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2012 5th International Conference on New Technologies, Mobility and Security, NTMS 2012

作者： Tuna, Gurkan Gulez, Kayhan Dept. of Computer Programming Trakya University Edirne Turkey Dept. of Control and Automation Engineering Yildiz Technical University Istanbul Turkey

ISBN: (纸本)9781467302296

This paper presents design considerations of indoor and outdoor navigation techniques proposed for unmanned vehicles (UV). In this paper, we mainly investigate the use and the advantages of wireless sensor networks (WSNs) for indoor navigation, and Global Positioning System (GPS) for outdoor navigation. The system primarily uses laser range finder (LRF) measurements for indoor navigation, and is based on Extended Kalman Filter (EKF). For outdoor navigation the system uses Inertial Navigation System (INS) measurements. At periodical intervals the system integrates the measurements of an absolute sensor to improve estimations. The absolute sensor is a WSN interface for indoor navigation, and a GPS receiver for outdoor navigation. Simulation studies were conducted using Unified System for Automation and Robot Simulation (USARSim) and Player/Stage. The results of USARSim based simulations prove the advantages of integrating GPS measurements. Player/Stage based simulations show the advantages of integrating Received Signal Strength Indicator (RSSI) measurements obtained from WSN interfaces. In addition to the simulation studies, field tests with a custom-built Corobot autonomous robot platform will be realized to prove the effectiveness of the methods. © 2012 IEEE.

关键词： Wireless sensor networks

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Multicollisions and graph-based hash functions

Multicollisions and graph-based hash functions

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3rd International Conference on Trusted Systems, INTRUST 2011

作者： Halunen, Kimmo Oulu University Secure Programming Group Department of Computer Science and Engineering University of Oulu P.O. Box 4500 90014 Oulu Finland

ISBN: (纸本)9783642322976

In this paper, we present some generalisations of previous multicollision finding methods and apply these against a new type of tree-based hash functions. We also show that the very general class of hash functions first presented by Nandi and Stinson can be understood as graph-based hash functions and a graph theoretical approach can be utilised in studying their properties. Previously, an efficient multicollision attack has been found against the basic iterated hash function construction. This method has been applied to the generalised iterated hash functions and binary tree-based hash functions. We show that similar methods can be utilised also against t-ary tree-based hash functions, simplify some definitions and conjecture a similar result for multicollisions against graph-based hash functions. © 2012 Springer-Verlag.

关键词： Hash functions

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Evaluations of different Simultaneous Localization and Mapping (SLAM) algorithms

Evaluations of different Simultaneous Localization and Mappi...

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38th Annual Conference on IEEE Industrial Electronics Society, IECON 2012

作者： Tuna, Gurkan Gulez, Kayhan Cagri Gungor, V. Veli Mumcu, T. Trakya University Department of Computer Programming Edirne Turkey Yildiz Technical University Electrical-Electronics Faculty Control and Automation Eng. Dept. Istanbul Turkey Bahcesehir University Faculty of Engineering Department of Computer Engineering Istanbul Turkey

ISBN: (纸本)9781467324212

Simultaneous Localization and Mapping (SLAM) algorithms with multiple autonomous robots have received considerable attention in recent years. In general, SLAM algorithms use odometry information and measurements from exteroceptive sensors of robots. The accuracy of these measurements and the performance of the corresponding SLAM algorithm directly affect the overall success of the system. This paper presents comparative performance evaluations of three Simultaneous Localization and Mapping (SLAM) algorithms using Extended Kalman Filter (EKF), Compressed Extended Kalman Filter (CEKF) and Unscented Kalman Filter (UKF). Specifically, it focuses on their SLAM performances and processing time requirements. To show the effect of CPU power on the processing time of SLAM algorithms, two notebooks and a netbook with different specifications have been used. Comparative simulation results show that processing time requirements are consistent with the computational complexities of SLAM algorithms. The results we obtained are consistent with the CPU power tests of independent organizations and show that higher processing power decreases processing time accordingly. The results also show that CEKF is more suitable for outdoor SLAM applications where there are a lot of natural and artificial features. © 2012 IEEE.

关键词： Extended Kalman filters

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Mobile robot aided self-deploying wireless sensor networks for radiation leak detection

Mobile robot aided self-deploying wireless sensor networks f...

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2012 5th International Conference on New Technologies, Mobility and Security, NTMS 2012

作者： Tuna, Gurkan Gulez, Kayhan Mumcu, T. Veli Gungor, V. Cagri Dept. of Computer Programming Trakya University Edirne Turkey Dept. of Control and Automation Eng. Yildiz Technical University Istanbul Turkey Dept. of Computer Engineering Bahcesehir University Istanbul Turkey

ISBN: (纸本)9781467302296

This paper presents a mobile robot aided self deploying wireless sensor network aiming to detect radiation leaks and to measure radiation levels, and explains design considerations to prolong network life. Special attention is given to the factors which are important for the specific requirements of radiation leak detection. Wireless sensor networks (WSNs) provide numerous benefits to applications with low duty cycle, such as environmental monitoring, event detection, etc. However, the realization of these potential benefits directly depends on energy efficient and reliable communication and coordination capabilities of the deployed system. In this study, challenges of WSNs, deployment strategies using mobile robots, and energy harvesting techniques to maximize lifetime of WSNs are discussed. Also, a comparison of two different exploration strategies is shown with the results of our own application developed in C#. Main contributions of this study are discussions on mobile robot aided WSN deployment strategies and energy harvesting techniques to maximize WSN lifetime. © 2012 IEEE.

关键词： Wireless sensor networks

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Fast and simple computer aided internal electrical wiring project design & integration of calculations

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Procedia Technology 2012年 1卷 280-285页

作者： İlhami Muharrem Orak Bayram Akgul Karabük University Department of Computer Engineering 78050 Karabük Bartın University Vocational School Computer Programming Section 74100 Bartın

For drawing electrical wiring diagram of buildings, mostly two dimensional CAD programs are used. Drawing is done starting from the source (utility pole) to main power panel and then it is distributed towards to subpanels. Then, end points such as sockets, lighting armature, etc are defined. In this study several algorithms are developed in order to evaluate different part of drawing project. Tree structure of drawing is analyzed and all materials to be used are decided based on an algorithm. Apart from these, some of the supplies to be used in project but not shown in the drawings are also be chosen with certain criteria. These decision systems will result in efficiency of overall cost of the project. In wire drawing one of the most important point is the line drawing with reference to an object. Apart from light outlet all wires are referenced to walls. Furthermore, all supplies shown in drawings are allocated with reference to walls and with an angle to walls. In wiring diagram drawings, standard CAD programs have no ability for wire drawing with reference to walls. Besides that, suggestion and selection of the most appropriate supplies is not possible. These increase drawing time and result in very high cost calculation errors. These algorithms provide fast and correct implementation. By analyzing drawings in a tree structure on which users have minimal impact, and with automatic selection of supplies all type of calculation mistakes are minimized.

关键词： Electrical Wiring CAD Applications Tree Structures Referenced Drawing Algorithms

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Corrigendum to ‘A single period inventory model with imperfect production and stochastic demand under chance and imprecise constraints’ [Eur. J. Oper. Res. 188 (2008) 121–139]

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European Journal of Operational Research 2013年第3期230卷 703-703页

作者： D. Panda S. Kar K. Maity M. Maiti Department of Engineering Science Haldia Institute of Technology Haldia Purba Medinipur Haldia West Bengal 721 657 India Department of Applied Mathematics with Oceanology and Computer Programming Vidyasagar University Midnapore 721 102 India

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Quantifying the necrotic areas on liver tissues using support vector machine (SVM) algorithm and Gabor filters

Quantifying the necrotic areas on liver tissues using suppor...

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International Symposium on INnovations in Intelligent SysTems and Applications, INISTA 2012

作者： Özseven, Turgut Ertürkler, Metin Nurmuhammed, Mustafa Gül, Mehmet Harputluoǧlu, Murat Department of Computer Programming Turhal Vocational School Gaziosmanpaşa University Tokat Turkey Department of Computer Engineering Engineerinig Faculty Inönü University Malatya Turkey Department of Histology and Embryology Faculty of Medicine Inönü University Malatya Turkey Department of Internal Diseases Faculty of Medicine Inönü University Malatya Turkey

ISBN: (纸本)9781467314466

Liver is a vital organ of a body that has numerous functions. Severe malfunctioning of these functions causes a liver necrosis. The diagnosis of this necrosis is performed by a specialist who uses appropriate microscopic analysis. However, because this analysis is based on specialist's opinion, the results could be subjective and error prone. The aim of this study is to quantify the hepatic necrotic areas using computer aided algorithms and provide quantitative results that are not prone to errors. © 2012 IEEE.

关键词： Gabor filters

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Cross-Language Code Analysis and Refactoring

Cross-Language Code Analysis and Refactoring

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IEEE International Workshop on Source Code Analysis and Manipulation

作者： Philip Mayer Andreas Schroeder Chair for Programming & Software Engineering Institute for Computer Science Ludwig-Maximilians-Universität München Germany

Software composed of artifacts written in multiple (programming) languages is pervasive in today's enterprise, desktop, and mobile applications. Since they form one system, artifacts from different languages reference one another, thus creating what we call semantic cross-language links. By their very nature, such links are out of scope of the individual programming language, they are ignored by most language-specific tools and are often only established -- and checked for errors -- at runtime. This is unfortunate since it requires additional testing, leads to brittle code, and lessens maintainability. In this paper, we advocate a generic approach to understanding, analyzing and refactoring cross-language code by explicitly specifying and exploiting semantic links with the aim of giving developers the same amount of control over and confidence in multi-language programs they have for single-language code today.

关键词： Semantics Java XML programming Software Layout Navigation

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Autonomous intruder detection system using wireless networked mobile robots

Autonomous intruder detection system using wireless networke...

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IEEE Symposium on computers and Communications (ISCC)

作者： Gurkan Tuna Coskun Tasdemir Kayhan Gulez Tarik Veli Mumcu Vehbi Cagri Gungor Department of Computer Programming Trakya University Edirne Turkey Department of Control and Automation Engineering Yildiz Technical University Istanbul Turkey Department of Computer Engineering Bahcesehir University Istanbul Turkey

Wireless networked mobile robots pursuing a common objective are envisioned to be an efficient solution for many military, industrial, commercial, and environmental applications. This paper presents the design considerations of an autonomous intruder detection system based on wireless networked robots. Specifically, three critical aspects of these systems, such as coordination and task allocation, communication, and map-based intruder detection, have been investigated and a multi-sensor fusion mechanism has been presented. Performance results show that the fusion of redundant information from different sensors can increase the accuracy of a system and reduce overall uncertainty in intruder detection applications.

关键词： Robot kinematics Mobile robots Cameras Wireless communication Robot sensing systems

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Mobile Robot Aided Self-Deploying Wireless Sensor Networks for Radiation Leak Detection

Mobile Robot Aided Self-Deploying Wireless Sensor Networks f...

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New Technologies, Mobility and Security (NTMS)

作者： Gurkan Tuna Kayhan Gulez T. Veli Mumcu V. Cagri Gungor Department of Computer Programming Trakya University Edirne Turkey Department of Control and Automation Engineering Yildiz Technical University Istanbul Turkey Department of Computer Engineering Bahcesehir University Istanbul Turkey

关键词： Robot sensing systems Wireless sensor networks Robot kinematics Mobile robots Wireless communication Energy harvesting

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