Xiaojing Wang

Curve path detection of unstructured roads for the outdoor robot navigation

Abstract Path planning is a crucial problem in the application of mobile robot and autonomous vehicle. Recently most of methods only achieve reliable results in some particular structured environments. In this paper, we describe a new navigation path detection algorithm in an unstructured environment. Natural frames are analyzed in RGB vector space to research the feasibility of curve path detection of unstructured roads. Perceptual color clustering and morphological image processing have been used as pre-processing to obtain the segmented path. The pixels of the segmented image are analyzed from right to left line-by-line to find the middle points of the path. In order to obtain the optimal navigation path, the least-squares curve fitting method has been used in our research. At last a new method of obtaining the navigation parameters is given. The experimental result shows that our algorithm has high speed and remarkable precision. The navigation parameters in our algorithm can control the robot movement well.

A New Class of Highly Fault Tolerant Erasure Code for the Disk Array

We present a new class of erasure codes of size ntimesn (n is a prime number) called T-code, a new family of simple, highly fault tolerant XOR-based erasure codes for storage systems (with fault tolerance up to 15). T-code is not maximum distance separable (MDS), but has many other advantages, such as high fault tolerance, simple computability, and high efficiency of coding and decoding. Because of its superior quantity over many other erasure codes for the storage system, this new coding technology is more suited in RAID or dRAID systems.

A Rapid Secret Sharing Scheme for Resource Constrained Environments

A method of rapid secret sharing scheme based on STAR codes is proposed. Due to the characteristic of array codes such as STAR codes, the computation in secret sharing scheme need only XOR operation on GF(2), which is distinguished with the modulation and other complex operation on GF(q) in the traditional schemes. Thus, its more rapid and suitable for large capacity secret sharing, and also appropriate for resource constrained environments, such as embedded systems. The process of distribution and reconstruction of the secret key in our scheme is depicted in details, and an example of (5, 8) threshold secret sharing scheme based on (8, 5, 4) STAR code is demonstrated. Our scheme is proved to be perfect and ideal.

Reliability Prediction of Wireless Sensor Network Based on Neural Network

Reliability is one of key indexes of communication network system performance assessment, which is also main basis for network optimal design, network management and control. Based on definition of network node reliability and link reliability, the paper given description on Wireless Sensor Network (WSN) reliability assessment and presented a kind of WSN reliability prediction model and its learning algorithm of WSN based on RBF neural network. The method can accurately estimate network reliability according to reliability of network node and link under any topology of WSN. Simulation results show that the method is effective in the prediction of reliability of WSN.

Modified Raptor Code for Distributed Storage Systems

We provide a prototype system for a distributed storage model, the goal of this system is to store information in a p2p network of n nodes, and the original information could be recovered later in a computationally simple way from (1+e)k of nodes for some small e>0. For solving this problem, we employ a class of B-J codes with dimension 2 as base code and obtain a new class of LDPC code by using q-tuples to substitute the elements of , to modify and improve Raptor code. The improved Raptor Code has many advantages such as high decoding rate, flexibility in choices of the code length and rate of. As the benefits of the above characters, the storage system based on modified Raptor code has great improvement in decoding probability and parameter flexibility, and a simulation is also illustrated to prove our assumption.

A New Approach to MANet Routing Based on Erasure Codes

In this paper, we present a novel approach for mobile ad-hoc routing, which is called AOMDV-CB. The brand-new protocol is an extension of the well-known AOMDV (Ad Hoc on Demand Multi-Path Distance Vector) protocol, holds a potential to drastically increase scalability in both the size and the diameter of the ad hoc network with the advantage of erasure codes. Performance comparison of AOMDV-CB with AOMDV and AODV using ns-2 simulations is given in our paper, results shows that AOMDV-CB is able to achieve a remarkable improvement in the robust and efficiency of ad-hoc network.

A Copyright Protection Scheme for Digital Images Based on Operations over Finite Groups

A robust copyright protection scheme for digital images is proposed in the paper. In the proposed scheme, the watermark does not require to be embedded into the protected image but is used to generate a secret image by addition operations over finite groups. Then the secret image is registered to certified authority (CA) for further protection. Color images can be used as the watermark is the most major characteristic of the scheme. Experimental results show that the proposed scheme not only can clearly verify the copyright of the digital image, but also is robust to withstand many image processing attacks.