IMPLEMENTATION OF A LOCALIZATION-ORIENTED HRI FOR WALKING ROBOTS IN THE ROBOCUP ENVIRONMENT

This paper presents the design and implementation of a human–robot interface capable of evaluating robot localization performance and maintaining full control of robot behaviors in the RoboCup domain. The system consists of legged robots, behavior modules, an overhead visual tracking system, and a graphic user interface. A human–robot communication framework is designed for executing cooperative and competitive processing tasks between users and robots by using object oriented and modularized software architecture, operability, and functionality. Some experimental results are presented to show the performance of the proposed system based on simulated and real-time information. </jats:p

Prototype of Fault Adaptive Embedded Software for Large-Scale Real-Time Systems

This paper describes a comprehensive prototype of large-scale fault adaptive embedded software developed for the proposed Fermilab BTeV high energy physics experiment. Lightweight self-optimizing agents embedded within Level 1 of the prototype are responsible for proactive and reactive monitoring and mitigation based on specified layers of competence. The agents are self-protecting, detecting cascading failures using a distributed approach. Adaptive, reconfigurable, and mobile objects for reliablility are designed to be self-configuring to adapt automatically to dynamically changing environments. These objects provide a self-healing layer with the ability to discover, diagnose, and react to discontinuities in real-time processing. A generic modeling environment was developed to facilitate design and implementation of hardware resource specifications, application data flow, and failure mitigation strategies. Level 1 of the planned BTeV trigger system alone will consist of 2500 DSPs, so the number of components and intractable fault scenarios involved make it impossible to design an `expert system' that applies traditional centralized mitigative strategies based on rules capturing every possible system state. Instead, a distributed reactive approach is implemented using the tools and methodologies developed by the Real-Time Embedded Systems group.Comment: 2nd Workshop on Engineering of Autonomic Systems (EASe), in the 12th Annual IEEE International Conference and Workshop on the Engineering of Computer Based Systems (ECBS), Washington, DC, April, 200

The Meeting of Acquaintances: A Cost-efficient Authentication Scheme for Light-weight Objects with Transient Trust Level and Plurality Approach

Wireless sensor networks consist of a large number of distributed sensor nodes so that potential risks are becoming more and more unpredictable. The new entrants pose the potential risks when they move into the secure zone. To build a door wall that provides safe and secured for the system, many recent research works applied the initial authentication process. However, the majority of the previous articles only focused on the Central Authority (CA) since this leads to an increase in the computation cost and energy consumption for the specific cases on the Internet of Things (IoT). Hence, in this article, we will lessen the importance of these third parties through proposing an enhanced authentication mechanism that includes key management and evaluation based on the past interactions to assist the objects joining a secured area without any nearby CA. We refer to a mobility dataset from CRAWDAD collected at the University Politehnica of Bucharest and rebuild into a new random dataset larger than the old one. The new one is an input for a simulated authenticating algorithm to observe the communication cost and resource usage of devices. Our proposal helps the authenticating flexible, being strict with unknown devices into the secured zone. The threshold of maximum friends can modify based on the optimization of the symmetric-key algorithm to diminish communication costs (our experimental results compare to previous schemes less than 2000 bits) and raise flexibility in resource-constrained environments.Comment: 27 page

W-NINE: a two-stage emulation platform for mobile and wireless systems

More and more applications and protocols are now running on wireless networks. Testing the implementation of such applications and protocols is a real challenge as the position of the mobile terminals and environmental effects strongly affect the overall performance. Network emulation is often perceived as a good trade-off between experiments on operational wireless networks and discrete-event simulations on Opnet or ns-2. However, ensuring repeatability and realism in network emulation while taking into account mobility in a wireless environment is very difficult. This paper proposes a network emulation platform, called W-NINE, based on off-line computations preceding online pattern-based traffic shaping. The underlying concepts of repeatability, dynamicity, accuracy and realism are defined in the emulation context. Two different simple case studies illustrate the validity of our approach with respect to these concepts

TALON - The Telescope Alert Operation Network System: Intelligent Linking of Distributed Autonomous Robotic Telescopes

The internet has brought about great change in the astronomical community, but this interconnectivity is just starting to be exploited for use in instrumentation. Utilizing the internet for communicating between distributed astronomical systems is still in its infancy, but it already shows great potential. Here we present an example of a distributed network of telescopes that performs more efficiently in synchronous operation than as individual instruments. RAPid Telescopes for Optical Response (RAPTOR) is a system of telescopes at LANL that has intelligent intercommunication, combined with wide-field optics, temporal monitoring software, and deep-field follow-up capability all working in closed-loop real-time operation. The Telescope ALert Operations Network (TALON) is a network server that allows intercommunication of alert triggers from external and internal resources and controls the distribution of these to each of the telescopes on the network. TALON is designed to grow, allowing any number of telescopes to be linked together and communicate. Coupled with an intelligent alert client at each telescope, it can analyze and respond to each distributed TALON alert based on the telescopes needs and schedule.Comment: Presentation at SPIE 2004, Glasgow, Scotland (UK

Two-stage wireless network emulation

Testing and deploying mobile wireless networks and applications are very challenging tasks, due to the network size and administration as well as node mobility management. Well known simulation tools provide a more flexible environment but they do not run in real time and they rely on models of the developed system rather than on the system itself. Emulation is a hybrid approach allowing real application and traffic to be run over a simulated network, at the expense of accuracy when the number of nodes is too important. In this paper, emulation is split in two stages : first, the simulation of network conditions is precomputed so that it does not undergo real-time constraints that decrease its accuracy ; second, real applications and traffic are run on an emulation platform where the precomputed events are scheduled in soft real-time. This allows the use of accurate models for node mobility, radio signal propagation and communication stacks. An example shows that a simple situation can be simply tested with real applications and traffic while relying on accurate models. The consistency between the simulation results and the emulated conditions is also illustrated

The Role of Structural Reflection in Distributed Virtual Reality

The emergence of collaborative virtual world applications that run over the Internet has presented Virtual Reality (VR) application designers with new challenges. In an environment where the public internet streams multimedia data and is constantly under pressure to deliver over widely heterogeneous user-platforms, there has been a growing need that distributed virtual world applications be aware of and adapt to frequent variations in their context of execution. In this paper, we argue that in contrast to research efforts targeted at improvement of scalability, persistence and responsiveness capabilities, much less attempts have been aimed at addressing the flexibility, maintainability and extensibility requirements in contemporary Distributed VR applications. We propose the use of structural reflection as an approach that not only addresses these requirements but also offers added value in the form of providing a framework for scalability, persistence and responsiveness that is itself flexible, maintainable and extensible