86,467 research outputs found
A Robotic CAD System using a Bayesian Framework
We present in this paper a Bayesian CAD system
for robotic applications. We address the problem of the
propagation of geometric uncertainties and how esian
CAD system for robotic applications. We address the
problem of the propagation of geometric uncertainties
and how to take this propagation into account when
solving inverse problems. We describe the methodology
we use to represent and handle uncertainties using
probability distributions on the system's parameters
and sensor measurements. It may be seen as a
generalization of constraint-based approaches where we
express a constraint as a probability distribution instead
of a simple equality or inequality. Appropriate
numerical algorithms used to apply this methodology
are also described. Using an example, we show how
to apply our approach by providing simulation results
using our CAD system
The Design and Implementation of a Bayesian CAD Modeler for Robotic Applications
We present a Bayesian CAD modeler for robotic applications. We address the problem of taking into account the propagation of geometric uncertainties when solving inverse geometric problems. The proposed method may be seen as a generalization of constraint-based approaches in which we explicitly model geometric uncertainties. Using our methodology, a geometric constraint is expressed as a probability distribution on the system parameters and the sensor measurements, instead of a simple equality or inequality. To solve geometric problems in this framework, we propose an original resolution method able to adapt to problem complexity.
Using two examples, we show how to apply our approach by providing simulation results using our modeler
Incomplete split-plots in variety trials - based on a-designs
Incomplete split-plots based on a-designs are proposed as alternative to traditional split-plot designs. The purpose of the incomplete split-plot designs is to increase the efficiency of the treatment (whole plot factor) comparisons especially for specific varieties. The designs are constructed in 4 different methods, but in all methods the unit for the treatments are the incomplete blocks (in stead of whole plots with all varieties in traditional split-plots). The designs are compared with each other and with traditional split-plot and randomised complete block designs using generated data with known covariance structure and using data from 5 uniformity trials. The comparisons showed that these designs in almost all cases were more efficient than the traditional designs and that they were never considerably less efficient that these. Designs where the incomplete blocks are grouped so that each group contain all treatments (one incomplete block with each treatment) were more efficient that when the incomplete blocks were randomised independently (in one step)
Improved Fair-Zone technique using Mobility Prediction in WSN
The self-organizational ability of ad-hoc Wireless Sensor Networks (WSNs) has
led them to be the most popular choice in ubiquitous computing. Clustering
sensor nodes organizing them hierarchically have proven to be an effective
method to provide better data aggregation and scalability for the sensor
network while conserving limited energy. It has some limitation in energy and
mobility of nodes. In this paper we propose a mobility prediction technique
which tries overcoming above mentioned problems and improves the life time of
the network. The technique used here is Exponential Moving Average for online
updates of nodal contact probability in cluster based network.Comment: 10 pages, 7 figures, Published in International Journal Of Advanced
Smart Sensor Network Systems (IJASSN
A Giant Lipoma In The Hand - Report Of A Rare Case
A 38 years old male patient presented with a large painless swelling in the right palm with ultrasound examination suggestive of fatty nature of the swelling MRI showing a well-circumscribed soft tissue swelling in the deep palmar space. The giant tumor of 6.5 X 4 cm was excised and the patient was symptom free two years following the surgery
Axillary Arch (Of Langer): Incidence, Innervation, Importance
The present study was planned to find out the incidence of accessory muscle arches in the axilla of 68 upper limb (38 right and 30 left) dissections. Langer’s arch was observed in one right limb out of the 68 limbs, total incidence was 1.47%. The arch extended from the latissimus dorsi to the fascia covering the biceps brachii. The incidence is low in South Indian population (Dravidians) compared to the various other populations reported in literature. A branch from the lateral cord of brachial plexus supplied it in contrast with the previous reports. The surgical significance of this muscle is reviewe
Image Encryption Based on Diffusion and Multiple Chaotic Maps
In the recent world, security is a prime important issue, and encryption is
one of the best alternative way to ensure security. More over, there are many
image encryption schemes have been proposed, each one of them has its own
strength and weakness. This paper presents a new algorithm for the image
encryption/decryption scheme. This paper is devoted to provide a secured image
encryption technique using multiple chaotic based circular mapping. In this
paper, first, a pair of sub keys is given by using chaotic logistic maps.
Second, the image is encrypted using logistic map sub key and in its
transformation leads to diffusion process. Third, sub keys are generated by
four different chaotic maps. Based on the initial conditions, each map may
produce various random numbers from various orbits of the maps. Among those
random numbers, a particular number and from a particular orbit are selected as
a key for the encryption algorithm. Based on the key, a binary sequence is
generated to control the encryption algorithm. The input image of 2-D is
transformed into a 1- D array by using two different scanning pattern (raster
and Zigzag) and then divided into various sub blocks. Then the position
permutation and value permutation is applied to each binary matrix based on
multiple chaos maps. Finally the receiver uses the same sub keys to decrypt the
encrypted images. The salient features of the proposed image encryption method
are loss-less, good peak signal-to-noise ratio (PSNR), Symmetric key
encryption, less cross correlation, very large number of secret keys, and
key-dependent pixel value replacement.Comment: 14 pages,9 figures and 5 tables;
http://airccse.org/journal/jnsa11_current.html, 201
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