Using Virtual Pheromones and Cameras for Dispersing a Team of Multiple Miniature Robots

To safely and efficiently guide personnel of search and rescue operations in disaster areas, swift gathering of relevant information such as the locations of victims, must occur. Using the concept of ‘repellent virtual pheromones’ inspired by insect colony coordination behaviors, miniature robots can be quickly dispersed to survey a disaster site. Assisted by visual servoing, dispersion of the miniature robots can quickly cover an area. An external observer such as another robot or an overhead camera is brought into the control loop to provide each miniature robot estimations of the positions of all of the other near-by robots in the robotic team. These miniature robots can then move away from the other near-by robots on the team, resulting in the robot collective becoming swiftly distributed through the local area. The technique has been simulated with differing pheromone persistence levels and implemented using the miniature Scout robots, developed by the Center for Distributed Robotics at the University of Minnesota, which are well-suited to surveillance and reconnaissance missions.     

Probabilistic model checking for the quantification of DoS security threats

Secure authentication features of communication and electronic commerce protocols involve computationally expensive and memory intensive cryptographic operations that have the potential to be turned into denial-of-service (DoS) exploits. Recent proposals attempt to improve DoS resistance by implementing a trade-off between the resources required for the potential victim(s) with the resources used by a prospective attacker. Such improvements have been proposed for the Internet Key Exchange (IKE), the Just Fast Keying (JFK) key agreement protocol and the Secure Sockets Layer (SSL/TLS) protocol. In present article, we introduce probabilistic model checking as an efficient tool-assisted approach for systematically quantifying DoS security threats. We model a security protocol with a fixed network topology using probabilistic specifications for the protocol participants. We attach into the protocol model, a probabilistic attacker model which performs DoS related actions with assigned cost values. The costs for the protocol participants and the attacker reflect the level of some resource expenditure (memory, processing capacity or communication bandwidth) for the associated actions. From the developed model we obtain a Discrete Time Markov Chain (DTMC) via property preserving discrete-time semantics. The DTMC model is verified using the PRISM model checker that produces probabilistic estimates for the analyzed DoS threat. In this way, it is possible to evaluate the level of resource expenditure for the attacker, beyond which the likelihood of widespread attack is reduced and subsequently to compare alternative design considerations for optimal resistance to the analyzed DoS threat. Our approach is validated through the analysis of the Host Identity Protocol (HIP). The HIP base-exchange is seen as a cryptographic key-exchange protocol with special features related to DoS protection. We analyze a serious DoS threat, for which we provide probabilistic estimates, as well as results for the associated attacker and participants' costs.     

Highly-Efficient Wait-Free Synchronization

We study a simple technique, originally presented by Herlihy (ACM Trans. Program. Lang. Syst. 15(5):745–770, 1993), for executing concurrently, in a wait-free manner, blocks of code that have been programmed for sequential execution and require significant synchronization in order to be performed in parallel. We first present an implementation of this technique, called Sim, which employs a collect object. We describe a simple implementation of a collect object from a single shared object that supports atomic Add (or XOR) in addition to read; this implementation has step complexity O(1). By plugging in to Sim this implementation, Sim exhibits constant step complexity as well. This allows us to derive lower bounds on the step complexity of implementations of several shared objects, like Add, XOR, collect, and snapshot objects, from LL/SC objects. We then present a practical version of Sim, called PSim, which is implemented in a real shared-memory machine. From a theoretical perspective, PSim has worse step complexity than Sim, its theoretical analog; in practice though, we experimentally show that PSim is highly-efficient: it outperforms several state-of-the-art lock-based and lock-free synchronization techniques, and this given that it is wait-free, i.e. that it satisfies a stronger progress condition than all the algorithms that it outperforms. We have used PSim to get highly-efficient wait-free implementations of stacks and queues.     

Optimal controller tuning for nonlinear processes

The present work proposes a systematic methodology for the optimal selection of controller parameters in the sense of minimizing a performance index, which is a quadratic function of the tracking error and the control effort. The performance index is calculated explicitly as an algebraic function of the controller parameters by solving Zubov's partial differential equation (PDE). Standard optimization techniques are then employed for the calculation of the optimal values of the controller parameters. The solution of Zubov's PDE is also used to estimate the closed-loop stability region for the chosen values of the controller parameters. The proposed approach is finally illustrated in a chemical reactor control problem.     

Dynamic disturbance rejection controllers for neutral time delay systems with application to a central heating system

In the present paper the problem of disturbance rejection of single input-single output neutral time delay systems with multiple measurable disturbances is solved via dynamic controllers. In particular, the general form of the controller matrices is presented, while the necessary and sufficient conditions for the controller to be realizable are offered. The proposed technique is applied to a test case neutral time delay central heating system. In particular, the nonlinear model of the plant and its linearized approximation are presented. Based on the linearized model, a two-stage controller is designed in order to regulate the room temperature and the boiler effluent temperature. The performance of the closed loop system is investigated through computational experiments.     

Evaluating content quality and helpfulness of online product reviews: The interplay of review helpfulness vs. review content

Online reviews have received much attention recently in the literature, as their visibility has been proven to play an important role during the purchase process. Furthermore, recent theoretical insight argue that the votes casted on how helpful an online review is (review helpfulness) are of particular importance, since they constitute a focal point for examining consumer decision making during the purchase process. In this paper, we explore the interplay between online review helpfulness, rating score and the qualitative characteristics of the review text as measured by readability tests. We construct a theoretical model based on three elements: conformity, understandability and expressiveness and we investigate the directional relationship between the qualitative characteristics of the review text, review helpfulness and the impact of review helpfulness on the review score. Furthermore, we examine whether this relation holds for extreme and moderate review scores. To validate this model we applied four basic readability measures to a dataset containing 37,221 reviews collected from Amazon UK, in order to determine the relationship between the percentage of helpful votes awarded to a review and the review text’s stylistic elements. We also investigated the interrelationships between extremely helpful and unhelpful reviews, as well as absolutely positive and negative reviews using intergroup comparisons. We found that review readability had a greater effect on the helpfulness ratio of a review than its length; in addition, extremely helpful reviews received a higher score than those considered less helpful. The present study contributes to the ever growing literature on on-line reviews by showing that readability tests demonstrate a directional relationship with average length reviews and their helpfulness and that this relationship holds both for moderate and extreme review scores.     

GLU♮ embedded in C++: a marriage between multidimensional and object‐oriented programming

The embedding of a small but expressive language of multidimensional functional programming in a well known and widely used language of object‐oriented programming leads to the combination of two radically different programming models. In this paper, we formally define the syntax and semantics of GLU^?, which can be thought of as the multidimensional core of Lucid and GLU, and we describe its implementation as a language embedded in C++. With the aid of a few examples, we argue that the marriage of the two programming models is not only compatible and natural, but also that it produces a new and interesting hybrid language. Copyright © 2004 John Wiley & Sons, Ltd.     

Active learning of user’s preferences estimation towards a personalized 3D navigation of geo-referenced scenes

The current technological evolutions enter 3D geo-informatics into their digital age, enabling new potential applications in the field of virtual tourism, pleasure, entertainment and cultural heritage. It is argued that 3D information provides the natural way of navigation. However, personalization is a key aspect in a navigation system, since a route that incorporates user preferences is ultimately more suitable than the route with the shortest distance or travel time. Usually, user’s preferences are expressed as a set of weights that regulate the degree of importance of the scene metadata on the route selection process. These weights, however, are defined by the users, setting the complexity to the user’s side, which makes personalization an arduous task. In this paper, we propose an alternative approach in which metadata weights are estimated implicitly and transparently to the users, transferring the complexity to the system side. This is achieved by introducing a relevance feedback on-line learning strategy which automatically adjusts metadata weights by exploiting information fed back to the system about the relevance of user’s preferences judgments given in a form of pair-wise comparisons. Practically implementing a relevance feedback algorithm presents the limitation that several pair-wise comparisons (samples) are required to converge to a set of reliable metadata weights. For this reason, we propose in this paper a weight rectification strategy that improves weight estimation by exploiting metadata interrelations defined through an ontology. In the sequel, a genetic optimization algorithm is incorporated to select the most user preferred routes based on a multi-criteria minimization approach. To increase the degree of personalization in 3D navigation, we have also introduced an efficient algorithm for estimating 3D trajectories around objects of interest by merging best selected 2D projected views that contain faces which are mostly preferred by the users. We have conducted simulations and comparisons with other approaches either in the field of on-line learning or route selection using objective metrics in terms of precision and recall values. The results indicate that our system yields on average a 13.76 % improvement of precision as regards the learning strategy and an improvement of 8.75 % regarding route selection. In addition, we conclude that the ontology driven weight rectification strategy can reduce the number of samples (pair-wise comparisons) required of 76 % to achieve the same precision. Qualitative comparisons have been also performed using a use case route scenario in the city of Athens.