959 resultados para wheeled mobile robot
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Mobile devices have become ubiquitous, allowing the integration of new information from a large range of devices. However, the development of new applications requires a powerful framework which simplifies their construction. JXME is the JXTA implementation for mobile devices using J2ME, its main value being its simplicity when creating peer-to-peer (P2P) applications on limited devices. On that regard, an issue that is becoming veryimportant in the recent times is being able to provide a security baseline to such applications. This paper analyzes the currentstate of security in JXME and proposes a simple security mechanism in order to protect JXME applications against a broad range of vulnerabilities.
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Peer-reviewed
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In this paper we present a novel mechanism for the protection of dynamic itineraries for mobile agent applications. Itineraries that are decided as the agent goes are essential in complex applications based on mobile agents, but no approach has been presented until now to protect them. We have conceived a cryptographic scheme for shielding dynamic itineraries from tampering, impersonation and disclosure. By using trust strategically, our scheme provides a balanced trade-off between flexibility and security. Our protection scheme has been thought always bearing in mind a feasible implementation, and thus facilitates the development of applications that make use of it. An example application based on a real healthcare scenario is also presented to show its operation.
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The design of an efficient collaborative multirobot framework that ensures the autonomy and the individualrequirements of the involved robots is a very challenging task. This requires designing an efficient platform for inter-robot communication. P2P is a good approach to achieve this goal. P2P aims at making the communication ubiquitous thereby crossing the communication boundary and has many attractive features to use it as a platform for collaborative multi-robot environments. In this work, we present the JXTA Overlay P2P system and its application for robot control. Since JXTAOverlay is able to overcome Firewalls, Routers and NATs, it is possible to control end-devices in a WAN without changing the network security policy. We used JXTA-Overlay for the control of robot motors. We evaluated the proposed system by many experiments and have shown that the proposed system has a good performance and can be used successfully for the control of robot.
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JXME is the JXTA protocols implementation formobile devices using J2ME. Two different flavors of JXME have been implemented, each one specific for a particular set of devices, according to their capabilities. The main value of JXME is its simplicity to create peer-to-peer (P2P) applications in limited devices. In addition to assessing JXME functionalities, it is also important to realize the default security level provided. This paper presents a brief analysis of the current state of security in JXME, focusing on the JXME-Proxied version, identifies existing vulnerabilities and proposes further improvements in this field.
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Financial information is extremely sensitive. Hence, electronic banking must provide a robust system to authenticate its customers and let them access their data remotely. On the other hand, such system must be usable, affordable, and portable.We propose a challengeresponse based one-time password (OTP) scheme that uses symmetriccryptography in combination with a hardware security module. The proposed protocol safeguards passwords from keyloggers and phishing attacks.Besides, this solution provides convenient mobility for users who want to bank online anytime and anywhere, not just from their owntrusted computers.
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Manet security has a lot of open issues. Due to its character-istics, this kind of network needs preventive and corrective protection. Inthis paper, we focus on corrective protection proposing an anomaly IDSmodel for Manet. The design and development of the IDS are consideredin our 3 main stages: normal behavior construction, anomaly detectionand model update. A parametrical mixture model is used for behav-ior modeling from reference data. The associated Bayesian classi¯cationleads to the detection algorithm. MIB variables are used to provide IDSneeded information. Experiments of DoS and scanner attacks validatingthe model are presented as well.
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The conditions for the analysis of selected doping substances by UHPSFC-MS/MS were optimized to ensure suitable peak shapes and maximized MS responses. A representative mixture of 31 acidic and basic doping agents was analyzed, in both ESI+ and ESI- modes. The best compromise for all compounds in terms of MS sensitivity and chromatographic performance was obtained when adding 2% water and 10mM ammonium formate in the CO2/MeOH mobile phase. Beside mobile phase, the nature of the make-up solvent added for interfacing UHPSFC with MS was also evaluated. Ethanol was found to be the best candidate as it was able to compensate for the negative effect of 2% water addition in ESI- mode and provided a suitable MS response for all doping agents. Sensitivity of the optimized UHPSFC-MS/MS method was finally assessed and compared to the results obtained in conventional UHPLC-MS/MS. Sensitivity was improved by 5-100-fold in UHPSFC-MS/MS vs. UHPLC-MS/MS for 56% of compounds, while only one compound (bumetanide) offered a significantly higher MS response (4-fold) under UHPLC-MS/MS conditions. In the second paper of this series, the optimal conditions for UHPSFC-MS/MS analysis will be employed to screen >100 doping agents in urine matrix and results will be compared to those obtained by conventional UHPLC-MS/MS.
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The problem of robust beamformer design for mobile communicationsapplications in the presence of moving co-channel sources isaddressed. A generalization of the optimum beamformer based on a statisticalmodel accounting for source movement is proposed. The new methodis easily implemented and is shown to offer dramatic improvements overconventional optimum beamforming for moving sources under a varietyof operating conditions.
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This paper presents a relational positioning methodology for flexibly and intuitively specifying offline programmed robot tasks, as well as for assisting the execution of teleoperated tasks demanding precise movements.In relational positioning, the movements of an object can be restricted totally or partially by specifying its allowed positions in terms of a set of geometric constraints. These allowed positions are found by means of a 3D sequential geometric constraint solver called PMF – Positioning Mobile with respect to Fixed. PMF exploits the fact that in a set of geometric constraints, the rotational component can often be separated from the translational one and solved independently.
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Langattoman laajakaistaisen tietoliikennetekniikan kehittyminen on herättänyt kiinnostuksen sen ammattimaiseen hyödyntämiseen yleisen turvallisuuden ja kriisinhallinnan tarpeisiin. Hätätilanteissa usein olemassa olevat kiinteät tietoliikennejärjestelmät eivät ole ollenkaan käytettävissä tai niiden tarjoama kapasiteetti ei ole riittävä. Tästä syystä on noussut esiin tarve nopeasti toimintakuntoon saatettaville ja itsenäisille langattomille laajakaistaisille järjestelmille. Tässä diplomityössä on tarkoitus tutkia langattomia ad hoc monihyppy -verkkoja yleisen turvallisuuden tarpeiden pohjalta ja toteuttaa testialusta, jolla voidaan demonstroida sekä tutkia tällaisen järjestelmän toimintaa käytännössä. Työssä tutkitaan pisteestä pisteeseen sekä erityisesti pisteestä moneen pisteeseen suoritettavaa tietoliikennettä. Mittausten kohteena on testialustan tiedonsiirtonopeus, lähetysteho ja vastaanottimen herkkyys. Näitä tuloksia käytetään simulaattorin parametreina, jotta simulaattorin tulokset olisivat mahdollisimman aidot ja yhdenmukaiset testialustan kanssa. Sen jälkeen valitaan valikoima yleisen turvallisuuden vaatimusten mukaisia ohjelmia ja sovellusmalleja, joiden suorituskyky mitataan erilaisten reititysmenetelmien alaisena sekä testialustalla että simulaattorilla. Tuloksia arvioidaan ja vertaillaan. Multicast monihyppy -video päätettiin sovelluksista valita tutkimusten pääkohteeksi ja sitä sekä sen ominaisuuksia on tarkoitus myös oikeissa kenttäkokeissa.
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Toiminnanohjausjärjestelmien käyttö on muuttanut metsäteollisuuden kunnossapidon työntekijän toimenkuvaa kunnossapidon perustoiminnoista itseohjautuvampaan tietojen käsittelyyn ja jalostamiseen. Työn tavoitteena oliselvittää mobiilin työtilausjärjestelmän vaikutuksia metsäteollisuuden kunnossapidon kenttätyössä. Mobiilin työtilausjärjestelmän käyttö metsäteollisuuden kunnossapidossa mahdollistaa tärkeän kunnossapitotiedon keräämisen ja tarkentamisen kentällä, jossa se usein on ajanmukaisinta ja tarkinta. Haasteellisinta on oikeanlaisen teknologian löytäminen ja standardoiminen kunnossapidon toimintaympäristöihin. Myös organisaation toimintoprosessien on oltava selkeät ennen kuin prosesseja voidaan tehostaa teknologisin keinoin.
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Työ sisältää ohjaislaitteiston vertailun ja valinnan rinnakkaisrakenteista robottia varten sekä kunnonvalvontajärjestelmän periaatteiden laadinnan kyseistä robottia varten. Ohjauslaitteisto sisältää teollisuustietokoneen sekä kenttäväylän. Sekä tietokoneesta että väylästä on teoriaosuus ja yksityiskohtaisempi valintaosuus. Teoriaosuudessa selitetään tarkemmin laitteiden toimintaperiaatteista. Valintaosuudessa kerrotaanmiksi jokin tietty laite on valittu käytettäväksi robotin ohjauksessa. Kunnonvalvontateoria ja rinnakkaisrakenteisen robotin kunnonvalvonnan keinot ovat työn toinen osa. Teoriaosa sisältää yleisluonteisen selvityksen vikaantumisesta ja valvonnasta. Erikoisrobotin kunnonvalvonnan keinot esitetään työssä tietyssä järjestyksessä. Ensin esitetään mahdolliset vikatilanteet. Toisessa kohdassa havainnollistetaan vikojen havaitseminen.