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Báo cáo hóa học: " Research Article Novel Approaches to Enhance Mobile WiMAX Security" pdf

Báo cáo hóa học:
... proposed novel approaches to minimize security risks in Mobile WiMAX network We showed a reliable Mobile WiMAX architecture applying the security approaches called RObust Secure MobilE WiMAX (ROSMEX) ... Mobile WiMAX system, more enhanced PKMv2 is supported, together with various cryptographic suites In the research of [3, 4] from WiMAX Forum, the security features of the PKMv2-based Mobile WiMAX ... Recently there are a lot of Mobile WiMAX researches and related to its security In [11], the authors focused on the EAP-based security approach when a Mobile WiMAX user wants to get a handover service...
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MIT.Press.Introduction.to.Autonomous.Mobile.Robots part 1 doc

MIT.Press.Introduction.to.Autonomous.Mobile.Robots part 1 doc
... Representation 5.4 .1 Single-hypothesis belief 5.4.2 Multiple-hypothesis belief 18 1 18 1 18 2 18 3 18 4 18 5 18 6 19 1 19 4 19 4 19 6 Contents 5.5 5.6 5.7 5.8 ix Map Representation 5.5 .1 Continuous representations ... performance 92 4 .1. 3 Wheel/motor sensors 97 4 .1. 4 Heading sensors 98 4 .1. 5 Ground-based beacons 10 1 4 .1. 6 Active ranging 10 4 4 .1. 7 Motion/speed sensors 11 5 4 .1. 8 Vision-based sensors 11 7 4.2 Representing ... 2.3 .1 Wheeled locomotion: the design space 2.3.2 Wheeled locomotion: case studies 13 13 16 17 18 21 30 31 38 Mobile Robot Kinematics 3 .1 Introduction 3.2 Kinematic Models and Constraints 3.2.1...
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MIT.Press.Introduction.to.Autonomous.Mobile.Robots part 2 pptx

MIT.Press.Introduction.to.Autonomous.Mobile.Robots part 2 pptx
... closed-loop control Locomotion 25 Specifications: Maximum speed: Autonomy: Weight: Height: Leg DOF: Arm DOF: km/h 15 21 0 kg 1. 82 m 2x6 2x7 Figure 2. 12 The humanoid robot P2 from Honda, Japan © Honda ... more gaits theoretically: N = 11! = 39916800 (2. 3) Figures 2. 7 and 2. 8 depict several four-legged gaits and the static six-legged tripod gait 2. 2 .2 Examples of legged robot locomotion Although ... to the body at the hip joint Locomotion 23 Figure 2. 9 The Raibert hopper [28 , 124 ] Image courtesy of the LegLab and Marc Raibert © 1983 Figure 2. 10 The 2D single bow leg hopper [46] Image courtesy...
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MIT.Press.Introduction.to.Autonomous.Mobile.Robots Part 3 pdf

MIT.Press.Introduction.to.Autonomous.Mobile.Robots Part 3 pdf
... 0 .3 m Length: 0.7 m No of legs: DOF in total: 6x3 Power consumption:10 W Figure 2.17 Lauron II, a hexapod platform developed at the University of Karlsruhe, Germany © University of Karlsruhe 30 ... where the robot needs a more dynamic suspension for significantly non flat terrain Locomotion 33 2 .3. 1.2 Wheel geometry The choice of wheel types for a mobile robot is strongly linked to the choice ... 43 Figure 2.26 The microrover Nanokhod, developed by von Hoerner & Sulger GmbH and the Max Planck Institute, Mainz, for the European Space Agency (ESA), will probably go to Mars [ 138 , 154] 2 .3. 2.4...
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MIT.Press.Introduction.to.Autonomous.Mobile.Robots Part 4 potx

MIT.Press.Introduction.to.Autonomous.Mobile.Robots Part 4 potx
... treatment of kinematics, including sliding contact, refer to [25] 54 Chapter YR β Robot chassis ϕ, r A l v α XR P Figure 3 .4 A fixed standard wheel and its parameters Under these assumptions, ... of each wheel must be expressed with respect to a clear and consistent reference frame This is particularly important in mobile robotics because of its selfcontained and mobile nature; a clear ... the joints and degrees of freedom internal to the robot and its wheels Mobile Robot Kinematics 49 YI YR XR θ P XI Figure 3.1 The global reference frame and the robot local reference frame In...
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MIT.Press.Introduction.to.Autonomous.Mobile.Robots Part 7 pot

MIT.Press.Introduction.to.Autonomous.Mobile.Robots Part 7 pot
... Perception 1 07 0° -30° measurement cone 30° -60° 60° Amplitude [dB] Figure 4 .7 Typical intensity distribution of an ultrasonic sensor a) b) Figure ... shift, as opposed to the Doppler frequency notation above Perception 1 17 2f t v cos θ ∆f = f t – f r = c (4. 17) ∆f ⋅ c v = -2f t cos θ (4.18) where ∆f = Doppler frequency shift; ... vision-based sensors 118 Chapter 2048 x 2048 CCD array Orangemicro iBOT Firewire Sony DFW-X700 Cannon IXUS 300 Figure 4. 17 Commercially available CCD chips and CCD cameras Because this technology is relatively...
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MIT.Press.Introduction.to.Autonomous.Mobile.Robots Part 8 pot

MIT.Press.Introduction.to.Autonomous.Mobile.Robots Part 8 pot
... (4.47) (4. 48) ∇ u = λ ( E x u + E y v + E t )E x ∇ v = λ ( E x u + E y v + E t )E y where 2 ∂ ∂ ∇ = - + 2 δx δy (4.49) which is the Laplacian operator Equations (4.47) and (4. 48) form a ... executing basic vision processing on a main 144 Chapter Figure 4. 28 The CMUcam sensor consists of three chips: a CMOS imaging chip, a SX 28 microprocessor, and a Maxim RS232 level shifter [126] Figure ... l, y' l, z' l ) Note that these are the coordinates of point P , not the position of its counterpart in the left camera image P can also be described in terms of the right camera frame as r' r...
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MIT.Press.Introduction.to.Autonomous.Mobile.Robots Part 9 ppsx

MIT.Press.Introduction.to.Autonomous.Mobile.Robots Part 9 ppsx
... 60 65 70 75 80 range ρi [m] 0.5 197 0.4404 0.4850 0.4222 0.4132 0.4371 0. 391 2 0. 394 9 0. 391 9 0.4276 0.4075 0. 395 6 0.4053 0.4752 0.5032 0.5273 0.48 79 Perception 1 59 This requires direct application ... of X : P [ µ – σ < X ≤ µ + σ ] = 0.68 ; P [ µ – 2σ < X ≤ µ + 2σ ] = 0 .95 ; P [ µ – 3σ < X ≤ µ + 3σ ] = 0 .99 7 For example, 95 % of the values for X fall within two standard deviations of its mean ... described in 148 Chapter  ( x – µ ) 2 f ( x ) = exp  –   2σ  σ 2π 68.26% 95 .44% 99 .72% -3σ -2σ -σ σ 2σ 3σ Figure 4.31 The Gaussian function with µ = and σ = We shall refer...
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MIT.Press.Introduction.to.Autonomous.Mobile.Robots Part 10 pptx

MIT.Press.Introduction.to.Autonomous.Mobile.Robots Part 10 pptx
... extracting edges of a particular shape[16, 18] Here we explain its application to the problem of extracting straight edges Suppose a pixel ( x p, y p ) in the image I is part of an edge Any straight-line ... environment Using this whole-image extraction approach, a robot can readily recover the particular hallway or particular room in which it is located [152] Tiered extraction: image fingerprint extraction ... instance, one can assume that the pixels at the bottom of the image (i.e., closest to the robot) are part of the floor and contain no obstacles Then, statistics computed on these “floor sample” pixels...
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MIT.Press.Introduction.to.Autonomous.Mobile.Robots Part 11 doc

MIT.Press.Introduction.to.Autonomous.Mobile.Robots Part 11 doc
... representation [112 ] In an occupancy grid, the environment is represented by a discrete grid, where each cell is either filled (part of an obstacle) or empty (part of free space) This method is of particular ... to next? Figure 5 .11 provides an example At position 3, the robot’s belief state is distributed among five hallways separately If the goal of the robot is to travel down one particular hallway, ... sin  θ +  – - cos  θ +    2  2b 2   2b  1 -– -b b (5 .11) The details for arriving at equation (5 .11) are ∂f ∂ f F ∆ = ∇ ∆ f = = … rl rl ∂∆s r ∂∆s l (5.12) ∆θ ∆θ...
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MIT.Press.Introduction.to.Autonomous.Mobile.Robots Part 12 doc

MIT.Press.Introduction.to.Autonomous.Mobile.Robots Part 12 doc
... that in this particular topological model arcs are zero-length while nodes have spatial expansiveness and together cover the entire space This particular topological representation is particularly ... frequently misses features, particularly when the hallway is crowded with obstacles that Dervish must negotiate Once again, the conservative nature of the perceptual system, and in particular its tendency ... node sizes and particular dimensions must be optimized to match the sensory discrimination of the mobile robot hardware This ability to “tune” the representation to the robot’s particular sensors...
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MIT.Press.Introduction.to.Autonomous.Mobile.Robots Part 13 potx

MIT.Press.Introduction.to.Autonomous.Mobile.Robots Part 13 potx
... update by treating the whole, unimodal, and Gaussian belief state at once Figure 5.28 depicts the particular schematic for Kalman filter localization The first step is action update or position ... reaching the next landmark Figure 5.35 shows one instantiation of landmark-based localization The particular shape of the landmarks enables reliable and accurate pose estimation by the robot, which...
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MIT.Press.Introduction.to.Autonomous.Mobile.Robots Part 14 pps

MIT.Press.Introduction.to.Autonomous.Mobile.Robots Part 14 pps
... Visibility graph path planning is moderately popular in mobile robotics, partly because implementation is quite simple Particularly when the environmental representation describes objects in the ... of the actual map, the system is termed Planning and Navigation start 265 17 10 18 14 15 16 11 13 12 goal 10 17 14 11 12 13 18 15 16 Figure 6.4 Example of exact cell decomposition approximate cell ... as did previous maps, but it also has varying degrees of probability that each feature is indeed part of the environˆ ment We represent this new map M with a set n of probabilistic feature locations...
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