Most of the current anomaly detection methods for network traffic rely on the packet header for studying network traffic behavior. We believe that significant information lies in the payload of the packet and hence it is important to model the payload as well. Since many protocols exist and new protocols are frequently introduced, parsing the payload based on the protocol specification is time-...

In this paper, kinematic models for multiple manipulator space robotic systems are developed, as functions of body-fixed barycentric vectors. These models are used to define workspaces for single and multi-manipulator freefloating systems. It is shown that following the capture of a large payload, the location of these workspaces in space changes, and their size is reduced. These effects, commo...

A rover design study was undertaken for exploration of the Moon. Rovers that have been launched in the past carried a suite of science payload either onboard its body or on the robotic arm’s end. No rover has so far been launched and tasked with “carrying and deploying” a payload on an extraterrestrial surface. This paper describes a lunar rover designed for deploying payload as well as carryin...

An internal force-based impedance control scheme for two coordinating robots manipulating a rigid object via palm grasping is introduced. The minimal internal force required to maintain the grasp on the object is computed from the frictional constraints and sensed forces. A closed-form solution to the minimization problem is developed which makes the algorithm suitable for real-time control. Th...

This paper presents an intervention payload for an AUV working in a valve turning operation in free-floating control mode. The payload consists of a stereo camera for panel detection, a 4 degrees of freedom electrical manipulator and a specifically designed end-effector, which contains a force and torque sensor, an in-hand camera and a passive effector for valve operation. This payload was desi...

In this paper, the tracking control problem is considered for the payload transportation with an underactuated twodimensional overhead crane. Two sliding mode controllers are designed to perform the trajectory tracking. One is proposed to control hoisting and lowering the suspended payload, and the other one is proposed to control both trolley positioning and payload swaying. Considering the se...