Implementation results of efficient trajectories on a testbed AUV

In this paper we consider the implementation of time and energy efficient trajectories onto a test-bed autonomous underwater vehicle. The trajectories are losely connected to the results of the application of the maximum principle to the controlled mechanical system. We use a numerical algorithm to compute efficient trajectories designed using geometric control theory to optimize a given cost function. Experimental results are shown for the time minimization problem.

The L-31E Surface Water Rediversion Project Final Report: Implementation, Results, and Recommendations

Throughout the Biscayne Bay watershed, existing coastal wetland communities have been cut off from sheet flow for decades. With the expectation that reconnection of these wetlands to upstream water sources would alter existing hydrologic conditions and recreate a more natural sheet flow to Biscayne National Park, a demonstration project on freshwater rediversion was undertaken. The objectives of the project were to document the effects of freshwater diversion on: (a) swamp and nearshore water chemistry and hydrology; (b) soil development processes; (c) macrophyte and benthic algal community composition, structure and production; (d) abundance of epiphytic and epibenthic invertebrates; (e) zonation, production, and phenology of primary producers in the nearshore environment, and (f) exchanges of nutrients and particulates between nearshore and mangrove ecosystems.

Implementation of an embedded sensor network for the coordination of Slocum gliders for coastal monitoring and observation

Autonomous Underwater Vehicles (AUVs) are revolutionizing oceanography through their versatility, autonomy and endurance. However, they are still an underutilized technology. For coastal operations, the ability to track a certain feature is of interest to ocean scientists. Adaptive and predictive path planning requires frequent communication with significant data transfer. Currently, most AUVs rely on satellite phones as their primary communication. This communication protocol is expensive and slow. To reduce communication costs and provide adequate data transfer rates, we present a hardware modification along with a software system that provides an alternative robust disruption- tolerant communications framework enabling cost-effective glider operation in coastal regions. The framework is specifically designed to address multi-sensor deployments. We provide a system overview and present testing and coverage data for the network. Additionally, we include an application of ocean-model driven trajectory design, which can benefit from the use of this network and communication system. Simulation and implementation results are presented for single and multiple vehicle deployments. The presented combination of infrastructure, software development and deployment experience brings us closer to the goal of providing a reliable and cost-effective data transfer framework to enable real-time, optimal trajectory design, based on ocean model predictions, to gather in situ measurements of interesting and evolving ocean features and phenomena.

Design and implementation of time efficient trajectories for an underwater vehicle

This paper discusses control strategies adapted for practical implementation and efficient motion of underwater vehicles. These trajectories are piecewise constant thrust arcs with few actuator switchings. We provide the numerical algorithm which computes the time efficient trajectories parameterized by the switching times. We discuss both the theoretical analysis and experimental implementation results.

A framework for a dense matching algorithm : Results using matching metrics and order statistic filters

An algorithm for computing dense correspondences between images of a stereo pair or image sequence is presented. The algorithm can make use of both standard matching metrics and the rank and census filters, two filters based on order statistics which have been applied to the image matching problem. Their advantages include robustness to radiometric distortion and amenability to hardware implementation. Results obtained using both real stereo pairs and a synthetic stereo pair with ground truth were compared. The rank and census filters were shown to significantly improve performance in the case of radiometric distortion. In all cases, the results obtained were comparable to, if not better than, those obtained using standard matching metrics. Furthermore, the rank and census have the additional advantage that their computational overhead is less than these metrics. For all techniques tested, the difference between the results obtained for the synthetic stereo pair, and the ground truth results was small.

Design and implementation of the symmetrically extended 2-D wavelet transform

The inclusion of the Discrete Wavelet Transform in the JPEG-2000 standard has added impetus to the research of hardware architectures for the two-dimensional wavelet transform. In this paper, a VLSI architecture for performing the symmetrically extended two-dimensional transform is presented. This architecture conforms to the JPEG-2000 standard and is capable of near-optimal performance when dealing with the image boundaries. The architecture also achieves efficient processor utilization. Implementation results based on a Xilinx Virtex-2 FPGA device are included.

Spatially selective implementation of the adiabatic T2 prep sequence for magnetic resonance angiography of the coronary arteries.

In coronary magnetic resonance angiography, a magnetization-preparation scheme for T2 -weighting (T2 Prep) is widely used to enhance contrast between the coronary blood-pool and the myocardium. This prepulse is commonly applied without spatial selection to minimize flow sensitivity, but the nonselective implementation results in a reduced magnetization of the in-flowing blood and a related penalty in signal-to-noise ratio. It is hypothesized that a spatially selective T2 Prep would leave the magnetization of blood outside the T2 Prep volume unaffected and thereby lower the signal-to-noise ratio penalty. To test this hypothesis, a spatially selective T2 Prep was implemented where the user could freely adjust angulation and position of the T2 Prep slab to avoid covering the ventricular blood-pool and saturating the in-flowing spins. A time gap of 150 ms was further added between the T2 Prep and other prepulses to allow for in-flow of a larger volume of unsaturated spins. Consistent with numerical simulation, the spatially selective T2 Prep increased in vivo human coronary artery signal-to-noise ratio (42.3 ± 2.9 vs. 31.4 ± 2.2, n = 22, P < 0.0001) and contrast-to-noise-ratio (18.6 ± 1.5 vs. 13.9 ± 1.2, P = 0.009) as compared to those of the nonselective T2 Prep. Additionally, a segmental analysis demonstrated that the spatially selective T2 Prep was most beneficial in proximal and mid segments where the in-flowing blood volume was largest compared to the distal segments. Magn Reson Med, 2013. © 2012 Wiley Periodicals, Inc.

The DLMT hardware implementation. A comparative study with the DCT and the DWT

In the last recent years, with the popularity of image compression techniques, many architectures have been proposed. Those have been generally based on the Forward and Inverse Discrete Cosine Transform (FDCT, IDCT). Alternatively, compression schemes based on discrete "wavelets" transform (DWT), used, both, in JPEG2000 coding standard and in H264-SVC (Scalable Video Coding) standard, do not need to divide the image into non-overlapping blocks or macroblocks. This paper discusses the DLMT (Discrete Lopez-Moreno Transform) hardware implementation. It proposes a new scheme intermediate between the DCT and the DWT, comparing results of the most relevant proposed architectures for benchmarking. The DLMT can also be applied over a whole image, but this does not involve increasing computational complexity. FPGA implementation results show that the proposed DLMT has significant performance benefits and improvements comparing with the DCT and the DWT and consequently it is very suitable for implementation on WSN (Wireless Sensor Network) applications.

"Learning together, growing with family": the implementation and evaluation of a family support programme

The "Learning together, growing with family" programme is targeted to at-risk parents and children from 6 to 11 years old, with a preventive focus on promoting positive parent-child relationships. In this study, we examined the quality of the programme implementation and its influence on the programme results in a sample of 425 parents and 138 facilitators drawn from the first trial. Mixed methods were used, consisting of: parental self-reports on parenting dimensions, professionals' records on parental attendance and appraisals on six topics of the implementation process, and focus group discussions in which facilitators reported on the initial steps of the implementation. Results showed a high quality of implementation with respect to the group facilitator and the programme organization factors, followed by the coordination with services and the support facilities offered to participants and, finally, by the factors of fidelity and prior organization steps. Results of the focus groups confirmed that the prior steps were challenging and offered the more effective strategies. Better quality in the implementation factors predicted better parenting styles and parental competencies after the programme, as well as a higher attendance rate. In sum, this study demonstrates the importance of good implementation in at-risk contexts and provides some clues as to the key elements that moderate programme effectiveness.

Cryptographic techniques for managing computational effort

Availability has become a primary goal of information security and is as significant as other goals, in particular, confidentiality and integrity. Maintaining availability of essential services on the public Internet is an increasingly difficult task in the presence of sophisticated attackers. Attackers may abuse limited computational resources of a service provider and thus managing computational costs is a key strategy for achieving the goal of availability. In this thesis we focus on cryptographic approaches for managing computational costs, in particular computational effort. We focus on two cryptographic techniques: computational puzzles in cryptographic protocols and secure outsourcing of cryptographic computations. This thesis contributes to the area of cryptographic protocols in the following ways. First we propose the most efficient puzzle scheme based on modular exponentiations which, unlike previous schemes of the same type, involves only a few modular multiplications for solution verification; our scheme is provably secure. We then introduce a new efficient gradual authentication protocol by integrating a puzzle into a specific signature scheme. Our software implementation results for the new authentication protocol show that our approach is more efficient and effective than the traditional RSA signature-based one and improves the DoSresilience of Secure Socket Layer (SSL) protocol, the most widely used security protocol on the Internet. Our next contributions are related to capturing a specific property that enables secure outsourcing of cryptographic tasks in partial-decryption. We formally define the property of (non-trivial) public verifiability for general encryption schemes, key encapsulation mechanisms (KEMs), and hybrid encryption schemes, encompassing public-key, identity-based, and tag-based encryption avors. We show that some generic transformations and concrete constructions enjoy this property and then present a new public-key encryption (PKE) scheme having this property and proof of security under the standard assumptions. Finally, we combine puzzles with PKE schemes for enabling delayed decryption in applications such as e-auctions and e-voting. For this we first introduce the notion of effort-release PKE (ER-PKE), encompassing the well-known timedrelease encryption and encapsulated key escrow techniques. We then present a security model for ER-PKE and a generic construction of ER-PKE complying with our security notion.

Updates on sorting of fully homomorphic encrypted data

In this paper, we show implementation results of various algorithms that sort data encrypted with Fully Homomorphic Encryption scheme based on Integers. We analyze the complexities of sorting algorithms over encrypted data by considering Bubble Sort, Insertion Sort, Bitonic Sort and Odd-Even Merge sort. Our complexity analysis together with implementation results show that Odd-Even Merge Sort has better performance than the other sorting techniques. We observe that complexity of sorting in homomorphic domain will always have worst case complexity independent of the nature of input. In addition, we show that combining different sorting algorithms to sort encrypted data does not give any performance gain when compared to the application of sorting algorithms individually.

System-level analysis of network interfaces for hierarchical MPSoCs

Network Interfaces (NIs) are used in Multiprocessor System-on-Chips (MPSoCs) to connect CPUs to a packet switched Network-on-Chip. In this work we introduce a new NI architecture for our hierarchical CoreVA-MPSoC. The CoreVA-MPSoC targets streaming applications in embedded systems. The main contribution of this paper is a system-level analysis of different NI configurations, considering both software and hardware costs for NoC communication. Different configurations of the NI are compared using a benchmark suite of 10 streaming applications. The best performing NI configuration shows an average speedup of 20 for a CoreVA-MPSoC with 32 CPUs compared to a single CPU. Furthermore, we present physical implementation results using a 28 nm FD-SOI standard cell technology. A hierarchical MPSoC with 8 CPU clusters and 4 CPUs in each cluster running at 800MHz requires an area of 4.56mm2.

Video coding mode decision as a classification problem

In this paper, we show that it is possible to reduce the complexity of Intra MB coding in H.264/AVC based on a novel chance constrained classifier. Using the pairs of simple mean-variances values, our technique is able to reduce the complexity of Intra MB coding process with a negligible loss in PSNR. We present an alternate approach to address the classification problem which is equivalent to machine learning. Implementation results show that the proposed method reduces encoding time to about 20% of the reference implementation with average loss of 0.05 dB in PSNR.