As there have been many attempts for human-robot collaborations, various solutions to collision detection have been proposed in order to deal with safety issues. However, existing methods for collision detection include the usage of skin sensors or joint torque sensors, and cannot be applied to robots without these sensors such as industrial manipulators. In this study we propose a sensorless collision detection method. The proposed method detects the collision between robots and humans by identifying the external torques applied to the robot. Without using extra sensors, we observed the joint friction model and motor current. We have formulated the friction model for the robot by using the dynamics of the robot and the observer based on the generalized momentum. In addition, formulation of the friction model and the identification scheme did not include any use of extra sensors. The performance of the proposed collision detection method was evaluated using a 7 DOF manipulator. The experimental results show that collision can be reliably detected without any extra sensors for any type of robot arm.
Mobile RFID system, that consists of the existing RFID reader mounted on the mobile devices such as smartphones, is able to provide the users a variety of services and convenience. But security of mobile RFID system is too weak like the existing RFID system. In this paper, the mobile RFID mutual authentication protocol with high level of security is proposed to overcome the troubles such as cryptographic protocols in the existing RFID system responding with the same value in every authentication procedure and the exposure in the exchange of messages. The proposed protocol exchanges messages unexposed by using the random numbers generated in the mutual authentication between the tag and the reader and making numbers coded with the symmetric key. Besides, the protocol uses the mutual authentication utilizing OTP by considering the characteristics of the reader embedded in mobile devices in the mutual authentication process between the reader and the server. Because changed message in every authentication, which produces safe from spoofing attacks and replay attacks, etc.
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