present. He is currently working toward his Ph.D. degree in Electrical Engineering at Clemson University. Darren M. Dawson was born in 1962 in Macon Georgia. He received an Associate Degree in Mathematics from Macon Junior College in 1982 and a B.S. Degree in Electrical Engineering from the Georgia Institute of Technology in 1984. He then worked for Westinghouse as a control engineer from 1985 to 1987. In 1987 he returned to the Georgia Institute of Technology where he received the Ph.D. Degree in Electrical Engineering in March 1990. During this time he also served as a research/teaching assistant. In July 1990 he joined the Electrical and Computer Engineering Department and the Center for Advanced Manufacturing (CAM) at Clemson University where he currently holds the position of Professor. Under the CAM director's supervision he currently leads the Robotics and Manufacturing Automation Laboratory which is jointly operated by the Electrical and Mechanical Engineering departments. His main research interests are in the fields of nonlinear based robust adaptive and learning control with application to electro-mechanical systems including robot manipulators motor drives magnetic bearings flexible cables flexible beams and high-speed transport systems. Aman Behal was born in India in 1973. He received his Masters Degree in Electrical Engineering from Indian Institute of Technology Bombay in 1996. He is currently working towards a Ph.D in Controls and Robotics at Clemson University. His research focuses on the control of no

In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the Lu-Gre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adaptive observer/controller scheme is developed which contains a feedforward approximation of the Stribeck effects. This feedforward approximation is used in a composite controller/observer strategy which forces the average square integral of the position tracking error to an arbitrarily small value. Experimental results are included to illustrate the performance of the proposed controllers.

关键词： Friction compensation nonlinear control

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A SIMPLE control METHOD COPING WITH A KINEMATICALLY ILL-POSED INVERSE PROBLEM OF REDUNDANT robotS: ANALYSIS IN CASE OF A HANDWRITING robot

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Asian Journal of control 2008年第2期7卷

作者： Suguru Arimoto Hiroe Hashiguchi Ryuta Ozawa Ryuta Ozawa:was born in Tokyo Japan in 1974. He received his B.S. degree in Precision Engineering M.S. and Ph.D. degrees in Mechanical Engineering from Meiji University in 1996 1998 and 2001 respectively. He was a research assistant at the University from 1999 to 2002. In 2002 he worked as a research fellow of the Japan Society for the Promotion of Science at the University. He is currently a lecturer at Ritsumeikan University. His current interests include tendon-driven mechanisms elastic joint robots robotic fingers impedance control and redundant robots Hiroe Hashiguchi:was born in Shizuoka Japan. He received B.S. and M.S. degrees in Robotics from Ritsumeikan University in 2001 and 2003 respectively. Since 2003 he has been a doctoral course student in the Department of Robotics Ritsumeikan University Japan. His research interests include redundancy resolution sensory feedback control and handwriting robot

In order to enhance dexterity in execution of robot tasks, a redundant number of degrees-of-freedom (DOF) is adopted for design of robotic mechanisms like manipulators and multi-fingered hands. Associated with such DOF redundancy relative to the number of physical variables necessary and sufficient for description of a given task, an extra performance index is introduced for controlling such a redundant robot in order to avoid arising of an ill-posed problem of inverse kinematics from the task space to the joint space. This paper treats a handwriting robot as an illustrative example and shows that such an ill-posedness of DOF redundancy can be resolved in a natural way by using a novel concept named “stability on a manifold”. It is shown theoretically that sensory feedback signals with a simpler form computed on the basis of measurement data of task-description variables render the closed-loop dynamics to converge asymptotically to a target task-description lying on a lower-dimensional manifold of steady states. Computer simulation concerning specified robot tasks verifies the effectiveness of the proposed control scheme, which results in human-like distribution of joint motions.

关键词： Redundancy resolutionr inverse kinematics redundant robot constraint manifold stability on a manifold

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Study on Kinematic Optimization of a Combined Parallel-Serial Manipulator

Study on Kinematic Optimization of a Combined Parallel-Seria...

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SICE Annual Conference

作者： Kun-woo Park Tae_sung Kim Min-ki Lee Jin-ho Kyung School of Mechatronic Engineering Changwon National University Changwon South Korea Robot & Control Group Intelligence & Precision Machine Department Korea Institute of Machinery & Materials Daejeon South Korea

This research develops the robot manipulator combined a parallel manipulator and wrist manipulator. The robot has a parallel manipulator with three linear actuators and a central axis for positional motions, i.e., x, y, and z and a wrist manipulator with two rotary actuators for rotational motions, i.e., yaw and pitch. The proposed parallel-serial typed manipulator which has between high stiffness of parallel manipulator and high flexibility of wrist manipulator is applied to in machining work such as cutting, milling, grilling, etc. This paper introduces the parallel-wrist typed robot as a machining center and an assembly robot for the complex shape. In order to achieve the optimal design, we define four parameters such as the radius of a base and a platform, the initial length of linear actuator, and the stroke of linear actuator. To determine the parameters, investigation is done i.e., kinematics, available workspace, and dexterity analysis. In results, we show four optimal design parameters of parallel manipulator meet a desired workspace including orientational work of wrist manipulator

关键词： Kinematics Manipulators Wrist Parallel robots Hydraulic actuators Pneumatic actuators robotic assembly Machining Milling machines Shape

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