Safe Autonomous Agent Formation Operations Via Obstacle Collision Avoidance

In this paper, we consider the problem of flocking and shape‐orientation control of multi‐agent systems with inter‐agent and obstacle collision avoidance. We first consider the problem of forcing a set of autonomous agents to form a desired formation shape and orientation while avoiding inter‐agent collision and collision with convex obstacles, and following a trajectory known to only one of the agents, namely the leader of the formation. Then we build upon the solution given to this problem and solve the problem of guaranteeing obstacle collision avoidance by changing the size and the orientation of the formation. Changing the size and the orientation of the formation is helpful when the agents want to go through a narrow passage while the existing size or orientation of the formation does not allow this. We also propose collision avoidance algorithms that temporarily change the shape of the formation to avoid collision with stationary or moving nonconvex obstacles. Simulation results are presented to show the performance of the proposed control laws.     

Sound source localization using compressive sensing-based feature extraction and spatial sparsity

In this paper, we propose a source localization algorithm based on a sparse Fast Fourier Transform (FFT)-based feature extraction method and spatial sparsity. We represent the sound source positions as a sparse vector by discretely segmenting the space with a circular grid. The location vector is related to microphone measurements through a linear equation, which can be estimated at each microphone. For this linear dimensionality reduction, we have utilized a Compressive Sensing (CS) and two-level FFT-based feature extraction method which combines two sets of audio signal features and covers both short-time and long-time properties of the signal. The proposed feature extraction method leads to a sparse representation of audio signals. As a result, a significant reduction in the dimensionality of the signals is achieved. In comparison to the state-of-the-art methods, the proposed method improves the accuracy while the complexity is reduced in some cases.     

An enhanced motion estimation approach using a genetic trail bounded approximation for H.264/AVC codecs

Genetic algorithm-based motion estimation schemes play a significant role in improving the results of H.264/AVC standardization efforts when addressing conversational and non-conversational video applications. In this paper, we present a robust motion estimation scheme that uses a noble genetic trail bounded approximation (GTBA) approach to speed up the encoding process of H.264/AVC video compression and to reduce the number of bits required to code frame. The proposed algorithm is utilized to enhance the fitness function strength by integrating trail information of motion vector and sum of absolute difference (SAD) information into a fitness function. Experimental results reveal that the proposed GTBA resolves conflict obstacles with respect to both the number of bits required to code frames and the execution time for estimation.     

Behavioral Attestation for Web Services using access policies

Service Oriented Architecture with underlying technologies like web services and web service orchestration opens new vistas for integration among business processes operating in heterogeneous environments. However, such dynamic collaborations require a highly secure environment at each respective business partner site. Existing web services standards address the issue of security only on the service provider platform. The partner platforms to which sensitive information is released have till now been neglected. Remote Attestation is a relatively new field of research which enables an authorized party to verify that a trusted environment actually exists on a partner platform. To incorporate this novel concept in to the web services realm, a new mechanism called WS-Attestation has been proposed. This mechanism provides a structural paradigm upon which more fine-grained solutions can be built. In this paper, we present a novel framework, Behavioral Attestation for Web Services, in which XACML is built on top of WS-Attestation in order to enable more flexible remote attestation at the web services level. We propose a new type of XACML policy called XACML behavior policy, which defines the expected behavior of a partner platform. Existing web service standards are used to incorporate remote attestation at the web services level and a prototype is presented, which implements XACML behavior policy using low-level attestation techniques.     

MC-MLAS: Multi-channel Minimum Latency Aggregation Scheduling in Wireless Sensor Networks

Data aggregation is a key, yet time-consuming functionality in wireless sensor networks (WSNs). Multi-channel design is a promising technique to alleviate interference as a primary reason for long latency of TDMA aggregation scheduling. Indeed, it provides more potential of parallel transmissions over different frequency channels, thus minimizing time latency. In this paper, we focus on designing a multi-channel minimum latency aggregation scheduling protocol, named MC-MLAS, using a new joint approach for tree construction, channel assignment, and transmission scheduling. To our best knowledge, this is the first work in the literature which combines orthogonal channels and partially overlapping channels to consider the total latency involved in data aggregation. Extensive simulations verify the superiority of MC-MLAS in WSNs.     

An extended divide-and-conquer algorithm for a generalized class of multibody constraints

An extension to the divide-and-conquer algorithm (DCA) is presented in this paper to model constrained multibody systems. The constraints of interest are those applied to the system due to the inverse dynamics or control laws rather than the kinematically closed loops which have been studied in the literature. These imposed constraints are often expressed in terms of the generalized coordinates and speeds. A set of unknown generalized constraint forces must be considered in the equations of motion to enforce these algebraic constraints. In this paper dynamics of this class of multibody constrained systems is formulated using a Generalized-DCA. In this scheme, introducing dynamically equivalent forcing systems, each generalized constraint force is replaced by its dynamically equivalent spatial constraint force applied from the appropriate parent body to the associated child body at the connecting joint without violating the dynamics of the original system. The handle equations of motion are then formulated considering these dynamically equivalent spatial constraint forces. These equations in the GDCA scheme are used in the assembly and disassembly processes to solve for the states of the system, as well as the generalized constraint forces and/or Lagrange multipliers.     

Modeling and robust discrete LQ repetitive control of electrically driven robots

Discrete linear quadratic control has been efciently applied to linear systems as an optimal control.However,a robotic system is highly nonlinear,heavily coupled and uncertain.To overcome the problem,the robotic system can be modeled as a linear discrete-time time-varying system in performing repetitive tasks.This modeling motivates us to develop an optimal repetitive control.The contribution of this paper is twofold.For the frst time,it presents discrete linear quadratic repetitive control for electrically driven robots using the mentioned model.The proposed control approach is based on the voltage control strategy.Second,uncertainty is efectively compensated by employing a robust time-delay controller.The uncertainty can include parametric uncertainty,unmodeled dynamics and external disturbances.To highlight its ability in overcoming the uncertainty,the dynamic equation of an articulated robot is introduced and used for the simulation,modeling and control purposes.Stability analysis verifes the proposed control approach and simulation results show its efectiveness.     

Ranking Approach for the User Story Prioritization Methods

The AHP （analytic hierarchy process） has been applied in many fields and especially to complex engineering problems and applications. AHP is capable of structuring decision problems and finding mathematically determined judgments built on knowledge and experience. This suggests that AHP should prove useful in agile software development, where complex decisions occur routinely. This paper describes a ranking approach to help stakeholders select the best prioritization method for prioritizing the user stories.