We present an algorithm to characterize the space of identifiable inertial parameters in system identification of an articulated robot. This problem has been considered in the literature for decades; however, existing methods suffer from common drawbacks. Methods either rely on symbolic techniques that do not scale, or rely on numerical techniques that are sensitive to the choice of an input mo...

Recently, Alomair et al. proposed the first UnConditionally Secure mutual authentication protocol for lowcost RFID systems(UCS-RFID). The security of the UCSRFID relies on five dynamic secret keys which are updated at every protocol run using a fresh random number (nonce) secretly transmitted from a reader to tags. Our results show that, at the highest security level of the protocol (security p...

In this paper, the uncertain dynamic parameters of an experimental target tracker robot are identified through the application of genetic algorithm. The considered serial robot is a two-degree-of-freedom dynamic system with two revolute joints in which damping coefficients and inertia terms are uncertain. First, dynamic equations governing the robot system are extracted and then, simulated nume...

Although many mathematicians have searched on the fractional calculus since many years ago, but its application in engineering, especially in modeling and control, does not have many antecedents. Since there are much freedom in choosing the order of differentiator and integrator in fractional calculus, it is possible to model the physical systems accurately. This paper deals with time-domain id...