... 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...
... 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 ....
... 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 arra...
... (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...
... 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 finge...
... 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 part...
... 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 it...
... 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
... 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...