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Annual Conference on IEEE Industrial Electronics Society

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

ISBN: (纸本)9781467324199

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.

关键词： Simultaneous localization and mapping Navigation Visualization Power measurement Estimation MONOS devices

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The Relationship between Diagnostic Coverage and Proof Test Interval for 1oo2 and 1oo2D Architectures

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IFAC Proceedings Volumes 2012年第24期45卷 181-184页

作者： İlker üstoğlu özgür T. Kaymakçı Josef Börcsök Yıldız Technical University Davutpaşa Campus A209 34220 34220 Esenler İstanbul TURKEY (Tel: +90-535-418-22-64 ) Yıldız Technical University Davutpaşa Campus A210 34220 34220 Esenler İstanbul TURKEY University Kassel Faculty of Electrical Engineering/Computer Science Department of Computer Architecture and System Programming Wilhelmshöher Allee 71 34121 Kassel GERMANY

In order to measure the effectiveness of safety protection systems there are several design parameters. Diagnostic coverage factor is one of the most important parameter which influences all architectures. In this short paper the relationship between PFD avg , DC and T I are presented. 1oo2 and 1oo2D architectures are considered as examples.

关键词： Functional safety 1002 architecture

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Data transmission via erasure type channels protected by linear codes

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Journal of Physics: Conference Series 2012年第1期364卷

作者： H D Wacker P Pendli J Börcsök To whom any correspondence should be addressed University Kassel Faculty of Electrical Engineering/Computer Science Department of Computer Architecture and System Programming Wilhelmshöher Allee 71 34121 Kassel

The paper is concerned with data transmission via channels composed of a memoryless binary symmetric channel and the erasure channel of Peter Elias. Channels of this type play an important role in modelling different types of networks especially wireless networks, and have been investigated using, amongst others, the theory of Markov chains. Channel Capacities and network flows have been determined. The authors focus their interest on some aspects of coding theory. They assume the data transmission to be protected by a linear code, a CRC for example, and determine the probability of undetected error of the code. They then consider redundant transmission via two or more channels with bit inversion, and calculate the probability of undetected error. They prove some inequalities that are useful instruments to estimate the rate of transmission errors and to determine safety integrity levels according to the standards. Finally the authors apply their results to Bluetooth channels suffering from different types of noise.

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A new involutory 4×4 MDS matrix for the AES-like block ciphers

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International Review on computers and Software 2011年第1期6卷 96-103页

作者： Aslan, Füsun Yavuzer Sakall, M. Tolga Aslan, Bora Bulut, Selma Computer Engineering Department Trakya University Turkey Computer Programming Department Kirklareli University Turkey

Maximum Distance Separable (MDS) codes are used as diffusion layers in the design of the well known block ciphers like the Advanced Encryption Standard (AES) and Khazad. The reason for the use of MDS codes in the design of block ciphers is that they provide optimal diffusion effect to meet security of a round function of a block cipher. On the other hand, the constructions of these diffusion layers are various. For example, while the AES use a 4×4 MDS matrix over GF(28), Khazad use an 8×8 involutory MDS matrix over GF(28). In this study, a new involutory 4×4 MDS matrix for the AES-like block ciphers is proposed and an efficient software implementation of this matrix is given. The new involutory matrix replaces Mix Columns operation used in the AES cipher in order to provide equally good performance for both encryption and decryption operations. In the design of our involutory MDS matrix, we use Hadamard matrix construction instead of circulant matrices such as in the AES. © 2011 Praise Worthy Prize S.r.l.

关键词： Diffusion

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Unmanned vehicle-aided automated meter reading

Unmanned vehicle-aided automated meter reading

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6th International Conference on Broadband Communications and Biomedical Applications, IB2COM 2011

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

ISBN: (纸本)9781467307680

This paper presents a novel approach of using unmanned vehicles for Automated Meter Reading (AMR) applications in rural areas where there are a few consumers scattered around a wide area. The proposed system does not require a fixed network infrastructure to transfer data to a central database, since data collection is carried out by unmanned vehicles. Compared to traditional meter reading systems, the use of unmanned vehicles for AMR brings several advantages, such as low cost operation, flexibility, and online system management. However, the realization of these potential gains directly depends on reliable communication capabilities of the deployed system and successful navigation of unmanned vehicles. Overall, in this paper, the design principles and challenges of using unmanned vehicles for AMR applications in rural areas have been presented. Also, the communication architecture of the proposed system has been explained and comparative simulation studies have been performed in terms of energy efficiency and navigation accuracy. © 2011 IEEE.

关键词： Wireless sensor networks

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Communication related design considerations of WSN-aided Multi-Robot SLAM

Communication related design considerations of WSN-aided Mul...

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IEEE International Conference on Mechatronics

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

ISBN: (纸本)9781612849836

This paper presents the communication related design considerations of Wireless Sensor Network (WSN) aided Multi-Robot Simultaneous Localization and Mapping (SLAM). In this approach, multiple robots perform WSN-aided cooperative SLAM using only range values to landmarks in the environment by measuring the Received Signal Strength Indicator (RSSI) of the received radio messages, and odometry information. The SLAM algorithm proposed in this study uses the Rao-Blackwellized Particle Filters. In addition, the inherent communication problems in WSNs, and their effects on cooperative SLAM are explained in detail and shown with the results of The Network Simulator (ns-2) simulations. © 2011 IEEE.

关键词： Wireless sensor networks

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A Bio-inspired Fuzzy Agent Clustering Algorithm for Search Engines

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Procedia computer Science 2011年 7卷 305-307页

作者： Radu D. Găceanu Department of Computer Science Babeş-Bolyai University Cluj-Napoca Romania Department of Programming Theory and Software Engineering Eötvös Loránd University Budapest Hungary

In general, web search engines respond to queries by returning a list of links to web pages that are considered relevant. However, these queries are often ambiguous or too general and the users end up browsing through a long list of items in order to find what they are actually looking for. And hence the idea to cluster web search results so that the output would be a list of labelled clusters. An algorithm based on the ASM (Ants Sleeping Model) is proposed. In the ASM model each data is represented by an agent, its environment being a two dimensional grid. The agents will group themselves into clusters by making simple moves according to some local environment information. At any step an agent can pro-actively decide to directly communicate with one of its fellows and choose to move accordingly, the moves being expressed by fuzzy IF-THEN rules. Thus the chance of getting trapped in a local optimum is minimized and hybridization with a classical clustering algorithm becomes needless.

关键词： Ants Sleeping Model Fuzzy logic Clustering

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Communication related design considerations of WSN-aided Multi-Robot SLAM

Communication related design considerations of WSN-aided Mul...

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International Conference on Mechatronics (ICM)

作者： Gurkan Tuna Kayhan Gulez V. Cagri Gungor Vocational College of Technical Sciences Department of Computer Programming Trakya University Edirne Turkey Electrical-Electronics Engineering Faculty Control and Automation Engineering Department Yildiz Technical University Istanbul Turkey Department of Computer Engineering Bahcesehir University Istanbul Turkey

关键词： Wireless sensor networks Robustness Batteries Sensors

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Fast RNA structure alignment for crossing input structures

Fast RNA structure alignment for crossing input structures

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作者： Backofen, Rolf Landau, Gad M. Möhl, Mathias Tsur, Dekel Weimann, Oren Bioinformatics Institute of Computer Science Albert-Ludwigs-Universität Freiburg Germany Department of Computer Science University of Haifa Haifa 31905 Israel Department of Computer Science and Engineering NYU-Poly Six MetroTech Center Brooklyn NY 11201-3840 United States Programming Systems Lab Saarland University Saarbrücken Germany Ben-Gurion University Beer-Sheva Israel Massachusetts Institute of Technology Cambridge MA 02139 United States

The complexity of pairwise RNA structure alignment depends on the structural restrictions assumed for both the input structures and the computed consensus structure. For arbitrarily crossing input and consensus structures, the problem is NP-hard. For non-crossing consensus structures, Jiang et al.'s (2002) [9] algorithm computes the alignment in O(n2m2) time where n and m denote the lengths of the two input sequences. If the input structures are also non-crossing, the problem corresponds to tree editing which can be solved in O(m2n(1+lognm)) time (Demaine et al., 2007) [3]. We present a new algorithm that solves the problem for d-crossing structures in O(dm2nlogn) time, where d is a parameter that is one for non-crossing structures, bounded by n for crossing structures, and much smaller than n on many practical examples. Crossing input structures allow for applications where the input is not a fixed structure but is given as base-pair probability matrices. © 2010 Elsevier B.V. All rights reserved.

关键词： RNA

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Unmanned vehicle-aided automated meter reading

Unmanned vehicle-aided automated meter reading

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International Conference on Broadband and Biomedical Communications (IB2Com)

作者： Gurkan Tuna V. Cagri Gungor Kayhan Gulez Department of Computer Programming Trakya University Edirne Turkey Faculty of Engineering Department of Computer Engineering Bahçeşehir University Istanbul Turkey Faculty of Engineering Bahçegehir University Istanbul Turkey Electrical-Electronics Eng. Faculty Yildiz Technical University Istanbul Turkey

关键词： Vehicles Navigation Wireless sensor networks Simultaneous localization and mapping Accuracy Wireless communication

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