In this paper we present a robust hybrid motion/force controller for rigid robot manipulators. The main contribution of this paper is that the proposed hybrid control system is able to accomplish motion objectives in free directions and force objectives in constrained directions under parametric uncertainty both in robot dynamics and stiffness constraint constant. Also, the given scheme is prov...

Our focus in this work is to investigate an efficient state estimation scheme for a singularly perturbed stochastic hybrid system. As stochastic hybrid systems have been used recently in diverse areas, the importance of correct and efficient estimation of such systems cannot be overemphasized. The framework of nonlinear filtering provides a suitable ground for on-line estimation. With the help ...

In this paper, an efficient Stop-and-Wait ARQ protocol proposed by Sastry is modified to include a parity retransmission type II hybrid AR Q scheme. Unlike Sastry's scheme in which simple repeats of a data packet are transmitted, with the type II hybrid ARQ scheme, the data packet to be transmitted is encoded with a rate 1/2 code, and repetitions alternate between the two sequences obtained at ...

In this paper we present a simplified analytical method for performance evaluation of the type-II hybrid ARQ scheme with code combining in time-varying fading channels. In physical layer, a two-state Markov model is used for the fading channel. Based on this model, performance of the type-II hybrid ARQ protocol is upper and lower bounded by considering a superior scheme and an inferior scheme r...

This paper proposes a hybrid ARQ error control scheme based on the concatenation of a Reed–Solomon (RS) code and a rate-compatible punctured convolutional (RCPC) code for low-bit-rate video transmission over wireless channels. The concatenated hybrid ARQ scheme we propose combines the advantages of both type-I and type-II hybrid ARQ schemes. Certain error correction capability is provided in ea...

In this paper we examine the security criteria for a KEM and a DEM that are sufficient for the overall hybrid encryption scheme to be plaintext-aware in the standard model. We apply this theory to the Cramer-Shoup hybrid scheme acting on fixed length messages and deduce that the Cramer-Shoup scheme is plaintext-aware in the standard model. This answers a previously open conjecture of Bellare an...