Random Neural Networks and Optimisation

In this thesis we introduce new models and learning algorithms for the Random Neural Network (RNN), and we develop RNN-based and other approaches for the solution of emergency management optimisation problems. With respect to RNN developments, two novel supervised learning algorithms are proposed. The first, is a gradient descent algorithm for an RNN extension model that we have introduced, the RNN with synchronised interactions (RNNSI), which was inspired from the synchronised firing activity observed in brain neural circuits. The second algorithm is based on modelling the signal-flow equations in RNN as a nonnegative least squares (NNLS) problem. NNLS is solved using a limited-memory quasi-Newton algorithm specifically designed for the RNN case. Regarding the investigation of emergency management optimisation problems, we examine combinatorial assignment problems that require fast, distributed and close to optimal solution, under information uncertainty. We consider three different problems with the above characteristics associated with the assignment of emergency units to incidents with injured civilians (AEUI), the assignment of assets to tasks under execution uncertainty (ATAU), and the deployment of a robotic network to establish communication with trapped civilians (DRNCTC). AEUI is solved by training an RNN tool with instances of the optimisation problem and then using the trained RNN for decision making; training is achieved using the developed learning algorithms. For the solution of ATAU problem, we introduce two different approaches. The first is based on mapping parameters of the optimisation problem to RNN parameters, and the second on solving a sequence of minimum cost flow problems on appropriately constructed networks with estimated arc costs. For the exact solution of DRNCTC problem, we develop a mixed-integer linear programming formulation, which is based on network flows. Finally, we design and implement distributed heuristic algorithms for the deployment of robots when the civilian locations are known or uncertain

Status of research at the Institute for Computer Applications in Science and Engineering (ICASE)

Research conducted at the Institute for Computer Applications in Science and Engineering in applied mathematics, numerical analysis and computer science is summarized

AnonPri: A Secure Anonymous Private Authentication Protocol for RFID Systems

Privacy preservation in RFID systems is a very important issue in modern day world. Privacy activists have been worried about the invasion of user privacy while using various RFID systems and services. Hence, significant efforts have been made to design RFID systems that preserve users\u27 privacy. Majority of the privacy preserving protocols for RFID systems require the reader to search all tags in the system in order to identify a single RFID tag which not efficient for large scale systems. In order to achieve high-speed authentication in large-scale RFID systems, researchers propose tree-based approaches, in which any pair of tags share a number of key components. Another technique is to perform group-based authentication that improves the tradeoff between scalability and privacy by dividing the tags into a number of groups. This novel authentication scheme ensures privacy of the tags. However, the level of privacy provided by the scheme decreases as more and more tags are compromised. To address this issue, in this paper, we propose a group based anonymous private authentication protocol (AnonPri) that provides higher level of privacy than the above mentioned group based scheme and achieves better efficiency (in terms of providing privacy) than the approaches that prompt the reader to perform an exhaustive search. Our protocol guarantees that the adversary cannot link the tag responses even if she can learn the identifier of the tags. Our evaluation results demonstrates that the level of privacy provided by AnonPri is higher than that of the group based authentication technique

Robotic path planning for non-destructive testing - a custom MATLAB toolbox approach

The requirement to increase inspection speeds for non-destructive testing (NDT) of composite aerospace parts is common to many manufacturers. The prevalence of complex curved surfaces in the industry provides motivation for the use of 6 axis robots in these inspections. The purpose of this paper is to present work undertaken for the development of a KUKA robot manipulator based automated NDT system. A new software solution is presented that enables flexible trajectory planning to be accomplished for the inspection of complex curved surfaces often encountered in engineering production. The techniques and issues associated with conventional manual inspection techniques and automated systems for the inspection of large complex surfaces were reviewed. This approach has directly influenced the development of a MATLAB toolbox targeted to NDT automation, capable of complex path planning, obstacle avoidance, and external synchronization between robots and associated external NDT systems. This paper highlights the advantages of this software over conventional off-line-programming approaches when applied to NDT measurements. An experimental validation of path trajectory generation, on a large and curved composite aerofoil component, is presented. Comparative metrology experiments were undertaken to evaluate the real path accuracy of the toolbox when inspecting a curved 0.5 m2 and a 1.6 m2 surface using a KUKA KR16 L6-2 robot. The results have shown that the deviation of the distance between the commanded TCPs and the feedback positions were within 2.7 mm. The variance of the standoff between the probe and the scanned surfaces was smaller than the variance obtainable via commercial path-planning software. Tool paths were generated directly on the triangular mesh imported from the CAD models of the inspected components without need for an approximating analytical surface. By implementing full external control of the robotic hardware, it has been possible to synchronise the NDT data collection with positions at all points along the path, and our approach allows for the future development of additional functionality that is specific to NDT inspection problems. For the current NDT application, the deviations from CAD design and the requirements for both coarse and fine inspections, dependent on measured NDT data, demand flexibility in path planning beyond what is currently available from existing off-line robot programming software

Review of Security and Privacy Scheme for Vehicular Ad Hoc Networks (VANETs)

Vehicles in a vehicular ad-hoc network (VANET) broadcast information about the driving environment in the road. Due to the open-access environment, this means that the VANET is susceptible to security and privacy issues. However, none of the related works satisfies all security and privacy requirements. Besides, their proposed has huge overhead in terms of computation and communication. The present paper is a provide a thorough background on VANETs and their entities; different security attacks; and all requirements of the privacy and security for VANETs. This paper may serve as a guide and reference for VANETs in the design and implementation of any new techniques for protection and privacy

Adaptive Path Planning for Depth Constrained Bathymetric Mapping with an Autonomous Surface Vessel

This paper describes the design, implementation and testing of a suite of algorithms to enable depth constrained autonomous bathymetric (underwater topography) mapping by an Autonomous Surface Vessel (ASV). Given a target depth and a bounding polygon, the ASV will find and follow the intersection of the bounding polygon and the depth contour as modeled online with a Gaussian Process (GP). This intersection, once mapped, will then be used as a boundary within which a path will be planned for coverage to build a map of the Bathymetry. Methods for sequential updates to GP's are described allowing online fitting, prediction and hyper-parameter optimisation on a small embedded PC. New algorithms are introduced for the partitioning of convex polygons to allow efficient path planning for coverage. These algorithms are tested both in simulation and in the field with a small twin hull differential thrust vessel built for the task.Comment: 21 pages, 9 Figures, 1 Table. Submitted to The Journal of Field Robotic