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Multi-robot Map Exploration Based on Multiple Rapidly-Exploring Randomized Trees

SN computer science 2024年第1期5卷 31页

作者： Mukhopadhyay, Shayok Umari, Hassan Koirala, Koshish Electrical & Computer Engineering and Computer Science Department University of New Haven 300 Boston Post Rd West Haven 06516 CT United States Department of Electrical Engineering American University of Sharjah Sharjah P.O. Box 26666 United Arab Emirates Mechatronics Engineering graduate program American University of Sharjah Sharjah P.O. Box 26666 United Arab Emirates

A map is necessary for tasks such as path planning or localization, which are common to mobile robot navigation. However, a map may be unavailable if the environment in which a robot navigates is unknown. Creating a map requires an exploration algorithm. Such algorithms guide robots to boundaries that separate known portions of a map from the unknown portions. Such boundaries are known as frontiers. There are image processing-based algorithms that detect frontiers. The authors’ previous work uses two, i.e., local and global, rapidly exploring random trees (RRTs) for two-dimensional exploration using a single robot. The present work applies the above to a multiagent system with three robots. A market-based strategy is used to allocate exploration tasks to the robots. Results show that the developed exploration strategy successfully explores a map in a reasonable amount of time compared to image processing-based approaches, and also reduces the map exploration cost. This strategy is readily usable for three-dimensional exploration with drones. It is also shown that the usage of a local frontier detector along with a global frontier detector helps reduce exploration time compared to simply using a global frontier detector alone. As an outline to future work, the paper also shows an extension of the proposed approach towards three-dimensional mapping using a single robot. © 2023, The Author(s), under exclusive licence to Springer Nature Singapore Pte Ltd.

关键词： Exploration Mapping Multi-agent Navigation ROS RRT

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Development of a prototype based on TINA accounting management architecture

Development of a prototype based on TINA accounting manageme...

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IFIP/IEEE International Symposium on Integrated Network Management

作者： A. Sekkaki L.M.C. Alvarez W.T. Watanabe C.B. Westphall Depardtment of Mathematics Computer Science Faculty of Science Ain Chock Hassan II University Morocco Network and Management Laboratory Post Graduate program in Computer Science Federal University of Santa Catarina Florianopolis Santa Catarina Brazil

ISBN: (纸本)0780367197

Concepts and principles of TINA (Telecommunications Information Networking Architecture) are introduced with the objective of correcting problems of centralized service control and service data model existent in INs (intelligent networks). Now, it is becoming clear that future sophisticated services breaking away from the simple telephony call model, e.g., multimedia, multi-party conferencing, etc., will need to be rapidly and efficiently introduced, deployed, operated and managed. In this context, TINA developed a comprehensive architecture for multi-service networks that will support multimedia services. On the other hand, the provisioning of all the service management functionality for TINA services (i.e. FCAPS) is still an open research question. In this paper, we discuss accounting features and requirements, security of accounting management, and issues for their integration in a TINA-based service environment. A prototype has been implemented to validate the concepts and results are also presented.

关键词： Prototypes Pricing

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Applications of Artificial Intelligence and Big Data for Strengthening the Role of Intelligence in Human Security

Applications of Artificial Intelligence and Big Data for Str...

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International Conference on Computing, Engineering, and Design (ICCED)

作者： Ahmad Shahrul Mubarok Armi Susandi Teddy Mantoro Medical Intelligence Post-Graduate Program State Intelligence College Bogor Indonesia Departement of Computer Science Media-Tech Lab Sampoerna University Jakarta Indonesia

ISBN: (纸本)9781665453905

The state, through the government, should ensure national security and stability through the policies taken. For this reason, fast and accurate information and data are needed to form the basis for policymaking. Intelligence actors have an essential role in gathering information to identify and prevent threats within and outside the country. Technological advances affect changes in threats and increase the classification of these threats. Covid-19 is a real example of the threat in this era because almost all countries feel its impact. In addition to affecting health, the Covid-19 pandemic also impacts the global economic sector. The economic impact is felt by small and medium industries, goods and services products, and also the tourism sector. The method that is used in this study is a literature review from various national and international journals. AI and Big Data can be used to track viruses in real time, collect adequate public health data, and integrate vaccine use. Also, AI and Big Data can provide local decision and policy-makers with informed, evidence-based predictions. the threat of the Covid-19 pandemic and other infectious diseases that disrupt public health and have a broad impact must be anticipated and addressed in order to achieve the safety and existence of the nation and state. The author wants to emphasize the importance of the role of intelligence in anticipating threats from the visible to the invisible.

关键词： COVID-19 Pandemics Big Data Stability analysis Vaccines Safety Security

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Private Data Protection as Countermeasure Against Misuses of Medical Intelligent Technology Data: a Literature Study

Private Data Protection as Countermeasure Against Misuses of...

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International Conference on Computing, Engineering, and Design (ICCED)

作者： Praseptiadi Pratama Dahlian Persadha Armi Susandi Teddy Mantoro Medical Intelligence Post-graduate Program State Intelligence College Bogor Indonesia Department of Computer Science Media-Tech Lab Sampoema University Jakarta Indonesia

ISBN: (纸本)9781665453905

Medical Technologies develop along with the development of the Industrial Revolution 4.0 (I.R. 4.0). In I.R. 4.0, a collaborative ecosystem is formed between cyber technology and automation technology to be able to create "intelligent" systems to facilitate various human activities, including activities related to health. The most important thing in the system is data since it is the basis for the development of various key icons technologies in the I.R. 4.0: Cloud Computing, Internet of Things (IoT), Big Data, Artificial Intelligence (Al), Augmented Reality, and Cyber Security. Unfortunately, with the variety of I.R. 4.0 products, the data produced by these products is also scattered everywhere. Misuse of this scattered data—which the owner may not even know where the data are stored—can harm the individual concerned, and even the very existence of the state. Healthcare services now are undergoing Digital Transformation in which these data were needed to build high-quality services. The Health Digital Transformation strategy changes the direction of health services to be simpler and easier to use by the public, increasing efficiency, and thus providing a higher quality health service system so that it can trigger better economic growth. On the regulatory aspect, The Private Data Protection Bill was proposed by the Indonesian government to protect the data of the Indonesian people. Literature studies are used to obtain knowledge between the three: technology development, digital transformation in healthcare, and private data protection. This study seeks how important private data protection regulation is to realize digitally transformed healthcare. The study conducted indicates Private Data Protection Bills have the means to guarantee the rights of the data owner and prevent their data (including medical intelligence data) to be misused.

关键词： Economics Digital transformation Government Ecosystems Data protection Regulation Internet of Things

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Implementation of Augmented Reality in Pretend Play Therapy for Children with Autism Spectrum Disorder 3

Implementation of Augmented Reality in Pretend Play Therapy ...

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3rd International Conference on Computing and Applied Informatics 2018, ICCAI 2018

作者： Syahputra, M.F. Angkasih, A.P. Purnamawati, S. Andayani, U. Abdullah, D. Sriadhi, S. Iskandar, A. Rosida, T.M. Fitriany, J. Sari, I.N. Utama, M.D. Nanuru, R.F. Department of Information Technology Faculty of Computer Science and Information Technology Universitas Sumatera Utara Medan Indonesia Department of Informatics Universitas Malikussaleh Aceh Utara Indonesia Department of Electrical Engineering Universitas Negeri Medan Indonesia Informatics Engineering STMIK AKBA Makassar Indonesia Graduate Program in Scientific Psychology Universitas Kristen Maranatha Indonesia Department of Pediatric Universitas Malikussaleh Aceh Utara Indonesia Departement of Social Science Education Program Post Graduate Program Universitas Kanjuruhan Malang Malang Indonesia Faculty of Social and Political Science Universitas Kristen Indonesia Maluku Indonesia Universitas Kristen Indonesia Maluku Ambon Indonesia

Autism Spectrum Disorder is a pervasive developmental disorder that will affect children in terms of interpersonal communication, social interaction, and imaginative levels in play. Many therapies to help the motor neuron performance is one of them Pretend Play. Pretend Play is a therapy that invites children in playing to demonstrate something else and tell how to use objects that are considered in the child's imagination. However, in the era of highly developed technology, many fields have used the Augmented Reality method as a visualization of various aspects. With this method researchers will present the therapeutic visualization of the block to 3D transportation tool that is useful for strengthening motor nerves and visual strength of the child. The system can run well during marker detection, marker movement, and 3D object display with the accuracy of precision angle and distance between virtual world with real world reach 100% with angle 0 at distance 31 cm and the maximum distance from the marker is 46 cm and the maximum angle is 30. © 2019 Published under licence by IOP Publishing Ltd.

关键词： Augmented reality

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Multi-core synthesis and maximum satisfiability applied to optimal sizing of solar photovoltaic systems

TechRxiv

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TechRxiv 2021年

作者： Trindade, Alessandro Galvão, Edilson Cordeiro, Lucas The Post-graduate Program in Electrical Engineering Manaus Brazil Department of Electricity Federal University of Amazonas Manaus Brazil School of Computer Science The University of Manchester United Kingdom

Annual global energy consumption growth is around 1.3% with forecasts until 2040. Photovoltaic systems became a suitable alternative to nuclear and fossil energy generation. In order to support this technology’s dissemination, we develop and evaluate an automated formal synthesis approach that assists in decision-making for off-grid systems. Our proposed approach, called PVz, is based on a variant of the counterexample-guided inductive synthesis;it has a multi-core feature, which can obtain the optimal sizing of photovoltaic systems focusing on Life Cycle Cost analysis. Given the electrical needs of a home, we seek a set of electrical equipment with the best possible combination of devices that meet the specified requirements. We calculate all costs related to maintenance over 20 years. The results presented are based on seven case studies;some of them are real ones from the Amazon region in Brazil. The same case studies were solved by a commercial optimization tool. Our technique and the commercial tool results were validated with popular simulation software to perform a fair comparison. Furthermore, we analyze some topics such as run-time, optimal solution, and configuration of the resulting systems. We claim that our technique is advantageous compared to the existing approaches in the literature. © 2021, CC BY-NC-SA.

关键词： Decision making

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Analysis of the Cyber Attacks in Indonesia’s Health Sector in Industry 4.0 Era

Analysis of the Cyber Attacks in Indonesia’s Health Sector ...

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International Conference on Computing, Engineering, and Design (ICCED)

作者： Arif Hidayat Teddy Mantoro Armi Susandi Medical Intelligence Post-Graduate Program Indonesian State Intelligence College Bogor Indonesia Department of Computer Science Media-Tech Lab Sampoema University Jakarta Indonesia

ISBN: (纸本)9781665453905

At this time the world has undergone considerable changes, where the world has entered the era of the industrial revolution 4.0. With these changes, there are many positive impacts or opportunities that can support human activities in the economic, political, socio-cultural, health, and other fields. And alsothe author tries to analyze about industry 4.0 era for Indonesia’s health sector with SWOT Analysis to know about Strenght, Weaknesses, Opportunities, and Threats. However, the challenges of technological advances can pose a threat to countries that are not ready to facethem, one of which is cyber attacks that can threaten data security. Therefore, it is necessary to be prepared in terms of data security by cooperating with various parties involved in it.

关键词： Law Data security Weapons Government Data protection Security National security

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Design and Evaluation of a Grid Computing Based Architecture for Integrating Heterogeneous IDSs

Design and Evaluation of a Grid Computing Based Architecture...

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IEEE GLOBECOM 2007 - IEEE Global Telecommunications Conference

作者： Paulo F. Silva Carlos B. Westphall Carla M. Westphall Marcos Dias de Assuncao Network and Management Laboratory Post-Graduate Program in Computer Science Federal University of Santa Catarina Florianopolis Brazil Grid Computing and Distributed Systems Laboratory Department of Computer Science and Software Engineering University of Melbourne VIC Australia

Intrusion detection systems (IDSs) have been substantially improved in recent past. However, network attacks have become more sophisticated and increasingly complex: many of current attacks are coordinated and originated in multiple networks. To detect these attacks, IDSs need to obtain information on network events from multiple networks or administrative domains. This work demonstrates that a Distributed IDS (DIDS) can be composed of existing IDSs, improving the detection of misuses in a multiple network environment. We use a grid middleware for creating a service-based intrusion detection grid. We demonstrate through experimental results that the proposed DIDS allows the integration of heterogeneous existing IDSs and improves the detection of attacks by exploring the synergy between existing IDSs.

关键词： Grid computing computer architecture Intrusion detection Resource management Laboratories computer science Electronic mail Middleware computer network management Engineering management

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Performance issues of bandwidth reservations for grid computing

Performance issues of bandwidth reservations for grid comput...

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International Symposium on computer Architecture and High Performance Computing (SBAC-PAD)

作者： L.-O. Burchard H.-U. Heiss C.A.F. De Rose Communication and Operating Systems Group Technical University Berlin Germany Post-Graduate Program Computer Science Catholic University of Rio Grande do Sul Porto Alegre Brazil

In general, two types of resource reservations in computer networks can be distinguished: immediate reservations which are made in a just-in-time manner and advance reservations which allow to reserve resources a long time before they are actually used. Advance reservations are especially useful for grid computing but also for a variety of other applications that require network quality-of-service, such as content distribution networks or even mobile clients, which need advance reservation to support handovers for streaming video. With the emerged MPLS standard, explicit routing can be implemented also in IP networks, thus overcoming the unpredictable routing behavior which so far prevented the implementation of advance reservation services. The impact of such advance reservation mechanisms on the performance of the network with respect to the amount of admitted requests and the allocated bandwidth has so far not been examined in detail. We show that advance reservations can lead to a reduced performance of the network with respect to both metrics. The analysis of the reasons shows a fragmentation of the network resources. In advance reservation environments, additional new services can be defined such as malleable reservations and can lead to an increased performance of the network. Four strategies for scheduling malleable reservations are presented and compared. The results of the comparisons show that some strategies increase the resource fragmentation and are therefore unsuitable in the considered environment while others lead to a significantly better performance of the network. Besides discussing the performance issue, the software architecture of a management system for advance reservations is presented.

关键词： Bandwidth Grid computing computer networks Application software Quality of service Mobile computing Streaming media Multiprotocol label switching IP networks Software architecture

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Disaster recovery plan implementation evaluation model at the corporation

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Procedia computer science 2024年 234卷 1658-1663页

作者： Wahyu Sardjono Widhilaga Gia Perdana Gustian Rama Putra Information Systems Management Department BINUS Graduate Program – Master of Information Systems Management Bina Nusantara University Jakarta Indonesia 11480 Post Graduate Program of Management Science State University of Jakarta Jl. R.Mangun Muka Raya No.11 Jakarta Timur Jakarta 13220 Indonesia Computer Science Study Program Faculty of Mathematics & Natural Sciences Pakuan University Bogor Indonesia

The application of information technology in addition to making internal business processes more effective and efficient, is also to improve customer service. This role is important for companies to maintain the sustainability of information systems as a strategic tool for competitive advantage so system availability is absolutely essential. Research related to the Disaster Recovery Plan (DRP) needs to be carried out to see the readiness of a corporation to build a backup system in different places and locations. By using the method of factor analysis and regression analysis to form an evaluation model, it will obtain an overview of what factors must be considered and what the current conditions are. The results of the study show that there are Core Technical DRP, Organizational Preparation, and Costing factors which are the main variables in supporting DRP readiness. The conclusion from this study, through these three new factors a mathematical model can be built as a reference for improving DRP implementation in corporations.

关键词： disaster recovery planning factor analysis corporation evaluation model

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