Robot Pose Estimation in Unknown Environments by Matching 2D Range Scans

A mobile robot exploring an unknown environment has no absolute frame of reference for its position, other than features it detects through its sensors. Using distinguishable landmarks is one possible approach, but it requires solving the object recognition problem. In particular, when the robot uses two-dimensional laser range scans for localization, it is difficult to accurately detect and localize landmarks in the environment (such as corners and occlusions) from the range scans.In this paper, we develop two new iterative algorithms to register a range scan to a previous scan so as to compute relative robot positions in an unknown environment, that avoid the above problems. The first algorithm is based on matching data points with tangent directions in two scans and minimizing a distance function in order to solve the displacement between the scans. The second algorithm establishes correspondences between points in the two scans and then solves the point-to-point least-squares problem to compute the relative pose of the two scans. Our methods work in curved environments and can handle partial occlusions by rejecting outliers.     

Distributed computing on oriented anonymous hypercubes with faulty components

We give efficient algorithms for distributed computation on oriented, anonymous, asynchronous hypercubes with possible faulty components (i.e. processors and links) and deterministic processors. Initially, the processors know only the size of the network and that they are inter-connected in a hypercube topology. Faults may occur only before the start of the computation (and that despite this the hypercube remains a connected network). However, the processors do not know where these faults are located. As a measure of complexity we use the total number of bits transmitted during the execution of the algorithm and we concentrate on giving algorithms that will minimize this number of bits. The main result of this paper is an algorithm for computing Boolean functions on anonymous hypercubes with bit cost , where is the number of faulty components (i.e. links plus processors), is the number of links which are either faulty, or non-faulty but adjacent to faulty processors, and is the diameter of the hypercube with faulty components. Received: October 1992 / Accepted: April 2001     

Public-Private Partnerships in the Water Sector

Abstract

Types of partnerships between public and private companies in water and sewage services are evaluated on the basis of the economic efficiency of the scheme for each partner. Modeling of public-private partnerships involves the formulation of a contract prototype, which determines the roles, functions, and responsibilities as well as the allocation of costs and revenues for each partner. Alternative water management scenarios are used to identify the investments required for meeting the projected demand for water and sewage services. Investment and operational costs as well as revenues from water and sewage services are estimated according to the allocation defined in the contract prototype. The economic efficiency of the scheme is assessed through a cost benefit analysis for each partner. The evaluation of different water management scenarios indicates that, for the Cyclades Islands, Greece, there is a substantial water market where several forms of partnerships could be attractive for both the public and the private sectors. Such partnerships include, among others, lease purchase, temporary privatization, built operate transfer (BOT), and built own operate transfer (BOOT). These forms of public-private partnerships could also be successful in similar regions where significant improvements and expansion of the infrastructure is required while access to the required funds and expertise is restricted for small public water companies.     

Improving the performance of passive network monitoring applications with memory locality enhancements

Passive network monitoring is the basis for a multitude of systems that support the robust, efficient, and secure operation of modern computer networks. Emerging network monitoring applications are more demanding in terms of memory and CPU resources due to the increasingly complex analysis operations that are performed on the inspected traffic. At the same time, as the traffic throughput in modern network links increases, the CPU time that can be devoted for processing each network packet decreases. This leads to a growing demand for more efficient passive network monitoring systems in which runtime performance becomes a critical issue.In this paper we present locality buffering, a novel approach for improving the runtime performance of a large class of CPU and memory intensive passive monitoring applications, such as intrusion detection systems, traffic characterization applications, and NetFlow export probes. Using locality buffering, captured packets are being reordered by clustering packets with the same port number before they are delivered to the monitoring application. This results in improved code and data locality, and consequently, in an overall increase in the packet processing throughput and decrease in the packet loss rate. We have implemented locality buffering within the widely used libpcap packet capturing library, which allows existing monitoring applications to transparently benefit from the reordered packet stream without modifications. Our experimental evaluation shows that locality buffering improves significantly the performance of popular applications, such as the Snort IDS, which exhibits a 21% increase in the packet processing throughput and is able to handle 67% higher traffic rates without dropping any packets.     

Distributed algorithms for barrier coverage using relocatable sensors

We study the barrier coverage problem using relocatable sensor nodes. We assume each sensor can sense an intruder or event inside its sensing range. Sensors are initially located at arbitrary positions on the barrier and can move along the barrier. The goal is to find final positions for sensors so that the entire barrier is covered. In recent years, the problem has been studied extensively in the centralized setting. In this paper, we study a barrier coverage problem in the distributed and discrete setting. We assume that we have n identical sensors located at grid positions on the barrier, and that each sensor repeatedly executes a Look-Compute-Move cycle: based on what it sees in its vicinity, it makes a decision on where to move, and moves to its next position. We make two strong but realistic restrictions on the capabilities of sensors: they have a constant visibility range and can move only a constant distance in every cycle. In this model, we give the first two distributed algorithms that achieve barrier coverage for a line segment barrier when there are enough nodes in the network to cover the entire barrier. Our algorithms are synchronous, and local in the sense that sensors make their decisions independently based only on what they see within their constant visibility range. One of our algorithms is oblivious whereas the other uses two bits of memory at each sensor to store the type of move made in the previous step. We show that our oblivious algorithm terminates within \(\varTheta (n^2)\) steps with the barrier fully covered, while the constant-memory algorithm is shown to take \(\varTheta (n)\) steps to terminate in the worst case. Since any algorithm in which a sensor can only move a constant distance in one step requires \(\varOmega (n)\) steps on some inputs, our second algorithm is asymptotically optimal.     

Maintaining Privacy on a Line

Consider a situation where people have to choose among a sequence of n linearly ordered positions to perform some task requiring a certain amount of privacy. Which position should one choose so as to maximize one’s privacy, i.e., minimize the chances that one of your neighboring positions becomes occupied by a later arrival? In this paper, we attempt to answer this question under a variety of models for the behavior of the later arrivals. Our results suggest that for the most part one should probably choose one of the extreme positions (with some interesting exceptions). We also suggest a number of variations on the problem that lead to many open problems.     

Reconstructing experiences with iScale

We present iScale, a survey tool for the retrospective elicitation of longitudinal user experience data. iScale aims to minimize retrospection bias and employs graphing to impose a process during the reconstruction of one's experiences. Two versions, the constructive and the value-account iScale, were motivated by two distinct theories on how people reconstruct emotional experiences from memory. These two versions were tested in two separate studies. Study 1 aimed at providing qualitative insight into the use of iScale and compared its performance to that of free-hand graphing. Study 2 compared the two versions of iScale to free recall, a control condition that does not impose structure on the reconstruction process. Overall, iScale resulted in an increase in the amount, the richness, and the test–retest consistency of recalled information as compared to free recall. These results provide support for the viability of retrospective techniques as a cost-effective alternative to longitudinal studies.     

Numerical simulation of particulate processes for control and estimation by spectral methods

Results of application of pseudospectral methods, also known as spectral collocation methods, to practical particulate processes including growth, nucleation, aggregation, and breakage are presented. For growth‐dominated processes, a considerable reduction in model dimension can be achieved; for pure aggregation and breakage they form a viable option. To handle problems that include aggregation, breakage, and growth phenomena simultaneously, we introduce a hybrid algorithm combining the advantages of spectral methods and cell average or fixed pivot methods for aggregation and breakage. Results are shown for analytical examples as well as real processes taken from the fields of granulation and crystallization. © 2011 American Institute of Chemical Engineers AIChE J, 58: 2309–2319, 2012     

Climate change: the views of forestry students in a Greek university

The trend to global warming is one of the most important problems of our time. This paper reports the findings of self‐management questionnaires, in regard to views held on the issue of climate change by the students of the Department of Forestry and Management of the Environment and Natural Resources of the Democritus University of Thrace.