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We consider the classical problem of establishing initial security associations in wireless sensor networks. More specifically, we focus on pre-deployment phase in which sensor nodes have not yet been loaded with shared secrets or other forms of authentic information. In this paper, we propose two novel multichannel protocols for ini-tialization of large(More)
This paper presents a simple, inexpensive, and fast procedure for motion kinematics measurement and analysis [1,2]. System developed in our laboratory is based on a high speed industrial camera, active LED markers and a PC for handling cameras video stream and data analysis. Active markers used in this work were assembled using small, lightweight and easily(More)
In this paper we have proposed and evaluated a new method for human anthropometric parameters estimation. Method is planed to be simple and fast, thus suited for examiners with no experience in the anthropometric measurements. An anthropometric data obtained by this method, segments masses and lengths, are primarily used for biomechanics applications, but(More)
which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. Abstract Gait patterns of humans and humanoid robots are often described by analysing changes in angular rotation of hip, knee and ankle joints during one gait cycle. Each joint displays specific behaviour and irregularities of the(More)
Ability of precise measurement and analysis of human movements is an essential tool for biomechanical research used in sports or clinical applications. Ideally, the measurement system should be non-invasive, safe to use, customizable and relatively inexpensive. In this paper design and evaluation of a high speed optical motion tracking and analysis system(More)
The scope of this paper is the presentation of experiments which involve measurements and identification of human movements by using the inertial sensors. We describe the purpose, design and obtained results of two experiments, as well as our future plans which include the exploration of the forces acting at spine segments by measurements with inertial(More)
The paper describes design and features of novel semi-autonomous floor scrubber add-on module, used for cleaning large indoor and outdoor tile/marbles spaces found in modern (smart) cities. Module is designed in such a manner that it can be easily added to and removed from scrubber machine and that additional sensors and capabilities can be introduced(More)
The problem of detecting objects and their movements in sensor data is of crucial importance in providing safe navigation through both indoor and outdoor environments for the visually impaired. In our setting we use depth-sensor data obtained from a simulator and use inductive logic programming (ILP), a subfield of machine learning that deals with learning(More)
Mobile robots are becoming ubiquitous, with applications which usually include a degree of autonomy. However, due to uncertain and dynamic nature of operational environment, algorithms for autonomous operation might fail. In order to assist the robot, the human operator might need to take control over the robot from remote location. In order to efficiently(More)