399 research outputs found

    Sampling-Based Exploration Strategies for Mobile Robot Autonomy

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    A novel, sampling-based exploration strategy is introduced for Unmanned Ground Vehicles (UGV) to efficiently map large GPS-deprived underground environments. It is compared to state-of-the-art approaches and performs on a similar level, while it is not designed for a specific robot or sensor configuration like the other approaches. The introduced exploration strategy, which is called Random-Sampling-Based Next-Best View Exploration (RNE), uses a Rapidly-exploring Random Graph (RRG) to find possible view points in an area around the robot. They are compared with a computation-efficient Sparse Ray Polling (SRP) in a voxel grid to find the next-best view for the exploration. Each node in the exploration graph built with RRG is evaluated regarding the ability of the UGV to traverse it, which is derived from an occupancy grid map. It is also used to create a topology-based graph where nodes are placed centrally to reduce the risk of collisions and increase the amount of observable space. Nodes that fall outside the local exploration area are stored in a global graph and are connected with a Traveling Salesman Problem solver to explore them later

    Security and Privacy for Modern Wireless Communication Systems

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    The aim of this reprint focuses on the latest protocol research, software/hardware development and implementation, and system architecture design in addressing emerging security and privacy issues for modern wireless communication networks. Relevant topics include, but are not limited to, the following: deep-learning-based security and privacy design; covert communications; information-theoretical foundations for advanced security and privacy techniques; lightweight cryptography for power constrained networks; physical layer key generation; prototypes and testbeds for security and privacy solutions; encryption and decryption algorithm for low-latency constrained networks; security protocols for modern wireless communication networks; network intrusion detection; physical layer design with security consideration; anonymity in data transmission; vulnerabilities in security and privacy in modern wireless communication networks; challenges of security and privacy in node–edge–cloud computation; security and privacy design for low-power wide-area IoT networks; security and privacy design for vehicle networks; security and privacy design for underwater communications networks

    LIPIcs, Volume 261, ICALP 2023, Complete Volume

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    LIPIcs, Volume 261, ICALP 2023, Complete Volum

    Applications of Molecular Dynamics simulations for biomolecular systems and improvements to density-based clustering in the analysis

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    Molecular Dynamics simulations provide a powerful tool to study biomolecular systems with atomistic detail. The key to better understand the function and behaviour of these molecules can often be found in their structural variability. Simulations can help to expose this information that is otherwise experimentally hard or impossible to attain. This work covers two application examples for which a sampling and a characterisation of the conformational ensemble could reveal the structural basis to answer a topical research question. For the fungal toxin phalloidin—a small bicyclic peptide—observed product ratios in different cyclisation reactions could be rationalised by assessing the conformational pre-organisation of precursor fragments. For the C-type lectin receptor langerin, conformational changes induced by different side-chain protonations could deliver an explanation of the pH-dependency in the protein’s calcium-binding. The investigations were accompanied by the continued development of a density-based clustering protocol into a respective software package, which is generally well applicable for the use case of extracting conformational states from Molecular Dynamics data

    24th Nordic Conference on Computational Linguistics (NoDaLiDa)

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    Specialized IoT systems: Models, Structures, Algorithms, Hardware, Software Tools

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    Монография включает анализ проблем, модели, алгоритмы и программно- аппаратные средства специализированных сетей интернета вещей. Рассмотрены результаты проектирования и моделирования сети интернета вещей, мониторинга качества продукции, анализа звуковой информации окружающей среды, а также технология выявления заболеваний легких на базе нейронных сетей. Монография предназначена для специалистов в области инфокоммуникаций, может быть полезна студентам соответствующих специальностей, слушателям факультетов повышения квалификации, магистрантам и аспирантам

    Fréchet Distance for Uncertain Curves

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    In this article, we study a wide range of variants for computing the (discrete and continuous) Fréchet distance between uncertain curves. An uncertain curve is a sequence of uncertainty regions, where each region is a disk, a line segment, or a set of points. A realisation of a curve is a polyline connecting one point from each region. Given an uncertain curve and a second (certain or uncertain) curve, we seek to compute the lower and upper bound Fréchet distance, which are the minimum and maximum Fréchet distance for any realisations of the curves. We prove that both problems are NP-hard for the Fréchet distance in several uncertainty models, and that the upper bound problem remains hard for the discrete Fréchet distance. In contrast, the lower bound (discrete [5] and continuous) Fréchet distance can be computed in polynomial time in some models. Furthermore, we show that computing the expected (discrete and continuous) Fréchet distance is #P-hard in some models.On the positive side, we present an FPTAS in constant dimension for the lower bound problem when Δ/δis polynomially bounded, where δis the Fréchet distance and Δbounds the diameter of the regions. We also show a near-linear-time 3-approximation for the decision problem on roughly δ-separated convex regions. Finally, we study the setting with Sakoe-Chiba time bands, where we restrict the alignment between the curves, and give polynomial-time algorithms for the upper bound and expected discrete and continuous Fréchet distance for uncertainty modelled as point sets.</p

    On the determination of human affordances

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    Modelling, Monitoring, Control and Optimization for Complex Industrial Processes

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    This reprint includes 22 research papers and an editorial, collected from the Special Issue "Modelling, Monitoring, Control and Optimization for Complex Industrial Processes", highlighting recent research advances and emerging research directions in complex industrial processes. This reprint aims to promote the research field and benefit the readers from both academic communities and industrial sectors
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