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OFDM radio based range and direction sensor for robotics applications 基于OFDM无线电的机器人应用范围和方向传感器
Pub Date : 2013-12-01 DOI: 10.1109/RAICS.2013.6745447
Rakshith Shetty, Prasanna Sethuraman
One of the fundamental problems in building an autonomous robot is the perception and reconstruction of its environment, which is traditionally achieved with sensory systems that use camera, laser, sonar, or radar. This paper proposes the use of an Orthogonal Frequency Division Multiplexing (OFDM) based radio to sense the environment. Our solution uses an OFDM wireless transmitter, such as the one from Wi-Fi, on the robot to transmit a signal which is then reflected back by obstacles, and the reflected signal is captured with an onboard receiver. The receiver analyzes the incoming signal for multipath delay and angles of arrival of each of these resolvable multipath components. The angle of arrival estimation is achieved without using a large antenna array at the receiver, but with an iterative angle estimation mechanism that can work with just two receive antennas. The resulting range sensor can detect obstacles at multiple directions and multiple distances by analyzing just one received Wi-Fi packet. The generated obstacle map is then improved by combining different map instances estimated by the robot from different positions. Advantages of this sensor includes very fast scan time and, since we can reuse the ubiquitous Wi-Fi radio to transmit the OFDM signal on air, the sensor cost is much lower compared to traditional range sensors.
构建自主机器人的基本问题之一是感知和重建其环境,这传统上是通过使用相机,激光,声纳或雷达的传感系统来实现的。本文提出了一种基于正交频分复用(OFDM)的无线电环境感知技术。我们的解决方案是在机器人上使用OFDM无线发射器,比如Wi-Fi发射器,发射信号,然后被障碍物反射回来,反射的信号被机载接收器捕获。接收机分析输入信号的多径延迟和每个可解析多径分量的到达角。到达角估计是在不使用大型天线阵列的情况下实现的,但有一个迭代的角度估计机制,可以只使用两个接收天线。由此产生的距离传感器可以通过分析一个接收到的Wi-Fi数据包来检测多个方向和多个距离的障碍物。然后通过结合机器人从不同位置估计的不同地图实例来改进生成的障碍物地图。这种传感器的优点包括扫描时间非常快,而且由于我们可以重用无处不在的Wi-Fi无线电来传输OFDM信号,因此与传统的距离传感器相比,传感器的成本要低得多。
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引用次数: 0
Gender classification using spatial and temporal features 基于时空特征的性别分类
Pub Date : 2013-12-01 DOI: 10.1109/RAICS.2013.6745464
S. Biswas, J. Sil
Automatic gender classification has immense applications in many commercial domains. In the paper, spatial and temporal feature based gender classification technique has been proposed. In the first step, texture based features in the spatial domain are extracted by dividing the training images into no. of blocks. Covariance matrix and singular value decomposition method has been applied on each block to extract the features. Discrete Wavelet Transform (DWT) has been introduced in the second step to extract temporal features. The feature vectors of test images are obtained and classified as male or female by Weka tool using 10 fold cross validation technique. The proposed approach provides 98% recognition rate on GTAV database while 91% on FERET database.
性别自动分类在许多商业领域有着广泛的应用。本文提出了一种基于时空特征的性别分类方法。在第一步中,通过将训练图像划分为三个部分,提取空间域中基于纹理的特征。的块。采用协方差矩阵和奇异值分解方法对每个块进行特征提取。第二步引入离散小波变换(DWT)提取时间特征。采用10倍交叉验证技术,通过Weka工具获得测试图像的特征向量,并将其分类为男性或女性。该方法在GTAV数据库上的识别率为98%,在FERET数据库上的识别率为91%。
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引用次数: 2
Triangular microstrip loop resonator bandpass filter using Koch curve approach 采用科赫曲线法的三角形微带环谐振器带通滤波器
Pub Date : 2013-12-01 DOI: 10.1109/RAICS.2013.6745483
Sijin Mary Joy, S. S. Kumar
Microstrip bandpass filters are used to select or confine the RF/microwave signals within assigned spectral limits so as to share the limited electromagnetic spectrum. Use of dual mode resonator allows the realization of a compact high quality microwave bandpass filter (BPF). The filters designed with fractal geometry are having reduced return loss and good passband performance. This paper presents a triangular microstrip loop resonator BPF constructed using Fractal Koch curve approach. The simulation results show that the proposed fractal triangular microstrip loop resonator can achieve lower resonant frequencies compared to conventional triangular loop resonator filter hence size reduction is possible. Also a better performance is obtained in case of fractal triangular loop resonator bandpass filter.
微带带通滤波器用于将射频/微波信号选择或限制在指定的频谱范围内,以共享有限的电磁频谱。使用双模谐振器可以实现紧凑的高质量微波带通滤波器(BPF)。采用分形结构设计的滤波器具有回波损耗小、通带性能好等优点。本文提出了一种用分形科赫曲线法构造的三角形微带环谐振腔BPF。仿真结果表明,所设计的分形三角形微带环谐振器比传统的三角形环谐振器滤波器具有更低的谐振频率,从而减小了滤波器的尺寸。分形三角形环谐振器带通滤波器也有较好的性能。
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引用次数: 1
Using entropy of traffic features to identify bot infected hosts 利用流量特征熵来识别僵尸感染主机
Pub Date : 2013-12-01 DOI: 10.1109/RAICS.2013.6745439
B. Soniya, M. Wilscy
Botnets are proliferating on the web and are increasingly being used by criminals for data theft, denial of service attacks, spamming and such other activities. Several bot detection approaches have been proposed which can be classified as either host-based or network-based. A hybrid approach which mitigates the disadvantages of the previous two approaches is proposed here. The proposed method aims to identify bots on a single host by looking at the network traffic generated by the host. The detection method is designed for HTTP traffic. A characterization of normal HTTP traffic as well as bot traffic is initially done using features extracted from network packets. A Neural Network Classifier is trained using these traffic features and later used to classify unlabeled traffic as benign or malicious. A normal traffic profile is first used to filter out packets to commonly accessed destinations thereby reducing the workload on the classifier. Stealthy bots which communicate at large time intervals of up to 32 hours are also detected. 120 bots samples were used to evaluate the system. The experimental results demonstrate a high detection rate of 97.4% and a very low false positive rate of 2.5%. The performance of the system is compared with many recent bot detection methods.
僵尸网络正在网络上扩散,并且越来越多地被犯罪分子用于数据盗窃、拒绝服务攻击、垃圾邮件和其他活动。已经提出了几种机器人检测方法,可分为基于主机的和基于网络的。这里提出了一种混合方法,它减轻了前两种方法的缺点。提出的方法旨在通过查看主机产生的网络流量来识别单个主机上的机器人。该检测方法是针对HTTP流量设计的。对正常HTTP流量和bot流量的描述最初是使用从网络数据包中提取的特征来完成的。神经网络分类器使用这些流量特征进行训练,然后用于将未标记的流量分类为良性或恶意。首先使用正常的流量配置文件来过滤到通常访问的目的地的数据包,从而减少分类器的工作量。在长达32小时的时间间隔内进行通信的隐形机器人也被检测到。120个机器人样本被用来评估系统。实验结果表明,该方法的检测率高达97.4%,假阳性率很低,仅为2.5%。将该系统的性能与目前许多机器人检测方法进行了比较。
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引用次数: 10
Co-operative MAC protocol: Performance modeling and analysis 协同MAC协议:性能建模与分析
Pub Date : 2013-12-01 DOI: 10.1109/RAICS.2013.6745479
H. R. Shamna, Naga Lakshmi Appari, L. Jacob
This work investigates a Cooperative Medium Access Control (CoopMAC) protocol that is backward compatible with the legacy 802.11 system, in which high data rate stations assist low data rate stations in their transmission by forwarding their traffic. New mathematical models have been developed in this work for the performance evaluation of this protocol under different channel conditions and for unsaturated traffic loads. Extensive simulation results validate the mathematical models developed and show that CoopMAC protocol can significantly improve system throughput, service delay, and energy efficiency for WLANs operating under realistic communication scenarios.
本研究研究了一种向后兼容传统802.11系统的合作媒体访问控制(CoopMAC)协议,在该协议中,高数据速率站通过转发流量来帮助低数据速率站进行传输。本文建立了新的数学模型,用于评估该协议在不同信道条件下和非饱和业务负载下的性能。大量的仿真结果验证了所建立的数学模型,并表明CoopMAC协议可以显著提高实际通信场景下无线局域网的系统吞吐量、服务延迟和能源效率。
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引用次数: 2
Implementation of projected clustering based on SQL queries and UDFs in relational databases 关系数据库中基于SQL查询和udf的投影集群的实现
Pub Date : 2013-12-01 DOI: 10.1109/RAICS.2013.6745438
Sandhya Harikumar, H. Haripriya, M. D. Kaimal
Projected clustering is one of the clustering approaches that determine the clusters in the subspaces of high dimensional data. Although it is possible to efficiently cluster a very large data set outside a relational database, the time and effort to export and import it can be significant. In commercial RDBMSs, there is no SQL query available for any type of subspace clustering, which is more suitable for large databases with high dimensions and large number of records. Integrating clustering with a relational DBMS using SQL is an important and challenging problem in todays world of Big Data. Projected clustering has the ability to find the closely correlated dimensions and find clusters in the corresponding subspaces. We have designed an SQL version of projected clustering which helps to get the clusters of the records in the database using a single SQL statement which in itself calls other SQL functions defined by us. We have used PostgreSQL DBMS to validate our implementation and have done experimentation with synthetic as well as real data.
投影聚类是确定高维数据子空间中聚类的一种聚类方法。尽管可以在关系数据库之外高效地对非常大的数据集进行聚类,但是导出和导入数据集所花费的时间和精力可能非常大。在商业rdbms中,任何类型的子空间集群都没有SQL查询可用,更适合高维、大量记录的大型数据库。在当今的大数据世界中,使用SQL将集群与关系DBMS集成是一个重要而具有挑战性的问题。投影聚类能够找到密切相关的维度,并在相应的子空间中找到聚类。我们设计了一个SQL版本的投影聚类,它可以使用单个SQL语句获得数据库中记录的集群,该SQL语句本身调用我们定义的其他SQL函数。我们使用PostgreSQL DBMS来验证我们的实现,并对合成数据和真实数据进行了实验。
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引用次数: 6
Real time recognition of 3D gestures in mobile devices 移动设备中三维手势的实时识别
Pub Date : 2013-12-01 DOI: 10.1109/RAICS.2013.6745463
V. M. Sethu Janaki, S. Babu, S. Sreekanth
Gesture-based user interaction is increasingly relevant today as the use of personal computing devices becomes widespread. Smartphones have several inbuilt sensors like accelerometer, orientation sensor and gyroscope, which are able to provide data on motion of the device in 3D space. This paper proposes a mechanism for real-time recognition of 3D gestures using sensors in mobile devices. 3D gestures are space-drawn gestures computed from 3-axial accelerometer readings. The algorithms discussed in this paper include single value decomposition, dynamic time warping and Mahalanobis distance.
随着个人计算设备的广泛使用,基于手势的用户交互变得越来越重要。智能手机有几个内置传感器,如加速度计、方向传感器和陀螺仪,它们能够提供设备在3D空间中的运动数据。本文提出了一种利用移动设备中的传感器实时识别三维手势的机制。3D手势是根据3轴加速度计读数计算的空间绘制手势。本文讨论的算法包括单值分解、动态时间规整和马氏距离。
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引用次数: 8
Automatic detection of exudates in retinal images using histogram analysis 利用直方图分析自动检测视网膜图像中的渗出物
Pub Date : 2013-12-01 DOI: 10.1109/RAICS.2013.6745487
P. N. Sharath Kumar, R. R. Kumar, A. Sathar, V. Sahasranamam
Diabetic Retinopathy (DR) is the major cause of blindness caused by the damage to the blood vessels in the retina from diabetes. It cannot be prevented but early detection through fundus imaging by an ophthalmologist can prevent further vision loss. Presence of microaneurysms, hemorrhages, cotton-wool spots and exudates are the symptoms of mild DR. Of these, the detection of exudates is one of the important factors in the early diagnosis of DR. Exudates are fatty deposits on the retina which appear as yellowish regions in fundus image. Fundus images show considerable variation in brightness which makes automatic detection of exudates difficult. In this study, we are proposing a new method for preprocessing and false positive elimination towards the reliable detection of exudates. The brightness of the fundus image was changed by the nonlinear curve with brightness values of the hue saturation value (HSV) space. To emphasize brighter yellow regions (exudates), gamma correction was performed on each red and green components of the image. Subsequently, the histograms of each red and green component were extended. After that, the exudates candidates were detected using histogram analysis. Finally, false positives were removed by using multi-channel histogram analysis. To evaluate the new method for the detection of exudates, we examined 158 fundus images, including 84 abnormal images with exudates and 74 normal images. The sensitivity and specificity for the detection of abnormal and normal cases were 88.45% and 95.5% respectively.
糖尿病视网膜病变(DR)是糖尿病视网膜血管受损导致失明的主要原因。这是无法预防的,但早期发现通过眼底成像的眼科医生可以防止进一步的视力丧失。微动脉瘤、出血、棉絮斑和渗出物是轻度dr的症状,其中渗出物的检测是早期诊断dr的重要因素之一。渗出物是视网膜上的脂肪沉积,在眼底图像上呈淡黄色。眼底图像显示出相当大的亮度变化,这使得自动检测渗出物变得困难。在这项研究中,我们提出了一种新的预处理和假阳性消除方法,以可靠地检测渗出液。眼底图像的亮度随色相饱和度(HSV)空间亮度值的非线性曲线变化。为了强调较亮的黄色区域(渗出物),对图像的每个红色和绿色成分进行了伽玛校正。随后,对每个红绿分量的直方图进行扩展。然后用直方图分析检测候选渗出物。最后采用多通道直方图分析去除假阳性。为了评价这种新的检测渗出物的方法,我们检查了158张眼底图像,包括84张有渗出物的异常图像和74张正常图像。异常和正常的敏感性和特异性分别为88.45%和95.5%。
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引用次数: 26
Energy-aware thermal comfort-band maintenance scheduling under peak power constraint 峰值功率约束下的能量感知热舒适带维护调度
Pub Date : 2013-12-01 DOI: 10.1109/RAICS.2013.6745458
G. Karmakar, Ashutosh Kabra
Peak energy consumption has impact on upfront capital costs and hence on energy tariffs. Reducing the size of the peaks has been recognized as an important consideration in the design of efficient demand-response systems. A substantial fraction of the energy demand of buildings comes from air-conditioners, refrigerators and room-heaters. These thermostatically controlled electrical devices (TCED) maintain the temperature of the environment under its control within a desired comfort-band. Based on the insight gained by empirical observations, this paper presents a technique, which is energy-aware in scheduling TCEDs for maintaining comfort-band when peak power constraint limits the number of devices that can run at a time.
峰值能源消耗会影响前期资本成本,从而影响能源关税。减少峰值的大小已被认为是设计有效需求响应系统的一个重要考虑因素。建筑能源需求的很大一部分来自空调、冰箱和室内加热器。这些恒温控制的电气设备(TCED)将其控制下的环境温度保持在所需的舒适带内。在此基础上,本文提出了一种在峰值功率约束限制可同时运行的设备数量的情况下,能量感知tced调度以保持舒适带的技术。
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引用次数: 7
Video object detection using inter-frame correlation based background subtraction 基于帧间相关的背景减法的视频目标检测
Pub Date : 2013-12-01 DOI: 10.1109/RAICS.2013.6745467
D. K. Rout, S. Puhan
In this paper the problem of video object detection under illumination variation is addressed. Many algorithms have been proposed to cope to this situation. But the major draw back in most of them is misclassified object and background area. Thereby object recognition and tracking process fails many a times due to failure of the detection algorithms. In our previous work we have proposed a supervised approach to increase the correct classification of the object and background regions. Although the results obtained were as per expectation but the model parameters estimation; such as the threshold selection process was manually done. In order to make it adaptive to the scene, we have proposed a classification algorithm which takes the histogram of correlation matrix into account and classify the object. The proposed algorithm computes the inter-plane correlation between three consecutive R, G and B planes by using a correlation function. The correlation matrix obtained is then used to construct a segmented image which gives a rough estimate of the object. The segmentation of the correlation plane is done by a threshold. This threshold selection is made adaptive to the video sequence considered. This segmented plane along with the moving edge image is then taken into consideration to improvise the correct classification of the moving object in the video. It is observed that the proposed algorithm yields quite manageable results in terms of correct classification.
本文研究了光照变化下的视频目标检测问题。已经提出了许多算法来处理这种情况。但它们的主要缺点是对象和背景区域分类错误。因此,由于检测算法的失效,目标识别和跟踪过程多次失败。在我们之前的工作中,我们提出了一种监督方法来提高目标和背景区域的正确分类。所得结果虽符合预期,但模型参数估计不足;比如阈值选择过程是手工完成的。为了使其适应场景,我们提出了一种考虑相关矩阵直方图的分类算法,对目标进行分类。该算法通过相关函数计算三个连续的R、G、B平面之间的平面间相关性。然后使用得到的相关矩阵来构造一个分割图像,该图像给出了目标的粗略估计。相关平面的分割是通过阈值来完成的。该阈值选择是自适应的视频序列考虑。然后考虑该分割平面以及运动边缘图像,以即兴对视频中的运动物体进行正确分类。观察到,该算法在正确分类方面产生了相当可管理的结果。
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引用次数: 11
期刊
2013 IEEE Recent Advances in Intelligent Computational Systems (RAICS)
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