Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation

A generic computer simulation for manipulator systems (ROBSIM) was implemented and the specific technologies necessary to increase the role of automation in various missions were developed. The specific items developed are: (1) capability for definition of a manipulator system consisting of multiple arms, load objects, and an environment; (2) capability for kinematic analysis, requirements analysis, and response simulation of manipulator motion; (3) postprocessing options such as graphic replay of simulated motion and manipulator parameter plotting; (4) investigation and simulation of various control methods including manual force/torque and active compliances control; (5) evaluation and implementation of three obstacle avoidance methods; (6) video simulation and edge detection; and (7) software simulation validation

Efficient Many-Light Rendering of Scenes with Participating Media

We present several approaches based on virtual lights that aim at capturing the light transport without compromising quality, and while preserving the elegance and efficiency of many-light rendering. By reformulating the integration scheme, we obtain two numerically efficient techniques; one tailored specifically for interactive, high-quality lighting on surfaces, and one for handling scenes with participating media

Vision Science and Technology at NASA: Results of a Workshop

A broad review is given of vision science and technology within NASA. The subject is defined and its applications in both NASA and the nation at large are noted. A survey of current NASA efforts is given, noting strengths and weaknesses of the NASA program

Example Based Caricature Synthesis

The likeness of a caricature to the original face image is an essential and often overlooked part of caricature production. In this paper we present an example based caricature synthesis technique, consisting of shape exaggeration, relationship exaggeration, and optimization for likeness. Rather than relying on a large training set of caricature face pairs, our shape exaggeration step is based on only one or a small number of examples of facial features. The relationship exaggeration step introduces two definitions which facilitate global facial feature synthesis. The first is the T-Shape rule, which describes the relative relationship between the facial elements in an intuitive manner. The second is the so called proportions, which characterizes the facial features in a proportion form. Finally we introduce a similarity metric as the likeness metric based on the Modified Hausdorff Distance (MHD) which allows us to optimize the configuration of facial elements, maximizing likeness while satisfying a number of constraints. The effectiveness of our algorithm is demonstrated with experimental results

Ray Tracing Gems

This book is a must-have for anyone serious about rendering in real time. With the announcement of new ray tracing APIs and hardware to support them, developers can easily create real-time applications with ray tracing as a core component. As ray tracing on the GPU becomes faster, it will play a more central role in real-time rendering. Ray Tracing Gems provides key building blocks for developers of games, architectural applications, visualizations, and more. Experts in rendering share their knowledge by explaining everything from nitty-gritty techniques that will improve any ray tracer to mastery of the new capabilities of current and future hardware. What you'll learn: The latest ray tracing techniques for developing real-time applications in multiple domains Guidance, advice, and best practices for rendering applications with Microsoft DirectX Raytracing (DXR) How to implement high-performance graphics for interactive visualizations, games, simulations, and more Who this book is for: Developers who are looking to leverage the latest APIs and GPU technology for real-time rendering and ray tracing Students looking to learn about best practices in these areas Enthusiasts who want to understand and experiment with their new GPU

Vulnerability modelling and mitigation strategies for hybrid networks

Hybrid networks nowadays consist of traditional IT components, Internet of Things (IoT) and industrial control systems (ICS) nodes with varying characteristics, making them genuinely heterogeneous in nature. Historically evolving from traditional internet-enabled IT servers, hybrid networks allow organisations to strengthen cybersecurity, increase flexibility, improve efficiency, enhance reliability, boost remote connectivity and easy management. Though hybrid networks offer significant benefits from business and operational perspectives, this integration has increased the complexity and security challenges to all connected nodes. The IT servers of these hybrid networks are high-budget devices with tremendous processing power and significant storage capacity. In contrast, IoT nodes are low-cost devices with limited processing power and capacity. In addition, the ICS nodes are programmed for dedicated functions with the least interference. The available cybersecurity solutions for hybrid networks are either for specific node types or address particular weaknesses. Due to these distinct characteristics, these solutions may place other nodes in vulnerable positions. This study addresses this gap by proposing a comprehensive vulnerability modelling and mitigation strategy. This proposed solution equally applies to each node type of hybrid network while considering their unique characteristics. For this purpose, the industry-wide adoption of the Common Vulnerability Scoring System (CVSS) has been extended to embed the distinct characteristics of each node type in a hybrid network. To embed IoT features, the ‘attack vectors’ and ‘attack complexity vectors’ are modified and another metric “human safety index”, is integrated in the ‘Base metric group’ of CVSS. In addition, the ICS related characteristics are included in the ‘Environmental metric group’ of CVSS. This metric group is further enhanced to reflect the node resilience capabilities when evaluating the vulnerability score. The resilience of a node is evaluated by analysing the complex relationship of numerous contributing cyber security factors and practices. The evolved CVSSR-IoT-ICS framework proposed in the thesis measures the given vulnerabilities by adopting the unique dynamics of each node. These vulnerability scores are then mapped in the attack tree to reveal the critical nodes and shortest path to the target node. The mitigating strategy framework suggests the most efficient mitigation strategy to counter vulnerabilities by examining the node’s functionality, its locality, centrality, criticality, cascading impacts, available resources, and performance thresholds. Various case studies were conducted to analyse and evaluate our proposed vulnerability modelling and mitigation strategies on realistic supply chain systems. These analyses and evaluations confirm that the proposed solutions are highly effective for modelling the vulnerabilities while the mitigation strategies reduce the risks in dynamic and resource-constrained environments. The unified vulnerability modelling of hybrid networks minimises ambiguities, reduces complexities and identifies hidden deficiencies. It also improves system reliability and performance of heterogeneous networks while at the same time gaining acceptance for a universal vulnerability modelling framework across the cyber industry. The contributions have been published in reputable journals and conferences.Doctor of Philosoph