Developing a vision-based auto-recharging system for mobile robots

This article describes a vision-based auto-recharging system that guides a mobile robot moving toward a docking station. The system contains a docking station and a mobile robot. The docking station contains a docking structure, a control device, a charger, a safety detection device, and a wireless RF interface. The mobile robot contains a power detection module (voltage and current), an auto-switch, a wireless RF interface, a controller, and a camera. The controller of the power detection module is a Holtek chip. The docking structure is designed with one active degree of freedom and two passive degrees of freedom. For image processing, the mobile robot uses a webcam to capture a real-time image. The image signal is transmitted to the controller of the mobile robot via a USB interface. We use an Otsu algorithm to calculate the distance and orientation of the docking station from the mobile robot. In the experiment, the proposed algorithm guided the mobile robot to the docking station.     

An Interactive Designing System with Virtual Sculpting and Virtual Woodcut Printing

In this paper, we propose an interactive designing method and a system based on it to create 3D objects and 2D images. This system consists of two subsystems for virtual sculpting to create a 3D shape and virtual printing to produce a picture with a printing block. In the virtual sculpting subsystem, a user can form solid objects with curved surfaces as if sculpting them. The user operates virtual chisels, and can remove or attach arbitrary shapes of ellipsoids or cubes from or to the workpiece. A 3D object generated by virtual sculpting looks like a real wooden sculpture. If using a board as a workpiece, a user can generate a virtual printing block. In the virtual printing subsystem, a user can synthesize a woodcut printing image from the virtual printing block mentioned above, a virtual paper sheet, and a printing brush. The user can synthesize a realistic woodcut print with a procedure similar to the actual woodcut printing.     

On the equivalence between small-step and big-step abstract machines: a simple application of lightweight fusion

We show how Ohori and Sasano's recent lightweight fusion by fixed-point promotion provides a simple way to prove the equivalence of the two standard styles of specification of abstract machines: (1) in small-step form, as a state-transition function together with a ‘driver loop’, i.e., a function implementing the iteration of this transition function; and (2) in big-step form, as a tail-recursive function that directly maps a given configuration to a final state, if any. The equivalence hinges on our observation that for abstract machines, fusing a small-step specification yields a big-step specification. We illustrate this observation here with a recognizer for Dyck words, the CEK machine, and Krivine's machine with call/cc.The need for such a simple proof is motivated by our current work on small-step abstract machines as obtained by refocusing a function implementing a reduction semantics (a syntactic correspondence), and big-step abstract machines as obtained by CPS-transforming and then defunctionalizing a function implementing a big-step semantics (a functional correspondence).     

Conditional states and independence in D-posets

In this paper a new approach to a conditional probability is studied in more general structure called a D-poset. The authors go into the inner structure of a conditional system which is a crucial notion for the existence of a conditional state. An independence of elements in a D-poset with respect to a state is defined.     

手机轨迹中活动停驻点识别

针对现有停驻点的问题,将手机用户轨迹与背景地理信息相结合,并引入功能区概念,通过考虑用户在某一功能区域内的整体活动来判断用户是否在此停驻。通过对带有标签的模拟的手机轨迹数据进行实验,证明了新的停驻点识别方法有效地避免了由于正常切换、错误切换带来的误判。停驻点的判断更为宽泛,不仅限于一个小的范围（单个基站的覆盖范围）,而是由多个相邻且功能相似小区组成的功能区中的小区集合。     

Vague集向Fuzzy集转化的一种新方法

提出Vague值向Fuzzy值转化的实用方法的定义。针对文献[6]中的一个Vague值向Fuzzy值转化的均值修正法,提出了加权均值修正法,并证明了这种方法同样是Vague值向Fuzzy转化的一种非常实用的方法。     

Detection and replacement of a failing node in the wireless sensors networks

The lifetime in a wireless network, in particular a wireless sensor network, depends strongly on the connectivity factor between nodes. Several factors can be at the origin of a connectivity rupture such as: lack of energy on a significant node level, infection of a vital node by a malevolent code and a logical or physical failure of a primary node. This rupture can lead in some cases to a reconfiguration of the network by generating a prejudicial overhead or in other cases to a failure of the mission assigned to the network. In this paper, we propose a DRFN approach (Detection and Replacement of a Failing Node) for the connectivity maintenance by carrying out a replacement chain according to a distributed algorithm. Through simulation, we have shown our approach efficiency. Compared with similar work, our proposed approach consumes less energy, and improves the percentage of reduction in field coverage.     

一种基于图的层次多标记文本分类方法

由于一个类别在层次树上可能存在多个镜像,基于层次树来进行分类可能会导致不一致性。一种自然的解决方法是采用图结构来描述类别关系,在现实生活中人们实际的描述方式也是如此。鉴于此,提出了一种直接基于图的层次多标记分类方法,称为GraphHMLTC。该方法利用有向无圈图的拓扑排序而非树的自顶向下的层次关系来确定类别之间的分类顺序,并且该拓扑序根据分类情形进行动态维护。实验表明,采用层次图分类的GraphHMLTC方法比非层次分类方法的代表之一BoosTexter.MH在较大程度上改善了分类精度。该工作体现了基于层     

gkDtree: A group-based parallel update kd-tree for interactive ray tracing

This paper proposes a new group-based acceleration data structure called gkDtree for interactive ray tracing of dynamic scenes. The main idea of the gkDtree is to construct the acceleration structure with a multi-level hierarchy, and to integrate a parallelization approach to result in a faster update and a more efficient tree traversal. A gkDtree can be viewed as a set of kd-trees, each of which is a local acceleration structure corresponding to a group. For a gkDtree, a scene is divided into several groups based on a scene graph. The local acceleration structure of each group involving only dynamic primitives is rebuilt. To achieve higher parallelization, dependencies among groups in different levels are removed before rebuilding occurs in parallel. To enhance the scalability of parallelization, a simple and fast load-balancing scheme is introduced. Furthermore, we apply a variety of accurate SAH (surface area heuristic) algorithms into tree generation for both static and dynamic groups. The experimental results show that a gkDtree has a real-time update performance. It has an update performance that is up to 166 times faster than a kd-tree for our test scenes in a six-core hardware system environment. Furthermore, the results also show that tree traversal performance of a gkDtree is competitive with that of a kd-tree.     

Biomechanical analyses of paramedics simulating frequently performed strenuous work tasks

Firefighters performing emergency rescue functions are at an elevated risk of musculoskeletal injuries. The objective of the current study was to analyze the biomechanical stresses placed on the body based on simulations of the following strenuous and frequently performed emergency rescue tasks: (1) transferring a patient from a bed to a stretcher using bedsheets, (2) transferring a patient from the ambulance stretcher to a hospital gurney, (3) carrying a victim down a set of stairs and through a landing using a stairchair, (4) carrying a victim down a set of stairs and through a landing using a backboard, and (5) carrying a victim down a straight set of stairs using a stretcher. Postural data were analyzed using the University of Michigan's Three-Dimensional Static Strength Prediction Program and the relative risk of low back disorder (LBD) was quantified using the trunk motion model published by Marras et al. (1993, spine 18, 617-628). Peak compression values and the probabilities from the Marras et al. (1993) model indicated that the most hazardous tasks performed as part of this simulation included pulling a victim from a bed to a stretcher, the initial descent of a set of stairs when using the stretcher, and lifting a victim on a backboard from the floor. Overall, the two models were well correlated in their assessment of the task components modelled (r = 0.78). These data indicate where engineering changes to equipment regularly used by emergency rescue personnel would have the greatest impact in reducing the risk of musculoskeletal injury.     

基于RFID的磁盘加密系统

文章在跟踪和分析最新磁盘加密技术研究成果的基础上,设计了一种基于RFID的磁盘分区加密系统。该系统由磁盘分区加密软件Partition Crypt与RFID射频卡、USB射频读写端等硬件模块共同组成。软件部分对计算机硬件系统要求低、安装方便、使用简单、加密效果好;硬件部分由单片机与射频模块完成。其中,USB接口采用虚拟USB接口的方法,降低硬件复杂性与成本,具有很高的性价比。经过测试,整个系统功能稳定、性价比高、保密性好,可为广泛使用的基于Windows操作系统的涉密计算机提供加密技术保障,应用前景广阔。     

Universal characteristic decomposition of radical differential ideals

We call a differential ideal universally characterizable, if it is characterizable w.r.t. any ranking on partial derivatives. We propose a factorization-free algorithm that represents a radical differential ideal as a finite intersection of universally characterizable ideals. The algorithm also constructs a universal characteristic set for each universally characterizable component, i.e., a finite set of differential polynomials that contains a characterizing set of the ideal w.r.t. any ranking. As a part of the proposed algorithm, the following problem of satisfiability by a ranking is efficiently solved: given a finite set of differential polynomials with a derivative selected in each polynomial, determine whether there exists a ranking w.r.t. which the selected derivatives are leading derivatives and, if so, construct such a ranking.     

A path following problem for a class of non-holonomic control systems with noise

This paper deals with a path following problem for a system affected by noise and proposes a dynamic inversion-based controller that makes use of the error between the real position and a suitable path location. An estimate of such error is given in terms of the noise bounds, showing the practical stability of the closed loop system. The results presented in this article apply to a subclass of Chaplygin control systems which includes several common mechanical systems. As an example the developed strategy has been applied to maneuver a kinematic model of a system moving in a 3-dimensional space in such a way that a point located at a positive distance from its center of geometry is driven towards a given path.     

A formal approach to negotiating agents development

This paper presents a formal and executable approach to capture the behaviour of parties involved in a negotiation. A party is modeled as a negotiating agent composed of a communication module, a control module, a reasoning module, and a knowledge base. The control module is expressed as a statechart, and the reasoning module as a defeasible logic program. A strategy specification therefore consists of a statechart, a set of defeasible rules, and a set of initial facts. Such a specification can be dynamically plugged into an agent shell incorporating a statechart interpreter and a defeasible logic inference engine, in order to yield an agent capable of participating in a given type of negotiations. The choice of statecharts and defeasible logic with respect to other formalisms is justified against a set of desirable criteria, and their suitability is illustrated through concrete examples of bidding and multi-lateral bargaining scenarios.     

A Brownian control problem for a simple queueing system in the Halfin–Whitt regime

We consider a formal diffusion limit for a control problem of a multi-type multi-server queueing system, in the regime proposed by Halfin and Whitt. This takes the form of a control problem where the dynamics are driven by a Brownian motion. In one dimension, a pathwise minimum is obtained and is characterized as the solution to a stochastic differential equation. The pathwise solution to a special multi-dimensional problem (corresponding to a multi-type system) follows.     

A Petri nets semantics for data flow networks

This work presents a truly concurrent operational semantics for nondeterministic data flow networks. We introduce a model, the df-process, which is a notion similar to that of non-sequential process for a Petri net: a df-process is defined as a mapping from an occurrence net K to a data flow net N, such that the places and the transitions of K are mapped onto the channels and the nodes of N. A df-process contains, by means of some labelling of the places, information on the value and the order in which data flow through the channels during a computation. Df-processes for a data flow network are characterized in an abstract way by a set of properties and in general a df-process corresponds to a set of computations of the network. We give a way to build the df-process corresponding to a computation incrementally at each event occurrence: a main result of the paper is that the incremental construction yields exactly the same set of df-processes as abstractly defined. We also show that df-processes are compositional. The model is intended to be used by distributed systems designers: it contains enough information to be a guideline for the designer and to be a base to develop dynamic checking tools. We outline how df-processes can be used in the design phase of a system.Research supported in part by Progetto Coordinato CNR ANATRA     

Possibility-based fuzzy neural networks and their application toimage processing

This paper describes the foundations for a class of fuzzy neural networks. Such a network is a composite or two-stage network consisting of a fuzzy network stage and a neural network stage. It exhibits the ability to classify complex feature set vectors with a configuration that is simpler than that needed by a standard neural network, Unlike a standard neural network, this network is able to accept as input a vector of scalar values, or a vector (set) of possibility functions. The first stage of the network is fuzzy based. It has two parts: a parameter computing network (PCN), followed by a converting layer. In the PCN the weights of the nodes are possibility functions, and hence, the output of this network is a fuzzy set. The second part of this stage, which is a single layer network, then converts this fuzzy set into a scalar vector for input to the second stage. The second stage of the network is a standard backpropagation based neural network. In addition to establishing the theoretical foundations for such a network, this paper presents sample applications of the network for classification problems in satellite image processing and seismic lithology pattern recognition.     

A hybrid system approach for supporting digital libraries

A digital library (DL) consists of a database which contains library information and a user interface which provides a visual window for users to search relevant information stored in the database. Thus, an abstract structure of a digital library can be defined as a combination of a special purpose database and a user-friendly interface. This paper addresses one of the fundamental aspects of such a combination. This is the formal data structure for linking an object oriented database with hypermedia to support digital libraries. It is important to establish a formal structure for a digital library in order to efficiently maintain different types of library information. This article discusses how to build an object oriented hybrid system to support digital libraries. In particular, we focus on the discussion of a general purpose data model for digital libraries and the design of the corresponding hypermedia interface. The significant features of this research are, first, a formalized data model to define a digital library system structure; second, a practical approach to manage the global schema of a library system; and finally, a design strategy to integrate hypermedia with databases to support a wide range of application areas. Received: 15 December 1997 / Revised: June 1999     

Coterie join algorithm

Given a set of nodes in a distributed system, a coterie is a collection of subsets of the set of nodes such that any two subsets have a nonempty intersection and are not properly contained in one another. A subset of nodes in a coterie is called a quorum. An algorithm, called the join algorithm, which takes nonempty coteries as input, and returns a new, larger coterie called a composite coterie is introduced. It is proved that a composite coterie is nondominated if and only if the input coteries are nondominated. Using the algorithm, dominated or nondominated coteries may be easily constructed for a large number of nodes. An efficient method for determining whether a given set of nodes contains a quorum of a composite coterie is presented. As an example, tree coteries are generalized using the join algorithm, and it is proved that tree coteries are nondominated. It is shown that the join algorithm may be used to generate read and write quorums which may be used by a replica control protocol     

Learning and interacting in human-robot domains

We focus on a robotic domain in which a human acts both as a teacher and a collaborator to a mobile robot. First, we present an approach that allows a robot to learn task representations from its own experiences of interacting with a human. While most approaches to learning from demonstration have focused on acquiring policies (i.e., collections of reactive rules), we demonstrate a mechanism that constructs high-level task representations based on the robot's underlying capabilities. Next, we describe a generalization of the framework to allow a robot to interact with humans in order to handle unexpected situations that can occur in its task execution. Without using explicit communication, the robot is able to engage a human to aid it during certain parts of task execution. We demonstrate our concepts with a mobile robot learning various tasks from a human and, when needed, interacting with a human to get help performing them