Some aspects of robotics calibration, design and control

The main objective is to introduce techniques in the areas of testing and calibration, design, and control of robotic systems. A statistical technique is described that analyzes a robot's performance and provides quantitative three-dimensional evaluation of its repeatability, accuracy, and linearity. Based on this analysis, a corrective action should be taken to compensate for any existing errors and enhance the robot's overall accuracy and performance. A comparison between robotics simulation software packages that were commercially available (SILMA, IGRIP) and that of Kennedy Space Center (ROBSIM) is also included. These computer codes simulate the kinematics and dynamics patterns of various robot arm geometries to help the design engineer in sizing and building the robot manipulator and control system. A brief discussion on an adaptive control algorithm is provided

Cyber attack simulation and information fusion process refinement optimization models for cyber security

Cyber crime is an increasingly prominent threat to all aspects of society including businesses, government, banks, transportation, and individuals. The security of computer networks is dependent on the ability to recognize and defend against malicious cyber attacks. The goal of this thesis is to utilize operation research techniques to create tools that will significantly contribute to cyber security. A simulation framework and template is developed to efficiently represent computer networks and cyber security intrusion detection systems. The simulation is capable of generating complex cyber attacks based on the computer network configuration and the capabilities of the attacker. The simulation results in alert messages corresponding to attack actions and ordinary network behavior which are typically used by situational awareness tools or systems administrators to identify and take action against the attack. Through verification, validation, and an experimental performance evaluation, the simulation model is shown to be an effective tool to enable testing of situational awareness tools and for determining network vulnerabilities. In addition, this thesis extends the highly effective information fusion methods of situational awareness and threat assessment by introducing a method of adaptive process refinement for cyber security. The adaptive process refinement model utilizes integer programming optimization to improve the success of cyber attack detection, tracking, and identification. The process refinement model is designed to dynamically provide recommendations for optimal allocation of network detection resources subject to processing capacity, current attack activity, and network vulnerabilities. The cyber attack simulation methodology is utilized to create a set of attack scenarios on computer networks that are used conduct an experimental performance evaluation of the adaptive process refinement model to determine its capabilities and limitations. The simulation and process refinement methods provide operations research tools that will help to advance the field of cyber security

Intrusion Detection System using Bayesian Network Modeling

Computer Network Security has become a critical and important issue due to ever increasing cyber-crimes. Cybercrimes are spanning from simple piracy crimes to information theft in international terrorism. Defence security agencies and other militarily related organizations are highly concerned about the confidentiality and access control of the stored data. Therefore, it is really important to investigate on Intrusion Detection System (IDS) to detect and prevent cybercrimes to protect these systems. This research proposes a novel distributed IDS to detect and prevent attacks such as denial service, probes, user to root and remote to user attacks. In this work, we propose an IDS based on Bayesian network classification modelling technique. Bayesian networks are popular for adaptive learning, modelling diversity network traffic data for meaningful classification details. The proposed model has an anomaly based IDS with an adaptive learning process. Therefore, Bayesian networks have been applied to build a robust and accurate IDS. The proposed IDS has been evaluated against the KDD DAPRA dataset which was designed for network IDS evaluation. The research methodology consists of four different Bayesian networks as classification models, where each of these classifier models are interconnected and communicated to predict on incoming network traffic data. Each designed Bayesian network model is capable of detecting a major category of attack such as denial of service (DoS). However, all four Bayesian networks work together to pass the information of the classification model to calibrate the IDS system. The proposed IDS shows the ability of detecting novel attacks by continuing learning with different datasets. The testing dataset constructed by sampling the original KDD dataset to contain balance number of attacks and normal connections. The experiments show that the proposed system is effective in detecting attacks in the test dataset and is highly accurate in detecting all major attacks recorded in DARPA dataset. The proposed IDS consists with a promising approach for anomaly based intrusion detection in distributed systems. Furthermore, the practical implementation of the proposed IDS system can be utilized to train and detect attacks in live network traffi

User-centred design of flexible hypermedia for a mobile guide: Reflections on the hyperaudio experience

A user-centred design approach involves end-users from the very beginning. Considering users at the early stages compels designers to think in terms of utility and usability and helps develop the system on what is actually needed. This paper discusses the case of HyperAudio, a context-sensitive adaptive and mobile guide to museums developed in the late 90s. User requirements were collected via a survey to understand visitors’ profiles and visit styles in Natural Science museums. The knowledge acquired supported the specification of system requirements, helping defining user model, data structure and adaptive behaviour of the system. User requirements guided the design decisions on what could be implemented by using simple adaptable triggers and what instead needed more sophisticated adaptive techniques, a fundamental choice when all the computation must be done on a PDA. Graphical and interactive environments for developing and testing complex adaptive systems are discussed as a further step towards an iterative design that considers the user interaction a central point. The paper discusses how such an environment allows designers and developers to experiment with different system’s behaviours and to widely test it under realistic conditions by simulation of the actual context evolving over time. The understanding gained in HyperAudio is then considered in the perspective of the developments that followed that first experience: our findings seem still valid despite the passed time

An Adaptive Design Methodology for Reduction of Product Development Risk

Embedded systems interaction with environment inherently complicates understanding of requirements and their correct implementation. However, product uncertainty is highest during early stages of development. Design verification is an essential step in the development of any system, especially for Embedded System. This paper introduces a novel adaptive design methodology, which incorporates step-wise prototyping and verification. With each adaptive step product-realization level is enhanced while decreasing the level of product uncertainty, thereby reducing the overall costs. The back-bone of this frame-work is the development of Domain Specific Operational (DOP) Model and the associated Verification Instrumentation for Test and Evaluation, developed based on the DOP model. Together they generate functionally valid test-sequence for carrying out prototype evaluation. With the help of a case study 'Multimode Detection Subsystem' the application of this method is sketched. The design methodologies can be compared by defining and computing a generic performance criterion like Average design-cycle Risk. For the case study, by computing Average design-cycle Risk, it is shown that the adaptive method reduces the product development risk for a small increase in the total design cycle time.Comment: 21 pages, 9 figure

Psychometrics in Practice at RCEC

A broad range of topics is dealt with in this volume: from combining the psychometric generalizability and item response theories to the ideas for an integrated formative use of data-driven decision making, assessment for learning and diagnostic testing. A number of chapters pay attention to computerized (adaptive) and classification testing. Other chapters treat the quality of testing in a general sense, but for topics like maintaining standards or the testing of writing ability, the quality of testing is dealt with more specifically.\ud All authors are connected to RCEC as researchers. They present one of their current research topics and provide some insight into the focus of RCEC. The selection of the topics and the editing intends that the book should be of special interest to educational researchers, psychometricians and practitioners in educational assessment

Robustness-Driven Resilience Evaluation of Self-Adaptive Software Systems

An increasingly important requirement for certain classes of software-intensive systems is the ability to self-adapt their structure and behavior at run-time when reacting to changes that may occur to the system, its environment, or its goals. A major challenge related to self-adaptive software systems is the ability to provide assurances of their resilience when facing changes. Since in these systems, the components that act as controllers of a target system incorporate highly complex software, there is the need to analyze the impact that controller failures might have on the services delivered by the system. In this paper, we present a novel approach for evaluating the resilience of self-adaptive software systems by applying robustness testing techniques to the controller to uncover failures that can affect system resilience. The approach for evaluating resilience, which is based on probabilistic model checking, quantifies the probability of satisfaction of system properties when the target system is subject to controller failures. The feasibility of the proposed approach is evaluated in the context of an industrial middleware system used to monitor and manage highly populated networks of devices, which was implemented using the Rainbow framework for architecture-based self-adaptation

Layered evaluation of interactive adaptive systems : framework and formative methods

Peer reviewedPostprin

Knowledge representation and evaluation an ontology-based knowledge management approach

Competition between Higher Education Institutions is increasing at an alarming rate, while changes of the surrounding environment and demands of labour market are frequent and substantial. Universities must meet the requirements of both the national and European legislation environment. The Bologna Declaration aims at providing guidelines and solutions for these problems and challenges of European Higher Education. One of its main goals is the introduction of a common framework of transparent and comparable degrees that ensures the recognition of knowledge and qualifications of citizens all across the European Union. This paper will discuss a knowledge management approach that highlights the importance of such knowledge representation tools as ontologies. The discussed ontology-based model supports the creation of transparent curricula content (Educational Ontology) and the promotion of reliable knowledge testing (Adaptive Knowledge Testing System)