12592675
A New Approach for Active Stereo Camera Calibration
By active stereo we mean a stereo vision system that allows for independent panning and tilting for each of the two cameras. One advantage of active stereo in relation to regular stereo is the former's wider effective field of view; if an object is too close to the camera baseline, the depth to the object can still be estimated accurately by panning the cameras appropriately. Another advantage of active stereo is that it can yield a larger number of depth measurements simultaneously for each position of the platform on which the camera system is mounted. Panning and tilting over a large angular range, while being the main reason for the advantages of active stereo, also make it more challenging to calibrate such systems. For a calibration procedure to be effective for active stereo, the estimated parameters must be valid over the entire range of the pan and tilt angles. This paper presents a new approach to the calibration of such vision systems. Our method is based on the rationale that an active stereo calibration procedure must explicitly estimate the locations and the orientations of the pan and tilt rotating axes for the cameras through a closed-form solution. When these estimates for the axes are combined with the homogeneous transform relationships that link the various coordinate frames, we end with a calibration that is valid over a large variation in the pan and tilt angles.
10180647
Specularity elimination in range sensing for accurate 3D modeling of specular objects
We present a novel range sensing method that is capable of constructing accurate 3D models of specular objects. Our method utilizes a new range imaging concept called multipeak range imaging, which accounts for the effects of mutual reflections. False measurements generated by mutual reflections are then eliminated by applying a series of constraint tests based on local smoothness, global coordinate consistency and visibility consistency. We show the usefulness of our method by applying the method to three real objects with specular surfaces. The ground truth data for those three objects were also acquired in order to evaluate the elimination of false measurements and to justify the selection of the parameters in the constraint tests. Experimental results indicate that our method significantly improves upon the traditional methods for constructing reliable 3D models of specular objects with complex shapes.
15933972
A logical specification for usage control
Recently presented usage control (UCON) has been considered as the next generation access control model with distinguishing properties of decision continuity and attribute mutability. Ausage control decision is determined by combining authorizations, obligations, and conditions, presented as UCONABC core models by Park and Sandhu. Based on these core aspects, we develop afirst-order logic specification of UCON with Lamport's temporallogic of actions (TLA). The building blocks of this model include:(1) a sequence of states expressed by attributes of subjects, objects, and the system, (2) state predicates on subject andobject attributes, (3) pre-defined authorization actions performed by the security system and subjects, (4) obligation actions, and(5) condition predicates on system attributes. For a UCON model we define a set of temporal logic formulas that hold as usage control policies. We show the flexibility and expressive capability of this logic model by specifying the new features and core models of UCON.
8823546
Performance and energy efficiency of block ciphers in personal digital assistants
Encryption algorithms can be used to help secure wireless communications, but securing data also consumes resources. The goal of this research is to provide users or system developers of personal digital assistants and applications with the associated time and energy costs of using specific encryption algorithms. Fouriblock ciphers (RC2, Blowfish, XTEA, and AES) were considered. The experiments included encryption and decryption tasks with different cipher and file size combinations. The resource impact of the block ciphers were evaluated using the latency, throughput, energy-latency product, and throughput/energy ratio metrics. We found that RC2 encrypts faster and uses less energyithan XTEA, followed by AES. The Blowfish cipher is a fast encryption algorithm, but the size of the plaintext affects its encryption speed and energy consumption. Faster algorithms seem to be more energy efficient because of differences in speed rather than differences in power consumption levels while encrypting.
13229931
A Haptic Teleoperation Approach Based on Contact Force Control
This paper presents a new teleoperation approach using a virtual spring, and local contact force control on the slave robot. The operational space framework provides the control structure needed to achieve decoupled task dynamics. A virtual spring connects the master and slave systems and a closed-loop force controller compensates for the dynamics of the slave system, rendering transparent the effector of the slave robotic system. The active force control approach allows the desired motion and contact forces to be combined in a single force command. The required performance and robustness of force control are achieved by a full state reconstruction using a modified Kalman estimator, which addresses disturbances and modeling uncertainties. The performance of both telepresence and force control are further improved by on-line stiffness estimation of the object in contact with the effector. The redundancy of the mobile manipulation system is addressed through a decoupled decomposition of task and posture dynamics.
15751084
Decentralized user-role assignment for Web-based intranets
The intricacy of security administration is one of the most challenging problems in large networked systems. This problem is especially serious in the Web environment, which consists of synthesis of technologies and composition of various constituents. Role-Based Access Control (RBAC) can reduce the complexity and cost of security administration in large networked applications. Using RBAC itself to manage RBAC provides additional administrative convenience. The main contribution of this paper is to extend the RBAC/Web system (developed at NIST) with the URA97 model for user-role assignment (developed at GMU) to decentralize the details of RBAC administration on the Web without losing central control over the system policy.
16135620
Constructing fair-exchange protocols for E-commerce via distributed computation of RSA signatures
Applications such as e-commerce payment protocols, electronic contract signing, and certified e-mail delivery require that fair exchange be assured. A fair-exchange protocol allows two parties to exchange items in a fair way so that either each party gets the other's item, or neither party does. We describe a novel method of constructing very efficient fair-exchange protocols by distributing the computation of RSA signatures. Specifically, we employ multisignatures based on the RSA-signature scheme. To date, the vast majority of fair-exchange protocols require the use of zero-knowledge proofs, which is the most computationally intensive part of the exchange protocol. Using the intrinsic features of our multisignature model, we construct protocols that require no zero-knowledge proofs in the exchange protocol. Use of zero-knowledge proofs is needed only in the protocol setup phase--this is a one-time cost. Furthermore, our scheme uses multisignatures that are compatible with the underlying standard (single-signer) signature scheme, which makes it possible to readily integrate the fair-exchange feature with existing e-commerce systems.