Self-localization is the process of estimating the robot position exploiting noisy measurements. Since localization is a key issue for soccer playing robots, some probabilistic approaches have been developed over last...
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ISBN:
(纸本)9781509021703
Self-localization is the process of estimating the robot position exploiting noisy measurements. Since localization is a key issue for soccer playing robots, some probabilistic approaches have been developed over last years to address it. Methods based on Monte Carlo Localization (MCL) show good ability in dealing with kidnap problem, however, most of them are unstable with limited number of samples. On the other hand, Kalman filter extensions are among the best light weight estimators for position tracking. Their drawback is that they are unimodal and can't be used for global and kidnaped problems. Combining the advantages of these two approaches can lead to a valuable method. In this paper we propose a new hybrid localization method that utilizes the MCL and UKF to reach a stable, multimodal, and low weight localization method. The advantages of our method are evaluated in several experiments.
Due to increasing number of internet users, popularity of Broadband Internet also increasing. Hence the connection cost should be decrease due to Wi Fi connectivity and built-in sensors in devices as well the maximum ...
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ISBN:
(纸本)9781509058815
Due to increasing number of internet users, popularity of Broadband Internet also increasing. Hence the connection cost should be decrease due to Wi Fi connectivity and built-in sensors in devices as well the maximum number of devices should be connected through a common medium. To meet all these requirements, the technology so called Internet of Things is evolved. Internet of Things (IoT) can be considered as a connection of computing devices like smart phones, coffee maker, washing machines, wearable device with an internet. IoT create network and connect "things" and people together by creating relationship between either people-people, people-things or things-things. As the number of device connection is increased, it increases the Security risk. Security is the biggest issue for IoT at any companies across the globe. Furthermore, privacy and data sharing can again be considered as a security concern for IoT. Companies, those who use IoT technique, need to find a way to store, track, analyze and make sense of the large amounts of data that will be generated. Few security techniques of IoT are necessary to implement to protect your confidential and important data as well for device protection through some internet security threats.
The Walsh-Hadamard transform plays a major role in many image and video coding algorithms. In one hand, its intensive use in these algorithms makes its acceleration a challenge, in order to speed-up the algorithm exec...
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ISBN:
(纸本)9781467389112
The Walsh-Hadamard transform plays a major role in many image and video coding algorithms. In one hand, its intensive use in these algorithms makes its acceleration a challenge, in order to speed-up the algorithm execution. On the other hand, the available fast implementations are not efficient across different platforms. In this work, a parallel-based implementation of the WHT is proposed for CPU and GPU platforms using the OpenCL standard. OpenCL achieves portability at code level, but its performance suffers when the same code is used for CPUs and GPUs. To achieve top performance, we propose two WHT versions: OpenCL-GPU for GPUs and OpenCL-CPU for CPUs. Broadly, OpenCL-GPU executed on a GPU runs faster than OpenCL-CPU executed on a multicore CPU, with speedups that range from 120.87 to 1016.35. However, OpenCL-GPU performance drops substantially when ran on a multicore CPU machine, where OpenCL-CPU achieves higher performance, as it exploits the OpenCL support for SIMD instructions.
We consider an IP over flexgrid network and present a joint IP routing, distance-adaptive routing and spectrum allocation formulation. We evaluate the performance of fixed- and flex-grid switches, fixed transponders, ...
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The form of compact city as an "urban form of sustainable development" is paid more and more attention. This paper proposes several systems of indicators based on the understanding of the connotation of comp...
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This paper deals with symbol-pair error channels. First, we generalize the channels to symbol-tuple error channels whose read length is D. Then, we derive a message passing algorithm for decoding LDPC codes over the g...
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This paper deals with symbol-pair error channels. First, we generalize the channels to symbol-tuple error channels whose read length is D. Then, we derive a message passing algorithm for decoding LDPC codes over the generalized channels. Furthermore, we investigate the Hamming distance distributions of LDPC codes in terms of D symbol-tuple metric.
Knowledge of the actual occupancy of a building is a main research interest for several domains. Building energy performance simulation software considers occupancy through the use of diversity profiles usually contai...
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Knowledge of the actual occupancy of a building is a main research interest for several domains. Building energy performance simulation software considers occupancy through the use of diversity profiles usually contained in predesigned templates. This paper aims to explore the extent of possible discrepancies between standard predefined occupancy diversity profiles, profiles extracted by business process modelling, profiles generated from real on field occupancy measurements. Occupancy measurements are obtained utilizing a novel robust, highly accurate real-time occupancy extraction system which is based on a dep.h cameras network. Results show that the incorporation of real accurate occupancy data, the appropriate understanding of the business processes that take place in building spaces have the potential to significantly enhance current Building Performance Simulation (BPS) software tools.
In previous work, the efficiency of a new Adaptive Fuzzy Logic Controller (AFLC) was successfully tested on a real time control process. It's to know that the adaptation process do not require any kind of offline ...
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In previous work, the efficiency of a new Adaptive Fuzzy Logic Controller (AFLC) was successfully tested on a real time control process. It's to know that the adaptation process do not require any kind of offline pre-training or information about the mathematical model of the plant. Starting from a defined structure of Fuzzy Logic Controller, the error and its derivative were the only information used to tune this adaptive controller. The adaptation and self learning are done by adjusting their internal parameters in real time. These papers aim to expose and focus on the enhancement proposed by the original authors of this control algorithm in order to proceed to a series of comparisons using two different control processes (Tank level and temperature of a room) that can reflects the control performances improvement. The Adaptive controller performances are improved by giving him more freedom and endowing him by evolved tools that can strongly support any kind of unexpected changes on the controlled plant behaviors. The controller exposed here can start the control with a very basic structure, assigning (arbitrarily) one membership function for each input. Through two stages, the control algorithm starts the adaptation and the control of the plant firstly by adjusting the rules consequences using the output error then in the second stage and when the adaptation process cannot bring no more improvement, the controller starts the evolved process to get a new topology that can guarantee more accuracy by adding new membership functions in the inputs spaces.
This study implemented DFT method into the C++ programming language with object-oriented programming rules (expressive software). The use of expressive software results in getting a simple programming structure, which...
This study implemented DFT method into the C++ programming language with object-oriented programming rules (expressive software). The use of expressive software results in getting a simple programming structure, which is similar to mathematical formula. This will facilitate the scientific community to develop the software. We validate our software by calculating the energy band structure of Silica, Carbon, and Germanium with FCC structure using the Projector Augmented Wave (PAW) method then compare the results to Quantum Espresso calculation's results. This study shows that the accuracy of the software is 85% compared to Quantum Espresso.
This paper presents a new concolic execution-based smart fuzzer for detecting heap-based buffer overflow in the executable codes. The proposed fuzzer executes the target program with concrete input data and calculates...
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ISBN:
(纸本)9781467393775
This paper presents a new concolic execution-based smart fuzzer for detecting heap-based buffer overflow in the executable codes. The proposed fuzzer executes the target program with concrete input data and calculates the constraints of the executed path symbolically. The path constraints are used to generate test data that traverse new execution paths in the target program. For each executed path, the fuzzer also calculates heap-based buffer overflow constraints. These constraints determine what input data may cause heap-based buffer overflow in the executed path. By combining the path and vulnerability constraints new test data are generated, if possible, that traverse a specific execution path and activate specific vulnerability in that path. We implemented the proposed smart fuzzer as a plug-in for Valgrind framework. The implemented fuzzer is tested on different groups of test programs. The experiments demonstrate that the fuzzer can detect the vulnerabilities in these programs accurately.
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