This paper presents a visual based localization
mechanism for a legged robot. Our proposal, fundamented
on a probabilistic approach, uses a precompiled topological
map where natural landmarks like doors or ceiling lights
are recognized by the robot using its on-board camera.
Experiments have been conducted using the AIBO Sony
robotic dog showing that it is able to deal with noisy sensors
like vision and to approximate world models representing
indoor ofce environments. The two major contributions of
this work are the use of this technique in legged robots, and
the use of an active camera as the main sensor
A UML Documentation for an Elevator System：This paper is a PhD project report for the course Distributed Embedded Systems at Carnegie Mellon University. Throughout this course, a distributed real-time system – an elevator control system– is specified, designed, built, and simulated. Object Oriented Analysis and Design methods, in specific the Unified Modeling Language (UML) are used when designing the system.
This paper addresses the subject of SQL Injection in a Microsoft SQL Server/IIS/Active
Server Pages environment, but most of the techniques discussed have equivalents in other
database environments. It should be viewed as a "follow up", or perhaps an appendix, to
the previous paper, "Advanced SQL Injection".
The paper covers in more detail some of the points described in its predecessor, providing
examples to clarify areas where the previous paper was perhaps unclear. An effective
method for privilege escalation is described that makes use of the openrowset function to
scan a network. A novel method for extracting information in the absence of helpful
error messages is described the use of time delays as a transmission channel. Finally, a
number of miscellaneous observations and useful hints are provided, collated from
responses to the original paper, and various conversations around the subject of SQL
injection in a SQL Server environment.
