Considering an environment containing polygonal obstacles, we address the problem of planning motions for a pair of planar robots connected to one another via a cable of limited length. Much like prior problems with a...
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In the design and planning of next-generation Internet of Things(IoT),telecommunication,and satellite communication systems,controller placement is crucial in software-defined networking(SDN).The programmability of th...
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In the design and planning of next-generation Internet of Things(IoT),telecommunication,and satellite communication systems,controller placement is crucial in software-defined networking(SDN).The programmability of the SDN controller is sophisticated for the centralized control system of the entire ***,it creates a significant loophole for the manifestation of a distributed denial of service(DDoS)attack ***,recently a distributed Reflected Denial of Service(DRDoS)attack,an unusual DDoS attack,has been ***,minimal deliberation has given to this forthcoming single point of SDN infrastructure failure ***,recently the high frequencies of DDoS attacks have increased *** this paper,a smart algorithm for planning SDN smart backup controllers under DDoS attack scenarios has *** proposed smart algorithm can recommend single or multiple smart backup controllers in the event of DDoS *** obtained simulated results demonstrate that the validation of the proposed algorithm and the performance analysis achieved 99.99%accuracy in placing the smart backup controller under DDoS attacks within 0.125 to 46508.7 s in SDN.
In software-defined networks(SDNs),controller placement is a critical factor in the design and planning for the future Internet of Things(IoT),telecommunication,and satellite communication *** research has concentrate...
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In software-defined networks(SDNs),controller placement is a critical factor in the design and planning for the future Internet of Things(IoT),telecommunication,and satellite communication *** research has concentrated largely on factors such as reliability,latency,controller capacity,propagation delay,and energy ***,SDNs are vulnerable to distributed denial of service(DDoS)attacks that interfere with legitimate use of the *** ever-increasing frequency of DDoS attacks has made it necessary to consider them in network design,especially in critical applications such as military,health care,and financial services networks requiring high *** propose a mathematical model for planning the deployment of SDN smart backup controllers(SBCs)to preserve service in the presence of DDoS *** a number of input parameters,our model has two distinct ***,it determines the optimal number of primary controllers to place at specific locations or nodes under normal operating ***,it recommends an optimal number of smart backup controllers for use with different levels of DDoS *** goal of the model is to improve resistance to DDoS attacks while optimizing the overall cost based on the *** simulated results demonstrate that the model is useful in planning for SDN reliability in the presence of DDoS attacks while managing the overall cost.
Recognition of sequential human activities, such as 'sitting down' and 'standing up', is a common but challenging problem in human-robot interaction, which requires modeling their underlying temporal p...
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This paper addresses the problem of keeping an autonomous marine vehicle in a moving triangular formation by regulating its position with respect to two leader vehicles. The follower vehicle has no prior knowledge of ...
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This paper addresses the problem of keeping an autonomous marine vehicle in a moving triangular formation by regulating its position with respect to two leader vehicles. The follower vehicle has no prior knowledge of ...
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This paper addresses the problem of keeping an autonomous marine vehicle in a moving triangular formation by regulating its position with respect to two leader vehicles. The follower vehicle has no prior knowledge of the path described by the leaders but has access to their heading angle and is able to measure inter-vehicle ranges. It is assumed that the distance between the leaders is constant and known. A control strategy is adopted that generates speed and heading commands so as to drive suitably defined along track and cross track errors to zero. The commands are used as input to local inner loops for yaw and speed control. The paper describes the algorithms derived for range-based control and assesses their performance in simulations using realistic models of the vehicles involved. Tests with three autonomous marine vehicles equipped with acoustic modems and ranging devices allow for the evaluation of the performance of the algorithms in a real-world situation.
This paper proposes a path planning algorithm and a velocity control algorithm for underwater gliders to persistently monitor a patch of ocean. The algorithms address a pressing need among ocean scientists to collect ...
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This paper proposes a path planning algorithm and a velocity control algorithm for underwater gliders to persistently monitor a patch of ocean. The algorithms address a pressing need among ocean scientists to collect high-value data for studying ocean events of scientific and environmental interest, such as the occurrence of harmful algal blooms. The path planner optimizes a cost function that blends two competing factors: it maximizes the information value of the path, while minimizing the deviation from the path due to ocean currents. The speed control algorithm then optimizes the speed along the planned path so that higher resolution samples are collected in areas of higher information value. The resulting paths are closed circuits that can be repeatedly traversed to collect long term ocean data in dynamic environments. The algorithms were tested during sea trials on an underwater glider operating off the coast of southern California over the course of several weeks. The results show significant improvements in data resolution and path reliability compared to a sampling path that is typically used in the region.
We present a modular sensor network platform capable of supporting a wide range of applications. We developed a platform to support a broad spectrum of scenarios, instantiating our system for applications on the groun...
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ISBN:
(纸本)9781450302654
We present a modular sensor network platform capable of supporting a wide range of applications. We developed a platform to support a broad spectrum of scenarios, instantiating our system for applications on the ground, in the water, and in the air. Our system has operated in the field for over 240 days with month long continuous deployments, measuring positions, temperatures, pressures, and rainfall, while computing cattle behaviors, event locations, and future river level. We use this experimental experience to discuss the lessons learned in designing and using a modular and multi-functional system.
Any system that has the capability to diagnose and recover from faults is considered to be a fault-tolerant system. Additionally, the quality of the incorporated fault-tolerance has a direct impact on the overall perf...
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Any system that has the capability to diagnose and recover from faults is considered to be a fault-tolerant system. Additionally, the quality of the incorporated fault-tolerance has a direct impact on the overall performance of the system. Hence, being able to measure the extent and usefulness of fault- tolerance exhibited by the system would provide the designer with a useful analysis tool for better understanding the system as a whole. Unfortunately, it is difficult to quantify system fault-tolerance on its own for intelligent systems. A more useful metric for evaluation is the "effectiveness" measure of fault- tolerance. The influence of fault-tolerance towards improving overall performance determines the overall effectiveness or quality of the system. In this paper, we outline application- independent metrics to measure fault-tolerance within the context of system performance. In addition, we also outline potential methods to better interpret the obtained measures towards understanding the capabilities of the implemented system. Furthermore, a main focus of our approach is to capture the effect of intelligence, reasoning, or learning on the effective fault-tolerance of the system, rather than relying purely on traditional redundancy based measures. We show the utility of the designed metrics by applying them to different fault-tolerance architectures implemented for multiple complex heterogeneous multi-robot team applications and comparing system performance. Finally, we contrast the developed metrics with the only other existing method (HWB method) for evaluating (that we are aware of) effective fault-tolerance for multi-robot teams and rate them in terms of their capability to best interpret the workings of the implemented systems. To the best of our knowledge, this is the first metric that attempts to evaluate the quality of learning towards understanding system level fault-tolerance.
This article assesses the performance of a virtual pheromone-based sectored dispersion algorithm which is implemented on a low-cost miniature mobile robotic platform using sonar sensing. The approach is a distributed ...
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This article assesses the performance of a virtual pheromone-based sectored dispersion algorithm which is implemented on a low-cost miniature mobile robotic platform using sonar sensing. The approach is a distributed one and the robotic platform and sensor array are sufficiently inexpensive that they can be employed in undergraduate research and/or for coursework in a small college environment
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