Biblio
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Rewrite Rules for Automated Depth Reduction of Encrypted Control Expressions with Somewhat Homomorphic Encryption. 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM). :804—809.
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2022. This paper presents topological sorting methods to minimize the multiplicative depth of encrypted arithmetic expressions. The research aims to increase compatibility between nonlinear dynamic control schemes and homomorphic encryption methods, which are known to be limited by the quantity of multiplicative operations. The proposed method adapts rewrite rules originally developed for encrypted binary circuits to depth manipulation of arithmetic circuits. The paper further introduces methods to normalize circuit paths that have incompatible depth. Finally, the paper provides benchmarks demonstrating the improved depth in encrypted computed torque control of a dynamic manipulator and discusses how achieved improvements translate to increased cybersecurity.
Enhancing Robot-Environment Physical Interaction via Optimal Impedance Profiles. 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob). :973–980.
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2020. Physical interaction of robots with their environment is a challenging problem because of the exchanged forces. Hybrid position/force control schemes often exhibit problems during the contact phase, whereas impedance control appears to be more simple and reliable, especially when impedance is shaped to be energetically passive. Even if recent technologies enable shaping the impedance of a robot, how best to plan impedance parameters for task execution remains an open question. In this paper we present an optimization-based approach to plan not only the robot motion but also its desired end-effector mechanical impedance. We show how our methodology is able to take into account the transition from free motion to a contact condition, typical of physical interaction tasks. Results are presented for planar and three-dimensional open-chain manipulator arms. The compositionality of mechanical impedance is exploited to deal with kinematic redundancy and multi-arm manipulation.