Готові списки джерел за темами / Payload identification

Добірка наукової літератури з теми "Payload identification"

Автор: Grafiati

Опубліковано: 14 березня 2023

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Статті в журналах з теми "Payload identification"

Dong, Yunfei, Tianyu Ren, Ken Chen, and Dan Wu. "An efficient robot payload identification method for industrial application." Industrial Robot: An International Journal 45, no. 4 (June 18, 2018): 505–15. http://dx.doi.org/10.1108/ir-03-2018-0037.

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Purpose This paper aims to improve the accuracy of robot payload identification and decrease the complexity in its industrial application by developing a new method based on the actuator current. Design/methodology/approach Instead of previous general robot dynamic modeling of the actuators, links, together with payload inertial parameters, the paper discovers that the difference of the actuator torque between the robot moving along the same trajectory with and without carrying payload can be described as a function of the payload inertial parameters directly. Then a direct dynamic identification model of payload is built, a set of specialized novel exciting trajectories are designed for accurate identification and the least square method is applied for the estimation of the load parameters. Findings The experiments confirm the effectiveness of the proposed method in robot payload identification. The identification accuracy is greatly improved compared with that of existing methods based on the actuator current and is close to the accuracy of the methods that direct use the wrist-mounted force-torque sensor. Practical implications As the provided experiments indicate, the proposed method expands the application range and greatly improves the accuracy, hence making payload identification fully operational in the industrial application. Originality/value The novelty of such an identification method is that it does not require the rotor inertias and inertial parameters of links as a prior knowledge, and the specially designed trajectories provide completed decoupling of the load parameters.

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Ni, Zhiyu, Yewei Zhang, Xinhui Shen, Shunan Wu, and Zhigang Wu. "Payload parameter identification method of flexible space manipulator." Aircraft Engineering and Aerospace Technology 92, no. 6 (May 18, 2020): 925–38. http://dx.doi.org/10.1108/aeat-06-2019-0128.

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Purpose When a manipulator captures an unknown space object, inertia parameters of endpoint payload should be timely obtained to handle possible unexpected parameter variations and monitor the system’s operating conditions. Therefore, this study aims to present an identification method for estimating the inertia parameter of the payload carried by a flexible two-link space manipulator. Design/methodology/approach The original nonlinear dynamics model of the manipulator is linearized at a selected working point. Subsequently, the system modal frequencies with and without payload are determined using the subspace identification algorithm, and the difference of these frequencies is computed. Furthermore, by adjusting the structural configuration of the manipulator, multiple sets of frequency differences are obtained. Therefore, the inertia parameters of the payload, i.e. the mass and the moment of inertia, can be derived from the frequency differences by solving a least-squares problem. Findings The proposed method can effectively estimate the payload parameters and has satisfactory identification accuracy. Practical implications The approach’s implementation provides a practical reference for determining inertia parameters of an unknown space target in the capture process. Originality/value The study proposes a novel method for identifying the inertia parameters of the payload of a flexible two-link space manipulator using the estimated system frequencies.

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Doster, Hunter, and Barry Mullins. "UAV Payload Identification with Acoustic Emissions and Cell Phones." International Conference on Cyber Warfare and Security 18, no. 1 (February 28, 2023): 523–33. http://dx.doi.org/10.34190/iccws.18.1.956.

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The growing presence of Unmanned Aerial Vehicles (UAVs) in all sectors of society poses new security threats to civilian and military sectors. In response, new UAV detection systems have and are being developed. Current systems use techniques such as Radio Detection And Ranging (RADAR), visual recognition, and Radio Frequency (RF). Another promising solution for UAV detection uses acoustic emissions. Past researchers demonstrated the ability to use UAV acoustic signatures to determine whether a UAV carries a payload and the weight of that payload at close range with high-quality microphones. This research expands the field of study by performing acoustic payload detection using cell phones and at farther range by developing the system called HurtzHunter. The system collects audio data and extracts Mel-Frequency Cepstrum Coefficients (MFCCs) to train Support Vector Machines (SVMs). The HurtzHunter system tests acoustic payload detection with one high-quality microphone and six different cell phones at 7 m - 100 m ground distance from the UAV. At each distance, the experiment runs 6 flights each with a unique payload attached to the UAV. The HurtzHunter design achieves an 88.26% - 99.93% payload prediction accuracy depending on the configuration.

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Ward, Michael, Mark Costello, and Nathan Slegers. "Specialized System Identification for Parafoil and Payload Systems." Journal of Guidance, Control, and Dynamics 35, no. 2 (March 2012): 588–97. http://dx.doi.org/10.2514/1.53364.

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Chen, Jian-Shiang, and Chia-Hsiang Menq. "Modeling and adaptive control of a flexible one-link manipulator." Robotica 8, no. 4 (October 1990): 339–45. http://dx.doi.org/10.1017/s0263574700000461.

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SUMMARYThe dynamics modeling and payload adaptability of a light-weight flexible one-link manipulator are studied. Using the FEM (Finite-Element Method) model of a flexible manipulator, a lower order Linear Quadratic Gaussian compensator can provide satisfactory performance without controller/observer spillover. Moreover, the payload can be separated from the beam model, therefore, it is expected that the identification algorithm should have better robustness than the other schemes. The simulation results have shown that the proposed payload-adaptation synthesizer, which synthesizes a payload identifier and a nominal regulator/estimator interpolator to obtain a near-optimal compensator, has good adaptability with varying payload. And the resulting synthesizer also provides a near-optimal damping for this sensor-actuator noncolocated system.

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Ni, Zhiyu, Shunan Wu, Yewei Zhang, and Zhigang Wu. "Payload Parameter Identification of a Flexible Space Manipulator System via Complex Eigenvalue Estimation." International Journal of Aerospace Engineering 2020 (February 5, 2020): 1–17. http://dx.doi.org/10.1155/2020/5142925.

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Manipulator systems are widely used in payload capture and movement in the ground/space operation due to their dexterous manipulation capability. In this study, a method for identifying the payload parameters of a flexible space manipulator using the estimated system of complex eigenvalue matrix is proposed. The original nonlinear dynamic model of the manipulator is linearized at a selected working point. Subsequently, the system state-space model and corresponding complex eigenvalue parameters are determined by the observer/Kalman filter identification algorithm using the torque input signal of the motor and the vibration output signals of the link. Therefore, the inertia parameters of the payload, that is, the mass and the moment of inertia, can be derived from the identified complex eigenvalue system and mode shapes by solving a least-squares problem. In numerical simulations, the proposed parameter identification method is implemented and compared with the classical recursive least-squares and affine projection sign algorithms. Numerical results demonstrate that the proposed method can effectively estimate the payload parameters with satisfactory accuracy.

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Smoczek, Jaroslaw, Janusz Szpytko, and Pawel Hyla. "Non-Collision Path Planning of a Payload in Crane Operating Space." Solid State Phenomena 198 (March 2013): 559–64. http://dx.doi.org/10.4028/www.scientific.net/ssp.198.559.

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The problem of ensuring the safe and efficient cranes operations in automated manufacturing processes involves the automation of the operating workspace identification, non-collision and time-optimal path planning, and real-time following a payload along the determined path by crane motion mechanisms with expected precision. The paper describes the stereo vision based system used for identification of workspace of the laboratory scaled overhead travelling crane. The time-optimal trajectory of a payload is determined by using the A-star graph searching algorithm, and next real-time trucking by PLC-based crane control system.

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Malgaca, Levent, and Şefika İpek Lök. "Measurement and modeling of a flexible manipulator for vibration control using five-segment S-curve motion." Transactions of the Institute of Measurement and Control 44, no. 8 (December 6, 2021): 1545–56. http://dx.doi.org/10.1177/01423312211059012.

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User designed manipulators are widely used in industry as a part of automation. The design of lighter robotic arms is required for less energy consumption. Joints, structural features, and payload affect the dynamic behavior of manipulators. Even if the arms have sufficient structural rigidity, joints, or payloads further increase their flexibility. These factors should be considered at the design stage. Flexibility causes vibrations, and these vibrations negatively affect robot repeatability and processing speed. Reducing the vibration levels of flexible manipulators is an attractive issue for engineers and researchers. Accurate estimation of the mathematical model of flexible manipulators increases the success of vibration control. In this paper, the modeling and experiments for vibration control of a single-axis flexible curved manipulator with payload are considered. The experimental system is introduced to collect vibration responses synchronously at the tip of the curved manipulator for angular velocity input. The mathematical model of the manipulator is estimated using the continuous-time system identification (CTSI) method with a black-box model based on the experimental input/output (I/O) signals. A five-segment S-curve motion input based on the modal parameters is designed to suppress residual vibrations. Vibration control is successfully performed for different deceleration times of the designed S-curve motion input. The results showed that the residual vibrations from experiments and predicted models matched well for different cases depending on payload, angular position, and motion time.

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Falezza, Fabio, Federico Vesentini, Alessandro Di Flumeri, Luca Leopardi, Gianni Fiori, Gianfrancesco Mistrorigo, and Riccardo Muradore. "Gray-Box Model Identification and Payload Estimation for Delta Robots." IFAC-PapersOnLine 53, no. 2 (2020): 8771–76. http://dx.doi.org/10.1016/j.ifacol.2020.12.1378.

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WAIZUMI, Yuji, Tsuyoshi SATO, and Kazuyuki TANAKA. "Network Application Identification Using Sequential Transition Patterns of Payload Length." Interdisciplinary Information Sciences 18, no. 2 (2012): 189–96. http://dx.doi.org/10.4036/iis.2012.189.

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Більше джерел

Дисертації з теми "Payload identification"

Rizzitelli, Federico. "Design and implementation of BIRDY satellite data and Radiation Payload simulators." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2016.

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Numerical modelling and simulations are needed to develop and test specific analysis methods by providing test data before BIRDY would be launched. This document describes the "satellite data simulator" which is a multi-sensor, multi-spectral satellite simulator produced especially for the BIRDY mission which could be used as well to analyse data from other satellite missions providing energetic particles data in the Solar system.

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Rasuli, Abdol Rasul. "Dynamic modeling, parameter identification, payload estimation, and non-contact arm geometry sensing of the mining cable shovel." Thesis, University of British Columbia, 2012. http://hdl.handle.net/2429/43648.

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This thesis presents the application of the least squares estimation technique in identification of the cable shovel parameters and monitoring its payload. Both detailed and simplified dynamic models of the cable shovel are derived by modeling the DC motors and analyzing such nonlinear effects as inertia, Coriolis, centripetal, and friction. Mathematical methods, including the interactive Newton-Euler technique, have been used to obtain the kinematic and dynamic equations of the shovel, and establish the relationship between the shovel parameters and the payload inside the bucket. The cable shovel bucket is also referred to as “dipper”. An on-line parameter identification scheme was developed and experimentally verified in order to estimate the cable shovel parameters. A data acquisition system was installed on a P&H2100 cable shovel in the Sarcheshmeh Copper mine, located in Iran, where it logged the cable shovel data for several loading cycles. The payload was dynamically estimated using the simplified dynamic cable-shovel model developed in this thesis. The accuracy and repeatability of the algorithm has been verified based upon the cable-shovel data logged during its normal operation at the mine. In the course of this thesis project, I also devised a novel approach for non-contact sensing of the dynamic arm-geometry of the cable-shovel. A prototype sensor apparatus was designed and assembled that measures the dipper handle angle, the swing angle, and the dipper handle length. Different sensors such as gyroscopes, magnetometers, accelerometers, and a laser sensor are integrated into Arm Geometry Sensor (AGS) apparatus. The AGS apparatus is installed on the saddle block and measures all cable shovel joint variables without having direct physical contact with the links or joints. The AGS apparatus was employed during field trials on the on P&H2100 cable shovel and verified to effectively sense the shovel joint variables with acceptable accuracy.

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Miller, Alexander S. "Dynamics and control of dual-hoist cranes moving distributed payloads." Thesis, Georgia Institute of Technology, 2015. http://hdl.handle.net/1853/54457.

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Crane motion induces payload oscillation that makes accurate positioning of the payload a challenging task. As the payload size increases, it may be necessary to utilize multiple cranes for better control of the payload position and orientation. However, simultaneously maneuvering multiple cranes to transport a single payload increases the complexity and danger of the operation. This thesis investigates the dynamics and control of dual-hoist bridge cranes transporting distributed payloads. Insights from this dynamic analysis were used to design input shapers that reduce payload oscillation originating from various crane motions. Also, studies were conducted to investigate the effect input shaping has on the performance of human operators using a dual-hoist bridge crane to transport distributed payloads through an obstacle course. In each study, input shaping significantly improved the task completion time. Furthermore, input-shaping control greatly decreased operator effort, as measured by the number of interface button pushes needed to complete a task. These results clearly demonstrate the benefit of input-shaping control on dual-hoist bridge cranes. In addition, a new system identification method that utilizes input shaping for determining the modal frequencies and relative amplitude contributions of individual modes was developed to aid in the dynamic analysis of dual-hoist bridge cranes, as well as other multi-mode systems. This method uses a new type of input shaper to suppress all but one mode to a low level. The shaper can also be used to bring a small-amplitude mode to light by modifying one of the vibration constraints.

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Huang, Chao-Min, and 黃昭閔. "Online payload identification, Auto gain tuning and Trajectory following for SCARA robots." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/45shhg.

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碩士
國立雲林科技大學
機械工程系
105
This research investigates the Scara robot in rapid positioning. The load inertia is uncertain in advance. Using the same servo gains for all payloads causes some problems, like overshoot, positioning errors and lower efficiency. The research goal is to enable the system to identify the load inertia, and tune gains automatically. In the thesis, an industrial Scara robot is used as the experimental platform. Firstly, we deduce and analyze the dynamic system. The dynamic equation is used to simulate the positioning effect and performance of the system. A table relating the load to the optimal controller gains is established by the response of the experiments, and is integrated into the controller. Finally T-Curve trajectories for the target are used to optimize the reaction. Experiments show that the settling time with auto-gain-tuning and T-Curve trajectories is reduced by more than 40% compared to the situations with fixed gain control. Keywords：Scara、robot arm、auto-tuning、load identification、T-Curve、pathplanning

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Книги з теми "Payload identification"

Craig, Roy R. Substructure system identification for finite element model updating: Final report, NASA grant no. NAG8-1130. Austin, Tex: Center for Aeronautical Research, Bureau of Engineering Research, the University of Texas at Austin, 1997.

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United States. National Aeronautics and Space Administration., ed. System identification of damped truss-like space structures. [Washington, D.C.]: National Aeronautics and Space Administration, 1995.

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Частини книг з теми "Payload identification"

Li, Yanping, and Yabin Xu. "A Rapid Payload-Based Approach for Social Network Traffic Identification." In Proceedings of the 4th International Conference on Computer Engineering and Networks, 1195–205. Cham: Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-11104-9_137.

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Salah, Souad, Juan Sandoval, Moncef Ghiss, Med Amine Laribi, and Saïd Zeghloul. "Online Payload Identification of a Franka Emika Robot for Medical Applications." In Advances in Service and Industrial Robotics, 130–36. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-48989-2_15.

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Walawalkar, Ashwin, Steffen Heep, Martin Frank, and Christian Schindler. "Payload Estimation in Excavators Using a Machine Learning Based Parameter Identification Method." In Lecture Notes in Mechanical Engineering, 1670–80. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-38077-9_190.

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Traboulsi, Ahmad, and Michel Barbeau. "Identification of Drone Payload Using Mel-Frequency Cepstral Coefficients and LSTM Neural Networks." In Proceedings of the Future Technologies Conference (FTC) 2020, Volume 1, 402–12. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-63128-4_30.

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Farsoni, Saverio, and Marcello Bonfè. "Complete and Consistent Payload Identification During Human-Robot Collaboration: A Safety-Oriented Procedure." In Human-Friendly Robotics 2021, 15–28. Cham: Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-030-96359-0_2.

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Mayer, Joceli. "Review on Watermarking Techniques Aiming Authentication of Digital Image Artistic Works Minted as NFTs into Blockchains." In Information Security and Privacy in the Digital World - Some Selected Topics [Working Title]. IntechOpen, 2022. http://dx.doi.org/10.5772/intechopen.107715.

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The recent creation of Non Fungible Tokens (NFTs) has enabled a multibillionaire market for digital artistic works including images or sequence of images, videos, and animated gifs. With this new trend issues regarding fraud, stolen works, authenticity, and copyright came along. The goal of this chapter is to provide an overview of the watermarking techniques that can be employed to mitigate those issues. We will discuss transparency, robustness, and payload of watermarking techniques aiming to educate the artists, researchers, and developers about the many approaches that watermarking techniques provide and the resulting trade-offs. We focus on fragile watermarking techniques due to their high transparency for embedding into artistic works. We discuss the spread spectrum and Least Significant Bit techniques. We describe the usual process of NFT minting into a blockchain and propose a more secure certification protocol with watermarking which employs the same usual NFT minting offered by current marketplaces. The proposed certification protocol mints a checksum string into a blockchain, ensuring the validity of the watermark and the information embedded into this watermark. This proposed protocol validates the date of creation and author identification which are transparently embedded in the artistic work, thus, increasing the security and confidence of markets for artistic works transactions.

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Sharman, Raj, K. Pramod Krishna, H. Raghov Rao, and Shambhu Upadhyaya. "Malware and Antivirus Deployment for Enterprise Security." In Information Security and Ethics, 3067–83. IGI Global, 2008. http://dx.doi.org/10.4018/978-1-59904-937-3.ch205.

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Threats to information security are pervasive, originating from both outside and within an organization. The history of computer security is dotted with the tales of newer methods of identification, detection, and prevention of malware, only to be followed by a new set of threats that circumvent those safeguards. The explosive growth of the Internet and wide availability of toolsets and documentation exacerbates this problem by making malware development easy. As blended threats continue to combine multiple types of attacks into single and more dangerous payloads, newer threats are emerging. Phishing, pharming, spamming, spoofing, spyware, and hacking incidents are increasing at an alarming rate despite the release of breakthrough security defense products. A multi-layered, integrated approach using different security products in conjunction with well-defined security policies and antivirus software will form the foundation for effective enterprise security management.

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Тези доповідей конференцій з теми "Payload identification"

Tournois, Guido, Michele Focchi, Andrea Del Prete, Romeo Orsolino, Darwin G. Caldwell, and Claudio Semini. "Online payload identification for quadruped robots." In 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2017. http://dx.doi.org/10.1109/iros.2017.8206367.

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Hicsonmez, Samet, Husrev T. Sencar, and Ismail Avcibas. "Audio codec identification through payload sampling." In 2011 IEEE International Workshop on Information Forensics and Security (WIFS). IEEE, 2011. http://dx.doi.org/10.1109/wifs.2011.6123128.

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Kober, Werner, and Wolfgang Hirschberg. "On-Board Payload Identification for Commercial Vehicles." In 2006 IEEE International Conference on Mechatronics. IEEE, 2006. http://dx.doi.org/10.1109/icmech.2006.252512.

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Liang, Haoran, Lei Song, zhongsong ma, and jiangyong duan. "The research on real-time anomaly detection method of space imaging payload based on hierarchical clustering." In Modelling, Simulation and Identification. Calgary,AB,Canada: ACTAPRESS, 2018. http://dx.doi.org/10.2316/p.2018.857-009.

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Ward, Michael, Mark Costello, and Nathan Slegers. "Specialized System Identification for Autonomous Parafoil and Payload Systems." In AIAA Atmospheric Flight Mechanics Conference. Reston, Virigina: American Institute of Aeronautics and Astronautics, 2010. http://dx.doi.org/10.2514/6.2010-7646.

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Yagi, Shinnosuke, Yuji Waizumi, Hiroshi Tsunoda, Abbas Jamalipour, Nei Kato, and Yoshiaki Nemoto. "Network Application Identification Using Transition Pattern of Payload Length." In 2008 IEEE Wireless Communications and Networking Conference. IEEE, 2008. http://dx.doi.org/10.1109/wcnc.2008.462.

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Khalil, Wisama, Maxime Gautier, and Philippe Lemoine. "Identification of the payload inertial parameters of industrial manipulators." In 2007 IEEE International Conference on Robotics and Automation. IEEE, 2007. http://dx.doi.org/10.1109/robot.2007.364241.

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Jung, Woo-Suk, Jun-Sang Park, Myung-Sup Kim, and Jae-Hyun Ham. "Efficient payload signature structure for performance improvement of traffic identification." In 2015 17th Asia-Pacific Network Operations and Management Symposium (APNOMS). IEEE, 2015. http://dx.doi.org/10.1109/apnoms.2015.7275423.

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Kurdas, Alexander, Mazin Hamad, Jonathan Vorndamme, Nico Mansfeld, Saeed Abdolshah, and Sami Haddadin. "Online Payload Identification for Tactile Robots Using the Momentum Observer." In 2022 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2022. http://dx.doi.org/10.1109/icra46639.2022.9811691.

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Zhang, Peng, Ye Li, Qiuyun Hao, Jingsai Jiang, and Xiaoxia Chen. "High-payload spread spectrum watermarking based on informed code phase shift keying." In 2015 IEEE 9th International Conference on Anti-counterfeiting, Security, and Identification (ASID). IEEE, 2015. http://dx.doi.org/10.1109/icasid.2015.7405652.

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