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Measurement-based approaches to geolocation of Internet hosts typically employ active probes sent from a predetermined set of landmarks to the target with unknown location. A significant improvement of such approaches can be made by constructing kernel density estimators using measurement data of end-to-end delays among all landmarks within the set. However, obtaining the data for this statistical...
This paper investigates the possibility of creating an energy profile of a RISC processor instruction set in the prototyping phase, using FPGA implementation and physical measurements. In order to determine the power consumption at instruction-level, several programs have been developed and run on the processor implementation on FPGA. The experiments have focused at the following groups of instructions:...
Reliability has emerged as an important design criterion due to shrinking device dimensions. Several reliability estimation techniques have been proposed which apply either fault injection or analytical methods. Among all such techniques, design diversity, which is initially proposed to protect system from common-mode failures using redundant copies of different implementation, has been applied to...
Rising concern for thermal stress and tight energy constraints have forced designers to consider power as a design criterion from early design phase. Despite many advances in highlevel power estimation techniques, there is a lack of generic power estimation capabilities in prominent high-level design flows. In this paper we propose power modeling and estimation techniques during Architecture Description...
Haptic feedback is an active trend in robotic surgery. However, it is not always feasible to place physical force sensors on the robotic tool-tips due to size or other constraints. Haptic modeling of the organ/tissue could be an alternative approach to provide estimated force information from available data. In this paper, we investigate haptic modeling to provide real-time force estimation in endoscopic...
Distributed camera networks have been deployed in the modern surveillance systems. The camera link model, including transition time distribution and brightness transfer function that represent the space-time relationship and color model between two cameras, is a critical element for tracking objects across the cameras. In this paper, we formulate the estimation of the camera link model as an optimization...
An experimental study of an active cooperative observation approach based on Extended Set-Membership Filter (ESMF) is completed. In the experiment, the two RFRs can keep the optimal observation formation while achieving the cooperative observation so that the observation accuracy is improved further. The most attracting advantages in this video is that the experimental results on the testbed showed...
In this paper, multiple robots cooperation based moving target localization problem is researched. Different from traditional statistics based architecture, the concept of uncertain set is utilized in this paper to formulate the so called Cooperative Enhanced Set Membership Filter based cooperative localization algorithm. One of the most attracting advantages of this method is that it assumes the...
In this paper a fast online estimation method of impedance parameters is proposed based on the forgetting factor recursive least squares identification method. The performance of the proposed method is accessed by simulation and robotic experiments. Comparing with existing methods, the proposed method shows fast tracking performance to parameter changes while achieving robustness to noise. The algorithm...
A robot controller is developed for human-robot handshaking. The focus of the work is to provide realistic experiences for the human participant in haptic interactions with a robot. To achieve this goal, a position-based admittance controller is implemented. By using haptic data as inputs, a hidden Markov model-based high-level controller is used to estimate human intentions and modify the reference...
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