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3rd international conference on Performance Evaluation Methodologies and Tools, VALUETOOLS 2008

作者： Chatzimisios, P. Raptis, P. Vitsas, V. Amanatiadis, D. Paparrizos, K. Information Technology Technological Educational Institution Thessaloniki Greece Applied Informatics University of Macedonia Thessaloniki Greece

ISBN: (纸本)9789639799318

This paper presents an novel analytical model for calculation of throughput of the IEEE 802.11 Distributed Coordination Function (DCF) under variable packet length assuming ideal channel conditions. The proposed model considers basic access scheme but can be easily applied to RTS/CTS reservation scheme. Moreover, we use this model to present a simple algorithm to compute the voice capacity of an IEEE 802.11b WLAN and propose a simple admission control algorithm in order to maintain voice quality in a WLAN. Comparison of analytical results produced utilizing our proposed scheme against other admission control algorithms found in the literature shows that our model is fairly accurate. © 2008 ICST.

关键词： Quality control

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The importance of biometric sensor continuous secure monitoring

The importance of biometric sensor continuous secure monitor...

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3rd international conference on Digital Information Management, ICDIM 2008

作者： Papanikolaou, Alexandros Georgiadis, Georgiadis Ilioudis, Christos Pimenidis, Elias Dept. of Computer and Communication Engineering University of Thessaly Volos Greece Dept. of Applied Informatics University of Macedonia Thessaloniki Greece Dept. of Information Technology Technical Educational Institute of Thessaloniki Greece School of Computing and Technology University of East London United Kingdom

ISBN: (纸本)9781424429172

The security of a biometric information system depends partially on the ability of the biometric information sensor to authenticate itself securely to the processing centre it usually interacts with, thus ensuring that the securely transmitted biometric data has not been constructed by an attacker. The biometric sensors of a biometric information system are often physically exposed to potential adversaries who may manipulate them and therefore compromise the security of the system. Such attacks can be detected by continuous and secure sensor monitoring. The proposed scheme is based on the Kerberos protocol for dealing with sensor authentication issues. Using authenticated control/data packets its functionality has been extended to provide secure sensor monitoring, which can help in detecting physical attacks on the sensor itself. © 2008 IEEE.

关键词： Information systems

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Fault Adaptive control for RUAV Actuator Failure with Unscented Kalman Filter

Fault Adaptive Control for RUAV Actuator Failure with Unscen...

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international conference on Innovative Computing, Information and control (ICICIC)

作者： Juntong Qi Jianda Han National Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences China National Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences China

A new fault adaptive control methodology against the actuator failure is proposed. The actuator failure modeling are introduced to denote the actuator healthy coefficients (AHCs) and the unscented Kalman filter (UKF) is employed for on-line estimation of both the flight states and the AHCs parameters of rotorcraft UAV (RUAV). In this paper, The functionality of the approach has been illustrated through experiments on the Shenyang Institute of automation RUAV platform SIA-Heli-90 and the results show that the proposed method is an effective tool for actuator fault adaptive control of RUAVs.

关键词： Estimation Mathematical model Actuators Joints Sensors Adaptive control control systems

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Long-term vs. greedy action planning for color learning on a mobile robot

Long-term vs. greedy action planning for color learning on a...

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3rd international conference on Computer Vision Theory and Applications

作者： Sridharan, Mohan Stone, Peter Univ Texas Austin Austin TX 78712 USA

ISBN: (纸本)9789898111210

A major challenge to the deployment of mobile robots is the ability to function autonomously, learning appropriate models for environmental features and adapting those models in response to environmental changes. This autonomous operation in turn requires autonomous selection/planning of an action sequence that facilitates learning and adaptation. Here we focus on color modeling/learning and analyze two algorithms that enable a mobile robot to plan action sequences that facilitate color learning: a long-term action selection approach that maximizes color learning opportunities while minimizing localization errors over an entire action sequence, and a greedy/heuristic action selection approach that plans incrementally, one step at a time, to maximize the benefits based on the current state of the world. The long-term action selection results in a more principled solution that requires minimal human supervision, while better failure recovery is achieved by incorporating features of the greedy planning approach. All algorithms are fully implemented and tested on the Sony AIBO robots.

关键词： action planning color modeling real-time vision robotics

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Intelligent store - An innovative technological solution for retail activities with mobile access

Intelligent store - An innovative technological solution for...

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3rd international Multi-conference on Computing in the Global Information Technology, ICCGI 2008

作者： Stan, Carmen E. Dumitrescu, Dan Caras, Vasilca Tiliute, Doru E. Pop, Eugen Anghel, Lucian E. Institute for Computer Bucharest Romania University of Suceava Romania Research and Development Engineering and Manufacturing for Automation Equipment and Systems Bucharest Romania National Institute for Research and Development in Informatics Bucharest Romania

ISBN: (纸本)9780769532752

This paper presents an innovative solution in retail activities, named "Intelligent Store- INTELSHOP" based on a technological platform that offers the support for some attractive and efficient services for customers and administrative staff. The technological platform integrates various technologies such as RFID, GPS and GlS, wireless communications, mobile access to information on PDA or SmartPhone, integrated environments for data analysis regarding stocks and customers administration, interfaces with electronic payment systems. The goal pursued is mainly to reduce the time wasted by the customers searching the products on the store's shelf, to offer more and better information about products. On the other hand our solution pursues to maximize the merchant benefit by reducing the provisioning time, to diversify the offer and to create the opportunity to make the best decision in real time. © 2008 IEEE.

关键词： Decision making

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Probabilistic appearance-based navigation of a mobile robot -: controlling a robot in route following

Probabilistic appearance-based navigation of a mobile robot ...

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3rd international conference on Computer Vision Theory and Applications

作者： Paya, Luis Reinoso, Oscar Gil, Arturo Asuncion Vicente, M. Aznar, Jose L. Miguel Hernandez Univ Dept Ingn Sistemas Ind Alicante 03202 Spain

ISBN: (纸本)9789898111210

In this work, a solution to the problem of multi-robot following routes is proposed using an appearance-based method. In this approach, several images are stored along the route to follow, using an uncalibrated forward-looking camera. To extract the most relevant information, an incremental PCA process has been implemented. This incremental process allows adding new locations to the PCA database without necessity of creating it from the scratch. Then, the follower robots can follow the route while a leader one is still recording it. These follower robots, using this database, make first an auto-location process to know their current position and then a control phase to compute the necessary steering speed to tend to the route and follow it till the end. Both speeds are obtained also through the visual information in an appearance-based approach. The problem of 'visual aliasing', typical in office environments, is avoided with a probabilistic approach that, using a Markov-process model, makes the localization more robust. The experimental results have shown how this is a simple but robust and powerful approach for routes in an office environment.

关键词： robot vision incremental PCA Markov localization collaborative robotics

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The CPG control algorithm for a climbing worm robot

The CPG control algorithm for a climbing worm robot

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IEEE conference on Industrial Electronics and Applications (ICIEA)

作者： Wei Wang Yingying Wang Jinghao Qi Houxiang Zhang Jianwei Zhang Robotics Institute School of Mechanical Engineering and Automation Beijing Aeronautics and Astronautics University Beijing China TAMS Department of Informatics University of Hamburg Hamburg Germany

In this paper, we propose a locomotion control algorithm for a climbing worm robot based on neural oscillator network (NON). According to the structure and locomotion feature of the climbing worm robot, the trapezoidal wave gait and triangular wave gait are defined. Then the cyclic inhibitory central pattern generator (CPG) model and mutual inhibitory CPG model are adopted to control the climbing worm robot. Furthermore, by combining the CPG output with the feedback signal from the sucker, the robot realizes the trapezoidal wave gait and triangular wave gait. Moreover, we present that real robot can successfully exhibit meandering movement by using controller output of the proposed architecture.

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A supply network-modelling system for a small- to medium-sized manufacturing company

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robotics AND COMPUTER-INTEGRATED MANUFACTURING 2008年第4期24卷 579-584页

作者： Smith, Stephen Petty, David Trustrum, David Labib, Ashraf Khan, Ali Manchester Metropolitan Univ Sch Business Manchester M1 3GH Lancs England Univ Manchester Sch Mech Aerosp & Civil Engn Manchester M60 1QD Lancs England Strix Innovat Technol Ltd Ronaldsway IM9 2RG Man England Portsmouth Business Sch Portsmouth PO1 3DE Hants England

During the late 1990s and early 2000s, the profile of global manufacturing has experienced many changes. There is anecdotal evidence that many western manufacturing companies have chosen to expand their manufacturing base across geographical boundaries. The common reasons sited for these ventures are to exploit less expensive labour markets, to establish a presence in expanding markets and in response to the threat of new competition. Whilst a global manufacturing base can prove to have many cost and sales benefits, there are also many disadvantages. Logistics operations can often increase in complexity leading to higher reliance on planning and effective interpretation of demand data. In response, systems modelling has remerged as a fertile research area after many years. Many modelling and simulation techniques have been developed, but these have had very limited practical success. The authors have identified that majority of these simulation techniques rely upon a detailed market structure being known, when this is rarely the case. This paper describes the outcome of a research project to develop of a pragmatic set of tools to gather, assess and verify supply chain structure data. A hybrid collection of technologies are utilised to assist these operations and to build a dynamic supply network model. (C) 2007 Elsevier Ltd. All rights reserved.

关键词： supply chains modelling planning and control

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control variates as screening functions

Control variates as screening functions

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3rd international conference on Performance Evaluation Methodologies and Tools, VALUETOOLS 2008

作者： Kyriazopoulou-Panagiotopoulou, S. Kontoyiannis, I. Meyn, S.P. Department of Informatics Athens U of Econ and Business Athens 10434 Greece Dept. of ECE and CSL U IllinoisUrbana-Champaign Urbana IL 61801 United States

ISBN: (纸本)9789639799318

Suppose that the mean μ = E[F(X)] of a given function F : → is to be estimated by the empirical average Ŝ n := 1/n∑n i=1 F(Xi) of the values F(Xi), where X1,X2, . . . , Xn are independent samples distributed like X. In cases when the mean ν= E[U(X)] of a different function U : &rdbl → &rdbl is known, we introduce a sampling rule, called the "screened estimator," which states that we should only consider estimates that correspond to times n when the empirical average of the {U(Xi)} is sufficiently close to its known mean. Under the assumption that U dominates F in an appropriate sense, it is shown that the screened estimates admit exponential error bounds, even when F(X) is heavy-tailed. A geometric interpretation, in the spirit of Sanov's theorem, is given for this fact, and nonasymptotic, explicit exponential bounds for the screened estimates are derived. The mathematical tools used in the analysis consist, primarily, of large deviations techniques. A detailed Markov Chain Monte Carlo (MCMC) simulation example illustrates that, in certain MCMC scenarios, screening can be very effective in terms of variance reduction, even in cases where the standard technique of control variates fails. © 2008 ICST ISBN.

关键词： Estimation

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Adaptive Observer Based Actuator Fault Diagnosis for ASV

Adaptive Observer Based Actuator Fault Diagnosis for ASV

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international conference on Innovative Computing, Information and control (ICICIC)

作者： Jianfei Wang Bin Jiang Peng Shi Hankang Wang College of Automation Engineering Nanjing University of Aeronautics and Astronautics Nanjing China Faculty of Advanced Technology University of Glamorgan Pontypridd UK Department of Computer Science VII: Robotics and Telematics University of Wurzburg Wurzburg Germany

This paper deals with the actuator fault diagnosis and accommodation problem for the aero space vehicle (ASV). A novel nonlinear robust adaptive observer is developed for estimation of the actuator fault under the Lipschitz condition on the nonlinear part of such systems, which is used to continuously accommodate the control signal, so as to ensure the stability of faulty system. Finally, simulation results about ASV are presented to illustrate the feasibility and effectiveness of the proposed methods.

关键词： Fault diagnosis Actuators Observers Estimation Algorithm design and analysis Robustness Adaptive systems

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