Abstract: This paper proposes a method of adaptively generating a gait pattern of biped robot. The gait synthesis is based on human's gait pattern analysis. The proposed method can easily be applied to generate the natural and stable gait pattern of any biped robot. To analyze the human's gait pattern, sequential images of the human's gait on the sagittal plane are acquired from which the gait control values are extracted. The gait pattern of biped robot on the sagittal plane is adaptively generated by a genetic algorithm using the human's gait control values. However, gait trajectories of the biped robot on the sagittal plane are not enough to construct the complete gait pattern because the biped robot moves on 3-dimension space. Therefore, the gait pattern on the frontal plane, generated from Zero Moment Point (ZMP), is added to the gait one acquired on the sagittal plane. Consequently, the natural and stable walking pattern for the biped robot is obtained.
Abstract: This paper addresses the problem of building a unified
structure to describe a peer-to-peer system. Our approach uses the
well-known notations in the P2P area, and provides a global
architecture that puts a separation between the platform specific
characteristics and the logical ones. In order to enable the navigation
of the peer across platforms, a roaming layer is added. The latter
provides a capability to define a unique identification of peer and
assures the mapping between this identification and those used in
each platform. The mapping task is assured by special wrapper. In
addition, ontology is proposed to give a clear presentation of the
structure of the P2P system without interesting in the content and the
resource managed by the peer. The ontology is created according to
the web semantic paradigm and using OWL language; so, the
structure of the system is considered as a web resource.
Abstract: Chua’s circuit is one of the most important electronic devices that are used for Chaos and Bifurcation studies. A central role of secure communication is devoted to it. Since the adaptive control is used vastly in the linear systems control, here we introduce a new trend of application of adaptive method in the chaos controlling field. In this paper, we try to derive a new adaptive control scheme for Chua’s circuit controlling because control of chaos is often very important in practical operations. The novelty of this approach is for sake of its robustness against the external perturbations which is simulated as an additive noise in all measured states and can be generalized to other chaotic systems. Our approach is based on Lyapunov analysis and the adaptation law is considered for the feedback gain. Because of this, we have named it NAFT (Nonlinear Adaptive Feedback Technique). At last, simulations show the capability of the presented technique for Chua’s circuit.
Abstract: One of the primary uses of higher order statistics in
signal processing has been for detecting and estimation of non-
Gaussian signals in Gaussian noise of unknown covariance. This is
motivated by the ability of higher order statistics to suppress additive
Gaussian noise. In this paper, several methods to test for non-
Gaussianity of a given process are presented. These methods include
histogram plot, kurtosis test, and hypothesis testing using cumulants
and bispectrum of the available sequence. The hypothesis testing is
performed by constructing a statistic to test whether the bispectrum
of the given signal is non-zero. A zero bispectrum is not a proof of
Gaussianity. Hence, other tests such as the kurtosis test should be
employed. Examples are given to demonstrate the performance of the
presented methods.
Abstract: Electronic seal is an electronic device to check the
authenticity and integrity of freight containers at the point of arrival.
While RFID-based eSeals are gaining more acceptances and there are
also some standardization processes for these devices, a recent
research revealed that the current RFID-based eSeals are vulnerable to
various attacks. In this paper, we provide a feasible solution to
enhance the security of active RFID-based eSeals. Our approach is to
use an authentication and key agreement protocol between eSeal and
reader device, enabling data encryption and integrity check. Our
protocol is based on the use of block cipher AES, which is reasonable
since a block cipher can also be used for many other security purposes
including data encryption and pseudo-random number generation. Our
protocol is very simple, and it is applicable to low-end active RFID
eSeals.
Abstract: In this work, we improve a previously developed
segmentation scheme aimed at extracting edge information from
speckled images using a maximum likelihood edge detector. The
scheme was based on finding a threshold for the probability density
function of a new kernel defined as the arithmetic mean-to-geometric
mean ratio field over a circular neighborhood set and, in a general
context, is founded on a likelihood random field model (LRFM). The
segmentation algorithm was applied to discriminated speckle areas
obtained using simple elliptic discriminant functions based on
measures of the signal-to-noise ratio with fractional order moments.
A rigorous stochastic analysis was used to derive an exact expression
for the cumulative density function of the probability density
function of the random field. Based on this, an accurate probability
of error was derived and the performance of the scheme was
analysed. The improved segmentation scheme performed well for
both simulated and real images and showed superior results to those
previously obtained using the original LRFM scheme and standard
edge detection methods. In particular, the false alarm probability was
markedly lower than that of the original LRFM method with
oversegmentation artifacts virtually eliminated. The importance of
this work lies in the development of a stochastic-based segmentation,
allowing an accurate quantification of the probability of false
detection. Non visual quantification and misclassification in medical
ultrasound speckled images is relatively new and is of interest to
clinicians.
Abstract: DS-CDMA system is well known wireless
technology. This system suffers from MAI (Multiple Access
Interference) caused by Direct Sequence users. Multi-User Detection
schemes were introduced to detect the users- data in presence of
MAI. This paper focuses on linear multi-user detection schemes used
for data demodulation. Simulation results depict the performance of
three detectors viz-conventional detector, Decorrelating detector and
Subspace MMSE (Minimum Mean Square Error) detector. It is seen
that the performance of these detectors depends on the number of
paths and the length of Gold code used.