This paper presents a new type of wearable teleoperation system that can be applied to the control of a humanoid robot. The proposed system has self-contained computing hardware with a stereo head-mounted display, a microphone, a set of headphones, and a wireless LAN. It also has a mechanism that tracks arm and head motion by using several types of sensors that detect the motion data of an operator, along with a simple force reflection mechanism that uses vibration motors at appropriate joints. For remote tasks, we use intelligent self-sensory feedback and autonomous behavior, such as automatic grasping and obstacle avoidance in a slave robot, and we feed the information back to an operator through a multimodal communication channel. Through this teleoperation system, we successfully demonstrate several teleoperative tasks, including object manipulation and mobile platform control of a humanoid robot.

Automatic discovery of physical topology plays a crucial role in enhancing the manageability of modern large Ethernet mesh networks. Despite the importance of the problem, earlier research and commercial network management tools have typically concentrated on either discovering active topology, or proprietary solutions targeting specific product families. Recent works [1]-[3] have demonstrated that physical topology can be determined using standard SNMP MIB, but these algorithms depend on Filtering Database and rely on the so-called spanning tree protocol (IEEE 802.1d) in order to break cycles, thereby avoiding the possibility of infinitely circulating packets and deadlocks. A previous work [1] requires that Filtering Database entries are completed; however it is a very critical assumption in a realistic Ethernet mesh network. In this paper, we have proposed a new topology discovery algorithm which works without the complete knowledge of Filtering Database. Our algorithm can discover complete physical topology including inactive interfaces eliminated by the spanning tree protocol in LEMNs. The effectiveness of the algorithm is demonstrated by an implementation.

Elliptic curves offer interesting possibilities for alternative cryptosystems, especially in constrained environments like smartcards. However, cryptographic routines running on such lightweight devices can be attacked with the help of "side channel information"; power consumption, for instance. Elliptic curve cryptosystems are not an exception: if no precaution is taken, power traces can help attackers to reveal secret information stored in tamper-resistant devices. Okeya-Takagi scheme (OT scheme) is an efficient countermeasure against such attacks on elliptic curve cryptosystems, which has the unique feature to allow any size for the pre-computed table: depending on how much memory is available, users can flexibly change the table size to fit their needs. Since the nature of OT scheme is different from other side-channel attack countermeasures, it is necessary to deeply investigate its security. In this paper, we present a comprehensive security analysis of OT scheme, and show that based on information leaked by power consumption traces, attackers can slightly enhance standard attacks. Then, we explain how to prevent such information leakage with simple and efficient modifications.

This paper presents a correlation-based watermarking method for video using the similarity of adjacent frames. In general, the adjacent frames of a video sequence is very similar. In the proposed scheme, we use an adjoining frame in detection process instead of an original image in the watermarking scheme of Cox et al. So the proposed method does not need an original video sequence in detection process. When a watermarked video sequence is attacked by overwriting copy or frame dropping, the pair of the frames that is not adjoining in an original video sequence is used in detection process. However, since a watermark is embedded in a part of each frame and embedding positions are different for each frame in the proposed method, we can detect the watermark even from an overwriting-copied video sequence and a frame-dropped video sequence. Experimental results show that the proposed method is robust against overwriting copy and frame dropping. Moreover, it is shown from experimental results that the method has robustness to low bitrate MPEG compression and StirMark attack.

A new shielding evaluation setup for conductive O-rings is proposed. This setup consists of the holder with a groove to fix the O-ring position. There are two ways to apply O-rings in narrow gaps, cylinder-fixing and plane-fixing. With this holder shielding effects of the O-rings can be evaluated from 10 kHz to 1 GHz for both fixing types.

With the increase of commercial multimedia applications using digital video, the security of video data becomes more and more important. Although several techniques have been proposed in order to protect these video data, they provide limited security or introduce significant overhead. This paper proposes a video security scheme for MPEG video compression standard, which includes two methods: DCEA (DC Coefficient Encryption Algorithm) and "Event Shuffle." DCEA is aim to encrypt group of codewords of DC coefficients. The feature of this method is the usage of data permutation to scatter the ciphertexts of additional codes in DC codewords. These additional codes are encrypted by block cipher previously. With the combination of these algorithms, the method provides enough security for important DC component of MPEG video data. "Event Shuffle" is aim to encrypt the AC coefficients. The prominent feature of this method is a shuffling of AC events generated after DCT transformation and quantization stages. Experimental results show that these methods introduce no bit overhead to MPEG bit stream while achieving low processing overhead to MPEG codec.

We present a depth video enhancement algorithm in order to provide high quality haptic interaction. As the telecommunication technology emerges rapidly, the depth image-based haptic interaction is becoming viable for broadcasting applications. Since a real depth map usually contains discrete and rugged noise, its haptic interaction produces the distorted force feedback. To resolve these problems, we propose a two-step refinement and adaptive sampling algorithm. In the first step, noise is removed by the median-filtering technique in 2D image space. Since not all pixels can be used to reconstruct the 3D mesh due to limited system resources, the filtered map is adaptively sampled based on the depth variation. Sampled 2D pixels, called feature points, are triangulated and projected onto 3D space. In the second refinement step, we apply the Gaussian smoothing technique to the reconstructed 3D surface. Finally, 3D surfaces are rendered to compute a smooth depth map from Z-buffer.

Based on the concept of Equivalent Transformation Method of Material Constant (ETMMC), a thin and light weight EM-wave absorber is newly proposed. It becomes possible to merge both the competing characteristics of changing the matching frequency toward a higher frequency region by means of punching out small holes in the magnetic absorber and of changing the matching frequency toward a lower frequency region by attaching periodical conductive patterns to the surface of it. First, the ETMMC idea is introduced in this paper. The detailed matching characteristics of the present absorber are investigated based on FDTD analysis. The matching mechanism is clarified from input admittance chart viewpoints. The matching characteristics can be changed from 2.4 GHz to above 6.0 GHz using carbonyl iron with the thickness of 2 mm and improved below -20 dB.

An adaptive data hiding scheme capable of hiding considerable quantities of secret data while preserving acceptable visual quality for cover images is proposed. The major idea of this scheme is to hide secret data into the compressed codes of cover image during the encoding process of side-match vector quantization (SMVQ) such that the interceptors will not capture the secret information. Based on the experimental results, it is confirmed that the proposed scheme is better than earlier works. Moreover, the receiver can efficiently receive both the compressed cover image and the hidden secret data at the same time.

A free-space method is in wide spread use for the reflectivity measurement of electromagnetic wave absorbers (EMA) in VHF and UHF range. In the free-space method, the reflection levels from EMA and from the metal plate with same size as the EMA are measured, and the reflectivity is calculated from their ratio. The incident angle such as normal or oblique must be defined, and the polarization of electromagnetic (EM) wave must be specified to be TE, TM, or circularly-polarized mode. In this paper, a parallel EM wave beam method using dielectric lenses in front of horn antennas was studied experimentally. Electromagnetic wave absorption was measured with the vertical and the oblique incidence by using this parallel EM wave beam. This measurement system has following features:• It is compact because equiphase parallel EM wave beam was obtained in a short distance from the dielectric lens.• It requires no anechoic chamber because of little multi-reflection due to high directivity of parallel EM wave beam.• It allows a large oblique incident measurement by using high directive parallel EM wave beam.

In multi-carrier code division multiple access (MC-CDMA) uplink (mobile-to-base station), since different users' signals go through different frequency-selective fading channels, large multi-access interference (MAI) is produced. The use of frequency-domain equalization reception can only partially restore the orthogonality among different users' signals, resulting in a severe degradation in the bit error rate (BER) performance. Hence, frequency-domain pre-equalization transmission, which equalizes the MC-CDMA signal before transmission, is recently attracting attention. In this paper, we present a generalized minimum mean square error (GMMSE) frequency-domain pre-equalization transmission suitable for MC-CDMA/TDD uplink. The pre-equalization weight is derived based on the method of Lagrange multipliers. The theoretical analysis of BER performance using the GMMSE frequency-domain pre-equalization transmission in a frequency-selective Rayleigh fading channel is presented and the result is confirmed by computer simulation.

We discuss side channel leakage from modular reduction for NIST recommended domain parameters. FIPS 186-2 has 5 recommended prime fields. These primes have a special form which is referred to as generalized Mersenne prime. These special form primes facilitate especially efficient implementation. A typical implementation of efficient modular reduction with such primes includes conditional reduction. A conditional reduction in modular reduction can constitute an information channel on the secret exponent. Several researchers have produced unified code for elliptic point addition and doubling in order to avoid a simple power analysis (SPA). However, Walter showed that SPA still be possible if Montgomery multiplication with conditional reduction is implemented within the unified code. In this paper we show SPA on the modular reduction with NIST recommended primes, combining with the unified code for elliptic point operations. As Walter stated, our results also indicate that even if the unified codes are implemented for elliptic point operations, underlying field operations should be implemented in constant time. The unified approach in itself can not be a countermeasure for side channel attacks.

Security protocols flaws represent a substantial portion of security exposures of data networks. In order to evaluate security protocols against any attack, formal methods are equipped with a number of techniques. Unfortunately, formal methods are applicable for static state only, and don't guarantee detecting all possible flaws. Therefore, formal methods should be complemented with dynamic protection. Anomaly detection systems are very suitable for security protocols environments as dynamic activities protectors. This paper presents an intrusion detection system that uses a number of different anomaly detection techniques to detect attacks against security protocols.

In this letter, we present a new numerical design method for 2-D FIR quincunx filter banks (QFB) with low-delay, equiripple magnitude response, and perfect reconstruction (PR). The necessary conditions for the system delay of QFB are derived. The dual affine scaling variant of Karmarkar's algorithm is employed to minimize the peak ripples of analysis filters, and a linearization scheme is introduced to satisfy the PR constraint for QFB. We have included several simulation examples to show the efficacy of this proposed design technique.

To find the best transformation between a "model" point set and an "image" point set is the main purpose of point pattern matching. The similarity measure plays a pivotal role and is used to determine the degree of resemblance between two objects. Although some well-known Hausdorff distance measures work well for this task, they are very computationally expensive and suffer from the noise points. In this paper, we propose a novel similarity measure using the Hilbert curve named Hilbert scanning distance (HSD) to resolve the problems. This method computes the distance measure in the one-dimensional (1-D) sequence instead of in the two-dimensional (2-D) space, which greatly reduces the computational complexity. By applying a threshold elimination function, large distance values caused by noise and position errors (e.g. those that occur with feature or edge extraction) are removed. The proposed algorithm has been applied to the task of matching edge maps with noise. The experimental results show that HSD can provide sufficient information for image matching within low computational complexity. We believe this sets a new direction for the research of point pattern recognition.

To clarify the correspondence between Shielding Effectiveness (SE) of shielding materials and their physical property, we propose an equivalent circuit for a shielding effectiveness test apparatus using a dual TEM cell, and show its validity. By considering the structure of dual TEM cell that consists of a pair of cells coupled via an aperture in their common wall, we defined the capacitance C and mutual inductance M, that respectively express the electric coupling and magnetic coupling between two center conductors. By the measurement of unloaded S-parameter, we determined the values of C and M for a dual TEM cell in hand. Next, the shielding material was approximated by the apparent sheet resistivity Rs, and was used in the equivalent circuit of loaded aperture. As a result, the coupling level calculated from the equivalent circuit agreed well with the measured data in frequencies below 300 MHz.

Machine learning and data mining algorithms are increasingly being used in the intrusion detection systems (IDS), but their performances are laggard to some extent especially applied in network based intrusion detection: the larger load of network traffic monitoring requires more efficient algorithm in practice. In this paper, we propose and design an anomaly intrusion detection (AID) system based on the vector quantization (VQ) which is widely used for data compression and high-dimension multimedia data index. The design procedure optimizes the performance of intrusion detection by jointly accounting for accurate usage profile modeling by the VQ codebook and fast similarity measures between feature vectors to reduce the computational cost. The former is just the key of getting high detection rate and the later is the footstone of guaranteeing efficiency and real-time style of intrusion detection. Experiment comparisons to other related researches show that the performance of intrusion detection is improved greatly.

In this paper, we propose a framework for virtual reality, I2-NEXT, which enables users to interact with virtual objects by tangible objects in immersive networked virtual environment. The primary goal of this framework is to support rapid development of immersive and interactive virtual reality systems as well as various types of user interfaces. The proposed framework consists of user interface for interactions, immersive virtual environment, and networking interface. In this framework, we adopt several design patterns to guarantee that either developers or users (artists) can easily implement their VR applications without strong knowledge of VR techniques such as programming, libraries etc. One of the key features of this framework is the presence of the device module which supports a natural user interaction in a virtual environment. For example, the proposed framework provides users with tangible objects so that the users are able to manipulate virtual objects by touching real objects. The proposed framework also supports large scale stereoscopic display through clustering technique. To realize the effectiveness of the proposed framework, we have been developing an application for digital heritage reconstruction. Having been through development of the system, we believe that virtual reality technology is one of the promising technologies which enable users to experience realities in a digital space. Detailed explanations of each component and system architecture are presented.

This paper proposes new candidate one-way functions constructed with a certain type of endomorphisms on non-supersingular elliptic curves. We can show that the one-wayness of our proposed functions is equivalent to some special cases of the co-Diffie-Hellman assumption. Also a digital signature scheme is explicitly described using our proposed functions.

Our group is exploring interactive multi- and hypermedia, especially applied to virtual and mixed reality multimodal groupware systems. We are researching user interfaces to control source→sink transmissions in synchronous groupware (like teleconferences, chatspaces, virtual concerts, etc.). We have developed two interfaces for privacy visualization of narrowcasting (selection) functions in collaborative virtual environments (CVES): for a workstation WIMP (windows/icon/menu/pointer) GUI (graphical user interface), and for networked mobile devices, 2.5- and 3rd-generation mobile phones. The interfaces are integrated with other CVE clients, interoperating with a heterogeneous multimodal groupware suite, including stereographic panoramic browsers and spatial audio backends & speaker arrays. The narrowcasting operations comprise an idiom for selective attention, presence, and privacy-- an infrastructure for rich conferencing capability.