Indoor robot gardening: design and implementation

This paper describes the architecture and implementation of a distributed autonomous gardening system with applications in urban/indoor precision agriculture. The garden is a mesh network of robots and plants. The gardening robots are mobile manipulators with an eye-in-hand camera. They are capable of locating plants in the garden, watering them, and locating and grasping fruit. The plants are potted cherry tomatoes enhanced with sensors and computation to monitor their well-being (e.g. soil humidity, state of fruits) and with networking to communicate servicing requests to the robots. By embedding sensing, computation, and communication into the pots, task allocation in the system is de-centrally coordinated, which makes the system scalable and robust against the failure of a centralized agent. We describe the architecture of this system and present experimental results for navigation, object recognition, and manipulation as well as challenges that lie ahead toward autonomous precision agriculture with multi-robot teams.     

Utilizing bloom filters for detecting flooding attacks against SIP based services

Any application or service utilizing the Internet is exposed to both general Internet attacks and other specific ones. Most of the times the latter are exploiting a vulnerability or misconfiguration in the provided service and/or in the utilized protocol itself. Consequently, the employment of critical services, like Voice over IP (VoIP) services, over the Internet is vulnerable to such attacks and, on top of that, they offer a field for new attacks or variations of existing ones. Among the various threats–attacks that a service provider should consider are the flooding attacks, at the signaling level, which are very similar to those against TCP servers but have emerged at the application level of the Internet architecture. This paper examines flooding attacks against VoIP architectures that employ the Session Initiation Protocol (SIP) as their signaling protocol. The focus is on the design and implementation of the appropriate detection method. Specifically, a bloom filter based monitor is presented and a new metric, named session distance, is introduced in order to provide an effective protection scheme against flooding attacks. The proposed scheme is evaluated through experimental test bed architecture under different scenarios. The results of the evaluation demonstrate that the required time to detect such an attack is negligible and also that the number of false alarms is close to zero.     

A survey and taxonomy on energy efficient resource allocation techniques for cloud computing systems

In a cloud computing paradigm, energy efficient allocation of different virtualized ICT resources (servers, storage disks, and networks, and the like) is a complex problem due to the presence of heterogeneous application (e.g., content delivery networks, MapReduce, web applications, and the like) workloads having contentious allocation requirements in terms of ICT resource capacities (e.g., network bandwidth, processing speed, response time, etc.). Several recent papers have tried to address the issue of improving energy efficiency in allocating cloud resources to applications with varying degree of success. However, to the best of our knowledge there is no published literature on this subject that clearly articulates the research problem and provides research taxonomy for succinct classification of existing techniques. Hence, the main aim of this paper is to identify open challenges associated with energy efficient resource allocation. In this regard, the study, first, outlines the problem and existing hardware and software-based techniques available for this purpose. Furthermore, available techniques already presented in the literature are summarized based on the energy-efficient research dimension taxonomy. The advantages and disadvantages of the existing techniques are comprehensively analyzed against the proposed research dimension taxonomy namely: resource adaption policy, objective function, allocation method, allocation operation, and interoperability.     

Investigation of isolated thunderstorms lightning activity over eastern Mediterranean using Meteosat rapid scan infrared imagery

An analysis of selected spatiotemporal characteristics of isolated thunderstorms in relation to cloud-to-ground (CG) lightning over part of the eastern Mediterranean is performed. The purpose of the study is twofold: to better understand and improve the basic knowledge of the physical mechanisms of the phenomenon and to offer new means of nowcasting the lightning activity in such thunderstorms. Meteosat Second Generation (MSG) Rapid Scan Service (RSS) infrared imagery which offers the option of tracking the examined storms with a time frequency of 5 minutes is one of the two utilized datasets, the other being ZEUS very low frequency (VLF) lightning detection system’s CG discharge data. It was shown that a cloud top temperature of about ?20°C is required for the onset of lightning activity. A rapid drop of the cloud-top temperature of about 11°C in 5 minutes on average is observed a few minutes before or during lightning initiation. The maximization of the activity is usually quite close to the overall minimum cloud-top temperature of the cell. A temperature increase of 3.5°C from this overall minimum can mark the end of the activity, which is also associated to the time evolution of the cell’s horizontal extent. In fact, after the cell’s horizontal area stops to increase and/or starts to gradually diminish, CG lightning activity is expected to stop.     

Tracking with occlusions via graph cuts

This work presents a new method for tracking and segmenting along time-interacting objects within an image sequence. One major contribution of the paper is the formalization of the notion of visible and occluded parts. For each object, we aim at tracking these two parts. Assuming that the velocity of each object is driven by a dynamical law, predictions can be used to guide the successive estimations. Separating these predicted areas into good and bad parts with respect to the final segmentation and representing the objects with their visible and occluded parts permit handling partial and complete occlusions. To achieve this tracking, a label is assigned to each object and an energy function representing the multilabel problem is minimized via a graph cuts optimization. This energy contains terms based on image intensities which enable segmenting and regularizing the visible parts of the objects. It also includes terms dedicated to the management of the occluded and disappearing areas, which are defined on the areas of prediction of the objects. The results on several challenging sequences prove the strength of the proposed approach.     

A Framework for Providing User Level Quality of Service Guarantees in Multi-Class Rate Adaptive Systems

The problem of channel sharing by rate adaptive streams belonging to various classes is considered. Rate adaptation provides the opportunity for accepting more connections by adapting the bandwidth of connections that are already in the system. However, bandwidth adaptation must be employed in a careful manner in order to ensure that (a) bandwidth is allocated to various classes in a fair manner (system perspective) and (b) bandwidth adaptation does not affect adversely the perceived user quality of the connection (user quality). The system perspective aspect has been studied earlier. This paper focuses on the equally important user perspective. It is proposed to quantify user Quality of Service (QoS) through measures capturing short and long-term bandwidth fluctuations that can be implemented with the mechanisms of traffic regulators, widely used in networking for the purpose of controlling the traffic entering or exiting a network node. Furthermore, it is indicated how to integrate the user perspective metrics with the optimal algorithms for system performance metrics developed earlier by the authors. Simulation results illustrate the effectiveness of the proposed framework.

The <Emphasis Type="Italic">B</Emphasis><Superscript><Emphasis Type="Italic">dual</Emphasis></Superscript>-Tree: indexing moving objects by space filling curves in the dual space

Existing spatiotemporal indexes suffer from either large update cost or poor query performance, except for the B ^x -tree (the state-of-the-art), which consists of multiple B ⁺-trees indexing the 1D values transformed from the (multi-dimensional) moving objects based on a space filling curve (Hilbert, in particular). This curve, however, does not consider object velocities, and as a result, query processing with a B ^x -tree retrieves a large number of false hits, which seriously compromises its efficiency. It is natural to wonder “can we obtain better performance by capturing also the velocity information, using a Hilbert curve of a higher dimensionality?”. This paper provides a positive answer by developing the B ^dual -tree, a novel spatiotemporal access method leveraging pure relational methodology. We show, with theoretical evidence, that the B ^dual -tree indeed outperforms the B ^x -tree in most circum- stances. Furthermore, our technique can effectively answer progressive spatiotemporal queries, which are poorly supported by B ^x -trees.     

Three-dimensional face recognition in the presence of facial expressions: an annotated deformable model approach

In this paper, we present the computational tools and a hardware prototype for 3D face recognition. Full automation is provided through the use of advanced multistage alignment algorithms, resilience to facial expressions by employing a deformable model framework, and invariance to 3D capture devices through suitable preprocessing steps. In addition, scalability in both time and space is achieved by converting 3D facial scans into compact metadata. We present our results on the largest known, and now publicly available, face recognition grand challenge 3D facial database consisting of several thousand scans. To the best of our knowledge, this is the highest performance reported on the FRGC v2 database for the 3D modality