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7th International Symposium on Business Modeling and Software Design, BMSD 2017

作者： Ali-Eldin, Amr M. T. Zuiderwijk, Anneke Janssen, Marijn Leiden Institute of Advanced Computer Science Leiden University Leiden Netherlands TBM Delft University of Technology Jaffalaan 5 Delft2628 BX Netherlands Computer and Control Systems Dept. Faculty of Engineering Mansoura University Mansoura Egypt

ISBN: (纸本)9789897582387

While the opening of data has become a common practice for both governments and companies, many datasets are still not published since they might violate privacy regulations. The risk on privacy violations is a factor that often blocks the publication of data and results in a reserved attitude of governments and companies. Additionally, even published data, which might seem privacy compliant, can violate user privacy due to the leakage of real user identities. This paper proposes a privacy risk scoring model for open data architectures to analyse and reduce the risks associated with the opening of data. The key elements consist of a new set of open data attributes reflecting privacy risks versus benefits trades-offs. Further, these attributes are evaluated using a decision engine and a scoring matrix intro a privacy risk indicator (PRI) and a privacy risk mitigation measure (PRMM). Privacy Risk Indicator (PRI) represents the predicted value of privacy risks associated with opening such data and privacy risk mitigation measures represent the measurements need to be applied on the data to avoid the expected privacy risks. The model is exemplified through five real use cases concerning open datasets.

关键词： Data mining

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Inverse kinematics and sensitivity minimization of an n-stack stewart platform

arXiv

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arXiv 2018年

作者： Balaban, David Cooper, John Komendera, Erik University of Massachusetts Amherst College of Computer Sciences AmherstMA United States NASA Langley Research Center Dynamic Systems and Control Branch HamptonVA United States Virginia Tech Dept. of Mechanical Engineering BlacksburgVA United States

An autonomous system is presented to solve the problem of in space assembly, which can be used to further the NASA goal of deep space exploration. Of particular interest is the assembly of large truss structures, which requires precise and dexterous movement in a changing environment. A prototype of an autonomous manipulator called "Assemblers"was fabricated from an aggregation of Stewart Platform robots for the purpose of researching autonomous in space assembly capabilities. The forward kinematics for an Assembler is described by the set of translations and rotation angles for each component Stewart Platform, from which the position and orientation of the end effector are simple to calculate. However, selecting inverse kinematic poses, defined by the translations and rotation angles, for the Assembler requires coordination between each Stewart Platform and is an underconstrained non-linear optimization problem. For assembly tasks, it is ideal that the pose selected has the least sensitivity to disturbances possible. A method of sensitivity reduction is proposed by minimizing the Frobenius Norm (FN) of the Jacobian for the forward kinematics. The effectiveness of the FN method will be demonstrated through a Monte Carlo simulation method to model random motion internal to the structure. Copyright © 2018, The Authors. All rights reserved.

关键词： Inverse kinematics

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A joint network/control design for cooperative automatic driving

A joint network/control design for cooperative automatic dri...

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2017 IEEE Vehicular Networking Conference, VNC 2017

作者： Giordano, Giulia Segata, Michele Blanchini, Franco Cigno, Renato Lo Delft Center for Systems and Control Delft University of Technology Netherlands Dipartimento di Matematica e Informatica University of Udine Italy Dept. of Information Engineering and Computer Science University of Trento Italy

ISBN: (纸本)9781538609866

Cooperative automatic driving, or platooning, is a promising solution to improve traffic safety, while reducing congestion and pollution. The design of a control system for this application is a challenging, multi-disciplinary problem, as cooperation between vehicles is obtained through wireless communication. So far, control and network issues of platooning have been investigated separately. In this work we design a cooperative driving system from a joint network and control perspective, determining worst-case upper bounds on the safety distance subject to network losses, so the actual inter-vehicle gap can be tuned depending on vehicle or network performance. By means of simulation, we show that the system is very robust to packet losses and that the derived bounds are never violated. © 2017 IEEE.

关键词： Traffic congestion

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Robotic applications in the automation of agricultural production under greenhouse: A review 3

Robotic applications in the automation of agricultural produ...

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3rd IEEE Colombian Conference on automatic control, CCAC 2017

作者： Tangarife, Hector Ivan Diaz, Andres Escobar CMM Investigation Group GICEMET SENA Dept. Electronic. Spe. Computer Science and Automation District University FJC Bogotá Colombia Investigation Group ORCA Dept. Control Engineering and Telecommunications District University Francisco José de Caldas Bogotá Colombia

ISBN: (纸本)9781538603987

This article shows a review of the state of the art in the agricultural automation under greenhouse through the use of robotics platforms as a source of solution to different problems that arise in the agricultural sector specially under controlled conditions;the writing is part of a wide review of the agricultural automation under greenhouse and a set of proposals that consider applications in various fields of research, autonomous localized irrigation, neural networks, automatic learning, monitoring and control systems among others. It is intended to determine the most recent advances in techniques for sowing, applications of chemical for sanitary control, fertilization, harvest, where robotics is used as a source to solve agricultural problems. The review includes consultation in well-known national and international journals, research carried out in centers and research groups or companies dedicated to implementation addressed to the agricultural sector, finally it is determined the solutions that can be implemented to propose new topics, research lines, development and technology transfer to the agricultural sector. © 2017 IEEE.

关键词： Greenhouses

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ProSLAM: Graph slam from a programmer's perspective

arXiv

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arXiv 2017年

作者： Schlegel, Dominik Colosi, Mirco Grisetti, Giorgio Dept. of Computer Control and Management Engineering Sapienza University of Rome Rome Italy

In this paper we present ProSLAM, a lightweight stereo visual SLAM system designed with simplicity in mind. Our work stems from the experience gathered by the authors while teaching SLAM to students and aims at providing a highly modular system that can be easily implemented and understood. Rather than focusing on the well known mathematical aspects of Stereo Visual SLAM, in this work we highlight the data structures and the algorithmic aspects that one needs to tackle during the design of such a system. We implemented ProSLAM using the C++ programming language in combination with a minimal set of well known used external libraries. In addition to an open source implementation1, we provide several code snippets that address the core aspects of our approach directly in this paper. The results of a thorough validation performed on standard benchmark datasets show that our approach achieves accuracy comparable to state of the art methods, while requiring substantially less computational resources. Copyright © 2017, The Authors. All rights reserved.

关键词： C++ (programming language)

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A new object recognition framework based on PCA, LDA, and K-NN 11

A new object recognition framework based on PCA, LDA, and K-...

引用

11th International Conference on computer engineering and Systems, ICCES 2016

作者： Hagar, Asmaa A.M. Alshewimy, Mahmoud A.M. Saidahmed, Mohamed T. Faheem Computers and Automatic Control Dept. Faculty of Engineering Tanta University Egypt

ISBN: (纸本)9781509032679

In this paper, a new object recognition framework is presented. The framework includes a variety of object recognition approaches based on Principal Component Analysis (PCA), Linear Discriminant Analysis (LDA), and the K-nearest neighbor (K-NN). A color image vector representation model is also introduced. Based on the representation model, color Eigenspace is constructed using PCA and LDA for feature extraction. The K-NN is adopted as a mechanism for classification. The object recognition framework approaches were tested on Columbia Object Image Library (COIL-100) and Amsterdam Library of Object Images (ALOI) color object databases. Experimental results on these databases evinced the effectiveness of the proposed work with high recognition rates in comparison with the results of previous works in the literature. The recognition rate has reached in some cases 100%. © 2016 IEEE.

关键词： Feature extraction

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Agreement between a computer-assisted tool and radiologists to classify lesions in breast elastography images

Agreement between a computer-assisted tool and radiologists ...

引用

SPIE Medical Imaging 2017

作者： Marcomini, K.D. Fleury, E.F.C. Oliveira, V.M. Carneiro, A.A.O. Schiabel, H. Nishikawa, R.M. Dept. of Electrical and Computer Engineering University of Sao Paulo Sao Carlos Brazil Brazilan Institute for Cancer Control Sao Paulo Brazil Faculty of Medical Sciences of Santa Casa de Sao Paulo Sao Paulo Brazil Dept. of Physics University of Sao Paulo Ribeirao Preto Brazil Dept. of Radiology University of Pittsburgh Pittsburgh United States

In order to provide quantitative and less subjective data regarding the stiffness of a lesion, we developed a tool to measure the amount of hard area in a lesion from the 2D image. The database consisted of 78 patients with 83 breast lesions (31 malignant and 52 benign)-Two radiologists and one resident manually drew the contour of the lesions in B-mode ultrasound images and the contour was mapped in the elastography image. By using the system proposed, the radiologists obtained a very good diagnostic agreement among themselves (kappa = 086), achieving the same sensitivity and specificity (80.7 and 885, respectively), and an AUC of 0.883 for Radiologist 1 and 0.892 for Radiologist 2. The Resident had less interobserver agreement, as well as lower specificity and AUC, which may be related to less experience. Furthermore, the radiologists had an agreement with the tool used in the automatic method higher than 90%. Thus, the method developed was useful in aiding the diagnosis of breast lesions in strain elastography, minimizing its subjectivity. © 2017 SPIE.

关键词： Medical imaging

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Co-operative Estimation for Source Localisation using Binary Sensors

Co-operative Estimation for Source Localisation using Binary...

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IEEE Annual Conference on Decision and control

作者： Daniel D. Selvaratnam Iman Shames Dimos V. Dimarogonas Jonathan H. Manton Branko Ristic Dept. Electrical and Electronic Engineering University of Melbourne Automatic Control School of Electrical Engineering KTH Royal Institute of Technology. Electronics and Telecommunications Engineering RMIT University

This paper considers the problem of localising a signal source using a team of mobile agents that can only detect the presence or absence of the signal. A background false detection rate and missed detection probability are incorporated into the assumptions. An estimation algorithm is proposed that discretizes the search environment into cells, and uses Bayesian techniques to approximate the posterior probability of each cell containing the source. Analytical results are presented for a range of specific cases, and simulations are used to investigate more complex scenarios.

关键词： Estimation Convergence Bayes methods Indexes Sensors Atmospheric measurements Monte Carlo methods

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A unified angle control scheme for hypersonic vehicle based on disturbance rejection 21

A unified angle control scheme for hypersonic vehicle based ...

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21st AIAA International Space Planes and Hypersonics Technologies Conference, Hypersonics 2017

作者： Piao, Minnan Zhu, Kai Sun, Mingwei Chen, Zengqiang Dept. of Automation and Intelligent Science College of Computer and Control Engineering Nankai University Tianjin300350 China Tianjin Key Laboratory of Intelligent Robotics Tianjin300350 China Beijing Aerospace Technology Institute Beijing100074 China

ISBN: (数字)9781624104633

ISBN: (纸本)9781624104633

Hypersonic vehicles are characterized with strong nonlinearities, coupling effects and uncertainties as well as fast time-varying parameters, which impose great difficulty to the attitude control. This study proposes a unified scheme for all the Euler angles, angle of attack, and sideslip angle. First, three controllers based on active disturbance rejection control (ADRC) are designed for the Euler angles respectively, in which the external disturbances and the internal uncertainties can be estimated by the extended state observer (ESO) and compensated in real time actively. Then the geometric relations among the angles with different time scales are utilized to transform the commands of α and β into the commands of the pitch angle and the yaw angle. Next the stability-margin tester method is employed to tune the controller parameters, which guarantees the stability and robustness of the control system. 1000 nonlinear six-degree-of-freedom Monte Carlo simulation results demonstrate the good tracking performance and the robustness of the proposed control method. © 2017, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Hypersonic vehicles

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Human Action Recognition from Body-Part Directional Velocity using Hidden Markov Models

Human Action Recognition from Body-Part Directional Velocity...

引用

IEEE International Conference on Machine Learning and Applications

作者： Sid Ahmed Walid Talha Anthony Fleury Sebastien Ambellouis Computer Sciences and Automatic Control Dpt. Univ. Lille Lille France Cosys Dept. Leost IFSTTAR Villeneuve d'Ascq France

This paper introduces a novel approach for early recognition of human actions using 3D skeleton joints extracted from 3D dept. data. We propose a novel, frame-by-frame and real-time descriptor called Body-part Directional Velocity (BDV) calculated by considering the algebraic velocity produced by different body-parts. A real-time Hidden Markov Models algorithm with Gaussian Mixture Models state-output distributions is used to carry out the classification. We show that our method outperforms various state-of-the-art skeleton-based human action recognition approaches on MSRAction3D and Florence3D datasets. We also proved the suitability of our approach for early human action recognition by deducing the decision from a partial analysis of the sequence.

关键词： Human Action Recognition RGB-D Sensor Hidden Markov models (HMMs) Gaussian mixture models (GMMs)

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