Manipulating Deformable Linear Objects: Fuzzy-Based Active Vibration Damping Skill

Human can handle a deformable object and damp its vibration with recognized skill. However, for an industrial robot, handling a deformable object with acute vibration is often a difficult task. This paper addresses the problem of active damping skill for handling deformable linear objects (DLOs) by using a strategy inspired from human manipulation skills. The strategy is illustrated by several rules, which are explained by a fuzzy and a P controller. A proportional-integral-derivative (PID) controller is also employed to explain the rules as a comparison. The interpretations from controllers are translated into high level commands in a robotic language V+. A standard industrial robot with a force/torque sensor mounted on the wrist was employed to demonstrate the skill. Experimental results showed the fuzzy based damping skill is quite effective and stable even without any previous acknowledge of the deformable linear objects.Category (5)     

High accuracy path tracking for vehicles in presence of sliding: Application to farm vehicle automatic guidance for agricultural tasks

When designing an accurate automated guidance system for vehicles, a major problem is sliding and pseudo-sliding effects. This is especially the case in agricultural applications, where five-centimetre accuracy with respect to the desired trajectory is required, although the vehicles are moving on slippery ground. It has been established that RTK GPS was a very suitable sensor to achieve automated guidance with such high precision: several control laws have been designed for vehicles equipped with this sensor, and provide the expected guidance accuracy as long as the vehicles do not slide. In previous work, further control developments have been proposed to take sliding into account: guidance accuracy in slippery environments has been shown to be preserved, except transiently at the beginning/end of curves. In this paper, the design of this control law is first recalled and discussed. A Model Predictive Control method is then applied in order to preserve accuracy of guidance even during these curvature transitions. Finally, the overall control scheme is implemented, and improvements with respect to previous guidance laws are demonstrated through full-scale experiments.     

Frames of Reference in Mobile Augmented Reality Displays.

In 3 experiments, the authors investigated spatial updating in augmented reality environments. Participants learned locations of virtual objects on the physical floor. They were turned to appropriate facing directions while blindfolded before making pointing judgments (e.g., "Imagine you are facing X. Point to Y"). Experiments manipulated the angular difference between the learning heading and the imagined heading and between the actual heading and the imagined heading. The effect of actual-imagined on pointing latency was observed for naive users but not for users with brief training or instructions concerning the fact that objects can move with body movements. The results indicated that naive users used an environment-stabilized reference frame to access information arrays, but with experience and instruction the nature of the representation changed from an environment stabilized to a body stabilized reference frame. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

打捆机器人自动控制系统

介绍了莱钢中小型轧钢生产线打捆机器人自动控制系统的硬件配置、软件结构及其主要控制功能，并对打捆定位和打捆过程作了详细说明。     

便携式无线图像传输系统

论述了采用直接序列扩频技术设计的便携式无线图像传输系统原理，结构，关键技术和安全保密方法等。系统具有通信质量好、性能稳定、安全性高，便于机动等优点，适合于需要经常改变安装位置的情况，是多种情况下图像传输的理想选择。     

Protecting mobile agents＇ data using trusted computing technology

Even with attractive computational advantages, mobile agent technology has not developed its full potential due to various security issues. This paper proposes a method called Private Key Consignment to solve the problem of how to protect the data carried by mobile agents. It exploits new functionalities and mechanism provided by the trusted computing technology, and adopts both public key and symmetric key cryptographic means for data and key protection. The most notable feature of this method is that it protects the private key of the agent by consigning it to a tamper proof hardware, thus, enabling convenient and secure use of the private key. It provides a new scheme of mobile agents＇ data protection.     

基于移动代理的分布式网络管理研究

随着网络的迅猛发展，管理网技术的相关研究也越来越得到广泛重视，传统的集中式管理方法在可扩展性、可靠性、灵活性方面存在一定的不足。基于移动代理的分布式网络管理方案可以很好地解决这些问题。网管站派遣移动代理到各被管节点上去收集数据和执行网管操作，这样可以分散网络管理站的工作量和降低网络的流量，并提升网络管理系统的主动性。     

Verifiable Distributed Oblivious Transfer and Mobile Agent Security

The mobile agent is a fundamental building block of the mobile computing paradigm. In mobile agent security, oblivious transfer (OT) from a trusted party can be used to protect the agent’s privacy and the hosts’ privacy. In this paper, we introduce a new cryptographic primitive called Verifiable Distributed Oblivious Transfer (VDOT), which allows us to replace a single trusted party with a group of threshold trusted servers. The design of VDOT uses a novel technique called consistency verification of encrypted secret shares. VDOT protects the privacy of both the sender and the receiver against malicious attacks of the servers. We also show the design of a system to apply VDOT to protect the privacy of mobile agents. Our design partitions an agent into the general portion and the security-sensitive portion. We also implement the key components of our system. As far as we know, this is the first effort to implement a system that protects the privacy of mobile agents. Our preliminary evaluation shows that protecting mobile agents not only is possible, but also can be implemented efficiently. This work was supported in part by the DoD University Research Initiative (URI) program administered by the Office of Naval Research under grant N00014-01-1-0795. Sheng Zhong was supported by ONR grant N00014-01-1-0795 and NSF grants ANI-0207399 and CCR-TC-0208972. Yang Richard Yang was supported in part by NSF grant ANI-0207399. A preliminary version of this paper was presented at the DialM-POMC Joint Workshop on Foundations of Mobile Computing in 2003. Sheng Zhong received his Ph.D. in computer science from Yale University in the year of 2004. He holds an assistant professor position at SUNY Buffalo and is currently on leave for postdoctoral research at the Center for Discrete Mathematics and Theoretical Computer Science (DIMACS). His research interests, on the practical side, are security and incentives in data mining, databases, and wireless networks. On the theoretical side, he is interested in cryptography and game theory. Yang Richard Yang is an Assistant Professor of Computer Science at Yale University. His research interests include computer networks, mobile computing, wireless networking, sensor networks, and network security. He leads the LAboratory of Networked Systems (LANS) at Yale. His recent awards include a Schlumberger Fellowship and a CAREER Award from the National Science Foundation. He received his B.E. degree from Tsinghua University (1993), and his M.S. and Ph.D. degrees from the University of Texas at Austin (1998 and 2001).     

基于Matlab的教学型机器人空间运动轨迹仿真

根据教学型机器人的实际结构特点，利用Matlab中SimMechanics工具箱建立了运动学仿真模型。并进行机器人关节空间和直角坐标系下的运动仿真。仿真结果表明利用仿真模型可以准确、有效地得到机器人的运动参数和运动轨迹，为机器人分析设计提供了可靠依据。     

五自由度串联机器人手部特殊的转动自由度

应用反螺旋理论，讨论了当反螺旋理个ｈ≠０旋量时，允许转动轴线在空间分布规律。着重地五自由度串联机器人Ｍｏｔｏｍａｎ的运动性质作出分析，且给出其全部５种不同条件下的运动图谱。