Mobile Robots Navigation

Mobile robots navigation includes different interrelated activities: (i) perception, as obtaining and interpreting sensory information; (ii) exploration, as the strategy that guides the robot to select the next direction to go; (iii) mapping, involving the construction of a spatial representation by using the sensory information perceived; (iv) localization, as the strategy to estimate the robot position within the spatial map; (v) path planning, as the strategy to find a path towards a goal location being optimal or not; and (vi) path execution, where motor actions are determined and adapted to environmental changes. The book addresses those activities by integrating results from the research work of several authors all over the world. Research cases are documented in 32 chapters organized within 7 categories next described

Digital Signal Processor Based Real-Time Phased Array Radar Backend System and Optimization Algorithms

This dissertation presents an implementation of multifunctional large-scale phased array radar based on the scalable DSP platform. The challenge of building large-scale phased array radar backend is how to address the compute-intensive operations and high data throughput requirement in both front-end and backend in real-time. In most of the applications, FPGA or VLSI hardware are typically used to solve those difficulties. However, with the help of the fast development of IC industry, using a parallel set of high-performing programmable chips can be an alternative. We present a hybrid high-performance backend system by using DSP as the core computing device and MTCA as the system frame. Thus, the mapping techniques for the front and backend signal processing algorithm based on DSP are discussed in depth. Beside high-efficiency computing device, the system architecture would be a major factor influencing the reliability and performance of the backend system. The reliability requires the system must incorporate the redundancy both in hardware and software. In this dissertation, we propose a parallel modular system based on MTCA chassis, which can be reliable, scalable, and fault-tolerant. Finally, we present an example of high performance phased array radar backend, in which there is the number of 220 DSPs, achieving 7000 GFLOPS calculation from 768 channels. This example shows the potential of using the combination of DSP and MTCA as the computing platform for the future multi-functional large-scale phased array radar

Mining a Small Medical Data Set by Integrating the Decision Tree and t-test

[[abstract]]Although several researchers have used statistical methods to prove that aspiration followed by the injection of 95% ethanol left in situ (retention) is an effective treatment for ovarian endometriomas, very few discuss the different conditions that could generate different recovery rates for the patients. Therefore, this study adopts the statistical method and decision tree techniques together to analyze the postoperative status of ovarian endometriosis patients under different conditions. Since our collected data set is small, containing only 212 records, we use all of these data as the training data. Therefore, instead of using a resultant tree to generate rules directly, we use the value of each node as a cut point to generate all possible rules from the tree first. Then, using t-test, we verify the rules to discover some useful description rules after all possible rules from the tree have been generated. Experimental results show that our approach can find some new interesting knowledge about recurrent ovarian endometriomas under different conditions.[[journaltype]]國外[[incitationindex]]EI[[booktype]]紙本[[countrycodes]]FI

Radio Communications

In the last decades the restless evolution of information and communication technologies (ICT) brought to a deep transformation of our habits. The growth of the Internet and the advances in hardware and software implementations modified our way to communicate and to share information. In this book, an overview of the major issues faced today by researchers in the field of radio communications is given through 35 high quality chapters written by specialists working in universities and research centers all over the world. Various aspects will be deeply discussed: channel modeling, beamforming, multiple antennas, cooperative networks, opportunistic scheduling, advanced admission control, handover management, systems performance assessment, routing issues in mobility conditions, localization, web security. Advanced techniques for the radio resource management will be discussed both in single and multiple radio technologies; either in infrastructure, mesh or ad hoc networks

Proceedings of the First NASA Formal Methods Symposium

Topics covered include: Model Checking - My 27-Year Quest to Overcome the State Explosion Problem; Applying Formal Methods to NASA Projects: Transition from Research to Practice; TLA+: Whence, Wherefore, and Whither; Formal Methods Applications in Air Transportation; Theorem Proving in Intel Hardware Design; Building a Formal Model of a Human-Interactive System: Insights into the Integration of Formal Methods and Human Factors Engineering; Model Checking for Autonomic Systems Specified with ASSL; A Game-Theoretic Approach to Branching Time Abstract-Check-Refine Process; Software Model Checking Without Source Code; Generalized Abstract Symbolic Summaries; A Comparative Study of Randomized Constraint Solvers for Random-Symbolic Testing; Component-Oriented Behavior Extraction for Autonomic System Design; Automated Verification of Design Patterns with LePUS3; A Module Language for Typing by Contracts; From Goal-Oriented Requirements to Event-B Specifications; Introduction of Virtualization Technology to Multi-Process Model Checking; Comparing Techniques for Certified Static Analysis; Towards a Framework for Generating Tests to Satisfy Complex Code Coverage in Java Pathfinder; jFuzz: A Concolic Whitebox Fuzzer for Java; Machine-Checkable Timed CSP; Stochastic Formal Correctness of Numerical Algorithms; Deductive Verification of Cryptographic Software; Coloured Petri Net Refinement Specification and Correctness Proof with Coq; Modeling Guidelines for Code Generation in the Railway Signaling Context; Tactical Synthesis Of Efficient Global Search Algorithms; Towards Co-Engineering Communicating Autonomous Cyber-Physical Systems; and Formal Methods for Automated Diagnosis of Autosub 6000

Optical Communication

Optical communication is very much useful in telecommunication systems, data processing and networking. It consists of a transmitter that encodes a message into an optical signal, a channel that carries the signal to its desired destination, and a receiver that reproduces the message from the received optical signal. It presents up to date results on communication systems, along with the explanations of their relevance, from leading researchers in this field. The chapters cover general concepts of optical communication, components, systems, networks, signal processing and MIMO systems. In recent years, optical components and other enhanced signal processing functions are also considered in depth for optical communications systems. The researcher has also concentrated on optical devices, networking, signal processing, and MIMO systems and other enhanced functions for optical communication. This book is targeted at research, development and design engineers from the teams in manufacturing industry, academia and telecommunication industries

Molecular Imaging

The present book gives an exceptional overview of molecular imaging. Practical approach represents the red thread through the whole book, covering at the same time detailed background information that goes very deep into molecular as well as cellular level. Ideas how molecular imaging will develop in the near future present a special delicacy. This should be of special interest as the contributors are members of leading research groups from all over the world