The Experts below are selected from a list of 39225 Experts worldwide ranked by ideXlab platform
F Santucci - One of the best experts on this subject based on the ideXlab platform.
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pair wise network topology authenticated hybrid cryptographic keys for wireless sensor networks using Vector Algebra
Mobile Adhoc and Sensor Systems, 2008Co-Authors: M Pugliese, F SantucciAbstract:This paper proposes a novel hybrid cryptographic scheme for the generation of pair-wise network topology authenticated (TAK) keys in a Wireless Sensor Network (WSN) using Vector Algebra in GF(q). The proposed scheme is deterministic, pair-wise keys are not pre-distributed but generated starting from partial key components, keys management exploits benefits from both symmetric and asymmetric schemes (hybrid cryptography) and each key in a pair node can be generated only if nodes have been authenticated (key authentication). Network topology authentication, and hybrid key cryptography are the building blocks for this proposal: the former means that a cryptographic key can be generated if and only if the current network topology is compliant to the ldquoplanned network topologyrdquo, which acts as the authenticated reference; the latter means that the proposed scheme is a combination of features from symmetric (for the ciphering and authentication model) and asymmetric cryptography (for the key generation model). The proposal fits the security requirement of a cryptographic scheme for WSN in a limited computing resource. A deep quantitative security analysis has been carried out. Moreover the cost analysis of the scheme in terms of computational time and memory usage for each node has been carried on and reported for the case of a 128-bit key.
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MASS - Pair-wise network topology authenticated hybrid cryptographic keys for Wireless Sensor Networks using Vector Algebra
2008 5th IEEE International Conference on Mobile Ad Hoc and Sensor Systems, 2008Co-Authors: M Pugliese, F SantucciAbstract:This paper proposes a novel hybrid cryptographic scheme for the generation of pair-wise network topology authenticated (TAK) keys in a Wireless Sensor Network (WSN) using Vector Algebra in GF(q). The proposed scheme is deterministic, pair-wise keys are not pre-distributed but generated starting from partial key components, keys management exploits benefits from both symmetric and asymmetric schemes (hybrid cryptography) and each key in a pair node can be generated only if nodes have been authenticated (key authentication). Network topology authentication, and hybrid key cryptography are the building blocks for this proposal: the former means that a cryptographic key can be generated if and only if the current network topology is compliant to the ldquoplanned network topologyrdquo, which acts as the authenticated reference; the latter means that the proposed scheme is a combination of features from symmetric (for the ciphering and authentication model) and asymmetric cryptography (for the key generation model). The proposal fits the security requirement of a cryptographic scheme for WSN in a limited computing resource. A deep quantitative security analysis has been carried out. Moreover the cost analysis of the scheme in terms of computational time and memory usage for each node has been carried on and reported for the case of a 128-bit key.
Neal Seegmiller - One of the best experts on this subject based on the ideXlab platform.
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a Vector Algebra formulation of mobile robot velocity kinematics
Field and Service Robotics, 2014Co-Authors: Alonzo Kelly, Neal SeegmillerAbstract:Typical formulations of the forward and inverse velocity kinematics of wheeled mobile robots assume flat terrain, consistent constraints, and no slip at the wheels. Such assumptions can sometimes permit the wheel constraints to be substituted into the differential equation to produce a compact, apparently unconstrained result. However, in the general case, the terrain is not flat, the wheel constraints cannot be eliminated in this way, and they are typically inconsistent if derived from sensed information. In reality, the motion of a wheeled mobile robot (WMR) is restricted to a manifold which more-or-less satisfies the wheel slip constraints while both following the terrain and responding to the inputs. To address these more realistic cases, we have developed a formulation of WMR velocity kinematics as a differential-Algebraic system—a constrained differential equation of first order. This paper presents the modeling part of the formulation. The Transport Theorem is used to derive a generic 3D model of the motion at the wheels which is implied by the motion of an arbitrarily articulated body. This wheel equation is the basis for forward and inverse velocity kinematics and for the expression of explicit constraints of wheel slip and terrain following. The result is a mathematically correct method for predicting motion over non-flat terrain for arbitrary wheeled vehicles on arbitrary terrain subject to arbitrary constraints. We validate our formulation by applying it to a Mars rover prototype with a passive suspension in a context where ground truth measurement is easy to obtain. Our approach can constitute a key component of more informed state estimation, motion control, and motion planning algorithms for wheeled mobile robots.
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FSR - A Vector Algebra Formulation of Mobile Robot Velocity Kinematics
Springer Tracts in Advanced Robotics, 2013Co-Authors: Alonzo Kelly, Neal SeegmillerAbstract:Typical formulations of the forward and inverse velocity kinematics of wheeled mobile robots assume flat terrain, consistent constraints, and no slip at the wheels. Such assumptions can sometimes permit the wheel constraints to be substituted into the differential equation to produce a compact, apparently unconstrained result. However, in the general case, the terrain is not flat, the wheel constraints cannot be eliminated in this way, and they are typically inconsistent if derived from sensed information. In reality, the motion of a wheeled mobile robot (WMR) is restricted to a manifold which more-or-less satisfies the wheel slip constraints while both following the terrain and responding to the inputs. To address these more realistic cases, we have developed a formulation of WMR velocity kinematics as a differential-Algebraic system—a constrained differential equation of first order. This paper presents the modeling part of the formulation. The Transport Theorem is used to derive a generic 3D model of the motion at the wheels which is implied by the motion of an arbitrarily articulated body. This wheel equation is the basis for forward and inverse velocity kinematics and for the expression of explicit constraints of wheel slip and terrain following. The result is a mathematically correct method for predicting motion over non-flat terrain for arbitrary wheeled vehicles on arbitrary terrain subject to arbitrary constraints. We validate our formulation by applying it to a Mars rover prototype with a passive suspension in a context where ground truth measurement is easy to obtain. Our approach can constitute a key component of more informed state estimation, motion control, and motion planning algorithms for wheeled mobile robots.
M. Baer - One of the best experts on this subject based on the ideXlab platform.
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Vector Algebra approach to obtain molecular fields from conical intersections numerical applications to h h2 and na h2
Journal of Physical Chemistry A, 2004Co-Authors: Ágnes Vibók, Tamás Vértesi, E. Bene, Gábor J. Halász, M. BaerAbstract:In this paper is presented a theory according to which all of the elements of the nonadiabatic coupling matrix, τ j k (q,φ), are created at the singular points of the system. (These points are known also as points of conical intersections.) For this purpose, we consider the angular distribution of the angular components, t q j k (q j ∼0,φ j ), at the close vicinity of their singularities, namely, around the jth singularity points q j = 0. It is shown that these distributions determine the intensity of the entire field created by the nonadiabatic coupling matrix at every point in the region of interest. To support these statements, the three lower states of the H + H 2 system (which in our example form three conical intersections) and the third and fourth states of the Na + H 2 system (which in our example form four conical intersections) are considered. From ab initio treatments, we obtain the above-mentioned angular distributions and, having those, create the field at every desired point employing Vector-Algebra. The final results are compared with ab initio calculations.
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Vector−Algebra Approach To Obtain Molecular Fields from Conical Intersections: Numerical Applications to H + H2 and Na + H2†
The Journal of Physical Chemistry A, 2004Co-Authors: Ágnes Vibók, Tamás Vértesi, E. Bene, Gábor J. Halász, M. BaerAbstract:In this paper is presented a theory according to which all of the elements of the nonadiabatic coupling matrix, τ j k (q,φ), are created at the singular points of the system. (These points are known also as points of conical intersections.) For this purpose, we consider the angular distribution of the angular components, t q j k (q j ∼0,φ j ), at the close vicinity of their singularities, namely, around the jth singularity points q j = 0. It is shown that these distributions determine the intensity of the entire field created by the nonadiabatic coupling matrix at every point in the region of interest. To support these statements, the three lower states of the H + H 2 system (which in our example form three conical intersections) and the third and fourth states of the Na + H 2 system (which in our example form four conical intersections) are considered. From ab initio treatments, we obtain the above-mentioned angular distributions and, having those, create the field at every desired point employing Vector-Algebra. The final results are compared with ab initio calculations.
M Pugliese - One of the best experts on this subject based on the ideXlab platform.
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pair wise network topology authenticated hybrid cryptographic keys for wireless sensor networks using Vector Algebra
Mobile Adhoc and Sensor Systems, 2008Co-Authors: M Pugliese, F SantucciAbstract:This paper proposes a novel hybrid cryptographic scheme for the generation of pair-wise network topology authenticated (TAK) keys in a Wireless Sensor Network (WSN) using Vector Algebra in GF(q). The proposed scheme is deterministic, pair-wise keys are not pre-distributed but generated starting from partial key components, keys management exploits benefits from both symmetric and asymmetric schemes (hybrid cryptography) and each key in a pair node can be generated only if nodes have been authenticated (key authentication). Network topology authentication, and hybrid key cryptography are the building blocks for this proposal: the former means that a cryptographic key can be generated if and only if the current network topology is compliant to the ldquoplanned network topologyrdquo, which acts as the authenticated reference; the latter means that the proposed scheme is a combination of features from symmetric (for the ciphering and authentication model) and asymmetric cryptography (for the key generation model). The proposal fits the security requirement of a cryptographic scheme for WSN in a limited computing resource. A deep quantitative security analysis has been carried out. Moreover the cost analysis of the scheme in terms of computational time and memory usage for each node has been carried on and reported for the case of a 128-bit key.
-
MASS - Pair-wise network topology authenticated hybrid cryptographic keys for Wireless Sensor Networks using Vector Algebra
2008 5th IEEE International Conference on Mobile Ad Hoc and Sensor Systems, 2008Co-Authors: M Pugliese, F SantucciAbstract:This paper proposes a novel hybrid cryptographic scheme for the generation of pair-wise network topology authenticated (TAK) keys in a Wireless Sensor Network (WSN) using Vector Algebra in GF(q). The proposed scheme is deterministic, pair-wise keys are not pre-distributed but generated starting from partial key components, keys management exploits benefits from both symmetric and asymmetric schemes (hybrid cryptography) and each key in a pair node can be generated only if nodes have been authenticated (key authentication). Network topology authentication, and hybrid key cryptography are the building blocks for this proposal: the former means that a cryptographic key can be generated if and only if the current network topology is compliant to the ldquoplanned network topologyrdquo, which acts as the authenticated reference; the latter means that the proposed scheme is a combination of features from symmetric (for the ciphering and authentication model) and asymmetric cryptography (for the key generation model). The proposal fits the security requirement of a cryptographic scheme for WSN in a limited computing resource. A deep quantitative security analysis has been carried out. Moreover the cost analysis of the scheme in terms of computational time and memory usage for each node has been carried on and reported for the case of a 128-bit key.
Alonzo Kelly - One of the best experts on this subject based on the ideXlab platform.
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a Vector Algebra formulation of mobile robot velocity kinematics
Field and Service Robotics, 2014Co-Authors: Alonzo Kelly, Neal SeegmillerAbstract:Typical formulations of the forward and inverse velocity kinematics of wheeled mobile robots assume flat terrain, consistent constraints, and no slip at the wheels. Such assumptions can sometimes permit the wheel constraints to be substituted into the differential equation to produce a compact, apparently unconstrained result. However, in the general case, the terrain is not flat, the wheel constraints cannot be eliminated in this way, and they are typically inconsistent if derived from sensed information. In reality, the motion of a wheeled mobile robot (WMR) is restricted to a manifold which more-or-less satisfies the wheel slip constraints while both following the terrain and responding to the inputs. To address these more realistic cases, we have developed a formulation of WMR velocity kinematics as a differential-Algebraic system—a constrained differential equation of first order. This paper presents the modeling part of the formulation. The Transport Theorem is used to derive a generic 3D model of the motion at the wheels which is implied by the motion of an arbitrarily articulated body. This wheel equation is the basis for forward and inverse velocity kinematics and for the expression of explicit constraints of wheel slip and terrain following. The result is a mathematically correct method for predicting motion over non-flat terrain for arbitrary wheeled vehicles on arbitrary terrain subject to arbitrary constraints. We validate our formulation by applying it to a Mars rover prototype with a passive suspension in a context where ground truth measurement is easy to obtain. Our approach can constitute a key component of more informed state estimation, motion control, and motion planning algorithms for wheeled mobile robots.
-
FSR - A Vector Algebra Formulation of Mobile Robot Velocity Kinematics
Springer Tracts in Advanced Robotics, 2013Co-Authors: Alonzo Kelly, Neal SeegmillerAbstract:Typical formulations of the forward and inverse velocity kinematics of wheeled mobile robots assume flat terrain, consistent constraints, and no slip at the wheels. Such assumptions can sometimes permit the wheel constraints to be substituted into the differential equation to produce a compact, apparently unconstrained result. However, in the general case, the terrain is not flat, the wheel constraints cannot be eliminated in this way, and they are typically inconsistent if derived from sensed information. In reality, the motion of a wheeled mobile robot (WMR) is restricted to a manifold which more-or-less satisfies the wheel slip constraints while both following the terrain and responding to the inputs. To address these more realistic cases, we have developed a formulation of WMR velocity kinematics as a differential-Algebraic system—a constrained differential equation of first order. This paper presents the modeling part of the formulation. The Transport Theorem is used to derive a generic 3D model of the motion at the wheels which is implied by the motion of an arbitrarily articulated body. This wheel equation is the basis for forward and inverse velocity kinematics and for the expression of explicit constraints of wheel slip and terrain following. The result is a mathematically correct method for predicting motion over non-flat terrain for arbitrary wheeled vehicles on arbitrary terrain subject to arbitrary constraints. We validate our formulation by applying it to a Mars rover prototype with a passive suspension in a context where ground truth measurement is easy to obtain. Our approach can constitute a key component of more informed state estimation, motion control, and motion planning algorithms for wheeled mobile robots.
