Real-time hierarchical stereo Visual SLAM in large-scale environments

In this paper we present a new real-time hierarchical (topological/metric) Visual SLAM system focusing on the localization of a vehicle in large-scale outdoor urban environments. It is exclusively based on the visual information provided by a cheap wide-angle stereo camera. Our approach divides the whole map into local sub-maps identified by the so-called fingerprints (vehicle poses). At the sub-map level (low level SLAM), 3D sequential mapping of natural landmarks and the robot location/orientation are obtained using a top-down Bayesian method to model the dynamic behavior. A higher topological level (high level SLAM) based on fingerprints has been added to reduce the global accumulated drift, keeping real-time constraints. Using this hierarchical strategy, we keep the local consistency of the metric sub-maps, by mean of the EKF, and global consistency by using the topological map and the MultiLevel Relaxation (MLR) algorithm. Some experimental results for different large-scale outdoor environments are presented, showing an almost constant processing time.     

A methodology to specify three-dimensional interaction using Petri Nets

This work presents a methodology to formally model and to build three-dimensional interaction tasks in virtual environments using three different tools: Petri Nets, the Interaction Technique Decomposition taxonomy, and Object-Oriented techniques. User operations in the virtual environment are represented as Petri Net nodes; these nodes, when linked, represent the interaction process stages. In our methodology, places represent all the states an application can reach, transitions define the conditions to start an action, and tokens embody the data manipulated by the application. As a result of this modeling process we automatically generate the core of the application's source code. We also use a Petri Net execution library to run the application code. In order to facilitate the application modeling, we have adapted Dia, a well-known graphical diagram editor, to support Petri Nets creation and code generation. The integration of these approaches results in a modular application, based on Petri Nets formalism that allows for the specification of an interaction task and for the reuse of developed blocks in new virtual environment projects.     

Sufficient conditions for the attainment of sampled systems without nonminimum-phase zeros

A study on the convenient tuning of fractional-order hold electronic devices for digital control systems is presented. When certain constraints are fulfilled, this study assures in advance the attainment of inverse stable discrete plants. The main result is based on classic numerical analysis techniques and is applicable when the process to be digitally controlled is described as a second order plant or as a first order plant with time delay. In such cases, by using a conveniently tuned fractional-order hold, the discretization nonminimum-phase zeros emerged when using a common zero-order hold are avoided. In this way, the performance of the digitally controlled system may be improved.     

Radical parametrizations of algebraic curves by adjoint curves

We present algorithms for parametrizing by radicals an irreducible curve, not necessarily plane, when the genus is less than or equal to 4 and the curve is defined over an algebraically closed field of characteristic zero. In addition, we also present an algorithm for parametrizing by radicals any irreducible plane curve of degree d having at least a point of multiplicity d−r, with 1≤r≤4 and, as a consequence, every irreducible plane curve of degree d≤5 and every irreducible singular plane curve of degree 6.     

Providing EAP-based Kerberos pre-authentication and advanced authorization for network federations

Kerberos is a well-known standard protocol which is becoming one of the most widely deployed for authentication and key distribution in application services. However, whereas service providers use the protocol to control their own subscribers, they do not widely deploy Kerberos infrastructures to handle subscribers coming from foreign domains, as happens in network federations. Instead, the deployment of Authentication, Authorization and Accounting (AAA) infrastructures has been preferred for that operation. Thus, the lack of a correct integration between these infrastructures and Kerberos limits the service access only to service provider's subscribers. To avoid this limitation, we design an architecture which integrates a Kerberos pre-authentication mechanism, based on the use of the Extensible Authentication Protocol (EAP), and advanced authorization, based on the standards SAML and XACML, to link the end user authentication and authorization performed through an AAA infrastructure with the delivery of Kerberos tickets in the service provider's domain. We detail the interfaces, protocols, operation and extensions required for our solution. Moreover, we discuss important aspects such as the implications on existing standards.     

Hybridizing the cross-entropy method: An application to the max-cut problem

Cross-entropy has been recently proposed as a heuristic method for solving combinatorial optimization problems. We briefly review this methodology and then suggest a hybrid version with the goal of improving its performance. In the context of the well-known max-cut problem, we compare an implementation of the original cross-entropy method with our proposed version. The suggested changes are not particular to the max-cut problem and could be considered for future applications to other combinatorial optimization problems.     

Introducing dynamic diversity into a discrete particle swarm optimization

Particle swarm optimization (PSO) is an evolutionary metaheuristic inspired by the flocking behaviour of birds, which has successfully been used to solve several kinds of problems, although there are few studies aimed at solving discrete optimization problems. One disadvantage of PSO is the risk of a premature search convergence. To prevent this, we propose to introduce diversity into a discrete PSO by adding a random velocity. The degree of the introduced diversity is not static (i.e. preset before running PSO) but instead changes dynamically according to the heterogeneity of the population (i.e. if the search has converged or not). We solve the response time variability problem (RTVP) to test these two new ideas. The RTVP is an NP-hard combinatorial scheduling problem that has recently appeared in the literature. It occurs whenever products, clients or jobs need to be sequenced in such a way that the variability in the time between the instants at which they receive the necessary resources is minimized. The most efficient algorithm for solving non-small instances of the RTVP published to date is a classical PSO algorithm, referred to by the authors as PSO-M1F. In this paper, we propose 10 discrete PSO algorithms for solving the RTVP: one based on the ideas described above (PSO  -_c3dyn$c_3\text{<italic>dyn</italic>}$) and nine based on strategies proposed in the literature and adapted for solving a discrete optimization problem such as the RTVP. We compare all 11 PSO algorithms and the computational experiment shows that, on average, the best results obtained are due to our proposal of dynamic control mechanism for introducing diversity.     

Computational intelligence tools for next generation quality of service management

In this paper we explore the interest of computational intelligence tools in the management of heterogeneous communication networks, specifically to predict congestion, failures and other anomalies in the network that may eventually lead to degradation of the quality of offered services. We show two different applications based on neural and neuro-fuzzy systems for quality of service (QoS) management in next generation networks for voice and video service over heterogeneous Internet protocol (V2oIP) services. The two examples explained in this paper attempt to predict the communication network resources for new incoming calls, and visualizing the QoS of a communication network by means of self-organizing maps.     

Traffic analysis and synthetic models of second life

Virtual Worlds (VW), such as Massive Multiplayer Online Social Games, have been gaining increasing attention in the last few years, mainly due to the new way users interact with them. However, little effort has been devoted to understand their traffic profile and the implications to the traffic management area. With the current growing rate of VWs’ usage, their traffic demand could eventually impose a significant burden on the operation of a typical Internet Service Provider (ISP) network. In this paper, we seek to understand the traffic behavior of an increasingly popular VW application, namely Second Life (SL), from both the connection and network level perspectives. We also show results of a traffic analysis of a SL client, when an avatar performs different actions in the VW, at different places and under different network conditions. Our results show that SL makes intensive use of network resources (mostly bandwidth), since the capacity needed for having a full SL experience (listening to live music) may reach 500 kbps. We then extend the traffic analysis work on SL by providing analytical models for its traffic profile. We aim at helping the network management and planning area to estimate the impact of an intense use of such VW on access links or core networks. Such synthetic models are also useful to the networking research community for the use in network simulations.