Effects of realistic force feedback in a robotic assisted minimally invasive surgery system

Robotic assisted minimally invasive surgery systems not only have the advantages of traditional laparoscopic procedures but also restore the surgeon's hand-eye coordination and improve the surgeon's precision by filtering hand tremors. Unfortunately, these benefits have come at the expense of the surgeon's ability to feel. Several research efforts have already attempted to restore this feature and study the effects of force feedback in robotic systems. The proposed methods and studies have some shortcomings. The main focus of this research is to overcome some of these limitations and to study the effects of force feedback in palpation in a more realistic fashion.

A survey of cloud-based service computing solutions for mammalian genomics

Cloud-based service computing has started to change the way how research in science, in particular biology, medicine, and engineering, is being carried out. Researchers in the area of mammalian genomics have taken advantage of cloud computing technology to cost-effectively process large amounts of data and speed up discovery. Mammalian genomics is limited by the cost and complexity of analysis, which require large amounts of computational resources to analyse huge amount of data and biology specialists to interpret results. On the other hand the application of this technology requires computing knowledge, in particular programming and operations management skills to develop high performance computing (HPC) applications and deploy them on HPC clouds. We carried out a survey of cloud-based service computing solutions, as the most recent and promising instantiations of distributed computing systems, in the context their use in research of mammalian genomic analysis. We describe our most recent research and development effort which focuses on building Software as a Service (SaaS) clouds to simplify the use of HPC clouds for carrying out mammalian genomic analysis.

Control flow-based malware variant detection

Static detection of malware variants plays an important role in system security and control flow has been shown as an effective characteristic that represents polymorphic malware. In our research, we propose a similarity search of malware to detect these variants using novel distance metrics. We describe a malware signature by the set of control flowgraphs the malware contains. We use a distance metric based on the distance between feature vectors of string-based signatures. The feature vector is a decomposition of the set of graphs into either fixed size k-subgraphs, or q-gram strings of the high-level source after decompilation. We use this distance metric to perform pre-filtering. We also propose a more effective but less computationally efficient distance metric based on the minimum matching distance. The minimum matching distance uses the string edit distances between programs' decompiled flowgraphs, and the linear sum assignment problem to construct a minimum sum weight matching between two sets of graphs. We implement the distance metrics in a complete malware variant detection system. The evaluation shows that our approach is highly effective in terms of a limited false positive rate and our system detects more malware variants when compared to the detection rates of other algorithms. © 2013 IEEE.

Robust multi-factor authentication for fragile communications

In large-scale systems, user authentication usually needs the assistance from a remote central authentication server via networks. The authentication service however could be slow or unavailable due to natural disasters or various cyber attacks on communication channels. This has raised serious concerns in systems which need robust authentication in emergency situations. The contribution of this paper is two-fold. In a slow connection situation, we present a secure generic multi-factor authentication protocol to speed up the whole authentication process. Compared with another generic protocol in the literature, the new proposal provides the same function with significant improvements in computation and communication. Another authentication mechanism, which we name stand-alone authentication, can authenticate users when the connection to the central server is down. We investigate several issues in stand-alone authentication and show how to add it on multi-factor authentication protocols in an efficient and generic way.

Modeling and analysis on the propagation dynamics of modern email malware

Due to the critical security threats imposed by email-based malware in recent years, modeling the propagation dynamics of email malware becomes a fundamental technique for predicting its potential damages and developing effective countermeasures. Compared to earlier versions of email malware, modern email malware exhibits two new features, reinfection and self-start. Reinfection refers to the malware behavior that modern email malware sends out malware copies whenever any healthy or infected recipients open the malicious attachment. Self-start refers to the behavior that malware starts to spread whenever compromised computers restart or certain files are visited. In the literature, several models are proposed for email malware propagation, but they did not take into account the above two features and cannot accurately model the propagation dynamics of modern email malware. To address this problem, we derive a novel difference equation based analytical model by introducing a new concept of virtual infected user. The proposed model can precisely present the repetitious spreading process caused by reinfection and self-start and effectively overcome the associated computational challenges. We perform comprehensive empirical and theoretical study to validate the proposed analytical model. The results show our model greatly outperforms previous models in terms of estimation accuracy. © 2013 IEEE.

Performance appraisal of software testers

Context To determine the effectiveness of software testers a suitable performance appraisal approach is necessary, both for research and practice purposes. However, review of relevant literature reveals little information of how software testers are appraised in practice. Objective (i) To enhance our knowledge of industry practice of performance appraisal of software testers and (ii) to collect feedback from project managers on a proposed performance appraisal form for software testers. Method A web-based survey with questionnaire was used to collect responses. Participants were recruited using cluster and snowball sampling. 18 software development project managers participated. Results We found two broad trends in performance appraisal of software testers - same employee appraisal process for all employees and a specialized performance appraisal method for software testers. Detailed opinions were collected and analyzed on how performance of software testers should be appraised. Our proposed appraisal approach was generally well-received. Conclusion Factors such as number of bugs found after delivery and efficiency of executing test cases were considered important in appraising software testers' performance. Our proposed approach was refined based on the feedback received.

Hudumia: a platform to support spontaneous volunteers' situational awareness, coordination and safety underemergency scenarios

Spontaneous volunteers always emerge under emergency scenarios and are vital to a successful community response, yet some uncertainty subsists around their role and its inherent acceptance by official entities under emergency scenarios. In our research we have identified that most of the spontaneous volunteers do have none or little support from official entities, hence they end up facing critical problems as situational awareness, safety instructions and guidance, motivation and group organization. We argue that official entities still play a crucial role and should change some of their behaviors regarding spontaneous volunteerism. We aim with this thesis to design a software architecture and a framework in order to implement a solution to support spontaneous volunteerism under emergency scenarios along with a set of guidelines for the design of open information management systems. Together with the collaboration from both citizens and emergency professionals we have been able to attain several important contributions, as the clear identification of the roles taken by both spontaneous volunteers and professionals, the importance of volunteerism in overall community response and the role which open collaborative information management systems have in the community volunteering efforts. These conclusions have directly supported the design guidelines of our software solution proposal. In what concerns to methodology, we first review literature on technologies support to emergencies and how spontaneous volunteers actually challenge these systems. Following, we have performed a field research where we have observed that the emerging of spontaneous volunteer’s efforts imposes new requirements for the design of such systems, which leaded to the creation of a cluster of design guidelines that supported our software solution proposal to address the volunteers’ requirements. Finally we have architected and developed an online open information management tool which has been evaluated via usability engineering methods, usability user tests and heuristic evaluations.

Uma estratégia dirigida a modelos e baseada em linguagem de descrição arquitetural para linhas de produtos de software

Model-oriented strategies have been used to facilitate products customization in the software products lines (SPL) context and to generate the source code of these derived products through variability management. Most of these strategies use an UML (Unified Modeling Language)-based model specification. Despite its wide application, the UML-based model specification has some limitations such as the fact that it is essentially graphic, presents deficiencies regarding the precise description of the system architecture semantic representation, and generates a large model, thus hampering the visualization and comprehension of the system elements. In contrast, architecture description languages (ADLs) provide graphic and textual support for the structural representation of architectural elements, their constraints and interactions. This thesis introduces ArchSPL-MDD, a model-driven strategy in which models are specified and configured by using the LightPL-ACME ADL. Such strategy is associated to a generic process with systematic activities that enable to automatically generate customized source code from the product model. ArchSPLMDD strategy integrates aspect-oriented software development (AOSD), modeldriven development (MDD) and SPL, thus enabling the explicit modeling as well as the modularization of variabilities and crosscutting concerns. The process is instantiated by the ArchSPL-MDD tool, which supports the specification of domain models (the focus of the development) in LightPL-ACME. The ArchSPL-MDD uses the Ginga Digital TV middleware as case study. In order to evaluate the efficiency, applicability, expressiveness, and complexity of the ArchSPL-MDD strategy, a controlled experiment was carried out in order to evaluate and compare the ArchSPL-MDD tool with the GingaForAll tool, which instantiates the process that is part of the GingaForAll UML-based strategy. Both tools were used for configuring the products of Ginga SPL and generating the product source code

STREAM-AP: um processo para sistematizar a escolha de padrões arquiteturais baseado em requisitos não-funcionais

The importance of non-functional requirements for computer systems is increasing. Satisfying these requirements requires special attention to the software architecture, since an unsuitable architecture introduces greater complexity in addition to the intrinsic complexity of the system. Some studies have shown that, despite requirements engineering and software architecture activities act on different aspects of development, they must be performed iteratively and intertwined to produce satisfactory software systems. The STREAM process presents a systematic approach to reduce the gap between requirements and architecture development, emphasizing the functional requirements, but using the non-functional requirements in an ad hoc way. However, non-functional requirements typically influence the system as a whole. Thus, the STREAM uses Architectural Patterns to refine the software architecture. These patterns are chosen by using non-functional requirements in an ad hoc way. This master thesis presents a process to improve STREAM in making the choice of architectural patterns systematic by using non-functional requirements, in order to guide the refinement of a software architecture

A multimedia environment for supporting the teaching of robotics systems

This paper aims at describing an educational system for teaching and learning robotic systems. Multimedia resources were used to construct a virtual laboratory where users are able to use functionalities of a virtual robotic arm, by moving and clicking the mouse without caring about the detailed internal robot operation. Moreover through the multimedia system the user can interact with a real robot arm. The engineering students are the target public of the developed system. With its contents and interactive capabilities, it has been used as a support to the traditional face-to-face classes on the subject of robotics.. In the paper it is first introduced the metaphor of Virtual Laboratory used in the system. Next, it is described the Graphical and Multimedia Environment approach: an interactive graphic user interface with a 3D environment for simulation. Design and implementation issues of the real-time interactive multimedia learning system, which supports the W3C SMIL standard for presenting the real-time multimedia teaching material, are described. Finally, some preliminary conclusions and possible future works from this research are presented.

Teaching robotics systems in a multimedia environment

This paper describes the development of a multimedia educational system to teach and learn robotic systems. Multimedia resources have been used to build a virtual laboratory where users are able to utilize functions of a robotic arm, by moving and clicking the mouse without worrying about the detailed robot internal operation. The multimedia system is integrated with a real robotic arm, which was also developed at the university. Through robotic topic presentations and interactive capabilities provided by this system and its tools, students can devote themselves on the learning process just as they do in the traditional face-to-face classes. and the target public of this system are the engineering students themselves.

Tuning of fuzzy inference systems through unconstrained optimization techniques

This paper presents a new methodology for the adjustment of fuzzy inference systems. A novel approach, which uses unconstrained optimization techniques, is developed in order to adjust the free parameters of the fuzzy inference system, such as its intrinsic parameters of the membership function and the weights of the inference rules. This methodology is interesting, not only for the results presented and obtained through computer simulations, but also for its generality concerning to the kind of fuzzy inference system used. Therefore, this methodology is expandable either to the Mandani architecture or also to that suggested by Takagi-Sugeno. The validation of the presented methodology is accomplished through an estimation of time series. More specifically, the Mackey-Glass chaotic time series estimation is used for the validation of the proposed methodology.

ARISupport - Interaction support for augmented reality systems

The communication between user and software is a basic stage in any Interaction System project. In interactive systems, this communication is established by the means of a graphical interface, whose objective is to supply a visual representation of the main entities and functions present in the Virtual Environment. New ways of interacting in computational systems have been minimizing the gap in the relationship between man and computer, and therefore enhancing its usability. The objective of this paper, therefore, is to present a proposal for a non-conventional user interface library called ARISupport, which supplies ARToolKit applications developers with an opportunity to create simple GUI interfaces, and provides some of the functionality used in Augmented Reality systems. © Springer-Verlag Berlin Heidelberg 2005.

Malware distributed collection and pre-classification system using honeypot technology

Malware has become a major threat in the last years due to the ease of spread through the Internet. Malware detection has become difficult with the use of compression, polymorphic methods and techniques to detect and disable security software. Those and other obfuscation techniques pose a problem for detection and classification schemes that analyze malware behavior. In this paper we propose a distributed architecture to improve malware collection using different honeypot technologies to increase the variety of malware collected. We also present a daemon tool developed to grab malware distributed through spam and a pre-classification technique that uses antivirus technology to separate malware in generic classes. © 2009 SPIE.

Wizard CD Plus and ProTaper Universal: analysis of apical transportation using new software

Objective: This study has two aims: 1) to evaluate the apical transportation of the Wizard CD Plus and ProTaper Universal after preparation of simulated root canals; 2) to compare, with Adobe Photoshop, the ability of a new software (Regeemy) in superposing and subtracting images. Material and Methods: Twenty five simulated root canals in acrylic-resin blocks (with 20 degrees curvature) underwent cone beam computed tomography before and after preparation with the rotary systems (70 kVp, 4 mA, 10 s and with the 8x8 cm FoV selection). Canals were prepared up to F2 (ProTaper) and 24.04 (Wizard CD Plus) instruments and the working length was established to 15 mm. The tomographic images were imported into iCAT Vision software and CorelDraw for standardization. The superposition of pre- and post-instrumentation images from both systems was performed using Regeemy and Adobe Photoshop. The apical transportation was measured in millimetres using Image J. Five acrylic resin blocks were used to validate the superposition achieved by the software. Student's t-test for independent samples was used to evaluate the apical transportation achieved by the rotary systems using each software individually. Student's t-test for paired samples was used to compare the ability of each software in superposing and subtracting images from one rotary system per time. Results: The values obtained with Regeemy and Adobe Photoshop were similar to rotary systems (P>0.05). ProTaper Universal and Wizard CD Plus promoted similar apical transportation regardless of the software used for image's superposition and subtraction (P>0.05). Conclusion: Wizard CD Plus and ProTaper Universal promoted little apical transportation. Regeemy consists in a feasible software to superpose and subtract images and appears to be an alternative to Adobe Photoshop.