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In this study, dynamics and stability of a novel hybrid serial-parallel mobile robot is elaborated. This robot compounds of a differentially-driven wheeled platform, a novel spatial parallel mechanism, and a serial manipulator arm. Using a moving parallel mechanism as the base of a serial manipulator makes the system capable to carry heavy payloads, and prevents tipping over of the system. In those...
Heavy object manipulation by wheeled mobile manipulators may lead to serious consequences such as postural instability, and this necessitates dynamically stable planning based on systematic analysis to better predict and eliminate the possibility of toppling down. In the present study, stable motion planning is investigated for wheeled mobile manipulators during heavy object manipulation tasks. It...
This paper is related to the inverse-dynamic modeling of mobile multibody systems articulated with joints and wheels. An easily-implementable algorithm, which is based on Newton-Euler (NE) recursive dynamics, is proposed. From imposed joint and/or actuated-wheel motions, the algorithm performs fast calculations of the control torques, as well as the overall rigid motions involved in locomotion tasks...
In this study, kinematics design and workspace analysis of a novel spatial parallel mechanism is elaborated. The proposed mechanism is to be exploited in a hybrid serial-parallel mobile robot to fulfill stable motion of the robotic system when handling heavy objects by a serial manipulator mounted on the parallel mechanism. In fact, this parallel mechanism has been designed to obtain an appropriate...
Mobile IP communication, like wired communication and mobile ad hoc networking, is vulnerable to denial-of-service (DoS) attacks. In this paper, we propose using a lightweight packet filtering technique in different domains and base stations to reduce/eliminate the threat of DoS attacks on mobile IP networks. The proposed technique will be able to detect and filter out any suspected packets containing...
GSM (Global System for Mobiles) is the most widely spread mobile communication system in the world. An important objective in mobile communication systems is secure speech communication. GSM suffers from various security weaknesses. The GSM voice traffic is secure outside the core network but it has no security over the core network. This system can be made thoroughly secure by encrypting the speech...
In this paper, we propose and analyze a different channel allocation scheme in mobile cellular networks which not only gives priority to handoff calls but also tries to protect originating calls. We use channel reservation to protect handoff calls and in contrast, to protect originating calls, we set a maximum reservable channel, NG, in our scheme. In channel reservation schemes, there are some periods...
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