Robotic furniture assembly: task abstraction, motion planning, and control

Park, Suhan; Lee, Haeseong; Kim, Seungyeon; Baek, Jiyeong; Jang, Keunwoo; Kim, Hyoung Cheol; Kim, Myeongsoo; Park, Jaeheung

doi:10.1007/s11370-022-00427-5

Cited by 8 publications

(1 citation statement)

References 24 publications

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“…User Process Data Protection using the MPK: For data protection using the MPK in applications, libmpk provides a flexible library that supports user processes. This can manipulate the protected data using the PSU [19]. ERIM is proposed as a separation method for the protected user process data into different user processes using PSU [20].…”

Section: Related Workmentioning

confidence: 99%

Protection Mechanism of Kernel Data Using Memory Protection Key

KUZUNO,

YAMAUCHI

2023

IEICE Trans. Inf. & Syst.

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Memory corruption can modify the kernel data of an operating system kernel through exploiting kernel vulnerabilities that allow privilege escalation and defeats security mechanisms. To prevent memory corruption, the several security mechanisms are proposed. Kernel address space layout randomization randomizes the virtual address layout of the kernel. The kernel control flow integrity verifies the order of invoking kernel codes. The additional kernel observer focuses on the unintended privilege modifications. However, illegal writing of kernel data is not prevented by these existing security mechanisms. Therefore, an adversary can achieve the privilege escalation and the defeat of security mechanisms. This study proposes a kernel data protection mechanism (KDPM), which is a novel security design that restricts the writing of specific kernel data. The KDPM adopts a memory protection key (MPK) to control the write restriction of kernel data. The KDPM with the MPK ensures that the writing of privileged information for user processes and the writing of kernel data related to the mandatory access control. These are dynamically restricted during the invocation of specific system calls and the execution of specific kernel codes. Further, the KDPM is implemented on the latest Linux with an MPK emulator. The evaluation results indicate the possibility of preventing the illegal writing of kernel data. The KDPM showed an acceptable performance cost, measured by the overhead, which was from 2.96% to 9.01% of system call invocations, whereas the performance load on the MPK operations was 22.1 ns to 1347.9 ns. Additionally, the KDPM requires 137 to 176 instructions for its implementations.

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Section: Related Workmentioning

confidence: 99%

Protection Mechanism of Kernel Data Using Memory Protection Key

KUZUNO,

YAMAUCHI

2023

IEICE Trans. Inf. & Syst.

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A survey on recent trends in robotics and artificial intelligence in the furniture industry

Brunello,

Fabris,

Gasparetto

et al. 2025

Robotics and Computer-Integrated Manufacturing

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A novel planner framework compatible with various end-effector constraints

Wang,

Li,

et al. 2024

RIA

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Purpose Aiming at the problem of insufficient adaptability of robot motion planners under the diversity of end-effector constraints, this paper proposes Transformation Cross-sampling Framework (TC-Framework) that enables the planner to adapt to different end-effector constraints. Design/methodology/approach This work presents a standard constraint methodology for representing end-effector constraints as a collection of constraint primitives. The constraint primitives are merged sequentially into the planner, and a unified constraint input interface and constraint module are added to the standard sampling-based planner framework. This approach enables the realization of a generic planner framework that avoids the need to build separate planners for different end-effector constraints. Findings Simulation tests have demonstrated that the planner based on TC-framework can adapt to various end-effector constraints. Physical experiments have also confirmed that the framework can be used in real robotic systems to perform autonomous operational tasks. The framework’s strong compatibility with constraints allows for generalization to other tasks without modifying the scheduler, significantly reducing the difficulty of robot deployment in task-diverse scenarios. Originality/value This paper proposes a unified constraint method based on constraint primitives to enhance the sampling-based planner. The planner can now adapt to different end effector constraints by opening up the input interface for constraints. A series of simulation tests were conducted to evaluate the TC-Framework-based planner, which demonstrated its ability to adapt to various end-effector constraints. Tests on a physical experimental system show that the framework allows the robot to perform various operational tasks without requiring modifications to the planner. This enhances the value of robots for applications in fields with diverse tasks.

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Robotic furniture assembly: task abstraction, motion planning, and control

Cited by 8 publications

References 24 publications

Protection Mechanism of Kernel Data Using Memory Protection Key

Protection Mechanism of Kernel Data Using Memory Protection Key

A survey on recent trends in robotics and artificial intelligence in the furniture industry

A novel planner framework compatible with various end-effector constraints

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