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Robot localization and mapping problem with unknown noise characteristics

Robot localization and mapping problem with unknown noise ch...

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IEEE Conference on Control Technology and Applications (CCTA)

作者： Hamzah Ahmad Toru Namerikawa Division of Electrical Engineering and Computer Science Graduate School of Natural Science and Technology Kanazawa University Ishikawa Japan Department of System Design Engineering Keio University Yokohama Japan

In this paper, we examine the H ∞ Filter-based SLAM especially about its convergence properties. In contrast to Kalman Filter approach that considers zero mean gaussian noise, H ∞ Filter is more robust and may provide sufficient solutions for SLAM in an environment with unknown statistical behavior. Due to this advantage, H ∞ Filter is proposed in this paper, to efficiently estimate the robot and landmarks location under worst case situations. H ∞ Filter requires the designer to appropriately choose the noise's covariance with respect to γ to obtain a desired outcome. We show some of the conditions to be satisfy in order to achieve better estimation results than Kalman Filter. From the experimental results, H ∞ Filter performs better than Kalman Filter for a case of bigger robot initial uncertainties. Subsequently, this proved that ∞ Filter can provide another available estimation method for especially in SLAM.

关键词： Hafnium Simultaneous localization and mapping Noise Covariance matrix Estimation Probabilistic logic

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TCP SYN flood detection based on payload analysis

TCP SYN flood detection based on payload analysis

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2010 8th IEEE Student Conference on Research and Development - engineering: Innovation and Beyond, SCOReD 2010

作者： Haris, S.H.C. Ahmad, R.B. Ghani, M.A.H.A. Waleed, Ghossoon M. School of Computer and Communication Engineering Universiti Malaysia Perlis P.O Box 77 d/a Pejabat Pos Besar 01000 Kangar Perlis Malaysia Department of Management Information System Applied Science University College of Administrative Science Villa 351 Road 141Block 340 Juffaie. Manama Bahrain

ISBN: (纸本)9781424486489

Transmission Control Protocol (TCP) Synchronized (SYN) Flood has become a problem to the network management to defend the network server from being attacked by the malicious attackers. The malicious attackers can easily exploit the TCP three-way handshake by making the server exhausted and unavailable with spoofed Internet Protocol (IP) address. The main problem in this paper is how to detect TCP SYN flood through network. This paper used anomaly detection to detect TCP SYN flood attack based on payload and unusable area in Hypertext Transfer Protocol (HTTP). The results show that the proposed detection method can detect TCP SYN Flood in the network through the payload. ©2010 IEEE.

关键词： Transmission control protocol

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A rewinding approach to motion planning for acrobot based on virtual friction

A rewinding approach to motion planning for acrobot based on...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Jin-Hua She Xu-Zhi Lai Xin Xin Li-Li Guo School of Computer Science Tokyo University of Technology Hachioji Tokyo Japan School of Information Science and Engineering Central South University Changsha Hunan China Faculty of Computer Science and System Engineering Okayama Prefectural University Soja Okayama Japan Information & Communication Engineering College Harbin Engineering of Technology Harbin China

ISBN: (纸本)9781424456956

Based on the concept of kinematical controllability, we can decouple the trajectory planning of an acrobot into two steps: finding a path in a configuration space and time-scaling it. In this paper, we apply this concept and plan the swing-up motion of an acrobot based on its falling-down motion. First, the initial state of the acrobot is set to the unstable upright equilibrium position, and the movement from this state to the stable downward equilibrium position is produced by introducing an artificial damping torque. A method to obtaining an optimal damping torque is presented. Then, the reference trajectory for the swing-up motion is taken to be the reverse of the falling-down motion. The validity of this method is demonstrated through simulations.

关键词： Friction Motion control Trajectory Path planning Torque Optimal control Robots Damping Tracking Nonlinear dynamical systems

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Distributed Low-Complexity H.264 Video Combining for Multipoint Video Conferencing

Distributed Low-Complexity H.264 Video Combining for Multipo...

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International Conference on Pervasive Computing Signal Processing and Applications (PCSPA)

作者： Wei Zhang Weimin Lei Institute of Communication and Information System College of Information Science and Engineering Northeastern University Shenyang China School of Computer Science and Technology University of Science and Technology Hefei Anhui China Institute of Communication and Information System College of Information Science and Engineering Northeastern University Shenyang China

In this paper we propose a distributed video combining method applicable to continuous presence multipoint video conferencing for the H.264 coding standard. The proposed method takes advantage of the significant coding features of the H.264 format and employs star-connected multiple video combiners to perform combining process cooperatively. We investigate the architecture and the required operations of the proposed distributed H.264 video combining. The edge combiner receives the input video streams of partial conferencing participants and combines them into a combined video sub-stream conforming to some particular requirements using some fast algorithms by reusing decoded information as reference for re-encoding. The central combiner receives the combined sub-streams of the edge combiners and combines them into a final combined stream. The central combiner operates in the coded-domain and performs only a few simple changes in the header data. Essential details for implementing the proposed method are presented, along with simulation results for validating it.

关键词： Streaming media Encoding Pixel Video sequences Computational complexity Decoding Quantization

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Data Hiding in Virtual Machine Disk Images

Data Hiding in Virtual Machine Disk Images

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International Conference on computer and Information Technology (CIT)

作者： Yu Su Xiaofei Liao Hai Jin Tim Bell Cluster and Grid Computing Laboratory Services Computing Technology and System Laboratory School of Computer Science and Technology Huazhong University of Science and Technology Wuhan China Department of Computer Science and Software Engineering College of Engineering University of Canterbury Christchurch New Zealand

Data hiding in computer system is an interesting and important research issue, which brings benefits for secret communication and watermarking. The development of virtual machine brings new potential for data hiding. In this paper we explore the potential for data hiding in virtual machine disk images, and especially hiding schemes that can be used with copy-on-write images. Besides being considered as a way for valid uses such as secret communication and watermarking, these schemes can be a warning against malicious intentions as well. Furthermore, it lays the foundation for a more thorough analysis of the whole virtual machine system for data hiding.

关键词： File systems Detectors Writing Virtual machining Linux Fats Virtual environment

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Correction of time-varying radiometric biases in the TRMM Microwave Imager

Correction of time-varying radiometric biases in the TRMM Mi...

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11th Specialist Meeting on Microwave Radiometry and Remote Sensing of the Environment, MicroRad 2010

作者： Gopalan, Kaushik Bilanow, Stephen Biswas, Sayak Jones, Linwood Ancarrow, Walter Cleveland, Paul Earth System Science Interdisciplinary Center University of Maryland College Park MD 20740 United States Wyle Information Systems Mclean VA 22102 United States School of Electrical Engineering and Computer Science University of Central Florida Orlando FL 32816 United States WCA Engineering Jarrettsville MD 21084 United States Energy Solutions International Laytonsville MD 20882 United States

ISBN: (纸本)9781424481217

This paper describes an empirical correction for a timevarying radiometric calibration error present in the Tropical Rainfall Measuring Mission (TRMM) Microwave Imager (TMI). The Tb error is modeled as a function of the spacecraft orbit position and solar angles based on observed systematic differences between the TMI 10 GHz vertically polarized (10V) channel oceanic Tb's as compared to a radiative transfer model with collocated numerical weather model environmental parameters. This correction technique will be implemented in Version 7 of the TRMM 1B11 data product, which is scheduled to be released in 2010. Available spacecraft in-flight thermal measurements that have relevence to the instrument performance are discussed. Results from thermal modeling of the spacecraft and instrument provide support for the emissive reflector model as the primary cause for the empirical Tb bias estimates. Residual differences between the thermal model and the bias estimates may provide evidence of smaller secondary effects from solar array shadowing of the instrument. © 2010 IEEE.

关键词： Radiometry

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Feature selection for semi-supervised multi-label learning with application to gene function analysis 10

Feature selection for semi-supervised multi-label learning w...

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Proceedings of the First ACM International Conference on Bioinformatics and Computational Biology

作者： Li, Guo-Zheng You, Mingyu Ge, Lei Yang, Jack Y. Yang, Mary Qu MOE Key Laboratory of Embedded System and Service Computing Tongji University Shanghai 201804 China Department of Control Science and Engineering Tongji University Shanghai 201804 China School of Computer Science and Engineering Shanghai University Shanghai 200072 China Purdue Univ. ECE West Lafayette IN 47907 United States Indiana Univ. Bioinformatics Center Indianapolis IN 46202 United States

ISBN: (纸本)9781450304382

This paper investigates gene function annotation of Yeast by using semi-supervised multi-label learning. Multi-label learning has been a hot topic in the bioinformatics field, but there are many samples unlabeled. Semi-supervised learning may be employed to utilize the unlabeled data. This paper proposes a novel semi-supervised multi-label learning algorithm COMN by combining Co-Training with ML-kNN to utilize the unlabeled yeast gene data to improve modeling accuracy of function annotation. Furthermore, an embedded feature selection algorithm PRECOMN is proposed to perform feature selection for COMN to remove the irrelevant and redundant features. Experimental results on one benchmark data set of Yeast show COMN and PRECOMN perform better than the original multi-label learning algorithm ML-kNN. Furthermore PRECOMN improves generalization performance of COMN. Copyright © 2010 ACM.

关键词： Feature Selection

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Effects of Delayed Presentation of Self-Embodied Avatar Motion with Network Delay

Effects of Delayed Presentation of Self-Embodied Avatar Moti...

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2010 4th International Universal Communication Symposium(第四届国际普遍交流学术研讨会 IUCS 2010)

作者： Yutaka Ishii Yoshihiro Sejima Tomio Watanabe Information Science and Technology Center Kobe University 1-1 Rokkodai Nada Kobe Japan Graduate School of Science and Engineering Yamaguchi University Faculty of Computer Science and Sys Faculty of Computer Science and System Engineering Okayama Prefectural University CREST Japan Scie

A large network delay is likely to obstruct human interaction in telecommunication systems such as telephony or video conferencing systems. In spite of the extensive investigations that have been carried out on network delays of voice and image data, there have been few studies regarding support for embodied communication under the conditions of network delay. To maintain smooth human interaction, it is important that the various ways in which delay is manifested are understood. We have already developed an embodied virtual communication system that uses an avatar called "VirtualActor," in which speakers who are remotely located from one another can share embodied interaction in the same virtual space. Responses to a questionnaire that was used in a communication experiment confirmed that a fixed 500-ms network delay has no effect on interactions via VirtualActors. In this paper, we propose a method of presenting a speaker's voice and an avatar's motion feedback in the case of a 1.5-s network delay using VirtualActors. We perform two communication experiments under different conditions of network delay. The aim of the first experiment is to examine the effect of a random time delay on the conversation. The second experiment is conducted under the conditions of a free-form conversation that takes place in 5 scenarios—1 realtime scenario without a network delay and 4 scenarios with network delay that involve a combination of a delay in the talker's voice and in his/her avatar's motion feedback. The subjects consisted of a total of 30 students who worked in 15 pairs and who were familiar with each other. A sensory evaluation shows the effects upon communication of delays in the avatar's motion feedback, from the viewpoint of supporting the interaction.

关键词： Embodied Communication Avatar-Mediated Communication Network Delay Feedback Presentation Avatar's Motion Delay

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Long-term stability of frequency transfer over an urban fiber link using microwave phase compensation

Long-term stability of frequency transfer over an urban fibe...

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International Conference on Electromagnetics in Advanced Applications (ICEAA)

作者： Zhigang Zhang Dong Hou Peng Li Cheng Liu Jianye Zhao Circuit and System Laboratory Institute of Quantum Electronics State Key Laboratory of Advanced Optical Communication System and Networks School of Electronics Engineering and Computer Science Peking University Beijing China

We report a novel system for highly stable 100 MHz mode locked pulse as a reference frequency signal transfer through a round trip 20 km urban fiber link. An electronic approach for compensating the fluctuations introduced by the link is proposed and implemented. The rms phase fluctuation was reduced from 75 mrad (118 ps) to 4 mrad (6.3 ps) in 48 hours, and the frequency stability was improved by three orders of magnitude in the measurement time.

关键词： Optical fiber networks Optical fibers Fluctuations Optical pulses Fiber lasers Delay

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The Xiangjiaba-Shanghai 800 kV UHVDC project, status and special aspects

The Xiangjiaba-Shanghai 800 kV UHVDC project, status and spe...

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International Conference on Power system Technology (POWERCON)

作者： U. Åström V. F. Lescale D. Menzies Ma Weimin Liu Zehong School of Computer Science and Technology Dalian University of Technology Dalian China Department of Embedded System Engineering Neusoft Institut of Information Dalian China

This paper presents the current status of the 800 kV UHVDC technology and presents how experience and confidence gained at an 800 kV long term test station is being utilized in executing the 800 kV UHVDC long distance bulk power transmission Xiangjiaba Shanghai. As a first step in the R&D activity, a long term test circuit installation was built in order to provide final qualification for the newly developed 800 kV products and for boosting confidence in 800 kV HVDC technology. It was energized at 855 kV DC in November 2006 at STRI, Sweden. The experience gained during the test circuit operation was utilized during the realization of the equipment. The critical equipment, like converter transformers, wall bushings and thyristor valves have all successfully passed their type tests and installation is now complete. The converter stations passed Open Line test at 800kV DC in December 2009. In addition to the main circuit development mentioned above, a new control and protection platform known as DCC800 was developed to increase reliability/availability to levels appropriate for the enormous power transfer capability of a UHVDC project. A number of 800 kV HVDC projects have entered the execution stage in China. At the same time, many other 800 kV DC projects are under planning by several utilities in other parts of the world, like in India and Africa.

关键词： HVDC transmission Laboratories Frequency conversion Switches Feeds

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