Rustam Rakhimov Igorevich

Behavioral synchronization of human and humanoid robot

This paper explores interaction design and real time implementation of behavioral synchronization of Human and Humanoid robot. Human postures are captured into a 3D skeleton using Kinect sensor. Single 3D coordinates of joints can be derived from the skeleton. For the behavioral synchronization primitive humanoid robot with 16 servo motors are used. Humans joint coordinates are extracted from the standing posture. Using mechanism suggested in this paper, the joints information converted and mapped to the humanoid robot. The overall architecture was designed and implemented in expandable way. This gives opportunity to control humanoid robot locally as well as remotely. Suggested behavioral synchronization method from this work is implemented and validated. Time delay issues are also considered as a significant topic in instance implementation. Behavior synchronization of human and robot have totally 400 millisecond time delays, where 50% is related to humanoids internal latency. Additionally suggested architecture provides another mode, where user can use alternative controllers.

iVision based Context-Aware Smart Home system

Ultimate goal of ubiquitous computing is to move computers away from the users focus, by embedding them into the environment. The user will be surrounded by smart and internet powered devices. In this work we describe our research about the Smart Home system. Our solution contains all sorts of smart entities necessary at home. For the interaction with the user we defined two outputs: Smart Wall and Smart TV, and one input: iVision. iVision system is designed and implemented on SoC (System on Chip), to get higher performance, and less latency. Smart home appliances are implemented based on DPWS (Device Profile for Web Services). Additionally Context-Awareness driven architecture was suggested, to improve the quality of the service in a Smart Home system.

Two Hand Gesture Recognition Using Stereo Camera

This paper proposes method for gesture recognition by two hands. In this research stereo camera was used to calculate depth map of the frame. Based on depth information precise tracking of the hands was applied. Depth map calculates in hardware level. Oversensitivity of camera to light generates horizontal noise. Especially appeared horizontal noise affects on tracking two hands located in same altitude. In this paper we suggest masking method to avoid horizontal noise in software level.

Survey on CPN Applications in Cloud Computing

The multiple issues in a Cloud-computing environment require formal verification and validation methods. Dozens of research works have been done in order to refer this topic. In this paper we would like to emphasis the CPN (Colored Petri Nets) based formal analysis of different aspects in cloud computing. Research works regarding to CPN applications in cloud computing were categorized into four classes. The paper also covers the CPN modelling approaches specifically oriented to solve issues in cloud environments.

Dynamic reconfigurable UCR broker for educational robot control

In Robotics field communication is served as one of the key objectives. Communication plays significant role between controllers and robots, and during collaboration of number of robots. Providing safe and reliable communication between elements of collaborative environment had become important issue. The UCR Reconfigurable Communication Broker has been presented as a major contribution of this research work. This solution contains all functionalities of previous It was designed based on OSGi platform and all additional components can be built as a standard OSGi bundle. It makes system more flexible to run its bundles in a real-time. As a final instance result of this work Dynamic Reconfigurable Lightweight Broker was developed. It can run on different platforms, as an example it is demonstrated on Android platform, to control sort of robots by installing different bundles.

Smart TV usage extension method using screen division and virtual network computing

Smart TV market grows rapidly, and it becomes another important part of our life cycle. Main factor of growing smart technologies are their useful applications. There are necessities for users to run their casual PC applications in Smart TVs. Therefore, some applications have been developed or ported to be able to run in Smart TVs. However, the process of converting many PC applications requires a lot of works that it is hard to convert every PC applications to Smart TV. In this paper, we propose Remote Desktop Client Platform (RDCP) solution to allow PC applications, easily being adapted to Smart TV application environment. We have used Virtual Network Computing (VNC) as a core of RDCP. Additionally we have divided big screen into two sub-screens, to get extra functionalities and comfortable usage. This method retains original functionalities of Smart TV. Implementation of this solution has been done using Smart TV SDK that contains cutting edge web technologies with the last updates of HTML5. By using proposed RDCP solution, the VNC ported Smart TV could extend its usage into education and entertainment field. In addition, we have implemented assistive tools to control Smart TV remotely.

XML-RPC Driven UCR Broker

Broker oriented solution can handle fast and reliable communication issue between robot and controller. A number of users can communicate in a flexible way if they use broker server between each other. In this research XML-RPC driven UCR Broker was introduced as a flexible solution to satisfy reliable and lower latency in robot control. Additionally UCR Broker can provide communication between various protocols such as Bluetooth, ZigBee, UDP and TCP. As a result of this work UCR Common Broker library was designed. Using this library, developers can easily create robotics related applications that provides flexibility and scalability in a communication.

CPN Based Analysis of In-Vehicle Secure Communication Protocol

Security in the domain of In-Vehicle communication becomes criticial issue when modules from different vendors allowed interacting with car. Authentication and information secrecy issues must be solved by car vendors. Many research works were held about authentication of car accessory devices and their secure communication with central unit (HUD). In this work we have analyzed one of the recently published In-Vehicle Secure protocol. Multiple replay attacks were discovered during analysis of the protocol. CPN (Coloured Petri Nets) tool was applied to anlyze and demonstrate the flaw in given secure message exchange protocol.

A Timed Colored Petri-Net modeling for precision time protocol

Precision Time Protocol (PTP) is clock synchronization protocol that is used in computer networks. It is one of the most widely used clock synchronization protocol in the domains where the high degree of precision is required. Accuracy of the PTP goes in the sub-microsecond range. A lot of works have been done for verification and simulation of the protocol. There are still lacks of formal model representations of the PTP in temporal interactions aspects. This paper proposes to use Timed Colored Petri Nets (TCPN) to model PTP and formally represent with temporal dimension. We will verify the model by means of simulation techniques.

Androi-based C&D (connected & downloadable) IVI(in-vehicle infotainment) platform

In accordance with the rapid increment of advanced In-Vehicle Infotainment (IVI) services, the MOST has been commercialized. The MOST provides S/W stacks for all layers, but these are full of paradoxical flaws because they are not based on the open standard S/W stack and thus are unfamiliar with IT-Automotive convergence S/W developers. To solve this problem and deploy the MOST more widely, the Android-based IVI platform is proposed and demonstrated in cooperation with the built-in MOST amplifier for commercial cars.