State estimation and experimental verification of a robotic vehicle with six in-wheel drives using Kalman filter

Microsystem Technologies - In this research we present an algorithm for a six-wheeled robotic vehicle with articulated suspension (RVAS) to estimate the vehicle velocity and acceleration states,...     

Modeling and control of a finger-like mechanism using bending shape memory alloys

Microsystem Technologies - In this research a biologically inspired finger-like mechanism similar to human musculoskeletal system is developed based on Shape Memory Alloys (SMAs). SMA actuators are...     

Novel hybrid DNN approaches for speaker verification in emotional and stressful talking environments

Neural Computing and Applications - In this work, we conducted an empirical comparative study of the performance of text-independent speaker verification in emotional and stressful environments....     

Lung nodules detection using semantic segmentation and classification with optimal features

Neural Computing and Applications - Lung cancer is a deadly disease if not diagnosed in its early stages. However, early detection of lung cancer is a challenging task due to the shape and size of...     

Security flaws in a recent RFID delegation protocol

Radio frequency identification (RFID) tag delegation enables a centralized back-end server to delegate the right to identify and authenticate a tag to specified readers. This should be used to mitigate the computational load on the server side and also to solve the issues in terms of latency and dependency on network connectivity. In this study, we describe a basic RFID delegation architecture and then under this model, we investigate the security of an RFID delegation protocol: Song Mitchell delegation (SMD), which is recently proposed by Song and Mitchell. We point out security flaws that have gone unnoticed in the design and present two attacks namely, a tag impersonation attack and a desynchronization attack against it. We also discover a subtle flaw by which a delegated entity can still keep its delegation rights after the expire of them—this infringes security policy of the scheme. More precisely, we show that the protocol will be still vulnerable to previously mentioned attacks, even if the back-end server ends the delegation right of a delegated reader and update the secrets of the delegated tags. To counteract such flaws, we improve the SMD protocol with a stateful variant so that it provides the claimed security properties.     

Voting among virtually generated versions of a classification problem

A classifier combining strategy, virtual voting by random projection (VVRP), is presented. VVRP takes advantage from the bounded distortion incurred by random projection in order to improve accuracies of stable classifiers like discriminant analysis (DA) where existing classifier combining strategies are known to be failed. It uses the distortion to virtually generate different training sets from the total available training samples in a way that does not have the potential for overfitting. Then, a majority voting combines the base learners trained on these versions of the original problem. VVRP is very simple and just needs determining a proper dimensionality for the versions, an often very easy task. It is shown to be stable in a very large region of the hyperplane constructed by the dimensionality and the number of the versions. VVRP improves the best state-of-the-art DA algorithms in both small and large sample size problems in various classification fields.     

RFID-based interactive multimedia system for the children

In this paper, we present an interactive edutainment system for the children that leverages multimedia and RFID technologies in a seamless manner. The proposed system allows children to learn about new objects/entities by tapping on physical objects through a specially designed RFID-Bluetooth based Tangible User Interface (TUI) tool. The output of the system is delivered as a set of appropriate multimedia representations related to the objects being tapped. The TUI uses RFID technology for object identification and Bluetooth communication to transmit data to the computer where the system??s software is running. We incorporated our system in three games that allow children of different ages to benefit from the system??s functionalities and encourage them to interact with it.     

Incorporation of a Regularization Term to Control Negative Correlation in Mixture of Experts

Combining accurate neural networks (NN) in the ensemble with negative error correlation greatly improves the generalization ability. Mixture of experts (ME) is a popular combining method which employs special error function for the simultaneous training of NN experts to produce negatively correlated NN experts. Although ME can produce negatively correlated experts, it does not include a control parameter like negative correlation learning (NCL) method to adjust this parameter explicitly. In this study, an approach is proposed to introduce this advantage of NCL into the training algorithm of ME, i.e., mixture of negatively correlated experts (MNCE). In this proposed method, the capability of a control parameter for NCL is incorporated in the error function of ME, which enables its training algorithm to establish better balance in bias-variance-covariance trade-off and thus improves the generalization ability. The proposed hybrid ensemble method, MNCE, is compared with their constituent methods, ME and NCL, in solving several benchmark problems. The experimental results show that our proposed ensemble method significantly improves the performance over the original ensemble methods.