Pub Date : 2019-10-01DOI: 10.1109/TENCON.2019.8929515
Shriyansh Agrawal, L. Sanagavarapu, Y. Reddy
With more than a trillion web pages, there is a plethora of content available for consumption. Search Engine queries invariably lead to overwhelming information, parts of it relevant and some others irrelevant. Often the information provided can be conflicting, ambiguous, and inconsistent contributing to the loss of credibility of the content. In the past, researchers have proposed approaches for credibility assessment and enumerated factors influencing the credibility of web pages. In this work, we detailed a WEBCred framework for automated genre-aware credibility assessment of web pages. We developed a tool based on the proposed framework to extract web page features instances and identify genre a web page belongs to while assessing it's Genre Credibility Score ($GCS$). We validated our approach on ‘Information Security’ dataset of 8,550 URLs with 171 features across 7 genres. The supervised learning algorithm, Gradient Boosted Decision Tree classified genres with 88.75% testing accuracy over 10 fold cross-validation, an improvement over the current benchmark. We also examined our approach on ‘Health’ domain web pages and had comparable results. The calculated $GCS$ correlated 69% with crowdsourced Web Of Trust ($WOT$) score and 13% with algorithm based Alexa ranking across 5 Information security groups. This variance in correlation states that our $GCS$ approach aligns with human way ($WOT$) as compared to algorithmic way (Alexa) of web assessment in both the experiments.
有超过一万亿的网页，有大量的内容可供消费。搜索引擎的查询总是会导致大量的信息，其中一部分相关，另一部分无关。通常，所提供的信息可能相互矛盾、模棱两可和不一致，从而导致内容的可信度下降。在过去，研究者们提出了一些可信度评估方法，并列举了影响网页可信度的因素。在这项工作中，我们详细介绍了一个WEBCred框架，用于网页的自动类型感知可信度评估。我们基于提议的框架开发了一个工具，用于提取网页特征实例，并在评估其类型可信度评分($GCS$)时识别网页所属的类型。我们在“信息安全”数据集上验证了我们的方法，该数据集包含7个类型的8,550个url和171个功能。有监督学习算法Gradient boosting Decision Tree对类型进行分类，测试准确率为88.75%，超过10倍交叉验证，比目前的基准有所提高。我们还检查了我们在“健康”域名网页上的方法，并得出了类似的结果。计算出的$GCS$与众包Web Of Trust ($WOT$)评分的相关性为69%，与基于Alexa算法的5个信息安全组排名的相关性为13%。这种相关性的差异表明，在两个实验中，我们的$GCS$方法与人类的方法($WOT$)相一致，而不是算法的方法(Alexa)的网络评估。
{"title":"FACT - Fine grained Assessment of web page CredibiliTy","authors":"Shriyansh Agrawal, L. Sanagavarapu, Y. Reddy","doi":"10.1109/TENCON.2019.8929515","DOIUrl":"https://doi.org/10.1109/TENCON.2019.8929515","url":null,"abstract":"With more than a trillion web pages, there is a plethora of content available for consumption. Search Engine queries invariably lead to overwhelming information, parts of it relevant and some others irrelevant. Often the information provided can be conflicting, ambiguous, and inconsistent contributing to the loss of credibility of the content. In the past, researchers have proposed approaches for credibility assessment and enumerated factors influencing the credibility of web pages. In this work, we detailed a WEBCred framework for automated genre-aware credibility assessment of web pages. We developed a tool based on the proposed framework to extract web page features instances and identify genre a web page belongs to while assessing it's Genre Credibility Score ($GCS$). We validated our approach on ‘Information Security’ dataset of 8,550 URLs with 171 features across 7 genres. The supervised learning algorithm, Gradient Boosted Decision Tree classified genres with 88.75% testing accuracy over 10 fold cross-validation, an improvement over the current benchmark. We also examined our approach on ‘Health’ domain web pages and had comparable results. The calculated $GCS$ correlated 69% with crowdsourced Web Of Trust ($WOT$) score and 13% with algorithm based Alexa ranking across 5 Information security groups. This variance in correlation states that our $GCS$ approach aligns with human way ($WOT$) as compared to algorithmic way (Alexa) of web assessment in both the experiments.","PeriodicalId":36690,"journal":{"name":"Platonic Investigations","volume":"56 1","pages":"1088-1097"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76769773","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-10-01DOI: 10.1109/TENCON.2019.8929275
Aswathi R. Nair, V. Anand, S. Sambandan
Threshold voltage shift under bias stress is a significant instability mechanism in TFT based analog circuits. Here we study the impact of substrate curvature, due to buckling, on the threshold voltage shift in TFTs. The buckled structure is realized by texturing the gate metal layer in the form of periodic striations oriented along different directions. Preliminary studies under constant gate and drain bias indicate that the buckled TFTs suffer from a higher shift compared to planar devices. It is also observed that the angle of orientation of buckling influences the threshold voltage shift. It has been proposed that the observed trends in the experimental data are due to the vital role played by the contact resistance in buckled devices.
{"title":"Bias stress induced threshold voltage shift in buckled thin film transistors","authors":"Aswathi R. Nair, V. Anand, S. Sambandan","doi":"10.1109/TENCON.2019.8929275","DOIUrl":"https://doi.org/10.1109/TENCON.2019.8929275","url":null,"abstract":"Threshold voltage shift under bias stress is a significant instability mechanism in TFT based analog circuits. Here we study the impact of substrate curvature, due to buckling, on the threshold voltage shift in TFTs. The buckled structure is realized by texturing the gate metal layer in the form of periodic striations oriented along different directions. Preliminary studies under constant gate and drain bias indicate that the buckled TFTs suffer from a higher shift compared to planar devices. It is also observed that the angle of orientation of buckling influences the threshold voltage shift. It has been proposed that the observed trends in the experimental data are due to the vital role played by the contact resistance in buckled devices.","PeriodicalId":36690,"journal":{"name":"Platonic Investigations","volume":"72 1","pages":"78-81"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78034416","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-10-01DOI: 10.1109/TENCON.2019.8929457
M. V. Chilukuri, Tan Sih Sin
Multiresolution time-frequency analysis has been an important field in the signal processing especially for developing pattern recognition techniques for health monitoring and diagnostics. In the last two decade, several algorithms have been applied successfully for power quality analysis, condition monitoring and biomedical signal processing. However, in the most of the studies the research has been limited to specific algorithm and application. In this paper, the authors present a Time-Frequency analysis tool developed for the study of Pattern Recognition problem. It was developed using MATLAB GUI with several Time-frequency algorithms such as S-Transform, Hyperbolic S-Transform, and TT Transform for comparative studies. The developed tool has been successfully applied for the pattern recognition of Power System Transients. Simulations were performed to study the efficacy of the tool for various power system transients such as Load Switching, Motor Starting, Lightning, Capacitor Energization and Back-to-Back Switching. A simple rule-based was developed using Time-Frequency features for detection and classification of various power system transients. The tool also maps the power system transients on CBEMA/ITC curve highlighting the nature of disturbance. The simulation results demonstrate that developed pattern recognition tool was efficient and useful for the study of partial discharges and acoustic signals for developing smart health monitoring system.
{"title":"Pattern Recognition Tool For Detection and Classification of Power System Transients","authors":"M. V. Chilukuri, Tan Sih Sin","doi":"10.1109/TENCON.2019.8929457","DOIUrl":"https://doi.org/10.1109/TENCON.2019.8929457","url":null,"abstract":"Multiresolution time-frequency analysis has been an important field in the signal processing especially for developing pattern recognition techniques for health monitoring and diagnostics. In the last two decade, several algorithms have been applied successfully for power quality analysis, condition monitoring and biomedical signal processing. However, in the most of the studies the research has been limited to specific algorithm and application. In this paper, the authors present a Time-Frequency analysis tool developed for the study of Pattern Recognition problem. It was developed using MATLAB GUI with several Time-frequency algorithms such as S-Transform, Hyperbolic S-Transform, and TT Transform for comparative studies. The developed tool has been successfully applied for the pattern recognition of Power System Transients. Simulations were performed to study the efficacy of the tool for various power system transients such as Load Switching, Motor Starting, Lightning, Capacitor Energization and Back-to-Back Switching. A simple rule-based was developed using Time-Frequency features for detection and classification of various power system transients. The tool also maps the power system transients on CBEMA/ITC curve highlighting the nature of disturbance. The simulation results demonstrate that developed pattern recognition tool was efficient and useful for the study of partial discharges and acoustic signals for developing smart health monitoring system.","PeriodicalId":36690,"journal":{"name":"Platonic Investigations","volume":"44 1","pages":"1661-1666"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78418420","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-10-01DOI: 10.1109/TENCON.2019.8929322
P. Singh, Roshan Singh, Gwmsrang Muchahary, Mridutpal Lahon, Sukumar Nandi
With the increasing number of vehicles on the road, the insurance market for vehicular insurance is also increasing. There has been a massive proliferation in the number of policy taken by the drivers over the year. The traditional vehicular insurance processes used by the insurance companies rely on analyzing the history of the behaviors of the drivers for deciding the suitable premium amount to be paid by the vehicles. Usage-Based Insurance (UBI), which is based on telematics, turns out to be a modern and effective approach for providing insurance to the vehicles. Unlike the traditional approach, the premiums in the UBI are calculated based on the current behavior of the drivers. Moreover, there exists a lack of transparency in the processing of the claims, which not only results in delays of receiving the claims but also leads to a number of frauds. Decentralized technology such as blockchain turns out to be an effective solution for the problems mentioned above. In this work, we propose a blockchain-based framework for vehicular UBI and incentives in ITS. We demonstrate and analyze the feasibility of our work with proper experimental testbed setup.
{"title":"A Blockchain-Based Approach for Usage Based Insurance and Incentive in ITS","authors":"P. Singh, Roshan Singh, Gwmsrang Muchahary, Mridutpal Lahon, Sukumar Nandi","doi":"10.1109/TENCON.2019.8929322","DOIUrl":"https://doi.org/10.1109/TENCON.2019.8929322","url":null,"abstract":"With the increasing number of vehicles on the road, the insurance market for vehicular insurance is also increasing. There has been a massive proliferation in the number of policy taken by the drivers over the year. The traditional vehicular insurance processes used by the insurance companies rely on analyzing the history of the behaviors of the drivers for deciding the suitable premium amount to be paid by the vehicles. Usage-Based Insurance (UBI), which is based on telematics, turns out to be a modern and effective approach for providing insurance to the vehicles. Unlike the traditional approach, the premiums in the UBI are calculated based on the current behavior of the drivers. Moreover, there exists a lack of transparency in the processing of the claims, which not only results in delays of receiving the claims but also leads to a number of frauds. Decentralized technology such as blockchain turns out to be an effective solution for the problems mentioned above. In this work, we propose a blockchain-based framework for vehicular UBI and incentives in ITS. We demonstrate and analyze the feasibility of our work with proper experimental testbed setup.","PeriodicalId":36690,"journal":{"name":"Platonic Investigations","volume":"40 1","pages":"1202-1207"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75398640","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-10-01DOI: 10.1109/TENCON.2019.8929552
Zaibunnisa L. H. Malik, Pooja Raundale
The aim of this study is to examine the speed of finger tapping task of control group and target group. It is very important to assess the teenager's motor control in detecting possible motor deficits. The Finger Tapping Test (FTT) is a commonly used test and is a neuropsychological test which is design to measure the motor control. The sample for this study included 25 teenagers from control group and 25 teenagers from target group having their age between 13 to 16 years having mean age as 14.64. To detect the fine motor deficits in children with Autism we are going to calculate the threshold values for “Hits” and “Time” for the Control Group and then compare with the Target Group. For data collection we have used the Finger Tapping Test of Psychology Experiment Building Language (PEBL) software. The objective of this present study is to detect the motor deficits in teenagers having autism spectrum disorder which will then help to the doctors to assess and providing essential information for the development of therapies. The study also showed that older teenager's performance is significantly better than younger teenagers.
{"title":"Detection of Motor Deficits in Children with Autism Spectrum Disorder using FTT","authors":"Zaibunnisa L. H. Malik, Pooja Raundale","doi":"10.1109/TENCON.2019.8929552","DOIUrl":"https://doi.org/10.1109/TENCON.2019.8929552","url":null,"abstract":"The aim of this study is to examine the speed of finger tapping task of control group and target group. It is very important to assess the teenager's motor control in detecting possible motor deficits. The Finger Tapping Test (FTT) is a commonly used test and is a neuropsychological test which is design to measure the motor control. The sample for this study included 25 teenagers from control group and 25 teenagers from target group having their age between 13 to 16 years having mean age as 14.64. To detect the fine motor deficits in children with Autism we are going to calculate the threshold values for “Hits” and “Time” for the Control Group and then compare with the Target Group. For data collection we have used the Finger Tapping Test of Psychology Experiment Building Language (PEBL) software. The objective of this present study is to detect the motor deficits in teenagers having autism spectrum disorder which will then help to the doctors to assess and providing essential information for the development of therapies. The study also showed that older teenager's performance is significantly better than younger teenagers.","PeriodicalId":36690,"journal":{"name":"Platonic Investigations","volume":"41 1","pages":"1098-1102"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75554825","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-10-01DOI: 10.1109/TENCON.2019.8929486
Bobbili Medha, Durgam Chandana, Veldandi Sowmya, W. W. Godfrey, Gaurav Kaushal, J. Dhar
Tumor is an abnormal mass of tissue which is affected by various biophysical and biochemical factors and grows uncontrollably in both spatial and temporal scales. In this model, partial differential equations of the factors that affect tumor growth are used to simulate tumor progression along with angiogenesis in the presence and absence of Cytotoxic Drug. This model includes dynamic processes such as cell and vessel induced interstitial pressure, angiogenesis and cell division that are used to model tumor growth through different stages consisting of tumor initiation and growth, and transformation from avascular to vascular phase. In order to understand the nature of the cytotoxic drug used, the equation has been modified from [1] involving drug and active cells.
{"title":"Tumor Growth Modeling and Estimation of Changes with Respect to Cytotoxic Drugs","authors":"Bobbili Medha, Durgam Chandana, Veldandi Sowmya, W. W. Godfrey, Gaurav Kaushal, J. Dhar","doi":"10.1109/TENCON.2019.8929486","DOIUrl":"https://doi.org/10.1109/TENCON.2019.8929486","url":null,"abstract":"Tumor is an abnormal mass of tissue which is affected by various biophysical and biochemical factors and grows uncontrollably in both spatial and temporal scales. In this model, partial differential equations of the factors that affect tumor growth are used to simulate tumor progression along with angiogenesis in the presence and absence of Cytotoxic Drug. This model includes dynamic processes such as cell and vessel induced interstitial pressure, angiogenesis and cell division that are used to model tumor growth through different stages consisting of tumor initiation and growth, and transformation from avascular to vascular phase. In order to understand the nature of the cytotoxic drug used, the equation has been modified from [1] involving drug and active cells.","PeriodicalId":36690,"journal":{"name":"Platonic Investigations","volume":"36 1","pages":"1053-1058"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75611745","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-10-01DOI: 10.1109/TENCON.2019.8929613
C. Arvind, R. Prajwal, Prithvi Bhat, A. Sreedevi, K. N. Prabhudeva
This study presents a novel approach in detecting and tracking of fish in pisciculture. Pisciculture in general involves challenging tasks of counting and monitoring fish in natural or nature like, man-made habitats such as inland fisheries for breeding, feeding and sorting purposes. These are presently achieved using conventional methods that are inefficient when implemented in large-scale commercial productions. To overcome such difficulties and improve the efficiency of the processes, images of fish and fish seeds are captured in natural murky water habitats through a vision sensor on board an unmanned aerial vehicle (UAV). In this research paper, a deep instance segmentation algorithm called Mask R-CNN along with GOTURN tracking algorithm is employed for real time fish detection and tracking. A comparison study is also carried out (i) fish detection on high resolution images (ii) fish detection on high resolution image multi-region parallel processing (iii) fish detection on high resolution image multi-region parallel processing with tracking. The results are found to be accurate with image multi-region parallel processing along with tracking, with an F1 score of 0.91 at 16 frames per seconds on in-land fishes environment.
{"title":"Fish Detection and Tracking in Pisciculture Environment using Deep Instance Segmentation","authors":"C. Arvind, R. Prajwal, Prithvi Bhat, A. Sreedevi, K. N. Prabhudeva","doi":"10.1109/TENCON.2019.8929613","DOIUrl":"https://doi.org/10.1109/TENCON.2019.8929613","url":null,"abstract":"This study presents a novel approach in detecting and tracking of fish in pisciculture. Pisciculture in general involves challenging tasks of counting and monitoring fish in natural or nature like, man-made habitats such as inland fisheries for breeding, feeding and sorting purposes. These are presently achieved using conventional methods that are inefficient when implemented in large-scale commercial productions. To overcome such difficulties and improve the efficiency of the processes, images of fish and fish seeds are captured in natural murky water habitats through a vision sensor on board an unmanned aerial vehicle (UAV). In this research paper, a deep instance segmentation algorithm called Mask R-CNN along with GOTURN tracking algorithm is employed for real time fish detection and tracking. A comparison study is also carried out (i) fish detection on high resolution images (ii) fish detection on high resolution image multi-region parallel processing (iii) fish detection on high resolution image multi-region parallel processing with tracking. The results are found to be accurate with image multi-region parallel processing along with tracking, with an F1 score of 0.91 at 16 frames per seconds on in-land fishes environment.","PeriodicalId":36690,"journal":{"name":"Platonic Investigations","volume":"68 1","pages":"778-783"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72867970","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-10-01DOI: 10.1109/TENCON.2019.8929424
V. Hegde, V. Shivanand
In the present work investigation is carried out to determine the Electric field at different points inside the steel reinforced concrete building due to a nearby lightning strike to ground. A distributed RLC circuit model is employed for the building. Each rod representing the column and beam is divided into number of segments and each segment is represented by an equivalent RLC circuit. The mutual coupling between the elements is also taken into consideration. The channel of length 1 km is excited at the base by a current source model defined by Heidler function. The simulation results show that the peak value of the field is different at different locations. The magnitude of the field is found to decrease with the increase in distance between the strike point and the observation point. With the increase in height of the building it is found that the magnitude of the field inside the building is decreasing. The ground conductivity also has an effect on the peak value of the field.
{"title":"Evaluation of Electric Fields inside the Steel Reinforced Concrete Building due to a Nearby Lightning Strike to Ground","authors":"V. Hegde, V. Shivanand","doi":"10.1109/TENCON.2019.8929424","DOIUrl":"https://doi.org/10.1109/TENCON.2019.8929424","url":null,"abstract":"In the present work investigation is carried out to determine the Electric field at different points inside the steel reinforced concrete building due to a nearby lightning strike to ground. A distributed RLC circuit model is employed for the building. Each rod representing the column and beam is divided into number of segments and each segment is represented by an equivalent RLC circuit. The mutual coupling between the elements is also taken into consideration. The channel of length 1 km is excited at the base by a current source model defined by Heidler function. The simulation results show that the peak value of the field is different at different locations. The magnitude of the field is found to decrease with the increase in distance between the strike point and the observation point. With the increase in height of the building it is found that the magnitude of the field inside the building is decreasing. The ground conductivity also has an effect on the peak value of the field.","PeriodicalId":36690,"journal":{"name":"Platonic Investigations","volume":"52 1","pages":"1509-1513"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72899384","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-10-01DOI: 10.1109/LARS-SBR-WRE48964.2019.00035
F. Pimentel, P. Aquino
Accuracy and safety are necessary characteristics in social navigation and still constitute a challenge. The ROS Navigation Stack (RNS) allows the variation of local path planning methods through plugins for navigation. This paper brings you the comparison of those methods, which are directly connected with the safety and naturalness of the robot. Therefore, four different methods were compared by varying the sensors and the simulated environment. A thousand experiments were performed for each combination using the standard parameters of each method in a total of 24000 experiments. This paper concluded that the Elastic Band (EBand) method presents more safety and accuracy than the Dynamic window approach (DWA), method commonly used in several robots that participate in RoboCup@home, so it is more suitable for social navigation - reaching 90% accuracy in some cases and collision rate below 5%.
准确性和安全性是社会导航的必要特征，但仍然是一个挑战。ROS导航堆栈(RNS)允许通过插件进行导航的本地路径规划方法的变化。本文将对这些方法进行比较，这些方法直接关系到机器人的安全性和自然性。因此，通过改变传感器和模拟环境，比较了四种不同的方法。每个组合使用每种方法的标准参数进行1000次实验，共24000次实验。本文得出的结论是，Elastic Band (EBand)方法比参与RoboCup@home的多个机器人常用的动态窗口方法(Dynamic window approach, DWA)更具安全性和准确性，因此更适合社交导航——在某些情况下达到90%的准确率，碰撞率低于5%。
{"title":"Performance Evaluation of ROS Local Trajectory Planning Algorithms to Social Navigation","authors":"F. Pimentel, P. Aquino","doi":"10.1109/LARS-SBR-WRE48964.2019.00035","DOIUrl":"https://doi.org/10.1109/LARS-SBR-WRE48964.2019.00035","url":null,"abstract":"Accuracy and safety are necessary characteristics in social navigation and still constitute a challenge. The ROS Navigation Stack (RNS) allows the variation of local path planning methods through plugins for navigation. This paper brings you the comparison of those methods, which are directly connected with the safety and naturalness of the robot. Therefore, four different methods were compared by varying the sensors and the simulated environment. A thousand experiments were performed for each combination using the standard parameters of each method in a total of 24000 experiments. This paper concluded that the Elastic Band (EBand) method presents more safety and accuracy than the Dynamic window approach (DWA), method commonly used in several robots that participate in RoboCup@home, so it is more suitable for social navigation - reaching 90% accuracy in some cases and collision rate below 5%.","PeriodicalId":36690,"journal":{"name":"Platonic Investigations","volume":"144 1","pages":"156-161"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74491213","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-10-01DOI: 10.1109/TENCON.2019.8929287
Mei Okajima, Takafumi Ogawa, M. Shinagawa, Yoshinori Matsumoto, Jun Katsuyama, Yoshiaki Tanaka
This paper describes the effectiveness of differential detection for reducing laser noise in the low-frequency region in an electro-optic (EO) sensor system. Improvement in the signal-to-noise ratio (SNR) is necessary for expanding the applications of EO sensor systems. In a previous work, an alternating current coupling was used at an optical receiver to eliminate a direct current (DC) signal. As a result, the low-frequency effectiveness of the differential detection could not be estimated. Therefore, in this study, we modified a photodiode bias circuit for DC coupling measurement.
{"title":"Low-Frequency Effectiveness of Differential Detection for Electro-optic Sensor System","authors":"Mei Okajima, Takafumi Ogawa, M. Shinagawa, Yoshinori Matsumoto, Jun Katsuyama, Yoshiaki Tanaka","doi":"10.1109/TENCON.2019.8929287","DOIUrl":"https://doi.org/10.1109/TENCON.2019.8929287","url":null,"abstract":"This paper describes the effectiveness of differential detection for reducing laser noise in the low-frequency region in an electro-optic (EO) sensor system. Improvement in the signal-to-noise ratio (SNR) is necessary for expanding the applications of EO sensor systems. In a previous work, an alternating current coupling was used at an optical receiver to eliminate a direct current (DC) signal. As a result, the low-frequency effectiveness of the differential detection could not be estimated. Therefore, in this study, we modified a photodiode bias circuit for DC coupling measurement.","PeriodicalId":36690,"journal":{"name":"Platonic Investigations","volume":"90 1","pages":"2628-2632"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74205714","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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