This paper describe design and implementation of SLAM algorithm for selflocalization and mapping in indoor environment using data from laser scanner. Design is focused on 2D variant of SLAM, but parts is purposely reliazed to be usable in 3D SLAM. This ability is demonstrated at the end of paper.

Gemeinsamer Workshop von Universitaetsrechenzentrum und Professur Rechnernetze und verteilte Systeme der Fakultaet fuer Informatik der TU Chemnitz. Der Vortrag beginnt mit der Vorstellung eines C-Pen. Erfahrungen mit der praktischen Anwendung eines solchen "Computer-Stiftes" bilden den Hauptteil.

The number of vulnerabilities discovered in software has been growing fast the last few years. At the same time the Agile method has quickly become one of the most popular methods for software development. However, it contains no mention of security, and since security is not traditionally agile it is hard to develop secure software using the Agile method. To make software secure, security testing must be included in the development process. The aim of this thesis is to investigate how and where security can be integrated in the Agile development process when developing web applications. In the thesis some possible approaches for this are presented, one of which is to use a web application security scanner. The crawling and detection abilities of four scanners are compared, on scanner evaluation applications and on applications made by Nordnet.An example implementation of one of those scanners is made in the testing phase of the development process. Finally, a guide is created that explains how to use the implementation. I reach the conclusion that it is possible to integrate security in the Agile development process by using a web application security scanner during testing. This approach requires a minimal effort to set up, is highly automated and it makes the Agile development process secure and more effective. / Antalet upptäckta sårbarheter i mjukvara har ökat fort under de senaste åren. Den agila metoden har samtidigt blivit en av de mest populära metoderna för mjukvaruutveckling. Den berör dock inte säkerhet, och eftersom säkerhet, traditionellt sett, inte är agilt så blir det svårt att utveckla säker mjukvara med den agila metoden. För att kunna göra mjukvaran säker så måste säkerhetstestning infogas i utvecklingsfasen. Syftet med det här arbetet är att undersöka hur och var säkerhet kan integreras i den agila utvecklingsprocessen vid utveckling av webbapplikationer. Några sätt att göra detta på beskrivs i arbetet, varav ett är att använda ett verktyg för säkerhetstestning. En jämförelse av hur bra fyra sådana verktyg är på att genomsöka och hitta sårbarheter utförs på applikationer designade för att utvärdera verktyg för säkerhetstestning, samt hos Nordnets egna applikationer. Sedan beskrivs en exempelimplementation av ett av dessa verktyg i testfasen av utvecklingsprocessen. Slutligen, tas en guide fram som beskriver hur implementationen kan användas. Jag kommer fram till att det är möjligt att inkludera säkerhet i den agila utvecklingsprocessen genom att använda ett verktyg för säkerhetstestning i testfasen av utvecklingsprocessen. Detta tillvägagångssätt innebär en minimal ansträngning att införa, är automatiserat i hög grad och det gör den agila utvecklingsprocessen säker och mer effektiv.

Abstract [en] Background. Penetration testing is a good technique for finding web vulnerabilities. Vulnerability scanners are often used to aid with security testing. The increased scope is becoming more difficult for scanners to handle in a reasonable amount of time. The problem with vulnerability scanners is that they rely on fuzzing to find vulnerabilities. A problem with fuzzing is that: it generates a lot of network traffic; scans can be excruciatingly slow; limited vulnerability detection if the output string is modified due to filtering or sanitization. Objectives. This thesis aims to investigate if an XSS vulnerability scanner can be made more scalable than the current state-of-the-art. The idea is to examine how reflected parameters can be detected, and if a different methodology can be applied to improve the detection of XSS vulnerabilities. The proposed vulnerability scanner is named Mantis. Methods. The research methods used in this thesis are literature review and experiment. In the literature review, we collected information about the investigated problem to help us analyze the identified research gaps. The experiment evaluated the proposed vulnerability scanner with the current state-of-the-art using the dataset, OWASP benchmark. Results. The result shows that reflected parameters can be reliably detected using approximate string matching. Using the parameter mapping, it was possible to detect reflected XSS vulnerabilities to a great extent. Mantis had an average scan time of 78 seconds, OWASP ZAP 95 seconds and Arachni 17 minutes. The dataset had a total of 246 XSS vulnerabilities. Mantis detected the most at 213 vulnerabilities, Arachni detected 183, and OWASP ZAP 137. None of the scanners had any false positives. Conclusions. Mantis has proven to be an efficient vulnerability scanner for detecting XSS vulnerabilities. Focusing on the set of characters that may lead to the exploitation of XSS has proven to be a great alternative to fuzzing. More testing of Mantis is needed to determine the usability of the vulnerability scanner in a real-world scenario. We believe the scanner has the potential to be a great asset for penetration testers in their work.

京都大学 / 0048 / 新制・課程博士 / 博士(医学) / 甲第20981号 / 医博第4327号 / 新制||医||1026(附属図書館) / 京都大学大学院医学研究科医学専攻 / (主査)教授 増永 慎一郎, 教授 辻川 明孝, 教授 溝脇 尚志 / 学位規則第4条第1項該当 / Doctor of Medical Science / Kyoto University / DFAM

No description available.

Despite the first unmanned aerial vehicle (UAV) mission being flown on Aug 22 1849 to bomb Venice UAVs have only recently began to modernize into sophisticated tools beyond simple aerial vehicles. With an increasing number of potential applications, such as cargo delivery, communications, search and rescue, law enforcement, and homeland security, the need for appropriate UAV technology advancement also arose. Here, the development of a low-cost collision avoidance system is described. Hardware was tested and selected based on predetermined constraints and goals. Additionally, a variety of potential functions were explored and assessed at their effectiveness in preventing a collision of a UAV with mountainous terrain. Simulations were conducted using Cloud Cap’s Piccolo autopilot in conjunction with Matlab. Based on these simulations, a set of potential functions was selected to be used with the chosen hardware on subsequent UAV-development-related projects.

Yes / This article presented a novel compact multi-input-multi-output (MIMO) hexagonal monopole antenna with a uniplanar compact frequency-selective-surface (FSS) array for microwave imaging (MWI). The ultra-wideband (UWB) dual-element linear MIMO antenna was designed on the FR4 substrate with 50 Ω coplanar waveguide feed, T-strip isolation, novel numerical calculation, and equivalent circuit analyses. The main issues of realising high-resolution images based on planer UWB antenna for MWI are the low gain, omnidirectional pattern, design size, and mutual coupling of MIMO design. A novel technique was proposed to solve a hybrid issue (mutual coupling) of the MIMO reflected-waves from the FSS array and direct-wave. The uniplanar UWB-FSS unit cell was compacted by combining a square-loop and cross-dipole with a size of 0.095λ×0.095λ. The novel isolated UWB-MIMO antenna and UWB-FSS array (IMAF) were integrated, after investigating the distance between the antenna and FSS. The fabricated IMAF with a stable gain improvement of 4.5 dBi higher than the antenna without FSS, directional radiation pattern, size of 30×73.8×21.6 mm3 observed that a low mutual coupling of -27 dB, and operation bandwidth of 3.0-11.7 GHz. Moreover, a handbag was scanned experimentally via the bi-static approach to detect a small concealed object. The MWI system based on the MIMO antenna with FSS was displayed image resolution of 55% higher than that of MIMO antenna without FSS. The new baggage-scanner approach confirmed that the proposed MIMO antenna with FSS array can lead the humanity for healthy MWI applications.

The suite of three Clouds and Earth’s Radiative Energy System (CERES) radiometers measure the radiation reflected from and emitted by the Earth from Earth orbit. The instruments are based on a two-mirror reflecting telescope which focuses incident radiation on a thermistor bolometer thermal radiation detector. The CERES radiometers scan back and forth across the Earth and surrounding space as the satellite orbits the Earth. Each scan has a period of about six seconds. This not only results in a transient radiation signal arriving at the detector surface from the scene, but also in temperature transients in the instrument structure. The instrument “zero” is obtained during the “space look” when it views cold space at each end of the scan. Some of the surfaces of the instrument structure are visible from the detector, either directly or through reflections. As a result, the radiation emitted by these surfaces will reach the detector. This form of radiation is called thermal noise and is undesirable. In order to determine whether the thermal noise is significant to cause concern, the transient response and temperature variations of the various components of the instrument must be known. The transient response is determined from observing the temporal variation of the temperature distribution within the instrument structure. Since the instrument orbits the Earth, both the Earth and space make up the environment of the instrument. This means that the temperature distributions for both the space look and Earth scene must be studied. Pseudo time constants were determined from the transient space-look temperatures. The transient thermal noise was then determined from the pseudo time constants and the steady-state space-look and earth-scene temperatures. The thermal noise was shown to vary with magnitude on the order of nanowatts. This means that the thermal noise is not sufficiently large to be of concern. / Master of Science

Les modèles virtuels de plantes sont visuellement de plus en plus réalistes dans les applications infographiques. Cependant, dans le contexte de la biologie et l'agronomie, l'acquisition de modèles précis de plantes réelles reste un problème majeur pour la construction de modèles quantitatifs du développement des plantes.Récemment, des scanners laser 3D permettent d'acquérir des images 3D avec pour chaque pixel une profondeur correspondant à la distance entre le scanner et la surface de l'objet visé. Cependant, une plante est généralement un ensemble important de petites surfaces sur lesquelles les méthodes classiques de reconstruction échouent. Dans cette thèse, nous présentons une méthode pour reconstruire des modèles virtuels de plantes à partir de scans laser. Mesurer des plantes avec un scanner laser produit des données avec différents niveaux de précision. Les scans sont généralement denses sur la surface des branches principales mais recouvrent avec peu de points les branches fines. Le cœur de notre méthode est de créer itérativement un squelette de la structure de la plante en fonction de la densité locale de points. Pour cela, une méthode localement adaptative a été développée qui combine une phase de contraction et un algorithme de suivi de points.Nous présentons également une procédure d'évaluation quantitative pour comparer nos reconstructions avec des structures reconstruites par des experts de plantes réelles. Pour cela, nous explorons d'abord l'utilisation d'une distance d'édition entre arborescence. Finalement, nous formalisons la comparaison sous forme d'un problème d'assignation pour trouver le meilleur appariement entre deux structures et quantifier leurs différences. / In the last decade, very realistic rendering of plant architectures have been produced in computer graphics applications. However, in the context of biology and agronomy, acquisition of accurate models of real plants is still a tedious task and a major bottleneck for the construction of quantitative models of plant development. Recently, 3D laser scanners made it possible to acquire 3D images on which each pixel has an associate depth corresponding to the distance between the scanner and the pinpointed surface of the object. Standard geometrical reconstructions fail on plants structures as they usually contain a complex set of discontinuous or branching surfaces distributed in space with varying orientations. In this thesis, we present a method for reconstructing virtual models of plants from laser scanning of real-world vegetation. Measuring plants with laser scanners produces data with different levels of precision. Points set are usually dense on the surface of the main branches, but only sparsely cover thin branches. The core of our method is to iteratively create the skeletal structure of the plant according to local density of point set. This is achieved thanks to a method that locally adapts to the levels of precision of the data by combining a contraction phase and a local point tracking algorithm. In addition, we present a quantitative evaluation procedure to compare our reconstructions against expertised structures of real plants. For this, we first explore the use of an edit distance between tree graphs. Alternatively, we formalize the comparison as an assignment problem to find the best matching between the two structures and quantify their differences.